CRANE

Abstract

A crane (1) is provided that can efficiently suppress vibration of a suspended load (H) caused by rotation. The crane (1) includes a rotating platform (12) and a boom (13) that can be raised and lowered with respect to the rotating platform (12). The crane (1) automatically increases and decreases a lifting / lowering movement angle (SU2) of the boom (13) to suppress vibration of a suspended load (H) when the rotating platform (12) rotates to move the suspended load (H). The crane (1) increases and decreases the lifting / lowering movement angle of the boom (13) to suppress vibration of the suspended load (H) in the vibration suppression mode.

Description

BACKGROUND OF THE INVENTIONField of the InventionThe present invention relates to a crane.Description of the Prior ArtJapanese Patent No. 4167885 discloses vibration suppression control of stopping vibration (swing motion) of a floating load caused when a crane rotates. In the vibration suppression control, a radius of a boom suspension point is reduced as a boom rotates, and at the same time, a wire rope suspending the floating load is unwound to stop the vibration of the floating load.SUMMARY OF THE INVENTIONHowever, when the vibration suppression is performed only by unwinding the wire rope as in the vibration suppression control in Japanese Patent No. 4167885, a unwinding speed of the wire rope is slow, and thus there is a problem in that a speed necessary for stopping the vibration cannot be guaranteed.An object of the present invention is to provide a crane that can efficiently suppress vibration of a floating load caused by rotation.According to an aspect of the present invention, there is provided a crane including: a rotary platform; and a boom that can be raised and lowered with respect to the rotary platform, wherein the crane automatically increases and decreases a raising / lowering movement angle of the boom to suppress a vibration of a floating load when the rotary platform rotates to move the floating load.According to the present invention, it is possible to obtain an advantageous effect of efficiently suppressing the vibration of the floating load caused by the rotation.BRIEF DESCRIPTION OF THE FIGURESFIG. 1 is a block diagram showing a crane according to the present embodiment. FIG. 2 is a flowchart showing mode switching processing executed by a mode switching control unit. FIG. 3 is a flowchart showing manual operation processing executed by a manual operation control unit. FIG. 4 is a flowchart showing automatic operation processing executed by an automatic operation control unit. FIG. 5 is a flowchart showing operation processing for vibration suppression performed by an operation control unit for vibration suppression mode. FIG. 6 is a time chart showing an automatic operation example 1 of the embodiment. FIGS. 7A to 7D are phase plane trajectory diagrams each showing a first phase to a fourth phase for describing a principle of vibration suppression in a rotational direction. FIGS. 8A to 8D are phase plane trajectory diagrams each showing a first phase to a fourth phase for describing a principle of vibration suppression in an orthogonal direction. FIGS. 9A and 9B are a phase plane trajectory diagram in the rotational direction and a phase plane trajectory diagram in the orthogonal direction, respectively, the phase plane trajectory diagrams showing a simulation result of Automatic Operation Example 1. FIGS. 10A and 10B are a phase plane trajectory diagram in the rotational direction and a phase plane trajectory diagram in the orthogonal direction, respectively, in a case where the vibration suppression is not performed. FIG. 11 is a time chart showing an automatic operation example 2 of the embodiment. FIG. 12 is a time chart showing an automatic operation example 3 of the embodiment. FIG. 13 is a time chart showing an operation example of a vibration suppression mode. FIGS. 14A to 14C are a phase plane trajectory diagram in a rotational direction q, a phase plane trajectory diagram in an orthogonal direction r, and a floating load trajectory diagram, respectively, the phase plane trajectory diagrams showing a simulation result in the vibration suppression mode.DETAILED DESCRIPTION OF THE INVENTIONHereinafter, each embodiment of the present invention will be described in detail with reference to the drawings.FIG. 1 is a block diagram showing a crane according to the present embodiment. A crane 1 according to the present embodiment includes a lower structure 11, a rotating platform 12 driven to rotate with respect to the lower structure 11, a boom (raising / lowering member) 13 raised and lowered with respect to the rotating platform 12, a hook 14 suspended from the boom 13 via a wire cable L, a detection device 16 such as a camera that detects a vibration of a floating load H, an operation operation unit 20 operable by an operator, an input / output unit 30 that outputs information to the operator and inputs the information from the operator, and a control unit 40 that performs operation control of the crane 1. The detection device 16 transmits detection information (video data or the like) about the vibration of the floating load H to the control unit 40 via an I / O 64.Although FIG. 1 schematically shows the lower structure 11, the lower structure 11 may be, for example, a movable structure such as a crawler, or may be a fixed structure. The rotary platform 12 has a main frame connected to the lower structure 11 via a bearing, and the crane 1 includes a rotary device that rotates via a bearing using power from a hydraulic motor or the like. The boom 13 is pivotally connected to the main frame of the rotary platform 12, and the crane 1 includes a hoist / lowering winch that lifts and lowers the boom 13 by winding or unwinding a wire cable for hoisting / lowering movement. The hook 14 is suspended from the boom 13 via the wire rope L, and the crane 1 includes a raising / lowering winch that raises and lowers the hook 14 by winding or unwinding the wire rope L. The operation operation unit 20, the input / output unit 30, and the control unit 40 may be disposed in, for example, a cabin 2 and a control room 3 on the rotating platform 12.With the above configuration, the crane 1 can suspend the floating load H on the hook 14, wind the wire rope L to suspend the floating load H, and then rotate the rotary platform 12 and, if necessary, change a lifting / lowering movement angle of the boom 13, thereby moving the floating load H to a position above a transport target. Thereafter, the crane 1 can lower the floating load H to the transport destination by unwinding the wire rope L. The rotation of the rotating platform 12, the raising / lowering movement of the boom 13, and the raising and lowering of the floating load H are implemented by the control unit 40 outputting a rotation request signal, a raising / lowering movement signal, and a raising / lowering request signal to a rotation drive circuit 51 that drives a rotating device of the rotating platform 12, a raising / lowering drive circuit 52 that drives the raising / lowering winch, and a raising / lowering drive circuit 53 that respectively drives the raising / lowering winch via an I / O 63. The rotational drive circuit 51, the raising / lowering drive circuit 52, and the raising / lowering drive circuit 53 are collectively referred to as a drive circuit 50.Although not particularly limited thereto, the rotating device rotates the rotating platform 12 by receiving the power from the hydraulic motor rotating with a pressurized oil supplied from a hydraulic pump via a control valve. The rotary drive circuit 51 operates the hydraulic motor by driving the above-described control valve to drive or brake the rotary device.Moreover, the lifting / lowering winch rotates a drum by receiving the power from the hydraulic motor rotating with the pressure oil supplied from the hydraulic pump via the control valve, and wraps the wire rope around the drum or uncoils the wire rope from the drum to raise and lower the boom 13. The lifting / lowering drive circuit 52 operates the hydraulic motor by driving the above-described control valve to drive the lifting / lowering winch. A height of a tip 13 tof the boom 13 increases as the boom 13 is raised (the raising / lowering movement angle is increased), and the height of the tip 13 tof the boom 13 decreases as the boom 13 is lowered (the raising / lowering movement angle is decreased).Moreover, the raising / lowering winch rotates a drum by receiving the power from the hydraulic motor rotating with the pressure oil supplied from the hydraulic pump via the control valve, and wraps the wire rope around the drum or uncoils the wire rope from the drum to raise and lower the hook 14. The raising / lowering drive circuit 53 operates the hydraulic motor by driving the above-described control valve to drive the raising / lowering winch.Hereinafter, the rotation of the rotating platform 12 and the operation thereof will be referred to simply as "rotation" and "rotating operation", the raising / lowering movement of the boom 13 and the operation thereof will be referred to simply as "raising / lowering movement" and "raising / lowering movement operation", and the raising and lowering of the floating load H and the operation thereof will be referred to simply as "raising / lowering movement" and "raising / lowering operation". Moreover, subsequently, the raising / lowering movement angle of the boom 13 is represented by 0 [rad] when horizontal and π / 2 [rad] when vertical, and an increase and a decrease of the raising / lowering movement angle and increasing and decreasing rates of the raising / lowering movement angle are represented.The operation operation unit 20 includes an operation lever 21 for manually performing the