work machine

Abstract

A working machine is provided and comprises a wire rope including a lower end configured to hold a suspended load, and a suspension pivot configured to attach the wire rope and be movable. In a case where the lower end of the wire rope is moved in a horizontal direction from a first position previously set to a second position, the working machine is configured to perform a control to maintain, from the first position to a position close to the second position, a state in which the suspension pivot guides the lower end of the wire rope and the lower end of the wire rope follows the suspension pivot.

Description

BACKGROUND 1. Technical field The present disclosure relates to a working machine. 2. Description of the state of the art In recent years, a technique has been developed for the automatic control of a load suspended by a wire rope along a target trajectory in a crane, which is a working machine. However, the crane may not be able to transfer the suspended load stably because it oscillates during transfer. Therefore, it is desirable to provide a technique that can perform automatic control while suppressing the oscillation of the suspended load. For example, Japanese unexamined patent publication No. 2003-155192 discloses a technique in which several straight paths are combined when transferring a suspended load. Japanese unexamined patent publication No. 2003-155192 also discloses a technique in which, if a set straight path runs within an arc area with the minimum working radius of a crane, the straight path is combined with a curved path to traverse the arc. However, if, for example, an obstacle or similar obstruction exists, the method disclosed in Japanese unexamined patent publication No. 2003-155192 forms a complex path and frequently switches between straight and curved motion. As a result, the load suspended by a wire rope (i.e., the lower end of the wire rope) can oscillate slightly during switching between straight and curved motion. That is, oscillation cannot be sufficiently suppressed by simply combining the straight and curved paths for the target trajectory and moving the wire rope along the resulting trajectory. Therefore, with regard to controlling the movement of the wire rope, there is a need for a technique that can adequately suppress oscillation of the suspended load. The present disclosure provides a technique that can sufficiently suppress the oscillation of the lower end of a wire rope by controlling the movement of the wire rope. SUMMARY According to one aspect of the present disclosure, a working machine comprises: a wire rope comprising a lower end configured to hold a suspended load; and a suspension pivot configured to suspend the wire rope and to be movable. In a case where the lower end of the wire rope is moved in a horizontal direction from a first position previously set to a second position, the working machine is configured to perform control to maintain, from the first position to a position close to the second position, a state in which the suspension pivot guides the lower end of the wire rope and the lower end of the wire rope follows the suspension pivot. According to the aspect of the present disclosure, it is possible to sufficiently suppress the oscillation of the lower end of the wire rope by controlling the movement of the wire rope. BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a side view diagram illustrating an example of a crane according to an embodiment of the present disclosure; Fig. 2 is a block diagram schematically illustrating an example of a configuration of the crane according to the embodiment; Fig. 3 is a top view diagram illustrating a movement of a pivot point of the crane from a starting position to a target position; Fig. 4 is a flowchart illustrating an example of a process by which the target position is registered in a simple operating mode of a controller according to the embodiment; Fig. 5 is a diagram illustrating an example of a screen of the simple operating mode displayed by a display control part; Fig. 6 is a flowchart illustrating a process by which the controller performs control of the movement of a boom in the simple operating mode; Fig.Figure 7 is a top view illustrating a target trajectory from a starting position to a target position TP in the presence of an obstacle; Figure 8A is a first explanatory diagram illustrating a relationship between the position of the trailer pivot point and the position of a suspended load under vibration suppression control; Figure 8B is a second explanatory diagram illustrating the relationship between the position of the trailer pivot point and the position of the suspended load under vibration suppression control; Figure 8C is a third explanatory diagram illustrating the relationship between the position of the trailer pivot point and the position of the suspended load under slew suppression control; Figure 9 is an explanatory diagram illustrating a relationship between a slew axis of the crane and a lift / lower axis of the crane and each parameter of the crane; FigureFigure 10 is a graph illustrating the change in an inclination angle over time during the movement of the trailer pivot point; Figure 11A is a first motion diagram illustrating the movement of a trailer pivot point 6S and the behavior of an attached load HL during stop control; Figure 11B is a second motion diagram illustrating the movement of the trailer pivot point 6S and the behavior of the attached load HL during stop control; Figure 11C is a third motion diagram illustrating the movement of the trailer pivot point 6S and the behavior of the attached load HL during stop control; Figure 11D is a fourth motion diagram illustrating the movement of the trailer pivot point 6S and the behavior of the attached load HL during stop control; Figure 11E is a fifth motion diagram illustrating the movement of the trailer pivot point 6S and the behavior of the attached load HL during stop control; FigureFigure 11F is a sixth motion diagram illustrating the movement of the trailer pivot point 6S and the behavior of the attached load HL during stop control; Figure 12 is a graph illustrating an operation that suppresses the attached load from moving forward of the trailer pivot point when, during the movement of the trailer pivot point, the attached load begins to lead; Figure 13 is a graph illustrating a change in a tilt angle, a change in a velocity command value, and a change in a slew rate of the attached load when a follow-up adjustment is performed during vibration suppression control; and Figure 14 is a schematic diagram illustrating a configuration example of a remote control system for the crane according to a modified example of the present disclosure. DETAILED DESCRIPTION The following describes embodiments of the present disclosure with reference to the drawings. In the drawings, the same components are identified by the same reference numerals, and any duplicate description thereof may be omitted. The embodiments described below are exemplary and do not limit the present invention. Features or combinations thereof described in the embodiments are not necessarily essential to the present invention. <Gesamtkonfiguration von Kran 100> As an example of a working machine according to an embodiment of the present disclosure, a movable crane 100, illustrated in Fig. 1, is described. Fig. 1 is a side view illustrating an example of the crane 100 according to the embodiment. The following describes the front-back, left-right, and up-down directions of the crane 100 from the perspective of a driver of the crane 100 (hereinafter referred to as an operator). The crane 100 according to the embodiment is a so-called mobile crawler crane. The crane 100 comprises a self-propelled lower drive body 1 of the crawler type, an upper slewing body 3 pivotably mounted on the lower drive body 1, and an attachment AT, which is attached to the front of the upper slewing body 3 and is capable of being raised and lowered. The lower drive body 1, for example, comprises a pair of right and left tracks 1L and 1R. The lower drive body 1 is configured to drive the crane 100 by hydraulically driving the respective tracks through a left drive hydraulic motor 1ML and a right drive hydraulic motor 1MR (see Fig. 2). The upper pivoting body 3 is configured to pivot relative to the lower drive body 1 by means of a pivoting mechanism 2 which is hydraulically driven by a pivoting hydraulic motor 2M (see Fig. 2 ). The upper slewing body 3 includes a cabin 4 located near the right side of the attachment AT. The operator sits in a seat in the cabin 4 and operates the crane 100. The upper slewing body 3 also includes a counterweight 5 at its rear, configured to ensure weight balance relative to the attachment AT and the suspended load. The attachment piece AT is configured to attach and transfer the suspended load. The attachment piece AT comprises a boom 6, consisting of: a lower boom 61 connected to a boom attachment section of the upper swivel body 3 to enable it to be raised and lowered; an intermediate boom 62 connected to the tip of the lower boom 61; and an upper boom 63 connected to the tip of the intermediate boom 62. The boom 6 is formed by assembling several frames and thus possesses sufficient rigidity. The length of the extension piece AT of the boom 6 can be changed by increasing or decreasing the number of intermediate booms 62 that can be connected to each other. The extension piece AT also includes a backstop 64 at the rear of the tip of the lower boom 61. The backstop 64 is configured to regulate a reverse rotation of the boom 6. Furthermore, the crane 100 includes a mooring cable 66, an upper spreader 67, a lower spreader 68, a boom lifting / lowering wire rope 69, a gantry 71 and a gantry lifting / lowering cylinder 72. One end of the retaining cable 66 is connected to the rear of the tip of the upper boom 63. The other end of the retaining cable 66 is connected to the upper spreader 67. The upper spreader 67 connects the retaining cable 66 and the boom lifting / lowering wire rope 69. The boom lifting / lowering wire rope 69 is wound around a boom lifting / lowering winch 31 provided in the upper slewing body 3. The boom lifting / lowering wire rope 69 is wound or unwound according to the drive of the boom lifting / lowering winch 31. The lower spreader 68 is mounted at the top of the frame 71, which is designed to be raised and lowered relative to the upper pivoting body 3. The frame lifting / lowering cylinder 72 is provided on the upper pivoting body 3. The frame lifting / lowering cylinder 72 is configured to raise or lower the frame 71. For example, the crane 100 winds up the boom lifting / lowering wire rope 69 using the boom lifting / lowering winch 31, while the frame 71 is held in a stationary position by the frame lifting / lowering cylinder 72. Thus, the crane 100 pulls the retaining cable 66 through the upper spreader 67, thereby rotating the boom 6 backward and upward. Conversely, the crane 100 can unwind the boom lifting / lowering wire rope 69 using the boom lifting / lowering winch 31, thereby rotating the boom 6 forward and downward. To hold the suspended load, the crane 100 comprises a boom hook 81, a wire rope 82, and a hook overwinding prevention device 83. The boom hook 81 is suspended from the wire rope 82 via a hook bracket 811. In other words, the boom hook 81 forms the lower end of the wire rope 82. The hook