Work machine

Abstract

To provide a work machine that can further reduce the oscillation of suspended objects.SOLUTION: The work machine comprises a speed detection unit that detects a predetermined axial oscillation speed of a suspended object (16) suspended from a first member (2a, 2), and controls the drive to move the first member (2a, 2) in the axial direction based on detection results of the speed detection unit, thereby reducing the oscillation of the suspended object (16).SELECTED DRAWING: Figure 8

Description

Technical Field

[0001] The present invention relates to a working machine.

Background Art

[0002] Patent Document 1 describes a technique for suppressing the swing of a suspended load at the end position of transportation when transporting a suspended object.

Prior Art Document

Patent Document

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] The suspended object may swing due to some factor even when the boom is stopped. The present inventors have found that there is a demand to reduce the swing of the suspended object even in such a case.

[0005] An object of the present invention is to provide a working machine capable of further reducing the swing of a suspended object.

Means for Solving the Problems

[0006] The working machine according to the present invention includes a speed detection unit that detects the swing speed of a suspended object suspended from a first member in a predetermined axial direction, and reduces the swing of the suspended object by performing drive control to move the first member in the axial direction based on the detection result of the speed detection unit.

Effects of the Invention

[0007] According to the present invention, an effect of being able to further reduce the swing of a suspended object can be obtained.

Brief Description of the Drawings

[0008]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Embodiments for Carrying Out the Invention

[0009] Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. In this specification, the "X-axis direction" indicates the direction in which the tip of the boom 2 moves when the boom 2 is swung from the stationary state (the tangential direction of the turning circle of the tip), and the "Y-axis direction" indicates the horizontal component of the direction in which the tip of the boom 2 moves when the boom 2 is raised / lowered and laid down from the stationary state. Also, "left-right front-back" indicates the left-right front-back as viewed from the operator of the working machine 1.

[0010] (Configuration of the Working Machine) FIG. 1 is a side view of the working machine 1 according to the present embodiment. FIG. 2 is a plan view showing a part (boom 2, hoisting rope 3, etc.) of the working machine 1 according to an embodiment of the present invention with some parts omitted.

[0011] As shown in FIGS. 1 and 2, the working machine 1 is a so-called mobile crawler crane. Specifically, the working machine 1 includes a self-propelled crawler-type lower traveling body 5 and an upper slewing body 6 rotatably mounted on the lower traveling body 5. A boom 2 is attached to the front side of the upper slewing body 6 so as to be able to rise and fall. A counterweight 7 for balancing the weights of the boom 2 and the suspended load is attached to the rear part of the upper slewing body 6. A cabin 8 where an operator sits to operate the working machine 1 is arranged at the front right part of the upper slewing body 6. The raising and lowering operation of the boom 2 is performed by winding or unwinding a raising and lowering rope 3 by a raising and lowering winch 10. The boom 2 corresponds to an example of the first member according to the present invention.

[0012] One end of the hoisting rope 11 is connected to a hook 12, and the hook 12 is suspended by the hoisting rope 11 wound around a point sheave 17 at the tip of the boom 2. The other end of the hoisting rope 11 is wound around a hoisting winch 13 on the upper slewing body 6. By driving the hoisting winch 13, the hoisting rope 11 is wound or unwound, and the hook 12 moves up and down. The suspended load 14 is suspended from the hook 12 by a suspending member 15 such as a string or a chain. In this embodiment, the hook 12 and the suspended load 14 constitute a suspended object 16 suspended from the boom 2. When the suspended load 14 is not suspended from the hook 12, the suspended object 16 is only the hook 12.

[0013] In a state where the boom 2 is stationary and there is no swing in the suspended object 16, the suspended object 16 is located vertically below the center 17a of the point sheave 17 arranged at the tip of the boom 2. This position is called a reference position. The reference position is a position on a reference line VL (see FIG. 1) extending vertically downward from the center 17a of the point sheave 17 as viewed from the side, and corresponds to a position on an imaginary line extending vertically downward from the center position in the left-right direction of the point sheave 17 as viewed from the front.

[0014] FIG. 3 is an enlarged partial view of the working machine 1 shown in FIG. 1 and shows the mounting structure of the detection unit 4.