turning operation, the raising / lowering movement operation, and the raising / lowering operation, an automatic operation start operation unit 22 for transitioning the crane 1 to an automatic operation mode, and a vibration suppression mode transition operation unit 23 for transitioning to a vibration suppression mode. The automatic operation mode is an operation mode in which information on the transport destination of the floating load H is input in advance, and the rotation operation and the raising / lowering movement operation are automatically performed by operating the automatic operation start operation unit 22 in a state in which the floating load H is suspended, so that the floating load H can be automatically moved over the transport destination. The vibration suppression mode is an operation mode in which a vibration suppression operation of reducing the vibration of the floating load H is automatically performed. An operation signal of the operation lever 21, an operation signal of the automatic operation start operation unit 22, and an operation signal of the vibration suppression mode transition operation unit 23 are transmitted to the control unit 40 via an I / O 61.The input / output unit 30 includes a notification unit 31 that notifies the operator of information via display or sound, and an operation panel 32 via which the operator can input information via the operation. In addition, the control unit 40 includes an automatic operation setting processing unit 45 that inputs setting information (a movement start position of the floating load H, a movement path of the boom 13, a movement end position of the floating load H, and the like) to the automatic operation via the operation panel 32. The notification unit 31 receives a command from the control unit 40 via an I / O 62 to perform a notification process. The operation panel 32 receives an indication signal from the control unit 40 (more specifically, from the automatic operation setting processing unit 45) via the I / O 62, and outputs an operation signal to the control unit 40 (more specifically, from the automatic operation setting processing unit 45) via the I / O 62. There is a location where it is desired to avoid the passage of the boom 13 or to avoid the passage of the floating load H and the wire rope L during the turning operation, and the information on the movement path of the boom 13 in the automatic operation can be adjusted in a case where the passage can be avoided by changing the lifting / lowering movement angle of the boom 13. The movement end position information may include format input using position information, or may include format input using a rotation angle of the rotating platform 12 and the raising / lowering movement angle of the boom 13. Alternatively, a format may be used in which a position of the hook 14 is input as the movement end position by moving the hook 14 and performing a determination operation via a manual operation.The control unit 40 includes a mode switching control unit 41 that performs switching control of the operation mode, a manual operation control unit 42 that performs operation control of the crane 1 in a manual operation mode, an automatic operation control unit 43 that performs operation control of the crane 1 in the automatic operation mode, a vibration suppression mode operation control unit 44 that performs operation control of the crane 1 in the vibration suppression mode, and the automatic operation setting processing unit 45 that inputs the automatic operation setting information via the operation panel 32. The control unit 40 is a computer that includes a central processing unit (CPU), a storage device that stores a control program, and an interface that inputs and outputs a signal between the control unit 40 and an external device (a component of the crane 1). The mode switching control unit 41, the manual operation control unit 42, the automatic operation control unit 43, the vibration suppression mode operation control unit 44, and the automatic operation setting processing unit 45 may be software modules implemented by the CPU executing the control program. The control unit 40 exchanges commands and information with the operation operation unit 20, the input / output unit 30, the detection device 16, and the drive circuit 50 via a bus and the I / O devices 61 to 63.FIG. 2 is a flowchart showing mode switching processing executed by the mode switching control unit. FIG. 3 is a flowchart showing manual operation processing executed by the manual operation control unit. FIG. 4 is a flowchart showing automatic operation processing executed by the automatic operation control unit. FIG. 5 is a flowchart showing operation processing for vibration suppression performed by the operation control unit for vibration suppression mode. Next, the functions of the respective control units of the control unit 40 will be described with reference to the flowcharts.As shown in FIG. 2, in the manual operation mode, the mode switching control unit 41 performs loop processing including determination processing of steps S 1, S 2, S 4, and S 5. In the loop processing, the mode switching control unit 41 determines whether or not the operator performs operation (operation for starting the automatic operation) of the automatic operation start operation unit 22 (step S 1), and when the operation is performed, switches the operation mode to the automatic operation mode (step S 3). Further, the mode switching control unit 41 determines whether or not a predetermined automatic switching to automatic operation condition (for example, a condition in which a request for automatic switching to the automatic operation mode is issued, the floating load is at the motion start position of the automatic operation, and the operation is stopped) is satisfied (step S 2), and when the condition is satisfied, switches the operation mode to the automatic operation mode (step S 3). The automatic operation control unit 43 operates by switching to the automatic operation mode.Further, the mode switching control unit 41 determines whether or not the operator performs operation (operation for transition to the vibration suppression mode) of the operation unit 23 for transition to the vibration suppression mode (step S 4), and when the operation is performed, switches the operation mode to the vibration suppression mode (step S 6). Further, the mode switching control unit 41 determines whether or not the vibration of the floating load H is equal to or greater than a predetermined threshold (step S 5), and when the vibration is equal to or greater than the threshold, causes the operation mode to transition to the vibration suppression mode (step S 6). The determination of step S 5 may be processing in which not only a magnitude of the vibration is determined but also widely various states of the vibration of the floating load H are determined to determine whether or not it is preferable to perform the vibration suppression. The detection information indicating the state (magnitude and the like) of the vibration of the floating load H is input from the detection device 16 to the mode switching control unit 41. The vibration suppression mode operation control unit 44 operates by switching to the vibration suppression mode.The mode switching control unit 41 may be configured to assist the transition of the operation mode to the vibration suppression mode based on the state of vibration of the floating load H. The term "support" means an operation of prompting the operator to transition to the vibration suppression mode by, for example, issuing notification via the notification unit 31. Further, the mode switching control unit 41 may perform the transition of the operation mode to the vibration suppression mode or assist the transition of the operation mode based on a rotation stop or a rotation acceleration during the manual operation (may be during the automatic operation in which the vibration suppression operation is not performed).As shown in FIG. 3, the manual operation control unit 42 inputs the operation signal of the operation lever 21 (step S 11), determines a type of operation of the operation lever 21 (step S 12), and, when the operation is a rotational operation, outputs a rotation command corresponding to the operation to the rotational drive circuit 51 (step S 13). Moreover, in a case of a raising / lowering movement operation, a raising / lowering movement command corresponding to the operation is output to the raising / lowering drive circuit 52 (step S 14). Moreover, in a case of a raising / lowering movement operation, a raising / lowering movement command corresponding to the operation is output to the raising / lowering drive circuit 53 (step S 15). Then, the manual operation control unit 42 returns the processing to step S 11. The manual operation control unit 42 implements the turning operation, the raising / lowering movement operation, and the raising / lowering movement operation in response to the operation of the operation lever 21 through the manual operation processing as described above.The automatic operation control unit 43 performs the automatic operation including an automatic rotation operation and an automatic raising / lowering movement operation on the basis of the automatic operation setting information set via the automatic operation control unit 45. The automatic operation may include an automatic raising / lowering moving operation. The automatic operation further includes a vibration suppressing operation of suppressing the vibration of the floating load H. Here, the vibration suppressing operation is an operation of suppressing the vibration of the floating load H at a final moving position of the floating load H in the automatic operation, and includes an operation