bracket 811 includes a pulley (not shown) around which the wire rope 82 is wound. One end of the wire rope 82 is attached to a fixed section provided at the tip of the boom 6. The wire rope 82 extends downwards to the hook bracket 811 of the boom hook 81 and runs back from the hook bracket 811 to extend upwards. Furthermore, the wire rope 82 is wound around a deflection pulley 651 provided at the tip of the boom 6 to extend to the rear of the boom 6 and is wound from the rear of the tip of the boom 6 around a front winch 32 provided in the upper slewing body 3. A hook overwinding prevention device 83 is also provided on the wire rope 82 to define the upward climbing limit of the boom hook 81. When the crane 100 winds the wire rope 82 around the front winch 32, the boom hook 81 can rise to lift the suspended load. Conversely, when the crane 100 unwinds the wire rope 82 from the front winch 32, the boom hook 81 can descend to lower the suspended load. Next, with reference to Fig. 2, a configuration of a drive system and a control system of the crane 100 is described. Fig. 2 is a block diagram that schematically illustrates an example of a configuration of the crane 100 according to the embodiment. <Hydraulisches Antriebssystem> A hydraulic drive system of the crane 100 according to the embodiment comprises hydraulic actuators HA configured to hydraulically drive the lower drive body 1 (the left and right tracks), the upper slewing body 3, the attachment AT, and the like. The hydraulic actuator HA comprises the drive hydraulic motors 1ML and 1MR, the slewing hydraulic motor 2M, a boom lifting / lowering hydraulic motor 31M, a front winch hydraulic motor 32M, and the like. The slewing hydraulic motor 2M is an actuator configured to slew the upper slewing body 3 relative to the lower drive body 1. The boom lifting / lowering hydraulic motor 31M is an actuator configured to drive the boom lifting / lowering winch 31. The front winch hydraulic motor 32M is an actuator configured to drive the front winch 32. The hydraulic drive system of the crane 100 includes a motor 11, a main pump 14, a pilot pump 15, a control valve unit 17 and a regulator 18. The motor 11 is a drive motor and a primary energy source in the hydraulic drive system of the crane 100. For example, the motor 11 is a diesel engine that uses diesel fuel. The motor 11 is mounted, for example, in a rear section of the upper slewing body 3. The motor 11 is configured to rotate constantly at a predetermined target speed under the control of a controller 30, as described below, and to drive the main pump 14 and the pilot pump 15. The main pump 14 is configured to supply hydraulic oil to the control valve unit 17 via a high-pressure hydraulic line. The main pump 14, like the motor 11, is mounted, for example, in the rear section of the upper swivel body 3. The main pump 14 is, for example, a variable displacement hydraulic pump and is configured, under the control of the controller 30, to regulate the delivery flow rate (delivery pressure) of the hydraulic oil by the stroke length of a piston, which is adjusted by the governor 18, which adapts the tilt angle of a swashplate. The control valve unit 17 is a hydraulic control device configured to control the hydraulic actuators HA according to the content of an operation or remote control performed by the operator at an operating device 38 or according to an operating command issued by the controller 30 with regard to an automatic operating function. The control valve unit 17 is, for example, mounted in a central section of the upper swivel body 3. The control valve unit 17 is connected to the main pump 14 via a high-pressure hydraulic line and is configured to selectively supply hydraulic oil from the main pump 14 to each hydraulic drive according to an operation performed by the operator or according to an operating command issued by the controller 30. In particular, the control valve unit 17 comprises several control valves (e.g.,Directional switching valves), which are configured to control the flow rate and direction of the hydraulic oil supplied from the main pump 14 to each of the hydraulic actuators HA. <betriebssystem> The operating system of the crane 100 includes the pilot pump 15, the control unit 30, a proportional valve 29, the operating device 38 and an operating sensor 39. The pilot pump 15 is configured to supply a pilot pressure to various hydraulic devices via a pilot line 25. The pilot pump 15 is mounted, for example, in the rear section of the upper swivel body 3, similar to the motor 11. The pilot pump 15 is, for example, a fixed-displacement hydraulic pump. The pilot pump 15 can be omitted. In this case, hydraulic oil at a relatively low pressure, after the hydraulic oil delivered by the main pump 14 at a relatively high pressure has been reduced by a predetermined pressure-reducing valve, is supplied to the various hydraulic devices as the pilot pressure. The control device 38 is located near an operator's seat in cabin 4 and is used by the operator to perform various operations of the crane 100. The control device 38 comprises a pedal, lever, or the like, configured to actuate each hydraulic actuator HA. For example, the operating device 38 is configured to be of an electrical type. The operating sensor 39 is configured to detect the direction and magnitude of any operation performed by the operator on the operating device 38 and to output an operating signal corresponding to each actuated actuator to the controller 30. The controller 30 is then configured to issue a control command to the proportional valve 29, corresponding to the content of an operating signal, i.e., a control signal corresponding to the content of an operation performed at the operating device 38. Thus, a pilot pressure corresponding to the content of the operation performed at the operating device 38 is input from the proportional valve 29 to the control valve unit 17, and the control valve unit 17 can actuate each hydraulic actuator HA according to the content of the operation performed at the operating device 38. A control valve (directional changeover valve) configured to actuate each hydraulic actuator included in the control valve unit 17 can be of the electromagnetic solenoid type.In this case, an operating signal issued by the operating device 38 can be directly input into the control valve unit 17 (control valve of an electromagnetic solenoid type). A proportional valve 29 is provided for each of the hydraulic actuators HA to be actuated by the operating device 38. The proportional valve 29 is arranged in a line connecting the pilot pump 15 and the pilot port of the control valve in the control valve unit 17, and is configured to change the flow path of the line. The proportional valve 29 is configured to operate in response to a control command issued by the controller 30. Therefore, the controller 30 can supply the hydraulic oil delivered by the pilot pump 15 to the control valve of each hydraulic actuator HA provided in the control valve unit 17 via the proportional valve 29, regardless of the operation performed by the operator at the operating device 38. <benutzerschnittstellensystem> A user interface system of the crane 100 includes the operating device 38, the operating sensor 39, a display device D1 and an input device D2. The display device D1 is configured to provide the operator of crane 100 in cabin 4 with various pieces of information. The display device D1 is located in a position where it is clearly visible to the operator seated in cabin 4. The display device D1 is configured to output various pieces of information in a visible manner and is, for example, a liquid crystal display, an organic electroluminescent (EL) display, or the like. The input device D2 is located in an area near the operator seated in cabin 4 and is configured to receive various inputs from the operator. The input signal received by the input device D2 is received by the controller 30. Examples of the input device D2 include a touch panel mounted in the display device, a touchpad located around the display device, a push button, a lever, a toggle switch, a rotary knob switch located on the operating device 38 (lever device), and the like. The input device D2 can also be, for example, a voice input device configured to receive voice input from the operator. Examples of the voice input device include a microphone and the like.Alternatively, the input device D2 can be a gesture input device configured to receive gesture input from the operator. Examples of gesture input devices include, for instance, an imaging device (interior camera) located in cabin 4. <kommunikationssystem> A communication system of the crane 100 includes a communication device T1 configured to communicate with an external device. The communication device T1 is connected to a communication line and configured to communicate with a device provided separately from the crane 100. Examples of devices provided separately from the crane 100 include a portable communication terminal worn by a worker present at the construction site. The communication device T1 may also include a cellular communication module conforming to a standard such as 4G (4th generation), 5G (5th generation), or the like. Furthermore, the communication device T1 may include, for example, a satellite communication module, a Wi-Fi (registered trademark) communication mode, a Bluetooth (registered trademark) module, or the like. <steuerungssystem> For example, a control system of the crane 100 includes a slew sensor S1, a boom lift / lower sensor S2, a length sensor S3, a positioning device PS for the upper slewing body, an environment detection device ES, a storage device ST and a control 30. The swivel sensor S1 is configured to output information about the swivel movement of the upper swivel body 3. For example, the swivel sensor S1 is configured to detect the swivel angular velocity of the upper swivel body 3 relative to the lower drive body 1. Furthermore, the swivel sensor S1 is configured to detect a swivel angle. The swivel sensor S1 can be a gyroscope, a resolver, a rotary encoder, an inertial measurement unit (IMU), or the like. A detection signal corresponding to the swivel angle or swivel angular velocity of the upper swivel body 3 determined by the swivel sensor S1 is received by the controller 30. The boom lift / lower sensor S2 is configured to output information about the lifting / lowering of the boom 6. For example, the boom lift / lower sensor S2 is configured to detect the lift / lower angle (tilt angle) of the boom 6. The boom lift / lower sensor S2 can be, for example, a gyroscope, an IMU, or the like. A detection signal corresponding to the lift / lower angle of the boom 6 obtained by the boom lift / lower sensor S2 is received by the controller 30. The length sensor S3 is configured to output information about the length of the wire rope 82, which is configured to lift an attached load with the boom hook 81. For example, the length sensor S3 is an encoder provided on the forward winch 32 and is configured to detect the length of the wire rope 82 unwound from the forward winch 32. The positioning device PS for the upper slewing body is configured to measure the position of the upper slewing body 3. The positioning device PS for the upper slewing body is, for example, a GNSS (Global Navigation Satellite System) positioning device and is configured to detect the position and direction of the