[0015] The work machine 1 is provided with a detection unit 4 that detects the suspended object 16. The detection unit 4 corresponds to an example of the speed detection unit according to the present invention. The detection unit 4 includes, for example, a camera that acquires an image of the suspended object 16 by imaging, and a functional module that calculates the position, position change, and speed of the suspended object 16 from the image. The functional module can calculate the distance from the payout amount data of the hoisting rope 11 to the suspended object 16, and calculate the position and speed of the suspended object 16 in the X-axis direction and the Y-axis direction from the displacement amount of the suspended object 16 in the image and the above distance. Note that the detection unit 4 may not include the above functional module, and may be configured to send the video data acquired by the camera to the control unit 23. And the control unit 23 may be configured to calculate the position, position change, and speed of the suspended object 16 based on these data. The camera of the detection unit 4 may be replaced by a LiDAR (light detection and ranging), a millimeter-wave radar, or the like. Further, the detection unit 4 may be replaced by a GNSS (Global Navigation Satellite System) positioning device provided near the suspended object 16 or on the suspended object 16 itself.

[0016] As shown in FIGS. 1 and 3, the detection unit 4 may be suspended via a fixture 18 on the tip side of the boom 2. The fixture 18 has a base 20 fixed to the boom 2, a support column 21 whose one end is rotatably supported by the base 20, and a cover 22 fixed to the other end of the support column 21. This fixture 18 maintains a downward-facing posture by its own weight regardless of the raising and lowering operation of the boom 2. The detection unit 4 is housed inside the cover 22. As a result, the detection unit 4 maintains a downward-facing posture like the support column 21 and the cover 22 of the fixture 18 regardless of the raising and lowering operation of the boom 2.

[0017] FIG. 4 is a block diagram showing the functional configuration of the work machine 1.

[0018] As shown in FIG. 4, the work machine 1 includes a control unit 23, a drive unit 24, an operation unit 25, a display unit 26, a communication unit 27, a detection unit 4, and a surrounding situation detection unit 29.

[0019] The drive unit 24 is a drive source for operating each part of the working machine 1, and includes the above-described hoisting winch 10, the lifting winch 13, the slewing device 30 of the upper slewing body 6, and various other motors, actuators, etc.

[0020] The operation unit 25 is an operation means for an operator to perform various operations. The operation unit 25 includes, for example, a handle, pedals, levers, various buttons, etc., and outputs an operation signal corresponding to the operation content to the control unit 23.

[0021] The control unit 23 is a computer including, for example, an interface for exchanging data or signals between a CPU (Central Processing Unit), a storage unit, and an external device. The control unit 23 inputs an operation command from the operator via the operation unit 25, and drives the drive unit 24 according to the operation command. Thereby, the operation of the working machine 1 corresponding to the operation of the operator is realized.

[0022] The display unit 26 is, for example, a liquid crystal display, an organic electroluminescence display, or other displays, and displays an image of the suspended object 16 and the working site around the suspended object 16 and various information based on a display signal input from the control unit 23. Note that the display unit 26 may be a touch panel that also serves as a part of the operation unit 25. The communication unit 27 is a communication device capable of transmitting and receiving various information to and from, for example, an information terminal (not shown).

[0023] The peripheral situation detection unit 29 detects the peripheral situation of the working machine 1. The peripheral situation detected by the peripheral situation detection unit 29 includes the presence or absence of obstacles such as buildings, people, and structures, and the presence or absence of restricted access areas. The peripheral situation detection unit 29 includes a detector that acquires the video around the working machine 1, three-dimensional positioning information, or both, and detects obstacles located peripherally from the video, positioning information, and both obtained by the detector. Further, information on a preset restricted access area is registered in the peripheral situation detection unit 29, and the presence or absence and position of the restricted access area are determined based on the information. When there are a narrow space and a wide space, the peripheral situation detection unit 29 may detect the narrow space as a restricted access area. Also, the control unit 23 may perform the process of detecting peripheral obstacles based on the data acquired by the above detector, and the process of determining the presence or absence and position of the restricted access area based on the registered information on the restricted access area.

[0024] <Vibration reduction mode> The operation modes of the working machine 1 include a vibration reduction mode for reducing the swing of the suspended object 16. The vibration reduction mode is an operation mode in which the boom 2 is automatically moved to reduce the swing of the suspended object 16. More specifically, the vibration reduction mode is an operation mode in which when the suspended object 16 is swinging while the boom 2 is stopped, the boom 2 is automatically moved and then stopped to reduce the swing of the suspended object 16 in the state where the boom 2 is stopped.

[0025] The operation unit 25 includes a mode operation unit for shifting the working machine 1 to the vibration reduction mode. The operator can shift the operation mode of the working machine 1 to the vibration reduction mode by operating the mode operation unit. As the mode operation unit, various types of operation units such as buttons, switches, or selection operation units on a touch panel can be adopted.