of accelerating and decelerating the rotation and an operation of accelerating and decelerating the lifting / lowering movement. The automatic operation control unit 43 calculates the vibration of the floating load H caused by the automatic operation and operation parameters of the vibration suppression operation of suppressing the vibration, and includes the vibration suppression operation having the calculated operation parameters in the automatic operation.In detail, as shown in FIG. 4, the automatic operation control unit 43 calculates time-series control data for each operation of the turning operation, the raising / lowering movement operation, and the raising / lowering movement operation from the setting information of the automatic operation (step S 21). Further, the automatic operation control unit 43 calculates the vibration caused in the floating load H and the operation parameters of the vibration suppressing operation of suppressing the vibration from the time-series control data of the automatic operation calculated in step S 21 (step S 22). Then, time-series control data of the vibration suppressing operation to which the operation parameters of step S 22 are applied is added to the time-series control data of the automatic operation calculated in step S 21 (step S 23). The computations of steps S 21 to S 23 may be performed when the setting information of the automatic operation is set, instead of being performed in the automatic operation processing.The automatic operation control unit 43 performs the automatic operation processing in accordance with the operation time series control data generated in steps S 21 and S 23 in the loop processing of subsequent steps S 24 to S 26. That is, the automatic operation control unit 43 determines whether or not it is at the time to issue the command (step S 24), when it is at the time to issue the command to issue the rotation, raising / lowering movement or raising / lowering movement command to the corresponding drive circuit (the rotation drive circuit 51, the raising / lowering drive circuit 52, or the raising / lowering drive circuit 53) in accordance with the time-series control data (step S 25), and determines whether or not the time-series control data is finished (step S 26). The automatic operation control unit 43 repeats the processing of steps S24 to S26 until it is determined at step S26 that the time series control data has been terminated. By such processing, the automatic operation including the vibration suppression operation calculated in steps S 21 to S 23 is implemented.The vibration suppression mode operation control unit 44 performs the vibration suppression operation of suppressing the vibration of the floating load H. Here, the vibration suppression operation is an operation of suppressing the vibration of the floating load H that is already present when the transition to the vibration suppression mode is performed, and includes an operation of accelerating and decelerating the rotation and an operation of accelerating and decelerating the lifting / lowering motion. The operation mode before the transition to the vibration suppression mode corresponds to a normal mode. First, as shown in FIG. 5, the vibration suppression mode operation control unit 44 acquires the detection information (amplitudes and phases of vibration in two directions) of the detection device 16 indicating the state of vibration of the floating load H (step S 31). Next, the vibration suppression mode operation control unit 44 calculates the operation parameters of the vibration suppression operation for suppressing the vibration of the floating load H based on the detection information (step S 32), and calculates the time-series control data of the vibration suppression operation to which the calculated operation parameters are applied (step S 33). The vibration suppressing mode operation control unit 44 executes the processing of the vibration suppressing operation in accordance with the time series control data generated in step S 33 in the loop processing of subsequent steps S 34 to S 36. That is, the vibration suppression mode operation control unit 44 determines whether or not it is at the time to issue the command (step S 34), when it is at the time to issue the command, outputs the rotation or raising / lowering movement command to the corresponding drive circuit (the rotation drive circuit 51 or the raising / lowering drive circuit 52) in accordance with the time series control data (step S 35), and determines whether or not the time series control data is ended (step S 36). The vibration suppression mode operation control unit 44 repeats the processing of steps S34 to S36 until it is determined at step S36 that the time series control data is terminated. By such processing, the vibration suppressing operation calculated in step S 33 is implemented, and the vibration of the floating load H is suppressed.(Automatic Operation Example)FIG. 6 is a time chart showing an automatic operation example 1 of the embodiment. FIG. 6 shows the automatic operation in a case where the floating load H can be moved from the movement start position to the movement end position only by the rotational operation.In this case, when the vibration suppressing operation is not necessary, the floating load H can be moved to the movement end position by accelerated rotations a 1 and a 2, constant-speed rotations c 1, c 2, and c 3, and decelerated rotations b 1 and b 2. However, in such a movement, the rotational movement of the floating load H causes the vibration in a rotational direction q (see FIG. 1 ) and, at the same time, the centrifugal force generated in the floating load H causes the vibration in an orthogonal direction r (a horizontal direction perpendicular to the rotational direction q, see FIG. 1 ). The vibration in the rotation direction q is represented by an angle θq in the rotation direction q between a vertical line J passing through the tip of the boom 13 (a suspension position of the wire rope L) and the wire rope L, and the vibration in the orthogonal direction r is represented by an angle θr in the orthogonal direction r between the vertical line J and the wire rope L. When the wire rope L is represented by a length l, angular speeds ω and periods T of the vibrations θqand θrare functions of the length l. The period T corresponds to a vibration period that is a time for the vibrations θqor θrto oscillate back and forth.As shown in FIG. 6, the automatic operation according to the embodiment includes a rotation vibration suppressing operation SU 1 in which mainly the vibration θq in the rotation direction q is suppressed, and an orthogonal vibration suppressing operation SU 2 in which mainly the vibration θr in the orthogonal direction r is suppressed. The orthogonal vibration suppressing operation SU 2 may account for a part of the suppressing effect of the vibration θq in the rotational direction q. The rotation vibration suppressing operation SU 1 may account for a part of the suppressing effect of the vibration θr in the orthogonal direction r.The rotation vibration suppression operation SU 1 is an operation including, in time series, a decelerated rotation B 11, an accelerated rotation A 12, and a decelerated rotation B 13. The rotation vibration suppression operation SU 1 may be performed during a rotation deceleration period T 11 of the automatic operation in a final stage of the automatic operation in which the floating load H approaches the movement end position. The rotation vibration suppression operation SU 1 may be an operation with a time length within a period of the vibration. The rotation vibration suppression operation SU 1 may be an operation in which the rotation angle at a start point and the rotation angle at an end point coincide with each other, or may be an operation in which the rotation angle at the start point and the rotation angle at the end point do not coincide with each other.The orthogonal vibration suppressing operation SU 2 is an operation of suppressing the floating load H by increasing and decreasing the lifting / lowering movement angle of the boom 13, and includes, in time series, a decrease B 21 of lifting / lowering movement angle, an increase A 22 of lifting / lowering movement angle, and a decrease B 23 of lifting / lowering movement angle. During a period of the orthogonal vibration suppressing operation SU 2, winding and unwinding of the wire rope L are not performed. The wire rope L can be wound, unwound, or wound and unwound during the period of the orthogonal vibration suppression operation SU 2. The orthogonal vibration suppression operation SU 2 may be performed in the last stage of the automatic operation in which the floating load H approaches the movement end position, in the automatic operation deceleration period T 11, and in a period after the rotation deceleration period T 11. The orthogonal vibration suppression operation SU 2 may be an operation with a time length within a period of the vibration. The orthogonal vibration suppression operation SU 2 may be an operation in which the lifting / lowering movement angle at a start point and the lifting / lowering movement angle at an end point coincide with each other, or may be an operation in which the lifting / lowering movement angle at the start point and the lifting / lowering movement angle at the end point do not coincide with each other. The operation in which the raising / lowering movement angle at the start point and the raising / lowering movement angle at the end point of the orthogonal vibration suppressing operation SU 2 coincide with each other corresponds to an operation in which an increase amount and a decrease amount of the raising / lowering movement angle during the orthogonal vibration suppressing operation are