upper slewing body 3. Detection signals corresponding to the position and direction of the upper slewing body 3 are received by the controller 30. The function of detecting the direction of the upper slewing body 3 can be implemented by an orientation sensor attached to the upper slewing body 3. The positioning device PS for the upper slewing body is configured to measure the current position of the crane 100 in a set reference coordinate system. The reference coordinate system is, for example, the geodesic world system, in which a position on the globe can be specified. The geodesic world system is a three-dimensional orthogonal XYZ coordinate system in which the origin is set at the Earth's center of mass, an X-axis runs in a direction corresponding to the intersection of the Greenwich meridian and the equator, a Y-axis runs in a direction corresponding to 90 degrees east longitude, and a Z-axis runs in a direction corresponding to the North Pole. The environmental sensing device ES is, for example, located in a front section of the ceiling of cabin 4 and is configured to acquire environmental information outside the crane 100. The environmental sensing device ES is configured by combining one or more, for example, an imaging device such as a monocular camera, a stereo camera, or the like, a LiDAR sensor, an ultrasonic sensor, other optical sensors, and the like. The information acquired by the environmental sensing device ES is converted into information that can be recognized by the controller 30 using known image processing or the like, and is then incorporated into the controller 30. The environmental sensing device ES can be located at any position on the crane 100, for example, on the counterweight 5 or the like. The storage device ST is, for example, a readable and writable non-volatile storage medium. For example, an SSD (Solid State Drive) or an HDD (Hard Disk Drive) can be used as the storage device ST. The controller 30 is configured to control the operation of each drive component provided in the crane 100. The functions of the controller 30 can be implemented, for example, by any hardware or any combination of hardware and software. For instance, the controller 30 essentially consists of a computer comprising a CPU (Central Processing Unit), a memory device such as RAM (Random Access Memory), a non-volatile auxiliary memory device such as ROM (Read-Only Memory), an interface device for various inputs and outputs, and so on. The controller 30 is configured to implement various functions by loading programs to be installed in the auxiliary memory device into the memory device and executing the programs on the CPU. For example, the controller 30 is configured to control the operation of the hydraulic actuator HA of the crane 100 according to the operation performed at the control device 38, with one control target being the proportional valve. The controller 30 can also provide operational support for transferring a suspended load to a target position on the ground plane in contact with the crane 100 (e.g., a plane of a two-dimensional XY coordinate system). The operational support for the crane 100 can include fully automatic operation (complete control of the crane 100's operation), semi-automatic operation (partial control of the crane 100's operation), and a guidance function of displaying the crane 100's operation on the display device D1 (or outputting the crane 100's operation information through a loudspeaker). As an example, crane 100 operates in a semi-automatic mode, in which control unit 30 automatically performs the slewing and lifting / lowering operations of crane 100, while the operator performs the winding and unwinding of the suspended load. In other words, control unit 30 only controls the slewing operation of the upper slewing body 3 and the lifting / lowering operation of the boom 6, thereby moving the boom hook 81 to the target position in the two-dimensional coordinate system. For example, control unit 30 outputs a current to proportional valve 29 to apply a pilot pressure of suitable strength to control valve unit 17. Thus, crane 100 can automatically control the slewing hydraulic motor 2M and the boom lifting / lowering hydraulic motor 31M. To carry out semi-automatic operation, the control unit 30 forms, under the execution of the programs carried out by the CPU, a detection unit 301, an operator receiving unit 302, a display control unit 303, a registration unit 304, a position detection unit 305, a trajectory generation unit 306 and a control unit 307. The sensing unit 301 is configured to acquire detection results from various sensors provided on the crane 100. For example, the sensing unit 301 is configured to acquire an operating signal from the operating sensor 39, indicating an operation performed by the operator on the operating device 38. The sensing unit 301 is configured to acquire information from the slewing sensor S1 about the slewing angular velocity and slewing angle of the upper slewing body 3, information about the raising / lowering of the boom 6 (e.g., the raising / lowering angle) from the boom raising / lowering sensor S2, and information about the length of the wire rope 82 from the length sensor S3. Furthermore, the sensing unit 301 is configured to acquire information (e.g., image information) detected by the environmental sensing device ES. When the information from the various sensors is acquired, the sensing unit 301 can calculate the height of the suspended load from the length of the wire rope 82 and the lifting / lowering angle of the boom 6. The controller 30 can calculate the position of the suspended load (in two-dimensional coordinates or three-dimensional coordinates including height) according to the information about the suspended load detected by the environmental sensing device ES. The control receiver 302 is configured to receive an operator input via one or more of the input devices D2 and the control device 38. For example, the control receiver 302 is configured to receive a long press of a predefined key on the control device 38 to enter the simple operating mode, which is a mode for performing semi-automatic operation. The "simple operating mode" is an operating mode for transferring the attached load from the starting position (first position), which is the current position, to a previously registered target position (second position) in response to receiving an input input from a rotary control lever of the control device 38. The display control unit 303 is configured to perform control functions to display information on the display device D1. For example, the display control unit 303 is configured to display a simple operating mode screen in response to receiving an operation to transition to simple operating mode. In the simple operating mode, the registration unit 304 is configured to register the target position used for transferring the suspended load in the storage device ST. For example, before the operating support, the operator manually operates the upper slewing body 3 and the boom 6 so that the attachment pivot point 6S, which is the tip of the boom 6, coincides vertically with the target position. Then, with the attachment pivot point 6S at the target position, the operator can register its current position as the target position by pressing the target button. In this way, by storing the position at which the operator performs the manual operation, the target position can be precisely set within a range where the boom 6 is movable. For example, as a further registration method, the target position can be calculated (detected) according to detection information obtained from the environmental detection device ES arranged on the crane 100. As yet another registration method, a positioning device, such as a GNSS positioning device or the like, can be arranged at the target position, and information about the target position measured by this positioning device can be received. Alternatively, as a further registration method, the position of the target position can be detected by an external device (an imaging device, a LiDAR sensor, a depth sensor, or any other object detection sensor) provided outside the crane 100, and information about the position of the target position TP can be received from this external device. The target position to be detected can be a two-dimensional coordinate position in the geodetic world system or a three-dimensional coordinate position, including height information obtained by a height measurement using a pressure sensor. When storing the target position, the registration part 304 can convert the position information to orient the target position in a crane coordinate system, with the upper slewing body 3 of the crane 100 serving as a reference. The position detection element 305 is configured to detect the current position of the tip of the boom 6 and / or the current position of the boom hook 81, which is the lower end of the wire rope 82. The tip of the boom 6 is provided with a deflection pulley 651, to which the wire rope 82 is attached, and is provided with a roller support 650, which is configured to support the deflection pulley 651 so that it can rotate (see Fig. 1). In other words, the tip of the boom 6 corresponds to the attachment pivot 6S, to which the wire rope 82 is attached downwards in the vertical direction from the deflection pulley 651 and moves integrally with the boom 6. For example, the position detection unit 305 can detect the position of the suspension pivot point 6S and the position of the lower end of the wire rope 82 (of the boom hook 81 and / or the suspended load) according to detection information from the environment detection device ES. Here, the position detection unit 305 can calculate an inclination angle θ of the suspended load (of the wire rope 82), as described below, according to the position of the suspension pivot point 6S and the position of the suspended load. Alternatively, the position detection unit 305 can detect the position of the suspension pivot point 6S according to information from various sensors (e.g., the positioning device PS for the upper slewing body, the slewing sensor S1, and the boom lift / lower sensor S2) of the crane 100. The crane 100 can also include, for example, GNSS positioning devices arranged at the suspension pivot point 6S and the boom hook 81.The position detection part 305 can detect the position of the trailer pivot point 6S and the position of the lower end of the wire rope 82 according to information measured by the GNSS positioning devices, and can also calculate the tilt angle θ. The trajectory generation unit 306 is configured to generate a target trajectory to automatically move the boom hook 81 and the attached load from the starting position (current position) of the attachment pivot point 6S to the target position in a two-dimensional coordinate system that specifies the ground plane in contact with the crane 100. A known method can be used to generate the target trajectory. For example, the trajectory generation unit 306 generates the target trajectory based on the difference in the slew angle between the current position of the boom tip 6 and the target position, as well as the difference between the current lifting / lowering angle of the boom 6 and the lifting / lowering angle when the boom hook 81 reaches the target position. As an example, the trajectory generation unit 306 calculates a target trajectory, based on