抄録
Position and vibration control problems are dealt with for a gondola-rope system, in which the gondola is suspended by the rope from the above. Keeping in mind applications of this type of a suspended system for rescue works in case of fire in skyscrapers, it is necessary to control the position of the gondola toward targets and suppress the vibration of both the gondola and the rope. A vision system consisting of a TV camera is employed in this work in order to obtain the correct orientation toward the target automatically and search the targets in vibrational environments. Some useful techniques using the vision system are demonstrated for estimating relative positions between the gondola and the target at rest and even during vibration. And also a vibration control method is proposed which controls air jets in the on-off manner.