equal to each other. A case where the increase amount and the decrease amount of the raising / lowering movement angle are equal to each other is not limited to only a case where the increase amount and the decrease amount of the raising / lowering movement angle are exactly equal to each other, but also includes a case including an error. The error in which the increase amount and the decrease amount of the raising / lowering movement angle can be considered to be equal to each other is an amount in which a horizontal displacement amount of the hook 14 due to a difference in the raising / lowering movement angle is equal to or less than a maximum horizontal width (for example, 50 cm) of the hook 14.The automatic operation control unit 43 creates the time-series control data for implementing the rotating operation and the raising / lowering movement operation including the rotation vibration suppressing operation SU 1 and the orthogonal vibration suppressing operation SU 2, as shown in the time chart of FIG. 6, based on the setting information of the automatic operation. Then, when an automatic operation start condition is satisfied, such as when the floating load H is disposed at the movement start position and the automatic operation start operation unit 22 is operated, the automatic operation control unit 43 performs the rotating operation and the raising / lowering movement operation in accordance with the time series control data of the rotating operation and the raising / lowering movement operation.In a case of the automatic operation in FIG. 6, the rotation operation of the accelerated rotation a 1, the constant speed rotation c 1, the accelerated rotation a 2, the constant speed rotation c 2, and the decelerated rotation b 1 is performed, and the rotating platform 12 including the boom 13 rotates and the floating load H moves in accordance with the rotation. Due to such rotational movement, the floating load H generates the vibration angles θq and θr in the rotational direction q and the orthogonal direction r. After that, when the rotational vibration suppressing operation SU 1 and the orthogonal vibration suppressing operation SU 2 are executed, the vibration θq in the rotational direction q and the vibration θr in the orthogonal direction r of the floating load H are reduced by the acceleration or deceleration of the rotation in the rotational vibration suppressing operation SU 1 and the increase or decrease of the lifting / lowering movement angle of the orthogonal vibration suppressing operation SU 2. Then, the rotation of the boom 13 and the rotating platform 12 is stopped in a state where the vibration of the floating load H is reduced by the subsequent decelerated rotation b 2. Then, the movement of the floating load H to the movement end position is completed in a state where the vibration is suppressed.<VERFAHREN FOR CALCULATING OPERATING PARAMETERS OF ROTATION VIBRATION SUPPRESSION OPERATION>An example of a method of calculating the operation parameters for determining the rotation vibration suppressing operation SU 1 and the orthogonal vibration suppressing operation SU 2 will be described below. The magnitudes and times of the decelerated rotation B 11, the accelerated rotation A 12, and the decelerated rotation B 13 in the rotation vibration suppression operation SU 1 are obtained from the following algorithm. Here, the acceleration or deceleration of a tip position of the boom 13 corresponding to the decelerated rotation B 11, the accelerated rotation A 12, or the decelerated rotation B 13 is represented by b 11, a 12, or b 13.First, the principle will be described. As shown in FIG. 7A, the vibration θqin the rotational direction q can be represented as a circular motion of a phase point N shown on a predetermined phase plane (a horizontal axis represents the phase θq, and a vertical axis represents a standardized angular velocity "1 / ω×dθq / dt (a time derivative is represented by a point in the drawing)"). The circular motion of the phase point N rotates in the period T. When the tip of the cantilever 13 is stopped, the circular motion representing the vibration θq is performed along a circle Cq 0 centered on the origin of the phase plane. Meanwhile, when the acceleration or deceleration a in the same direction as the vibration θq is applied to the tip of the boom 13, the center of the circular motion representing the vibration θq is shifted to a point "vertical axis 0, horizontal axis (- a / g)" (g is the gravitational acceleration) in accordance with the acceleration or deceleration.As shown in FIGS. 7A and 7B, when the phase point N representing the vibration moves along an initial circle Cq 0, the acceleration or deceleration b 11 is applied at a time point when the phase point N comes to a predetermined point Q 1 of the circle Cq 0, whereby a center point of the circle movement on the phase plane is changed to a point -b 11 / g, and the circle movement of the phase point N representing the vibration can be changed to a movement along a circle Cq 1. Next, as shown in FIGS. 7B and 7C, when the phase point N representing the vibration moves along the circle Cq 1, the acceleration or deceleration a 12 is applied at a time point at which the phase point N comes to a predetermined point Q 2 of the circle Cq 1, whereby the center point of the circle movement on the phase plane is changed to a point -a 12 / g, and the circle movement of the phase point N representing the vibration can be changed to a movement along a circle Cq 2. Similarly, as shown in FIGS. 7C and 7D, when the phase point N representing the vibration moves along the circle Cq 2, the acceleration or deceleration b 13 is applied at a time point when the phase point N comes to a predetermined point Q 3 of the circle Cq 2, whereby the center point of the circle movement on the phase plane is changed to a point -b 13 / g, and the circle movement of the phase point N representing the vibration can be changed to a circle Cq 3 passing through the origin. When the phase point N representing the vibration is moved along the circle Cq 3, the acceleration or deceleration is set to zero at a time point when the phase point N comes to the origin, whereby the phase point N representing the vibration stops at the origin and the vibration θq of the floating load H can be set to zero.The automatic operation control unit 43 uses the algorithm in accordance with the above-described principle to decrease the vibration θqin the rotational direction q or to make the vibration θqin the rotational direction q substantially zero, and calculates the acceleration or deceleration b 11, a 12, and b 13 and the rotational acceleration or deceleration B 11, A 12, and B 13 converted from the acceleration or deceleration b 11, a 12, and b 13 and the timings at which the phase point N reaches the predetermined points Q 1, Q 2, Q 3, and Q 0. The automatic operation control unit 43 uses these calculation results as the operation parameters of the rotation vibration suppressing operation SU 1. The operation parameters still have degrees of freedom, and the automatic operation control unit 43 may calculate the above-described operation parameters using the degrees of freedom such that the rotation angle at the start point and the rotation angle at the end point of the rotation vibration suppression operation SU 1 coincide with each other.<Method for Calculating Operating Parameters of Orthogonal Vibration Suppression Operation>The amounts and times of decreasing B 21 of elevation / lowering movement angle, increasing A 22 of elevation / lowering movement angle, and decreasing B 23 of elevation / lowering movement angle in the orthogonal vibration suppressing operation SU 2 are obtained from the algorithm in accordance with the same principle as described above. Here, the acceleration or deceleration, in the orthogonal direction r, of the tip position of the boom 13 corresponding to the decrease B 21 of raising / lowering movement angle, the increase A 22 of raising / lowering movement angle, or the decrease B 23 of raising / lowering movement angle is represented by b 21, a 22, or b 23.First, the principle will be described. As shown in FIG. 8A, the vibration θr in the orthogonal direction r can be represented as a circular motion of a phase point N shown on a predetermined phase plane (a horizontal axis represents the phase θr, and a vertical axis represents a standardized angular velocity "1 / ω×dθr / dt (a time derivative is represented by a point in the drawing)"). The circular motion of the phase point N rotates in the period T. When the tip of the cantilever 13 is stopped, the circular motion representing the vibration θr is performed along a circle Cr 0 centered on the origin of the phase plane. Meanwhile, when the acceleration or deceleration a in the same direction as the vibration θr is applied to the tip of the boom 13, the center of the circular motion representing the vibration θr is shifted to a point "vertical axis 0, horizontal axis (- a / g)" (g is the gravitational acceleration) according to the acceleration or deceleration.As shown in FIGS. 8A and 8B, when the phase point N representing the vibration moves along an initial circle Cr 0, the deceleration b 21 is applied at a time point when the phase point N comes to a predetermined point R 1 of the circle Cr 0, whereby a center point of the circle movement on the phase plane is changed to a point -b 21 / g, and the circle movement of the phase point N representing the vibration can be changed to a movement along a circle Cr 1. Next, as shown in FIGS. 8B and 8C, when the phase point N representing the vibration moves along the circle Cr 1, the acceleration a 22 is applied at a time point when the phase point N comes to a predetermined point R 2 of the circle Cr 1, whereby the