the starting position of the attachment pivot point 6S, the target position, the slewing capability of the upper slewing body 3, the lifting / lowering capability of the boom 6, and the like. This target trajectory guides the lower end of the wire rope 82 along the shortest possible distance. However, the slewing motion can be prioritized for generating the target trajectory to calculate a target trajectory with reduced slewing / lowering of the boom 6. This can suppress vibrations caused by the slewing / lowering of the boom 6 during slewing of the load on the boom 6, and so on. The control unit 307 is configured to control the movement of the upper slewing body 3 and the boom 6 of the crane 100 according to the target trajectory generated by the trajectory generation unit 306. For example, the control unit 307 controls the upper slewing body 3 and the boom 6 so that the attachment pivot point 6S moves along the target trajectory from the starting position to the target position in a two-dimensional coordinate system, with the crane 100 serving as a reference. Even when the boom hook 81 and the suspended load are moved from the starting position to the target position, the control unit 307 performs control to ensure that the position of the suspension pivot point 6S leads the position of the lower end of the wire rope 82 (of the boom hook 81 and / or the suspended load), and to ensure that the position of the lower end of the wire rope 82 follows the position of the suspension pivot point 6S. By moving the lower end of the wire rope 82 following the suspension pivot point 6S, the oscillation of the lower end of the wire rope 82 is suppressed (hence this control can be called vibration suppression control). The vibration suppression control according to the embodiment is described in detail below. The following describes, with reference to Fig. 3, an operation for automatically moving the attachment pivot point 6S at the tip of the boom 6 from the starting position to the target position TP in the semi-automatic operation of the crane 100. Fig. 3 is a top-down diagram illustrating the movement of the attachment pivot point 6S of the crane 100 from the starting position to the target position TP. The control for moving the attachment pivot point 6S from the starting position to the target position TP can be performed whether the attached load HL is not attached to the boom hook 81 or whether the attached load HL is attached to the boom hook 81. Here, the boom hook 81 of the crane 100 (the lower end of the wire rope 82) is essentially suspended downwards in the vertical direction from the deflection pulley 651 provided in the pivot point 6S. Therefore, when the boom hook 81 is moved to the target position TP, it is sufficient to move the pivot point 6S so that, in a top view (on a two-dimensional coordinate system), it overlaps with the target position TP. Therefore, according to the embodiment, during semi-automatic operation, the control unit 30 detects the position of the trailer pivot point 6S and the target position TP prior to the operation of the upper slewing body 3 and the boom 6. Furthermore, the control unit 30 generates a target trajectory from the detected position (start position) of the trailer pivot point 6S to the target position TP in a two-dimensional or three-dimensional coordinate system. The control unit 30 then automatically moves the trailer pivot point 6S along the target trajectory by performing slewing control of the upper slewing body 3 and raising / lowering control of the boom 6. As described above, the position of the attachment pivot point 6S can be detected according to information from various sensors of the crane 100 (detection information from the environment detection device ES or detection information from the positioning device PS of the upper slewing body, the slewing sensor S1, the boom lift / lower sensor S2, and the like). The target position TP can also be set by registration performed by the registration unit 304, as described above. It should be noted that the target position is not limited to a position where the attached load HL is attached or lowered, and can be a relay position during the movement of the lower end of the wire rope 82.That is to say, the “second position” in the present disclosure can be the position at which the attached load HL is attached, the position at which the attached load HL is lowered, or the relay position during the movement. Similarly, the “first position” in the present disclosure can be the current position of the attachment pivot point 6S, the relay position, or the position set for initiating a movement. The following describes a method for registering the target position TP with reference to Fig. 4. Fig. 4 is a flowchart illustrating an example of a process by which the target position TP is registered in the controller 30 according to the embodiment in a simple operating mode. When setting the target position TP, to which the pivot point 6S is to be moved, the controller 30, for example, executes the flowchart illustrated in Fig. 4. In particular, the display control unit 303 first performs control to display a screen of the simple operating mode on the display device D1 (S101). Fig. 5 is a diagram illustrating an example of a simple operating mode screen displayed by the display control unit 303. For example, the simple operating mode screen displays a display area 1410, a first target button 1401, a second target button 1402, a third target button 1403, an adjustment button 1404, and a point-to-point adjustment button 1405. Display area 1410 shows a coordinate system that specifies the two-dimensional, workable area of ​​crane 100. A reference position 1411 indicates a pivot center of crane 100. A triangular shape 1412 and a circular symbol 1413 indicate the current state of the boom 6. Specifically, the triangular shape 1412 indicates the current direction and length of the boom 6 in the raised / lowered state, and the circular symbol 1413 indicates the attachment pivot point 6S at the tip of the boom. The length of the triangular shape 1412 from the reference position 1411 to the circular symbol 1413 decreases when the boom 6 is raised and increases when the boom 6 is lowered. A first circle 1450 is a circle that indicates the greatest achievable distance of the tip of the boom 6. A second circle 1451 and a third circle 1452 are circles that indicate predetermined distances. The first target button 1401, the second target button 1402, and the third target button 1403 are buttons configured to set the target position TP in the coordinate system (a two-dimensional coordinate system, Fig. 7) with the crane 100 as a reference. In other words, in this embodiment, three target positions can be registered, corresponding to the first target button 1401, the second target button 1402, and the third target button 1403. In the display area 1410, the registered target position TP is indicated by an X symbol 1414. For example, if the operator presses and holds the first target button 1401, the sensing unit 301 acquires position information for the target position TP based on the target position TP acquisition procedure described above. The registration unit 304 converts the position information for the target position TP into two-dimensional coordinates using the crane 100 as a reference, registers these coordinates, and displays the X symbol 1414 in the display area 1410. For operational support of crane 100, the control unit triggers the pressing of the first target button 1401, the second target button 1402, or the third target button 1403, which reads the registered target position TP and moves the trailer pivot point 6S to the read target position TP. However, the target position TP of the trailer pivot point 6S does not have to be the final destination. For example, the trailer pivot point 6S can be moved to the first target position and then moved again to the second target position. The adjustment button 1404 is intended for making various adjustments. The point-to-point adjustment button 1405 is used when the boom hook 81 of the crane 100 is moved between two positions. As illustrated in Fig. 4, the operator receiver 302 determines whether a registration operation has been received due to a long press of the first target key 1401, the second target key 1402, or the third target key 1403 (S102). If it is determined that the registration operation has not been received (S102: NO), the process is terminated without any processing taking place. If the operating receiver 302 determines that the registration operation was received due to a long press of the first target key 1401, the second target key 1402 or the third target key 1403 (S102: YES), the acquiring unit 301 acquires the position information of the target position TP by the procedure described above (S103). The registration unit 304 stores the specified position information in the storage device ST in conjunction with the long-pressed target key (the first target key 1401, the second target key 1402, or the third target key 1403) (S104). Here, the display control unit 303 displays the acquired position information of the target position TP on the display device D1. For example, the display control unit 303 displays the target position TP in a positional relationship with the boom 6 in the display area 1410, which is a coordinate system with the crane 100 as a reference. The color of the target key in which the position information is registered can also differ from the color of the target key in which the position information is not registered. Thus, the operator can identify the target key in which the position information is registered when referring to the screen in simple operating mode.The controller 30 can register the position information of the target position TP by performing the above control. Next, with reference to Fig. 6, a process for controlling the movement of the boom 6 in the simple operating mode is described. Fig. 6 is a flowchart illustrating a process by which the controller 30 controls the movement of the boom 6 in the simple operating mode. The display control part 303 of the control 30 controls the display device D1 so that a screen of the simple operating mode is displayed (S111). Next, the operating receiver 302 determines whether the read operation for the position information was received due to pressing the target button (S112). If it is determined that the read operation for the position information was not received due to pressing the target button (S112: NO), the process is terminated. When the operating receiver 302 has determined that it is ready to receive the position information (S112: YES), the sensing unit 301 acquires the position information of the current position of the trailer pivot point 6S, which is located at the tip of the boom 6 (S113). The sensing unit 301 acquires the position information of the trailer pivot point 6S using the procedure described above for acquiring the position of the trailer pivot point 6S. In response to acquiring the current position of the trailer pivot point 6S, the display control unit 303 is prompted to perform a calibration to adjust the coordinate system of the crane 100 to the current position of the trailer pivot point 6S. Next, when the position information corresponding to the target button pressed by the operator is read from the storage device ST, the trajectory generating part 306 generates the target trajectory