[0026] When the vibration reduction mode is selected, the detection unit 4 continuously (repeatedly at short time intervals) detects the speed of the suspended object 16 in the X-axis direction and the speed in the Y-axis direction, and sends the detection result to the control unit 23. Also, the control unit 23 starts the control process of the vibration reduction mode.

[0027] FIG. 5 is a flowchart showing the control process of the swing reduction mode. FIG. 6 is a diagram showing an example of the locus of the swing of the suspended object 16 when viewed from above. FIG. 7 is a time chart showing the amplitude and speed of the swing in FIG. 6. FIG. 8 is a diagram for explaining an example of the movement of the tip of the boom 2 and the suspended object 16 in the swing reduction control, and (A) to (D) show the states at the first timing to the fourth timing.

[0028] When the control unit 23 starts the control process of the swing reduction mode, first, it executes the loop process of steps S1 and S2. In step S1, the control unit 23 receives the speed of the suspended object 16 in the X-axis direction detected by the detection unit 4. In step S2, the control unit 23 determines whether the speed in the X-axis direction has reached an extreme value. Then, the control unit 23 repeats the loop process of steps S1 and S2 until the extreme value is reached.

[0029] In the determination of the extreme value in step S2, the control unit 23 determines that the extreme value has been reached when the change amount of the speed changes from positive to negative or from negative to positive. The control unit 23 may calculate the change amount of the speed from the detected values of two consecutive speeds and perform the above determination, or consider the possibility of an error in the detected value of the speed and perform the above determination from the comparison of three or more or four or more consecutive detected values of the speed.

[0030] As shown in FIG. 6, the swing of the suspended object 16 is a motion in which the swing in the X-axis direction and the swing in the Y-axis direction are combined. FIG. 6 shows that when viewed from above, the center 16a of the suspended object 16 is displaced along the dashed line due to the swing. Here, focusing on the swing in the X-axis direction, as shown in FIG. 7, the amplitude and speed in the X-axis direction change in a sine wave shape with a phase shift of 90°. And when the suspended object 16 passes through the reference position on the X-axis (the line Lx0 where X = 0 in FIG. 6) (the timing t1 in FIG. 7), the speed in the X-axis direction reaches an extreme value. In other words, the absolute value of the speed in the X-axis direction becomes the maximum value.

[0031] By detecting the extreme value in step S2, it is determined that the timing when the phase angle of the swing of the suspended object 16 reaches a predetermined angle (for example, 0° or 180° in a sine wave), and the speed of the suspended object 16 in the X-axis direction at the phase angle is specified. These pieces of information are sufficient at that time to specify how to move the boom 2 to efficiently reduce the swing of the suspended object 16 in the X-axis direction. Furthermore, even if the reference position on the X-axis is unknown, the extreme value of the speed in the X-axis direction can be obtained from continuous detection of the speed in the X-axis direction. Also, the extreme value of the speed in the X-axis direction can be detected within a time that is half or less of the period even if the swing period of the suspended object 16 is long. That is, through the loop processing of steps S1 and S2, the control unit 23 can acquire information for reducing the swing of the suspended object 16 in the X-axis direction within a short time.

[0032] If it is determined in step S2 that the extreme value has been reached, the control unit 23 determines whether there are obstacles or restricted entry areas within a predetermined range of the moving direction of the suspended object 16 in the X-axis direction based on the detection result of the surrounding situation detection unit 29 (step S3). The above-mentioned predetermined range is the range within which the boom 2 or the suspended object 16 will approach within the allowable distance by the processing of step S5 described later.

[0033] If the result of the determination in step S3 is YES, the control unit 23 returns the process to step S1 in order to perform an operation to reduce the swing when the moving direction of the suspended object 16 in the X-axis direction becomes reverse.