center point of the circle movement on the phase plane is changed to a point -a 22 / g, and the circle movement of the phase point N representing the vibration can be changed to a movement along a circle Cr 2. Similarly, as shown in FIGS. 8C and 8D, when the phase point N representing the vibration moves along the circle Cr 2, the deceleration b 23 is applied at a time point when the phase point N comes to a predetermined point R 3 of the circle Cr 2, whereby the center point of the circle movement on the phase plane is changed to a point -b 23 / g, and the circle movement of the phase point N representing the vibration can be changed to a circle Cr 3 passing through the origin. When the phase point N representing the vibration is moved along the circle Cr 3, the acceleration or deceleration is set to zero at a time point when the phase point N comes to the origin, whereby the phase point N representing the vibration stops at the origin and the vibration θr of the floating load H can be set to zero.The automatic operation control unit 43 uses the algorithm according to the above-described principle to decrease the vibration θr in the orthogonal direction r or to make the vibration θr in the orthogonal direction r substantially zero, and calculates the acceleration or deceleration b 21, a 22, and b 23 and the lifting / lowering motion acceleration B 21, A 22, and B 23 converted from the acceleration or deceleration b 21, a 22, and b 23 and the timings at which the phase point N reaches the predetermined points R 1, R 2, R 3, and R 0. The operation parameters still have degrees of freedom, and the automatic operation control unit 43 may calculate the above-described operation parameters using the degrees of freedom such that the lifting / lowering movement angle at the start point and the lifting / lowering movement angle at the end point of the orthogonal vibration suppression operation SU 2 coincide with each other. The automatic operation control unit 43 uses these calculation results as the operation parameters of the orthogonal vibration suppression operation SU 2.The above-described calculation methods of the operation parameters of the rotation vibration suppressing operation SU 1 and the orthogonal vibration suppressing operation SU 2 are merely examples. The automatic operation control unit 43 may perform correction including various elements that influence the vibration of the floating load H, such as wind, the weight of the wire rope L, and a change in the rotation direction q and the orthogonal direction r due to the rotation, in the calculation using the above-described algorithm to calculate the above-described operation parameters. Alternatively, the automatic operation control unit 43 may calculate the operation parameters for determining the rotation vibration suppressing operation SU 1 and the orthogonal vibration suppressing operation SU 2 using another algorithm, or may acquire such operation parameters by machine learning.< Result of Automatic Operation Example 1>FIG. 9A is a diagram showing, in the phase plane, a simulation result of the vibration θqin the rotational direction q in the automatic operation example 1, and FIG. 9B is a diagram showing, in the phase plane, a simulation result of the vibration θrin the orthogonal direction r in the automatic operation example 1. FIGS. 10A and 10B are diagrams showing, in the phase plane, simulation results of the vibrations θqand θrduring the automatic operation in which the vibration suppression is not performed. In the drawings, points Qe and Rs indicate phase points at the start point of the automatic operation, and points Qe and Re indicate phase points at the end point of the automatic operation.According to the automatic operation example 1 shown in FIG. 6, the floating load H can be moved to the movement end position by the rotation operation, and further, the vibration of the floating load H at the movement end position is suppressed by the rotation vibration suppression operation SU 1 and the orthogonal vibration suppression operation SU 2. As shown in FIGS. 9A and 9B, due to the operation of the automatic operation example 1, both the vibrations θq and θr in the rotational direction q and the orthogonal direction r are suppressed. Arrow curves F 1 to F 3 in FIG. 9A are changes in the phase point due to the rotation vibration suppressing operation SU 1, and correspond to arrow curves f 1 to f 3 shown in FIGS. 7B to 7D for describing the principle. Arrow curves F 4 to F 6 in FIG. 9B are changes in the phase point due to the orthogonal vibration suppression operation SU 2, and correspond to arrow curves f 4 to f 6 shown in FIGS. 8B to 8D for describing the principle.Meanwhile, as shown in FIGS. 10A and 10B, when the rotation vibration suppression operation SU 1 and the orthogonal vibration suppression operation SU 2 of the automatic operation example 1 are not performed, in the vibration θq in the rotation direction q, the phase point is largely changed at the accelerated rotation a 1 and a 2 and the decelerated rotation b 1 and b 2, the phase point Qe does not approach the zero point at the end point, so that the residual vibration is increased. Moreover, in the vibration θr in the orthogonal direction r, the amplitude gradually deviates due to the centrifugal force, and the phase point Re does not approach the zero point at the end point, so that the residual vibration is increased.(AUTOMATIC OPERATION EXAMPLE 2)FIG. 11 is a time chart showing an automatic operation example 2 of the embodiment. The automatic operation example 2 is the automatic operation in a case where the floating load H can be moved from the movement start position to the movement end position only by the rotation operation as in the automatic operation example 1, and is an example in which an execution time of a rotation vibration suppression operation SU 3 and an orthogonal vibration suppression operation SU 4 is changed from the automatic operation example 1.As shown in FIG. 11, the automatic operation control unit 43 may execute the rotation vibration suppressing operation SU 3 and the orthogonal vibration suppressing operation SU 4 during the rotation of the automatic operation, more specifically, between constant-speed rotation c 2 mand d 2 nin a middle phase of the automatic operation. Moreover, the automatic operation control unit 43 may execute the rotation vibration suppressing operation SU 3 and the orthogonal vibration suppressing operation SU 4 during decelerated rotation in the middle phase of the automatic operation, during accelerated rotation in an early phase of the automatic operation, or the like. Moreover, the automatic operation control unit 43 can execute the operation at different times without simultaneously performing the rotation vibration suppressing operation SU 3 and the orthogonal vibration suppressing operation SU 4.The rotation vibration suppression operation SU 3 is an operation including, in time series, a decelerated rotation B 31, an accelerated rotation A 32, and a decelerated rotation B 33. The rotation vibration suppression operation SU 3 may be an operation with a time length within a period of the vibration. The rotation vibration suppression operation SU 3 may be an operation in which the rotation angle at a start point and the rotation angle at an end point coincide with each other, or may be an operation in which the rotation angle at the start point and the rotation angle at the end point do not coincide with each other.The orthogonal vibration suppressing operation SU 4 is an operation of suppressing the floating load H by increasing and decreasing the lifting / lowering movement angle of the boom 13, and includes, in time series, a decrease B 41 of lifting / lowering movement angle, an increase A 42 of lifting / lowering movement angle, and a decrease B 43 of lifting / lowering movement angle. During a period of the orthogonal vibration suppressing operation SU 4, winding and unwinding of the wire rope L are not performed. However, the winding and unwinding of the wire rope L may be used in combination. The orthogonal vibration suppression operation SU 4 may be an operation with a time length within a period of the vibration. The orthogonal vibration suppression operation SU 4 may be an operation in which the lifting / lowering movement angle at a start point and the lifting / lowering movement angle at an end point coincide with each other, or may be an operation in which the lifting / lowering movement angle at the start point and the lifting / lowering movement angle at the end point do not coincide with each other.The automatic operation control unit 43 creates the time-series control data for implementing the rotating operation and the raising / lowering movement operation including the rotation vibration suppressing operation SU 3 and the orthogonal vibration suppressing operation SU 4, as shown in the time chart of FIG. 11, based on the setting information of the automatic operation. Then, when an automatic operation start condition is satisfied, such as when the floating load H is disposed at the movement start position and the automatic operation start operation unit 22 is operated, the automatic operation control unit 43 performs the rotating operation and the raising / lowering movement operation in accordance with the time series control data of the rotating operation and the raising / lowering movement operation.In a case of the automatic operation in FIG. 11, the rotation operation of the accelerated rotation a 1, the constant speed rotation c 1, the accelerated rotation a 2, and the constant speed rotation c 2 mis performed, and the rotation platform 12 including the boom 13 rotates, and the floating load H moves in accordance with the rotation. Due to such rotational movement, the floating load H generates the vibration angles θq and θr in the rotational direction q and the orthogonal direction r. After that, when the rotational vibration suppressing operation SU 3 and the orthogonal vibration suppressing operation SU 4 are executed, the vibration θq in the rotational direction q of the floating load H is changed by the rotational vibration suppressing operation SU 3. Further, the vibration θr in the orthogonal direction r is changed by the orthogonal vibration suppressing operation SU 4. Further, when constant speed rotation c 2 n, decelerated rotation b 1, constant speed rotation c 3, and decelerated rotation b 2 are performed thereafter, the effect of vibration by these rotations is added to the floating load H. The above-described effect is added to the vibrations θq and θr that are changed by executing the rotation vibration suppressing operation SU 3 and the orthogonal vibration suppressing operation SU 4, thereby finally reducing the vibration of the floating load H. Then, the rotation of the boom 13 and the rotating platform 12 is stopped, and the movement of the floating load H to the movement end position is completed in a state where the vibration is suppressed.