of the trailer pivot point 6S based on the current position of the trailer pivot point 6S and the target position TP (S114). The display control unit 303 then shows the current position of the trailer pivot point 6S, the target position TP, and the target trajectory in display area 1410 (S115). This allows the operator to confirm the target trajectory when the trailer pivot point 6S is moved during semi-automatic operation performed by the control unit 30. Therefore, before starting semi-automatic operation, the operator can visually confirm the crane 100's surroundings and verify whether the boom hook 81 or similar component will encounter an obstacle as the trailer pivot point 6S moves along the target trajectory. The control receiver 302 then determines whether the swivel operation was received due to the swivel control lever included in the control device 38 (S116). If the control receiver 302 has determined that the swivel operation was received due to the swivel control lever (S116: YES), the process proceeds to S117. The control unit 307 controls the drive of either one or both of the slewing hydraulic motor 2M and the boom lift / lower hydraulic motor 31M so that the trailer pivot point 6S moves along the target trajectory (S117). Based on the received slewing command, the control unit 307 moves the trailer pivot point 6S to the target position TP. Here, the control unit 307 can simultaneously perform the slewing control for rotating the upper slewing body 3 at a constant slewing speed and the lift / lower control for raising / lowering the boom 6 at a constant lift / lower speed, thus maintaining the position of the suspended load in a vertical direction. While the slewing and lifting / lowering controls are being performed, the display control unit 303 changes the display in display area 1410 of the simple operating mode screen according to the slewing and lifting / lowering controls. For example, the display control unit 303 can change the direction and length of the triangular shape 1412 and the circular symbol 1413 according to the movement of the crane 100. The display control unit 303 can also change the length of the displayed triangular shape 1412, the target position TP, and the target trajectory according to the movement of the crane 100 without changing the direction of the triangular shape 1412. Then, according to the embodiment, during the movement of the suspension pivot point 6S, the crane 100 performs a vibration suppression control to ensure that the lower end of the wire rope 82 (the boom hook 81 and / or the suspended load HL) continuously follows the suspension pivot point 6S (S118). Thus, the crane 100 can suppress the oscillation of the wire rope 82 during the movement of the boom 6 and can move the boom hook 81 and / or the suspended load HL stably. Even while the control to move the suspension pivot point 6S to the target position is being performed, the operator can monitor for obstacle contact by the boom hook 81 or the suspended load HL and can initiate the winding or unwinding process if the boom hook 81 or the suspended load HL is likely to contact the obstacle.By performing the winding or unwinding according to the operation, the control unit 307 can adjust the height of the boom hook 81 or the attached load and can thus avoid contact with the obstacle or the like. If it is determined that the slewing operation was not received due to the slewing control lever (S116: NO), the control unit 307 does not control the drive of the slewing hydraulic motor 2M or the drive of the boom lift / lower hydraulic motor 31M. If the slewing operation signal is also stopped before the attachment pivot point 6S moves to the target position TP, the control unit 307 stops the slewing control of the upper slewing body 3 and the lift / lower control of the boom 6. This allows the operator to stop the semi-automatic operation if they visually or otherwise detect an obstruction or the like at a target movement location of the boom hook 81 and the attached load. Then, control unit 307 determines whether the trailer pivot point 6S has reached a position near the target position TP of the target trajectory (S119). If it is determined that the trailer pivot point 6S has not reached a position near the target position (S119: NO), the process returns to S116, and the same process is carried out again. Conversely, if it is determined that the attachment pivot point 6S has reached a position close to the target position TP of the target trajectory (S119: YES), the control unit 307 performs stop control to halt the movement while suppressing the oscillation of the attached load HL (S120). By halting the movement of the attachment pivot point 6S according to this stop control, the oscillation of the boom hook 81 or the attached load HL is stopped at an early stage, precisely above the target position TP. Therefore, the crane operator 100 can subsequently perform the wire rope unwinding operation 82, which smoothly lowers the boom hook 81 or the attached load HL to the target position TP. <Schwingungsunterdrückungssteuerung> Next, the vibration suppression control (S118 in Fig. 6) for suppressing the oscillation of the boom hook 81 or the suspended load HL during the movement of the suspension pivot 6S is described with reference to Fig. 7 and Figs. 8A to 8C. The following description is based on a case where the suspended load HL is attached to the boom hook 81 (hence the lower end of the wire rope 82 is also referred to as the suspended load HL). Fig. 7 is a top view illustrating the target trajectory from the starting position to the target position TP in the presence of an obstacle. Figs. 8A to 8C are first to third explanatory views illustrating a relationship between the position of the suspension pivot 6S and the position of the suspended load HL during the vibration suppression control. During automatic transfer (semi-automatic operation) of the attached load HL, as described above, the control unit 307 controls the movement of the attachment pivot point 6S using the target trajectory generated by the trajectory generation unit 306 (see Fig. 2). To generate the target trajectory, the sensing unit 301 (see Fig. 2) acquires information about the environment of the crane 100 using the environment detection device ES provided on the crane 100 (e.g., the imaging device or the LiDAR sensor) and detects the presence or absence of an object in the environment, such as an obstacle or the like. If an obstacle is located near the crane 100, the control unit 30 displays the detected obstacle in the acquired coordinates (two-dimensional coordinates, three-dimensional coordinates, or the like), as illustrated in Fig. 7.The trajectory generation part 306 generates a target trajectory to avoid the detected obstacle according to the position of the obstacle. The target trajectory for avoiding the obstacle is, for example, a path along which, while maintaining a certain minimum distance, the lifting / lowering movement of the boom 6 is performed only once (the boom 6 only needs to be raised or lowered once), and the obstacle is avoidable. However, the target trajectory generated by the trajectory generation part 306 is not limited to this target trajectory. The trajectory generation part 306 can generate a target trajectory to move the attachment pivot point 6S to the target position TP in a state where the upper slewing body 3 has pivoted in the opposite direction. The generated target trajectory can be represented in a two-dimensional coordinate system by a function of positions, e.g., a polynomial function such as a linear function, a quadratic function, ... a function of order n, or the like, or another function such as a rational function, an irrational function, or the like. The trajectory generation unit 306 sets points at which the position in the target trajectory changes at each predetermined time. As illustrated, for example, in Fig. 7, the target trajectory has point 1 (X1, Y1), point 2 (X2, Y2), point 3 (X3, Y3), ... point N (Xn, Yn). In Fig. 7, the number of points has been reduced for clarity. The actual number of points in the target trajectory depends on the distance between the starting position and the target position and can, for example, range from several tens to several thousand points.In other words, the target trajectory is expressed as a continuous path in a two-dimensional coordinate system by connecting line segments that link the points (X-coordinates, Y-coordinates). As described above, the suspension pivot 6S suspends the boom hook 81 and / or the suspended load HL from the lower end of the wire rope 82 extending vertically downwards (see Fig. 8A). Therefore, the position of the suspension pivot 6S can be expressed by an equation of motion of the load HL (the lower end of the wire rope 82) suspended from the suspension pivot 6S. This equation of motion is, for example, a linear sum of the position, velocity, and acceleration of the suspended load HL. For example, in vibration suppression control, a motion equation of a linear sum, as specified in equation (1) below, is defined between a position of xc and yc of the suspension pivot point 6S and a position of xm and ym of the suspended load. Here, xm in equation (1) is a function of time that gives the position of the x-coordinate of the attached load HL; the first derivative of xm is a function of time that gives the velocity of the x-coordinate of the attached load HL; and the second derivative of xm is a function of time that gives the acceleration of the x-coordinate of the attached load HL. Similarly, ym in equation (1) is a function of time that gives the position of the y-coordinate of the attached load HL, the first derivative of ym is a function of time that gives the velocity of the y-coordinate of the attached load HL, and the second derivative of ym is a function of time that gives the acceleration of the y-coordinate of the attached load HL. As described above, equation (1) contains acceleration. This acceleration can express a force applied to the suspended load HL according to the equation of motion. It is then possible to understand that the oscillation of the suspended load HL is caused by the force applied to the suspended load HL. Therefore, if the target trajectory is expressed by an equation of motion that cancels out the force (acceleration) applied to the suspended load HL, the target trajectory can suppress the oscillation of the suspended load HL and move the suspended load HL. Therefore, in the vibration suppression control, the controller 30 determines values ​​of constants A, B, C, D, E, and F of the linear sum in equation (1) such that the position xc and yc of the suspension pivot 6S always determines the position xm and ym of the suspended load HL. The condition in which the position of the suspension pivot 6S determines the position of the suspended load HL refers to a condition in which the suspended load HL (the wire rope 82) is inclined relative to the suspension pivot 6S at a suitable angle θ, as illustrated in Figures 8A to 8C. In equation (1), constants A, B, and C in the right-hand term of xc and constants D, E, and F in the right-hand term of yc can be equal or different values. While the attachment point 6S is maintained along the target trajectory, the control unit 307 performs the slewing control of the upper slewing body 3 and the lift / lower control of the boom 6 according to the position, velocity, and