[0034] On the other hand, if the result of the determination in step S3 is NO, the control unit 23 determines a control amount for moving the boom 2 according to the extreme value of the velocity of the suspended object 16 in the X-axis direction (step S4). The direction in which the boom 2 is moved is the direction in which the suspended object 16 is advancing in the X-axis direction. The control amount includes the distance (swing angle), velocity, number of times, driving pressure (pilot pressure, motor pressure, etc. of the slewing device 30 and the luffing winch 10), or a plurality of these. The control unit 23 may refer to a pre-provided data table and determine the control amount according to the extreme value of the above velocity. The data table shows the relationship between the control amount that can effectively reduce the swing of the suspended object 16 and the extreme value of the velocity in the X-axis direction. The relationship between the control amount and the extreme value of the velocity in the X-axis direction can be obtained in advance by, for example, the manufacturer through tests or simulations. As a specific example, the higher the extreme value of the velocity in the X-axis direction, the longer the distance, the higher the velocity, or both of these control amounts are determined as the control amount by the control unit 23. Further, when the extreme value of the velocity in the X-axis direction becomes higher and the control amount of the distance or velocity becomes excessive, the control unit 23 determines a large number of times as the control amount.

[0035] In addition, in step S4, the control unit 23 may determine the control amount for moving the boom 2 from the extreme value of the velocity in the X direction and the swing period. In this case, the period is also added as an argument to the above data table. The control unit 23 holds information on the length of the suspension rope 11a that suspends the suspended object 16, and can calculate the period of the suspended object 16 from the length of the suspension rope 11a.

[0036] Once the control amount is determined, the control unit 23 sends a control command to the drive unit 24 to move the boom 2 in the X-axis direction by the control amount (step S5). Here, the control unit 23 moves the boom 2 in the X-axis direction by rotating the upper swing body 6. The process of step S5 is executed promptly by the control unit 23 after the speed of the suspended object 16 reaches the extreme value. Therefore, the boom 2 starts moving promptly after the speed of the suspended object 16 reaches the extreme value. Although there is a control time lag between the timing when the speed reaches the extreme value and the timing when the boom 2 starts moving, it should be within at least 2 seconds. This time may be within one and a half seconds, or within one second, or within 0.5 seconds.

[0037] Through the processes up to step S5, the following operations of the boom 2 and the suspended object 16 in the X-axis direction are obtained. That is, as shown in FIGS. 8(A) to 8(D), first, when the speed reaches the extreme value (FIG. 8(A)), after a slight time lag, the tip 2a of the boom 2 starts moving (FIG. 8(B)). By moving the boom 2 with the above control amount, the swing of the suspended object 16 is reduced (FIG. 8(C)), and then the boom 2 stops when the swing of the suspended object 16 almost converges (FIG. 8(D)).

[0038] Subsequently, the control unit 23 determines whether the magnitude of the swing of the suspended object 16 in the X-axis direction has become equal to or less than the threshold value (step S6). If YES, the process proceeds. If NO, the process returns to step S1, and the processes of steps S1 to S5 may be repeated again.

[0039] Once the swing in the X-axis direction is reduced, next, the control unit 23 proceeds to the process of reducing the swing of the suspended object 16 in the Y-axis direction.

[0040] That is, first, the control unit 23 executes the loop processes of steps S11 and S12. In step S11, the control unit 23 receives the speed of the suspended object 16 in the Y-axis direction detected by the detection unit 4. In step S12, the control unit 23 determines whether the speed in the Y-axis direction has reached the extreme value. Then, the control unit 23 repeats the loop processes of steps S11 and S12 until the extreme value is reached.

[0041] In the determination of the extreme value in step S12, the control unit 23 determines that the extreme value has been reached when the amount of change in speed changes from positive to negative, or from negative to positive. The control unit 23 may calculate the amount of change in speed from two consecutive detected speed values and perform the above determination, or in consideration of the possibility of errors in the detected speed values, perform the above determination from the comparison of three or more or four or more consecutive detected speed values.

[0042]

[0041] If it is determined in step S12 that the extreme value has been reached, the control unit 23 determines whether there is an obstacle or a restricted entry area within a predetermined range of the moving direction of the suspended object 16 in the X-axis direction based on the detection result of the surrounding situation detection unit 29 (step S13). The above-mentioned predetermined range is a range in which the boom 2 or the suspended object 16 approaches within the allowable distance by the process of step S15 described later.

[0043] If the result of the determination in step S13 is YES, the control unit 23 returns the process to step S11 in order to perform an operation to reduce swing when the moving direction of the suspended object 16 in the Y-axis direction is reversed.