<Verfahren for Calculating Operating Parameters of Vibration Suppression Operation>In a case where the rotation vibration suppressing operation SU 3 is performed during the rotation of the automatic operation (for example, the early phase or the middle phase of the automatic operation), the automatic operation control unit 43 calculates the operation parameters of the rotation vibration suppressing operation SU 3 using the algorithm in accordance with the above-described principle so as to suppress the vibration at the end point of the automatic operation including the effect of the vibration θq in the rotation direction q caused by the rotation operation after the rotation vibration suppressing operation SU 3.Similarly, in a case where the orthogonal vibration suppression operation SU 4 is performed during the rotation of the automatic operation (for example, the early phase or the middle phase of the automatic operation), the automatic operation control unit 43 calculates the operation parameters of the orthogonal vibration suppression operation SU 4 by performing the calculation using the above-described algorithm so that the vibration at the end point of the automatic operation including the effect of the centrifugal force of the rotary operation on the rotation θr in the orthogonal direction r after the orthogonal vibration suppression operation SU 4 is suppressed.Further, in a case where the rotation angle at which the rotation vibration suppressing operation SU 3 and the orthogonal vibration suppressing operation SU 4 are performed is significantly different from the rotation angle at the movement end position, the rotation direction q during the vibration suppressing operation is a direction including a component in the rotation direction q and a component in the orthogonal direction r at the time of the end of the automatic operation. Similarly, during the vibration suppression operation, the orthogonal direction r is a direction including a component in the rotational direction q and a component in the orthogonal direction r at the time of end of the automatic operation. Therefore, the rotation vibration suppressing operation SU 3 acts on both the vibration θq in the rotation direction q and the vibration θr in the orthogonal direction r at the end point of the automatic operation, and the orthogonal vibration suppressing operation SU 4 acts on both the vibration θq in the rotation direction q and the vibration θr in the orthogonal direction r at the end point of the automatic operation. Therefore, in such a case, the automatic operation control unit 43 only needs to determine the operation parameters of the rotation vibration suppressing operation SU 3 and the orthogonal vibration suppressing operation SU 4 such that an amount by which both the rotation vibration suppressing operation SU 3 and the orthogonal vibration suppressing operation SU 4 act on the vibration θq in the rotation direction q at the end point of the automatic operation and an amount by which the automatic operation after the vibration suppressing operation acts on the vibration θq in the rotation direction q at the end point of the automatic operation are combined to suppress the vibration θq in the rotation direction q. Moreover, the automatic operation control unit 43 only needs to determine the operation parameters of the rotation vibration suppressing operation SU 3 and the orthogonal vibration suppressing operation SU 4 such that an amount by which both the rotation vibration suppressing operation SU 3 and the orthogonal vibration suppressing operation SU 4 act on the vibration θr in the orthogonal direction r at the end point of the automatic operation and an amount by which the automatic operation after the vibration suppressing operation acts on the vibration θr in the orthogonal direction r at the end point of the automatic operation are combined to suppress the vibration θr in the orthogonal direction r. The rotation vibration suppressing operation SU 3 and the orthogonal vibration suppressing operation SU 4 calculated in this manner can suppress the vibration of the floating load H at the time of the end of the automatic operation even when the early phase or the middle phase of the automatic operation is set as the execution time of the vibration suppressing operation.(Automatic Operation Example 3)FIG. 12 is a time chart showing an automatic operation example 3 of the embodiment. The automatic operation example 3 is an automatic operation including a raising / lowering movement operation of changing a movement radius of the floating load H. For example, in a case where the lifting / lowering movement angle of the boom 13 differs between the movement start position and the movement end position of the floating load H, or in a case where there is a need to change the lifting / lowering movement angle of the boom 13 due to a restriction of the movement path of the boom 13 or the floating load H during a process of movement, the automatic operation of changing the movement radius of the floating load H is used. In such an automatic operation, in addition to the rotation operation including the accelerated rotations a 1 and a 2, the constant-speed rotations c 1, c 2, and c 3, and the decelerated rotations b 1 and b 2, which are the same as those in the automatic operation example 1 and the automatic operation example 2, the raising / lowering movement operation including an increase aa 1 of raising / lowering movement angles, a raising / lowering movement cc 1 of constant speed, and a decrease bb 1 of raising / lowering movement angles is included.The automatic operation control unit 43 performs a rotation vibration suppressing operation SU 5 and an orthogonal vibration suppressing operation SU 6 during the automatic operation as described above. In the example of FIG. 12, the automatic operation control unit 43 performs the rotation vibration suppressing operation SU 5 and the orthogonal vibration suppressing operation SU 6 in the last stage of the automatic operation, more preferably, in the rotation deceleration period T 11 and a lifting / lowering movement decreasing period T 12. However, as shown in the automatic operation example 2, the automatic operation control unit 43 may perform the rotation vibration suppressing operation SU 5 and the orthogonal vibration suppressing operation SU 6 in the early stage, the middle stage, or the like of the automatic operation. Moreover, the automatic operation control unit 43 can execute the operations at different times without performing the rotation vibration suppressing operation SU 5 and the orthogonal vibration suppressing operation SU 6 simultaneously.The rotation vibration suppressing operation SU 5 is calculated in the same manner as the rotation vibration suppressing operation SU 1 shown in the automatic operation example 1.The orthogonal vibration suppressing operation SU 6 is an operation of suppressing the floating load H by increasing and decreasing the lifting / lowering movement angle of the boom 13, and includes, in time series, a decrease B 61 of lifting / lowering movement angle, an increase A 62 of lifting / lowering movement angle, and a decrease B 63 of lifting / lowering movement angle. During a period of the orthogonal vibration suppressing operation SU 6, winding and unwinding of the wire rope L are not performed. However, the winding and unwinding of the wire rope L may be used in combination. The orthogonal vibration suppression operation SU 6 may be an operation with a time length within a period of the vibration. The orthogonal vibration suppression operation SU 6 may be an operation in which the lifting / lowering movement angle at a start point and the lifting / lowering movement angle at an end point coincide with each other, or may be an operation in which the lifting / lowering movement angle at the start point and the lifting / lowering movement angle at the end point do not coincide with each other. The decreases B 61 and B 63 of elevation / lowering movement angle and the increase A 62 of elevation / lowering movement angle in the orthogonal vibration suppression operation SU 6 can be accelerated or decelerated more quickly than the acceleration or deceleration of the increase aa 1 of elevation / lowering movement angle and the decrease bb 1 of elevation / lowering movement angle in the other periods during the automatic operation.The automatic operation control unit 43 creates the time-series control data for implementing the rotating operation and the raising / lowering movement operation including the rotation vibration suppressing operation SU 5 and the orthogonal vibration suppressing operation SU 6, as shown in the time chart of FIG. 12, based on the setting information of the automatic operation. Then, when an automatic operation start condition is satisfied, such as when the floating load H is disposed at the movement start position and the automatic operation start operation unit 22 is operated, the automatic operation control unit 43 performs the rotating operation and the raising / lowering movement operation in accordance with the time series control data of the rotating operation and the raising / lowering movement operation. By such an automatic operation, the rotation angle and the lifting / lowering movement angle are changed, and the floating load H is moved to the movement end position, and further, the rotation vibration suppressing operation SU 5 and the orthogonal vibration suppressing operation SU 6 are performed, so that the vibration of the floating load H at the movement end position is suppressed.