acceleration of the attachment pivot point 6S, which correspond to the calculated constants A, B, C, D, E, and F. Thus, the attachment pivot point 6S can move along the line segment connecting the points of the target trajectory and can be followed by the attached load HL while suppressing the acceleration applied to the attached load HL. The control unit 30 can correct the target trajectory previously generated by the trajectory generation unit 306 according to the calculated position, velocity, and acceleration of the attachment pivot point 6S to suppress oscillation of the attached load HL.For example, if the acceleration of the suspended load HL increases, the position of the suspended load HL, the speed of the suspended load HL, and the like are corrected to the target trajectory, subtracting the acceleration. By moving the suspension pivot point 6S along the corrected target trajectory, the crane 100 can reduce the oscillation of the suspended load HL during its horizontal movement. In particular, as illustrated in Fig. 8A, the position of the suspension pivot point 6S moves, while the position of the suspended load HL remains unchanged, when the suspension pivot point 6S begins to move from its starting position. This is because the inertia of the suspended load HL is conserved during stopping. Therefore, the wire rope 82 is slightly inclined relative to a vertical imaginary line of the suspension pivot point 6S. Then, as illustrated in Fig. 8B, the suspended load HL begins to move (its position begins to shift) as soon as the suspension pivot point 6S is displaced to a certain degree. As a result, the tilt angle θ of the suspended load HL temporarily overshoots. However, by controlling the movement of the suspension pivot point 6S as described above, the control 30 of the crane 100 adjusts the speed of movement of the suspension pivot point 6S to establish the tilt angle θ calculated after the overshoot. As a result, the crane 100 can cause the suspended load HL to follow the suspension pivot point 6S while maintaining the appropriate tilt angle θ. This means that, as illustrated in Fig. 8C, since the tilt angle θ is essentially maintained when the attached load follows the pivot point 6S, it can only follow the target trajectory of the pivot point 6S, while the acceleration applied to the attached load HL (including any centrifugal force) is suppressed. This prevents the attached load HL from oscillating in a direction other than the direction of motion of the pivot point 6S. The control unit 307 then proceeds to perform the vibration suppression control from the starting position (current position) of the trailer pivot point 6S in the previously generated target trajectory to a position close to and in front of the target position TP. Thus, from the starting position to the position close to the target position TP, the attached load HL is caused to move essentially horizontally in accordance with the trailer pivot point 6S, instead of oscillating due to receiving other external forces. The position close to the target position TP is, for example, a position that is approximately 0.1 meters (m) to approximately 1 m in front of the target position TP. However, the position close to the target position TP is not a fixed position in the sense of control and can change, for example, according to the speeds of movement of the trailer pivot point 6S and the attached load HL. The above description was based on an example where the target trajectory was generated beforehand and parameters for suppressing vibrations were calculated based on the equation of motion. These parameters include, for example, the position of the suspension pivot point 6S, the position of the suspended load HL, the velocity of the suspended load HL, the acceleration of the suspended load HL, and the like, within the generated target trajectory. Thus, the crane 100 can control the movement of the suspension pivot point 6S so that it follows the target trajectory, thereby causing the suspended load HL to follow the suspension pivot point 6S appropriately. However, the above process is by no means limited. At the time of generating the target trajectory, the controller 30 can generate the target trajectory taking into account vibration suppression control parameters related to the acceleration or similar characteristics of the suspended load HL.The control unit 30 can also cause the attached load HL to follow the trailer pivot point 6S by controlling the movement of the trailer pivot point 6S according to the position and time of each point of the target trajectory. For easier understanding, Figures 8A to 8C illustrate an example where the suspended load HL moves in a straight line. In reality, however, the crane 100 moves the suspension pivot point 6S to the target position TP by performing the slewing control of the upper slewing body 3 and the lifting / lowering control of the boom 6. Therefore, as illustrated in Figure 9, the control unit 307 converts the position, velocity, and acceleration of the suspension pivot point 6S along the target trajectory into a rotation angle of an operating axis (e.g., a lifting / lowering axis or a slewing axis) of the crane 100, thereby controlling the operation of the crane 100. Figure 9 is an explanatory diagram illustrating a relationship between a slewing axis p of the crane 100, a lifting / lowering axis q of the crane 100, and each parameter of the crane 100. For example, the rotation angle of the slewing axis p of crane 100 can be expressed by the following equation (2). Here, xc and yc are XY coordinate positions of the trailer pivot point 6S when the trailer pivot point 6S is moved to the target position TP in a reference coordinate system where the starting position of crane 100 is zero. The rotation angle of the lifting / lowering axis q of the crane 100 can be expressed by the following equation (3). Here, d is a distance from the pivot center of crane 100 to a base end of boom 6. r is a radius of a deflection pulley at the tip of boom 6. B is the total length from the base end to the tip of boom 6. To ensure that the trailer pivot point 6S moves along the target trajectory, the control unit 307 sets values ​​for the rotation angle of the slewing axis p in equation (2) and the rotation angle of the lifting / lowering axis q in equation (3). The control unit 307 performs the slewing control of the upper slewing body 3 and the lifting / lowering control of the boom 6 according to the set rotation angles of the slewing axis p and the lifting / lowering axis q, thereby ensuring that the trailer pivot point 6S moves smoothly and that the attached load HL successfully follows the trailer pivot point 6S. The crane 100 preferably controls the movement of the pivot point 6S while monitoring the inclination angle θ of the wire rope 82 during the movement of the pivot point 6S. Therefore, at the time of movement of the pivot point 6S, the position detection unit 305 of the controller 30 detects the positions of the pivot point 6S, the wire rope 82, the boom hook 81, and / or the suspended load HL using the environmental detection device ES and calculates the inclination angle θ of the wire rope 82. Thus, it is possible to clearly determine that the suspended load HL follows the pivot point 6S. However, the detection of the positions or angles of the pivot point 6S, the wire rope 82, the boom hook 81, and / or the suspended load HL is not limited to detection using the environmental detection device ES.For example, a GNSS positioning device is located at the attachment pivot point 6S and another at the boom hook 81, providing the crane with positioning information from these devices. This enables the detection of the positions of the attachment pivot point 6S, the boom hook 81, and / or the suspended load HL. Monitoring of the positions or angles of the boom hook 81 and / or the suspended load HL can also be performed using detection information from the environmental sensing device ES (camera) located near the tip (at the attachment pivot point 6S) of the boom 6. Fig. 10 is a graph illustrating the change over time of the tilt angle θ during the movement of the suspension pivot point 6S. In the graph of Fig. 10, the horizontal axis represents time, and the vertical axis represents the tilt angle θ of the wire rope 82. A tilt angle θ of zero is a state in which the suspended load HL is positioned vertically below the suspension pivot point 6S. A positive tilt angle θ is a state in which the suspended load HL leads the suspension pivot point. A negative tilt angle θ is a state in which the suspended load HL follows the suspension pivot point 6S. Time t0 in Fig. 10 is the point in time at which the pivot point 6S begins to move from its starting position. In the initial state from time t0 to time t1, the attached load HL, illustrated in Fig. 8A, behaves in such a way that it maintains its position. Therefore, the pivot point 6S strongly guides the attached load HL, creating a transitional state in which the tilt angle θ changes sharply towards the negative side. After time t1, the attached load HL begins to follow the pivot point 6S. Here, the control unit 307 regulates the speed of movement of the pivot point 6S so that the attached load HL, whose tilt angle θ has changed towards the negative side, catches up with the pivot point 6S to a certain extent. As a result, the tilt angle θ of the attached load HL approaches zero from the negative side. The control unit 307 also performs the vibration suppression control, as described above, while causing the suspended load HL to follow the suspension pivot point 6S. Thus, the suspension pivot point 6S moves the suspended load HL while maintaining the tilt angle θ of the suspended load HL on the negative side. However, since the suspended load HL oscillates during movement due to external disturbances, vibration of the crane 100, and the like, the suspended load HL can guide the suspension pivot point 6S. Time t2 is the point in time at which the deceleration of the pivot point 6S is initiated, corresponding to the approach of the attached load HL to a position near the target position TP. By decelerating the speed of movement of the pivot point 6S, the inertially moving attached load HL guides the pivot point 6S. Therefore, at time t3, a transition state occurs in which the inclination angle θ of the wire rope 82 changes sharply towards the positive side. Here, the control unit 307 performs stop control to halt the movements of the suspension pivot point 6S and the suspended load HL, while suppressing the oscillation of the suspended load HL (S120 in Fig. 6). Thus, the inclination angle θ of the wire rope 82, which moved towards the positive side, returns smoothly to essentially zero at time t4. Furthermore, after returning to essentially zero, the state (stop at the target position TP) is maintained. Next, the stop control of the trailer pivot point 6S is described in detail with reference to Figures 11A to 11F. Figures 11A to 11F are the first to sixth motion diagrams, illustrating the movement of the trailer pivot point 6S and the behavior of the attached load HL during stop control. As illustrated in Fig. 11A, the pivot point 6S guides the suspended load HL according to the vibration suppression control performed by the crane 100 until the pivot point 6S reaches a position close to the target position TP. The control unit 30 also continuously detects (monitors) the position of