[0044] On the other hand, if the result of the determination in step S13 is NO, the control unit 23 determines a control amount for moving the boom 2 according to the extreme value of the speed of the suspended object 16 in the Y-axis direction (step S14). The direction in which the boom 2 is moved is the direction in which the suspended object 16 is advancing in the Y-axis direction. The control amount includes the distance for moving the boom 2 (the angle of elevation and depression of the boom 2), the speed, the number of times, or a plurality of these. The control unit 23 may refer to a pre-provided data table and determine a control amount according to the extreme value of the speed. The data table shows the relationship between the control amount that can effectively reduce the swing of the suspended object 16 and the extreme value of the speed in the Y-axis direction. The relationship between the control amount and the extreme value of the speed in the Y-axis direction can be obtained in advance by, for example, a manufacturer through tests or simulations. As a specific example, the higher the extreme value of the speed in the Y-axis direction, the longer the distance, the higher the speed, or both of these control amounts are determined as the control amount by the control unit 23. In addition, when the extreme value of the speed in the Y-axis direction becomes higher and the control amount of the distance or speed becomes excessive, the control unit 23 determines a large number of times as the control amount.

[0045] Then, the control unit 23 controls the drive unit 24 to move the boom 2 in the Y-axis direction with the control amount determined in step S14 (step S15). Here, the control unit 23 moves the tip of the boom 2 in a direction including a Y-axis direction component by raising or lowering the boom 2. The process of step S15 is executed promptly by the control unit 23 after the speed of the suspended object 16 reaches the extreme value. Therefore, the boom 2 starts moving promptly after the speed of the suspended object 16 reaches the extreme value. Although there is a control time lag between the timing when the speed reaches the extreme value and the timing when the boom 2 starts moving, it is preferably within at least 2 seconds. This time may be within one and a half seconds, or within one second, or within 0.5 seconds.

[0046] Subsequently, the control unit 23 determines whether the magnitude of the swing of the suspended object 16 in the Y-axis direction has become less than or equal to the threshold value (step S16). If NO, the process returns to step S11, and the processes of steps S11 to S15 may be repeated again.

[0047] If the determination result in step S16 is YES, the control unit 23 ends the control process in the swing reduction mode. By such a control process, the swing of the suspended object 16 can be reduced quickly and efficiently.

[0048] As described above, according to the working machine 1 of the present embodiment, a detection unit 4 for detecting the swing speed of the suspended object 16 in a predetermined axial direction (specifically, the X-axis direction and the Y-axis direction) is provided. Further, in the swing reduction mode, the control unit 23 performs drive control (steps S5, S15) based on the detection result of the detection unit 4 and moves the boom 2 in the axial direction to reduce the swing of the suspended object 16. Here, since the control unit 23 moves the boom 2 based on the detection result of the swing speed, it is possible to generate the movement of the boom 2 according to the speed of the suspended object 16, thereby efficiently and quickly reducing the swing of the suspended object 16. Further, in a plurality of swing reduction modes, since the boom 2 can be operated at the same timing in each swing cycle, stable swing reduction can be realized each time.

[0049] Furthermore, according to the working machine 1 of the present embodiment, in the swing reduction mode, the boom 2 starts to move based on the fact that the speed of the suspended object 16 in a predetermined axial direction has reached an extreme value. Reaching the above extreme value corresponds to a specific timing within the swing cycle (the timing when the swing phase angle is 0° or 180°). Also, the maximum swing speed in a predetermined axial direction is specified from the extreme value. By starting to move the boom 2 at such a timing, it is possible to generate the movement of the boom 2 according to the swing of the suspended object 16 and realize efficient and quick swing reduction. Further, reaching the extreme value of the speed can be detected, for example, even at a stage where the reference position is unknown, and the timing when the speed reaches the extreme value appears once within half of the swing cycle. Therefore, it is possible to shift to the control for quickly moving the boom 2 and realize quick swing reduction.

[0050] Furthermore, according to the working machine 1 of the present embodiment, in the swing reduction mode, the control unit 23 changes the control amount of the drive control (steps S5 and S15) for moving the boom 2 based on the magnitude of the extreme value of the speed of the suspended object 16 in a predetermined axial direction. Thereby, the movement of the boom 2 according to the magnitude of the swing of the suspended object 16 is realized, and more efficient swing reduction can be realized.

[0051] Furthermore, according to the working machine 1 of the present embodiment, as the direction of the detected swing speed and the axial direction which is the direction of moving the boom 2, the X-axis direction along the turning direction of the boom 2 and the Y-axis direction which is the horizontal component of the direction of raising and lowering and falling of the boom 2 are applied. Thereby, the control for moving the boom 2 can be simplified, and stable swing reduction control can be realized.

[0052] Furthermore, according to the working machine 1 of the present embodiment, in the swing reduction mode, the direction of moving the boom 2 is determined according to the surrounding situation of the working machine 1. Therefore, it is possible to prevent the suspended object 16 or the boom 2 from approaching an obstacle or a prohibited entry area beyond the allowable distance due to the operation of the boom 2 in the swing reduction mode.