(Operation Example of Vibration Suppression Mode)FIG. 13 is a time chart showing an operation example of the vibration suppression mode.When the transition to the vibration suppression mode is performed, the vibration suppression mode operation control unit 44 performs, for example, a rotation vibration suppression operation SU 7 and an orthogonal vibration suppression operation SU 8, as shown in FIG. 13. In a case where, after the floating load H is manually moved, the vibration suppression mode transition operation unit 23 is operated to perform the transition to the vibration suppression mode to suppress the vibration of the floating load H, periods T 31 and T 32 in which the rotation and the lifting / lowering movement are stopped are included immediately before and after the vibration suppression mode (the rotation vibration suppression operation SU 7 and the orthogonal vibration suppression operation SU 8). Moreover, even if the vibration of the floating load H is increased during the movement of the floating load H and the mode switching control unit 41 automatically makes the transition to the vibration suppression mode, the periods T 31 and T 32 in which the rotation and the raising / lowering movement are stopped may be included immediately before, immediately after, or both immediately before and immediately after the vibration suppression operation (the rotation vibration suppression operation SU 7 and the orthogonal vibration suppression operation SU 8).The vibration suppression mode operation control unit 44 may acquire the vibrations θq and θr of the floating load H before the vibration suppression operation and information on the phases of the vibrations, for example, based on the detection information indicating the state of the vibration of the floating load H detected by the detection device 16 in the period T 31. The vibration suppression mode operation control unit 44 calculates the operation parameters of the rotation vibration suppression operation SU 7 and the orthogonal vibration suppression operation SU 8 based on the principle and the algorithm described in the automatic operation example 1. Then, the vibration suppression mode operation control unit 44 performs the turning operation and the raising / lowering movement operation in accordance with the time series control data to which the operation parameters are applied.The rotation vibration suppression operation SU 7 is an operation including, in time series, a decelerated rotation B 71, an accelerated rotation A 72, and a decelerated rotation B 73. The rotation vibration suppression operation SU 7 may be an operation with a time length within a period of the vibration. The rotation vibration suppression operation SU 7 is an operation in which the rotation angle at a start point and the rotation angle at an end point coincide with each other, or may be an operation in which the rotation angle at the start point and the rotation angle at the end point do not coincide with each other.The orthogonal vibration suppressing operation SU 8 is an operation of suppressing the floating load H by increasing and decreasing the lifting / lowering movement angle of the boom 13, and includes, in time series, a decrease B 81 of lifting / lowering movement angle, an increase A 82 of lifting / lowering movement angle, and a decrease B 83 of lifting / lowering movement angle. During a period of the orthogonal vibration suppressing operation SU 8, winding and unwinding of the wire rope L are not performed. However, the winding and unwinding of the wire rope L may be used in combination. The orthogonal vibration suppression operation SU 8 may be an operation with a time length within a period of the vibration. The orthogonal vibration suppression operation SU 8 is an operation in which the lifting / lowering movement angle at a start point and the lifting / lowering movement angle at an end point coincide with each other, but may be an operation in which the lifting / lowering movement angle at the start point and the lifting / lowering movement angle at the end point do not coincide with each other.< Result of Vibration Suppression Mode>FIGS. 14A to 14C are a phase plane trajectory diagram in the rotational direction q, a phase plane trajectory diagram in the orthogonal direction r, and a floating load trajectory diagram, respectively, the phase plane trajectory diagrams showing a simulation result in the vibration suppression mode. Points Qs, Rs, and Ps indicate respective phase points and trajectory points before the vibration suppression operation, and points Qe, Re, and Pe indicate respective phase points and trajectory points after the vibration suppression operation. As a result of the operation of the vibration suppression mode of FIG. 13, both the vibrations θq and θr in the rotational direction q and the orthogonal direction r are suppressed, as shown in FIGS. 14A to 14C.As described above, in the crane 1 according to the present embodiment, the vibration of the floating load H is suppressed by the orthogonal vibration suppressing operations SU 2, SU 4, and SU 6 in which the lifting / lowering movement angle of the boom 13 is increased and decreased as the rotating platform 12 rotates to move the floating load H during the automatic operation. In such a vibration suppressing operation, it is not necessary to wind or uncoil the wire rope L, and it is possible to suppress the vibration θrin the orthogonal direction r caused by the rotating operation without changing the vibration period of the floating load H. Since the vibration period is not changed, the vibration suppression is easily controlled, and the operator can easily predict the trajectory of the floating load H. However, the vibration period may be changed.Further, in the crane 1 according to the present embodiment, as shown in the automatic operation example 3, in a case where the hoisting / lowering motion operation (the magnification aa 1 of hoisting / lowering motion angle, the constant-speed hoisting / lowering motion cc 1, and the magnification bb 1 of hoisting / lowering motion angle) of changing the motion radius of the floating load H in the automatic operation is included, the magnification A 62 of hoisting / lowering motion angle and the reductions B 61 and B 63 of hoisting / lowering motion angle are included, the enlargement rate or reduction rate in the orthogonal vibration suppression operation SU 6 (the enlargement and the reduction of the raising / lowering movement angle for the vibration suppression) has a larger enlargement rate or reduction rate than the enlargement aa 1 of raising / lowering movement angle and the reduction bb 1 of raising / lowering movement angle included in the raising / lowering movement operation. In such an automatic operation, the speed at which the vibration of the floating load H is increased can be decelerated by the raising / lowering movement operation for changing the movement radius. Further, the vibration of the floating load H during the vibration suppressing operation can be quickly suppressed.Further, in the crane 1 according to the present embodiment, the time of the orthogonal vibration suppression operations SU 2, SU 4, SU 6, and SU 8 is shorter than the vibration period. Therefore, a time during which a large vibration continues to exist after the vibration suppressing operation is started can be shortened.Further, in the crane 1 according to the present embodiment, the increase amount and the decrease amount of the lifting / lowering movement angle are equal to each other in the orthogonal vibration suppressing operations SU 2, SU 4, SU 6, and SU 8. Therefore, it is possible to suppress the change in the lifting / lowering movement angle of the boom 13 before and after the vibration suppressing operation, and it is possible to suppress the change in the movement radius of the floating load H during the automatic operation via the vibration suppressing operation.Further, in the crane 1 according to the present embodiment, as shown in the automatic operation example 1 and the automatic operation example 3, the orthogonal vibration suppression operations SU 2 and SU 6 are performed in the automatic operation deceleration period T 11 and a subsequent period. Therefore, since the operation causing the vibration in the floating load H does not continue for a long time after the orthogonal vibration suppression operations SU 2 and SU 6, the vibration of the floating load H at the movement end position in the automatic operation can be further reduced. In a case where the vibration suppressing operation is performed in the rotation deceleration period T 11, it is possible to achieve the effect that lifting / lowering movement is performed up and down for vibration suppression while the boom 13 is moving.Further, in the crane 