the pivot point 6S during the movement of the boom 6, based on detection results from various sensors, and determines whether the pivot point 6S has reached a position close to the target position TP or not. When the trailer pivot point 6S reaches a position close to the target position TP, as illustrated in Fig. 11B, the control unit 307 performs control operations to decelerate the trailer pivot point 6S. The inertia of the attached load HL remains constant relative to the speed of movement of the trailer pivot point 6S. Therefore, the attached load HL catches up with the trailer pivot point 6S. Instead of suddenly decelerating the speed of movement of the trailer pivot point 6S at the position close to the target position TP, the crane 100 can gradually decelerate the speed of movement of the trailer pivot point 6S from a position farther away from the position close to the target position TP. As illustrated in Fig. 11C, the attached load HL further overtakes the trailer pivot point 6S by inertia, i.e., the attached load HL leads the trailer pivot point 6S. During stop control, the trailer pivot point 6S is gradually decelerated relative to the leading attached load HL in order to catch up with the maximum oscillation position (the limit of oscillation) of the attached load HL, thereby suppressing the oscillation of the attached load HL. As illustrated in Fig. 11D, the control unit 307 estimates the maximum oscillation position (the limiting position of oscillation) of the attached load HL, particularly when the attached load HL is guiding the pivot point 6S. The limiting position can be estimated based on the velocity of the attached load HL relative to the deceleration of the pivot point 6S. The control unit 307 then controls slow and sudden deceleration of the pivot point 6S such that the pivot point 6S overlaps with the estimated limiting position of the attached load HL, thus moving the pivot point 6S to the limiting position of the attached load HL. At the limiting position of the attached load HL, the velocity of the attached load HL becomes zero. Therefore, by stopping the pivot point 6S at the limiting position, it is possible to suppress oscillation of the attached load HL in the opposite direction (return). During the movement of the trailer pivot point 6S, the control unit 307 preferably performs control to move the trailer pivot point 6S during a quarter of the cycle in which the suspended load HL oscillates via the wire rope 82. Thus, during the movement of the trailer pivot point 6S towards the limit position of the oscillation of the suspended load HL, it is possible to align the trailer pivot point 6S with the limit position of the oscillation of the suspended load HL. Furthermore, during stop control, as illustrated in Fig. 11E, the control unit 307 preferably causes the deceleration of the trailer pivot point 6S to approach zero as the trailer pivot point 6S approaches the vibration limit position of the attached load HL. This allows the trailer pivot point 6S to stop smoothly at the vibration limit position of the attached load HL, and the vibration of the attached load HL caused by the trailer pivot point 6S exceeding the vibration limit position of the attached load HL can be suppressed. Furthermore, during the actual movement of the pivot point 6S, the control unit 307 calculates the inertia of the suspended load HL and adjusts the movement speed of the pivot point 6S so that the oscillation limit position of the suspended load HL overlaps with the target position TP. As shown in Fig. 11F, the pivot point 6S and the suspended load HL thus overlap exactly with the target position TP when the pivot point 6S stops at the oscillation limit position of the suspended load HL. That is, the crane 100 can move the suspended load HL relative to the target position TP in a state in which the oscillation of the suspended load HL is suppressed. Fig. 12 is a graph illustrating an operation that prevents the suspended load HL from moving in front of the suspension pivot point 6S when the suspended load HL begins to lead during the movement of the suspension point. In the graph of Fig. 12, the horizontal axis represents time, and the vertical axis represents the inclination angle θ of the wire rope 82. As described above, the crane 100 performs control to cause the suspended load HL to follow the suspension pivot point 6S. However, during the actual movement of the suspended load HL, the suspended load HL may, due to a deviation from the target trajectory of the suspension pivot point 6S, vibration of the crane 100, external disturbances, and the like, lead the suspension pivot point 6S. The condition in which the suspended load HL leads the suspension pivot point 6S means that the inclination angle θ of the wire rope 82 in the graph of Fig. 12 changes towards the positive side. In particular, with the vibration suppression control, which causes the suspended load HL to follow the suspension pivot point 6S, the inclination angle θ of the actual suspended load HL is adjusted to remain essentially zero, even when the inclination angle θ is positioned on the negative side (see Fig. 10).This increases the probability that the inclination angle θ of the wire rope 82 will change during the movement of the trailer pivot point 6S towards the positive side. For example, the controller 30 monitors the inclination angle θ of the wire rope 82 according to information about the suspension pivot point 6S and the lower end (the boom hook 81 and / or the suspended load HL) of the wire rope 82, which is detected by the environmental sensing device ES. The controller 30 then determines whether the inclination angle θ of the wire rope 82 is changing towards the positive side or not; in other words, whether the suspended load HL is guiding the suspension pivot point 6S or not. If the inclination angle θ of the wire rope 82 is changing towards the positive side, a subsequent adjustment is performed in which the movement speed of the suspension pivot point 6S is increased. Through this subsequent adjustment, the suspension pivot point 6S again guides the suspended load HL.Alternatively, the subsequent adjustment to increase the movement speed of the trailer pivot point 6S can be performed when the control 30 estimates that the inclination angle θ of the wire rope 82 changes to the positive side (in other words, the attached load HL guides the trailer pivot point 6S). Fig. 13 is a graph illustrating changes in the tilt angle, velocity command value, and slew rate of the suspended load HL during tracking adjustment in the vibration suppression control. As described above, the controller 30 calculates the tilt angle θ of the suspended load HL relative to the suspension pivot point 6S based on detection by the environmental sensing device ES. The controller 30 includes a threshold value for monitoring the state of the suspended load HL and determines whether the tilt angle θ is equal to or greater than the threshold value. It should be noted that a reference position of the tilt angle in the graph represents the target tilt angle for maintaining tracking of the suspended load HL during vibration suppression control. The threshold for determining the tilt angle θ can be set to the positive side, the negative side, or zero. For example, using the positive threshold allows you to determine a condition where the attached load HL safely guides the pivot point 6S. Using the negative threshold allows you to predict that the attached load HL will overtake the pivot point 6S before it actually guides it. Predicting that the attached load HL will overtake the pivot point 6S can be done by determining, based on the rate of change of the tilt angle θ, that the threshold will be exceeded in a pattern where the tilt angle θ changes rapidly. If it is determined that the tilt angle θ of the suspended load HL has become equal to or greater than the threshold value at time tα, the control unit 307 of the control 30 changes the speed command value of the suspension pivot 6S in the direction of movement. As illustrated, for example, in Fig. 13, when the upper slewing body 3 is slewing to the right, the speed command value for slewing to the right is increased from time t1, at which the tilt angle θ has become equal to or greater than the threshold value. As a result, the crane 100 increases the movement speed (slewing speed) of the tip of the boom 6, which is supported by the upper slewing body 3. That is, the movement of the suspension pivot 6S is controlled so that it overtakes the leading suspended load HL, and the suspended load HL again follows the suspension pivot 6S. After the trailing pivot point 6S has overtaken the trailed load HL at time tβ (after the tilt angle θ has reached the reference position), the controller 30 again performs vibration suppression control to suppress the oscillation of the trailed load HL caused by the movement of the trailing pivot point 6S. If the position of the trailing pivot point 6S deviates from the target trajectory due to the follow-up adjustment, it is possible to correct the target trajectory and perform the slewing control of the upper slewing body 3 and the lift / lower control of the boom 6 so that they are along the corrected target trajectory. The controller 30 performs control to gradually decrease the speed of the trailing pivot point 6S, which was increased to overtake the trailing load HL.Thus, the crane 100 can gradually reduce the speed of the suspended load HL while maintaining the positional relationship between the suspension pivot point 6S and the suspended load HL. This can suppress oscillation of the suspended load HL during stops or similar events. The working machine (the crane 100) according to the present disclosure is not limited to the embodiments described above, and various modified examples are possible. For example, the working machine is not limited to a crane used on a construction site and can be a crane located in a port or the like (a low-floor crane, a gantry crane, or a tower crane). Likewise, the working machine is not limited to a mobile crane and can be a stationary crane. Alternatively, the working machine can be a traveling crane, a bridge crane, or the like, in which a movable attachment section is moved on a track. Furthermore, the working machine can, for example, be a crane truck comprising a crane or a tow truck with functions of a crane, in which a wire rope is used as an attachment point of the tow truck. <Modifiziertes Beispiel> Fig. 14 is a schematic diagram illustrating a configuration example of a remote control system SYS for the crane 100 according to a modified example of the present disclosure. As illustrated in Fig. 14, the remote control system SYS comprises a remote control compartment RC. The crane 100 and the remote control compartment RC are connected to each other via a communication line NW to enable the communication of information. The crane 100 transmits detection results from various sensors provided on the crane 100 to the remote control compartment RC using the communication device T1 provided on the crane 100. Furthermore, the crane 100 transmits image information acquired by an imaging device (not shown) to the remote control compartment RC. The remote control compartment RC includes a display device D1E, an operating device 42, an operating sensor 43, an operator seat DS, a remote control 40 and a communication device T2. The remote control 40 comprises