1 according to the present embodiment, the vibration suppression mode operation control unit 44 increases and decreases the lifting / lowering movement angle of the boom 13 to suppress the floating load H in the vibration suppression mode. Therefore, in a case where the vibration suppression mode is activated, it is possible to respond to the request at different timings when the vibration suppression in the orthogonal direction r is required.Further, the crane 1 according to the present embodiment includes the detection device 16 that detects the vibration of the floating load H, and the mode switching control unit 41 performs the transition to the vibration suppression mode or supports the transition to the vibration suppression mode on the basis of the detection information of the detection device 16 indicating the state of the vibration of the floating load H. With such a configuration, in a case where the vibration of the floating load H becomes large, it is possible to perform the transition to the vibration suppression mode and suppress the vibration.Further, in the crane 1 according to the present embodiment, the mode switching control unit 41 makes the transition to the vibration suppression mode or assists the transition to the vibration suppression mode based on the stop or the deceleration of the rotation of the rotating platform 12. Therefore, according to the configuration described above, it is possible to satisfy the requirement for suppressing the vibration in the last phase of the movement of the floating load H. The mode switching control unit 41 may determine the stop or the deceleration of the rotation based on the operation signal of the operation lever 21 or the movement of the rotating platform 12.The embodiment of the present invention has been described above. However, the present invention is not limited to the above-described embodiment. In the above-described embodiment, for example, a configuration has been described in which the vibration suppressing operation of increasing and decreasing the lifting / lowering movement angle of the boom is performed only once during the automatic operation. However, the vibration suppression operation may be performed, for example, a plurality of times at a plurality of times during the automatic operation, such as the middle phase and the last phase. In a case where the vibration suppression operation is performed a plurality of times, the vibration suppression operation except for the last vibration suppression operation may be an operation of suppressing the vibration θr at this time. Moreover, in the above-described embodiment, the operation example including, in time series, the decrease of elevation / lowering movement angles, the increase of elevation / lowering movement angles, and the decrease of elevation / lowering movement angles has been described as the vibration suppression operation of increasing and decreasing the elevation / lowering movement angle of the boom, but for example, an operation including, in time series, the increase of elevation / lowering movement angles, the decrease of elevation / lowering movement angles, and the increase of elevation / lowering movement angles may be used, or the vibration suppression operation may be performed by combining the increase of elevation / lowering movement angles and the decrease of elevation / lowering movement angles, in which the amount of acceleration or deceleration is continuously changed over time, instead of switching between raising / lowering movement with constant acceleration and deceleration, may be configured. Moreover, as shown in FIGS. 6 and 13, the orthogonal vibration suppression operations SU 2 and SU 8 may be divided into two operations at the time when the lifting / lowering movement speed is zero, and the operation in the first half and the operation in the second half may be performed at a time interval. Moreover, in the above-described embodiment, the example in which the orthogonal vibration suppressing operation and the rotation vibration suppressing operation are combined has been described, but the orthogonal vibration suppressing operation can be performed without performing the rotation vibration operation when the rotation vibration suppressing operation is not necessary.Moreover, in the above-described embodiment, the crane including a boom that can be raised and lowered with respect to the rotating platform has been described, but the crane according to the present invention may be a crane including a first boom (for example, a tower boom) pivotally connected to the rotating platform and a second boom (for example, an auxiliary boom) pivotally connected to the first boom. In this case, the lifting / lowering movement angle of the first boom, the lifting / lowering movement angle of the second boom, or the lifting / lowering movement angles of both the first boom and the second boom can be increased and decreased to perform the operation of suppressing the vibration of the floating load. Moreover, the crane according to the present invention may be any crane as long as the crane includes a rotary platform and is capable of being raised and lowered, such as a wheel crane, a truck crane, an auxiliary boom crane, and a tower rotary crane. Moreover, the details shown in the embodiment can be appropriately modified without departing from the scope of the invention.Brief Description of the Reference Numerals1 Crane 11 lower structure 12 Rotary platform 13 Boom 14 Hook 16 Detection device 22 Automatic operation start operation unit 23 Vibration suppression mode transition operation unit 31 Notification unit 40 Control unit 41 Mode switching control unit 43 Automatic operation control unit 44 Vibration suppression mode operation control unit I: Wire H: Floating load θq: Swing in the rotational direction θr: Swing in the orthogonal direction t 11 Time period for deceleration of rotation su 1, su 3, su 5, and su 7: Rotation vibration suppression operation su 2, su 4, su 6, and su 8: Orthogonal vibration suppression operation b 21, b 23, b 41, b 43, b 61, b 63, b 81, and b 83: Decrease of elevation / lowering movement angles a 22, a 42, b 63, a62 and a82: Increase of elevation / lowering movement angleReferences included in the specificationThis list of documents cited by the applicant has been produced in an automated manner and is only included for the better information of the reader. The list is not part of the German patent application or utility model application. The DPMA does not take any adhesion for any faults or omissions.Patent Literature citedJP 4167885 [0002, 0003]

Claims

A crane (1) comprising: a rotary platform (12); and a boom (13) that can be raised and lowered with respect to the rotary platform (12), wherein the crane (1) automatically increases and decreases a raising / lowering movement angle of the boom (13) to suppress a vibration of a floating load (H) when the rotary platform (12) rotates to move the floating load (H).The crane (1) according to claim 1, wherein during an automatic operation in which the rotary platform (12) rotates to move the floating load (H), the crane (1) automatically increases and decreases the lifting / lowering movement angle of the boom (13) to suppress the vibration of the floating load (H).The crane (1) according to claim 2, wherein the automatic operation comprises a raising / lowering movement operation for changing a movement radius of the floating load (H), and an increase in the raising / lowering movement angle for suppressing the vibration has a larger increase rate than an increase in the raising / lowering movement angle included in the raising / lowering movement operation, or a decrease in the raising / lowering movement angle for suppressing the vibration has a larger decrease rate than a decrease in the raising / lowering movement angle included in the raising / lowering movement operation.The crane (1) according to any one of claims 1 to 3, wherein a time for increasing and decreasing the lifting / lowering movement angle for suppressing the vibration is shorter than a vibration period that is a time for the floating load (H) to perform swing to and fro.The crane (1) according to any one of claims 1 to 3, wherein an amount of increase and an amount of decrease of the lifting / lowering movement angle for suppressing the vibration are the same.The crane (1) according to any one of claims 1 to 3, wherein increasing and decreasing the lifting / lowering movement angle for suppressing the vibration are performed during decelerated rotation of the rotating platform (12) after the rotating platform (12) stops rotating, or both during decelerated rotation of the rotating platform (12) and after the rotating platform (12) stops rotating.The crane (1) according to claim 1, wherein the crane (1) has a normal mode in which vibration suppression is not performed and a vibration suppression mode in which vibration suppression is performed, and the vibration of the floating load (H) is suppressed by increasing and decreasing the lifting / lowering movement angle of the boom (13) in the vibration suppression mode.The crane (1) according to claim 7, further comprising: a detection device (16) that detects the vibration of the floating load (H); and a control unit (40) that performs transition to the vibration suppression mode or that assists the transition to the vibration suppression mode based on detection information of the detection device.The crane (1) according to claim 7 or 8, further comprising: a control unit (40) that performs transition to the vibration suppression mode or that assists the transition to the vibration suppression mode based on a stop of rotation of the rotating platform (12) or deceleration of the rotation.

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