the sensing unit 301, the operating receiver unit 302, the display control unit 303, the recording unit 304, the position detection unit 305, the trajectory generation unit 306, and the control unit 307, which are provided in the control unit 30 in the embodiments described above. The control unit 307 is configured to generate a control command for controlling the crane 100 and to transmit the generated control command to the crane 100 using the communication device T2. Therefore, the remote control 40 is configured to perform semi-automatic control of the crane 100 in simple operating mode. Specifically, the remote control 40 is configured to receive position information from the crane 100, specifying the positions for the movement of the boom 6, and to store this position information in a memory device within the remote control 40. This position information includes the position of the attachment pivot point 6S, the position of the lower end of the wire rope 82, and the target position TP. The remote control 40 allows the position information to be used as positions for automatically controlling the upper slewing body 3 and the boom 6. The trajectory generation unit 306 can generate the target trajectory based on the position information.The display device D1E is also configured to display the registered position information and the target trajectory in a display area where the workable area of ​​the crane 100 is shown in a two-dimensional coordinate system or a three-dimensional coordinate system under the control of the remote control 40. When the slewing operation is carried out by the operating device 42, the remote control 40 transmits commands for the slewing control of the upper slewing body 3 and the raising / lowering control of a front attachment 7 to the crane 100, causing the boom 6 to move along the target trajectory to the target position TP. Thus, the crane 100 moves the boom 6 and the boom hook 81 (the lower end of the wire rope 82) to the target position TP. By performing vibration suppression control (including stop control, follow-up adjustment, and the like), the crane 100 can suppress the oscillation of the suspended load HL or the boom hook 81 to achieve stable movement. In this way, the crane 100 can be controlled from a remote location by operating it via the remote control compartment (RC). This makes it easier to secure a crane 100 operator, even if the construction site is in a remote location. <klauseln> The technical ideas and effects of the present disclosure described in the above embodiments are explained below. One aspect of the present disclosure is a working machine (the crane 100) comprising: the wire rope 82 comprising the lower end (the boom hook 81) configured to hold the suspended load HL; and the attachment pivot 6S configured to attach the wire rope 82 and to be movable. In a case where the lower end of the wire rope 82 is moved horizontally from the first position (the starting position) previously set to the second position (the target position TP), the working machine is configured to perform control to maintain, from the first position to the position near the second position, a state in which the attachment pivot 6S guides the position of the lower end of the wire rope 82 and the lower end of the wire rope 82 follows the attachment pivot 6S. According to the above, the working machine (the crane 100) can move the suspension pivot point 6S by controlling the movement of the wire rope 82 to suppress the oscillation of its lower end. Thus, by controlling the movement of the wire rope 82, significant deviation of its lower end from the target trajectory of the suspension pivot point 6S is suppressed. For example, it is possible to avoid problems such as the suspension of the load HL, held by the wire rope 82, being obstructed. The working machine (the crane 100) is also configured to: reduce the speed of movement of the suspension pivot 6S at the position near the second position (the target position TP), thereby causing the lower end (the boom hook 81) of the inertially moving wire rope 82 to guide the suspension pivot 6S; and subsequently move the suspension pivot 6S to overlap the position of the guiding lower end of the wire rope 82 in the vertical direction. With this configuration, the working machine can successfully suppress the oscillation of the lower end of the wire rope 82 while the suspension pivot 6S is stopped. Even in a case where the lower end (the boom hook 81) of the wire rope 82 is caused to guide the suspension pivot 6S, the working machine (the crane 100) is configured to control the speed and position of the suspension pivot 6S such that the limit position of the inertially curved lower end of the wire rope 82 is the second position (the target position TP). With this configuration, the working machine can perform position control so that the suspension pivot 6S and the lower end of the wire rope 82 stop precisely at the target position TP. Even in a case where, during the control of the movement from the first position (the starting position) to the position near the second position (the target position TP), the lower end (the boom hook 81) of the wire rope 82 overtakes, or is estimated to overtake, the trailer pivot point 6S, the working machine (the crane 100) is configured to increase the movement speed of the trailer pivot point 6S. With this configuration, even if the lower end of the wire rope 82 is leading the trailer pivot point 6S, the working machine can cause the lower end of the wire rope 82 to follow the trailer pivot point 6S again. The working machine (the crane 100) is also configured to: monitor an inclination angle θ of the wire rope 82 relative to the vertical direction; and, based on the inclination angle θ, determine a state at which the lower end (the boom hook 81) of the wire rope 82 overtakes the suspension pivot point 6S, or estimates that the lower end of the wire rope 82 overtakes the suspension pivot point 6S. With this configuration, the working machine can easily determine or estimate the state of the lower end of the wire rope 82. The inclination angle θ of the wire rope 82 is also determined by the environmental detection device ES sensing the position of the suspension pivot point 6S and the position of the lower end of the wire rope 82. With this configuration, the working machine (the crane 100) can easily detect the inclination angle θ of the wire rope 82 and smoothly determine whether the lower end of the wire rope 82 guides the suspension pivot point 6S or not. The working machine is the crane 100, which comprises a slewing body (the upper slewing body 3) and the boom 6 attached to the slewing body, which is capable of being raised and lowered. The pivot point 6S is located at the tip of the boom 6. When the tip of the boom 6 is moved from the first position to the second position, the working machine is configured to maintain a state in which the pivot point 6S guides the lower end of the wire rope 82, and the lower end of the wire rope 82 follows the pivot point 6S while the slewing control of the slewing body and the raising / lowering control of the boom 6 are performed. With this configuration, the crane 100 can successfully cause the lower end of the wire rope 82 to follow the pivot point 6S while the slewing control and the raising / lowering control are performed. The working machine (the crane 100) according to the embodiments disclosed herein is exemplary and in no way limiting. The embodiments can be modified and improved in various ways without deviating from the scope and purpose of the stated claims. The aspects described in the embodiments above can assume any other configuration, provided there is no contradiction, and can be combined, provided there is no contradiction. REFERENCE MARK LIST 3 Upper slewing body 6 Boom 6S Attachment pivot point 81 Boom hook 82 Wire rope 100 Crane HL Attached load TP Target position QUOTES INCLUDED IN THE DESCRIPTION This list of documents cited by the applicant was automatically generated and is included solely for the reader's convenience. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions. Cited patent literature JP 2003-155192 [0003, 0004]< / klauseln> < / steuerungssystem> < / kommunikationssystem> < / benutzerschnittstellensystem> < / betriebssystem>

Claims

Working machine comprising: a wire rope comprising a lower end configured to hold a suspended load; and a suspension pivot configured to suspend the wire rope and to be movable, wherein in a case where the lower end of the wire rope is moved in a horizontal direction from a first position previously set to a second position, the working machine is configured to perform control to maintain, from the first position to a position close to the second position, a state in which the suspension pivot guides the lower end of the wire rope and the lower end of the wire rope follows the suspension pivot. Working machine according to claim 1, wherein the working machine is further configured to: reduce the speed of movement of the suspension pivot at the position close to the second position, causing the lower end of the wire rope to guide the suspension pivot by inertia; and subsequently move the suspension pivot so that it overlaps in a vertical direction with a position of the guiding lower end of the wire rope. Working machine according to claim 2, wherein in a case where the lower end of the wire rope is caused to guide the pivot point of the attachment, the working machine is further configured to control a speed of movement and position of the pivot point of the attachment such that a limit position of the lower end of the wire rope swung by inertia is the second position. Working machine according to one of claims 1 to 3, wherein in a case where, during control of a movement from the first position to the position close to the second position, the lower end of the wire rope overtakes or is estimated to overtake the pivot point of the trailer, the working machine is further configured to increase a movement speed of the pivot point of the trailer. Working machine according to claim 4, wherein the working machine is further configured to: monitor an inclination angle of the wire rope relative to a vertical direction; and, based on the inclination angle, determine a state in which the lower end of the wire rope overtakes the pivot point of the attachment, or estimates that the lower end of the wire rope overtakes the pivot point of the attachment. Working machine according to claim 5, wherein the inclination angle of the wire rope is determined by an environment detection device which detects a position of the attachment pivot point and a position of the lower end of the wire rope. Working machine according to any one of claims 1 to 3, wherein the working machine is a crane comprising a slewing body and a boom attached to the slewing body in such a way as to be able to be raised and lowered, the attachment pivot point being provided at a tip of the boom, and in a case in which the boom tip is moved from the first position to the second position, the working machine is configured to maintain a state in which the attachment pivot point guides the lower end of the wire rope and the lower end of the wire rope follows the attachment pivot point, while the working machine performs slewing control of the slewing body as well as raising and lowering control of the boom.

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