[0053] Furthermore, according to the working machine 1 of the present embodiment, the detection unit 4 detects the speed of the suspended object 16 when the boom 2 is stopped, and in the swing reduction mode, the swing of the suspended object 16 when the boom 2 is stopped can be reduced. According to the swing reduction mode, when the suspended object 16 is not being conveyed in the horizontal direction and swing occurs due to some factor, and some risk (for example, the approach of the suspended object 16 to an obstacle or a prohibited entry area, the destabilization of the working machine 1, etc.) occurs, the above risk can be suppressed by reducing the swing.

[0054] The embodiments of the present invention have been described above. However, the present invention is not limited to the above embodiments. For example, in the above embodiments, a crawler crane is shown as an example of a working machine, but the working machine may be various other cranes such as a gantry crane. Furthermore, when an object to be lifted is lifted by an arm in an excavator and work is performed, the present invention can also be applied to the excavator as a working machine. A trolley can be applied as the first member in a gantry crane or the like, and an arm can be applied as the first member in an excavator.

[0055] Also, in the above embodiment, an example is shown in which the boom 2 is moved based on the fact that the speed in a predetermined axial direction of the suspended object 16 has reached an extreme value in order to reduce the swing of the suspended object 16. However, after the reference position becomes known, the control unit 23 can calculate the timing at which the suspended object 16 is at which phase angle at that time and the magnitude of the swing (amplitude, maximum speed, etc.) based on the period, the displacement amount of the suspended object 16 from the reference position, and the speed. Therefore, in such a case, the control unit 23 may perform control to start moving the boom 2 based on the fact that the phase angle of the swing has reached a predetermined angle based on the swing speed of the suspended object 16, so as to obtain the effect of reducing the swing of the suspended object 16. As the above-mentioned predetermined angle, a phase angle of any one of -80° to 80° may be applied with the phase angle at which the speed reaches an extreme value being set to 0°.

[0056] Also, in the above embodiment, an example is shown in which the fact that the speed in a predetermined axial direction of the suspended object 16 has reached an extreme value is detected by comparing the speed before and after continuously detected. However, when the reference position in the predetermined axial direction is known, the control unit 23 may determine that the speed in the predetermined axial direction has reached an extreme value by determining that the center of the suspended object 16 has overlapped with the above-mentioned reference position.

[0057] In the above-described embodiment, an example in which the X-axis direction and the Y-axis direction are applied as the predetermined axial directions has been shown. However, for example, when the suspended object 16 performs a pendulum motion on a straight line in a direction oblique to the X-axis in a plan view, the axial direction may be adopted as the predetermined axial direction. Further, in the above-described embodiment, an example in which the control for reducing the swing in the X-axis direction and the control for reducing the swing in the Y-axis direction are respectively performed at different timings has been shown. However, the control for reducing the swing in these two axial directions may be performed in parallel.

[0058] In the above-described embodiment, an example in which the boom 2 is not moved toward an obstacle or a prohibited entry area when an obstacle or a prohibited entry area is close during the swing reduction mode has been shown. However, control may be performed to suppress the number of movements toward the approaching side or to reduce the control amount when moving toward the approaching side. Further, when the boom 2 is moved a plurality of times in the swing reduction mode, in the control for the first movement, control is performed to avoid the movement toward the approaching side described above, and after moving the boom 2 to the opposite side in the second control for moving the boom 2, in the third and subsequent controls, the control for avoiding the movement of the boom 2 toward the approaching side may be released. Further, when there is a narrow space and a wide space in the periphery, control for the direction of moving the boom 2 may be performed based on such peripheral circumstances. That is, control may be performed considering the narrow space as being the same as a prohibited entry area. In the above-described embodiment, as an example of the detection result of the detection unit 4 that triggers the movement of the boom 2 to reduce the swing, the case where the speed reaches an extreme value has been described. However, various conditions can be applied as the detection result of the detection unit 4 that serves as the above trigger, for example, the case where the speed reaches the average value of the peripheral values of the extreme value. In addition, the details shown in the embodiment can be appropriately changed without departing from the gist of the invention.

Explanation of Reference Numerals

[0059] 1 Work machine 2 Boom (first member) 4 Detection unit (speed detection unit) 16 Suspended object 23 Control unit 29 Peripheral situation detection unit

Claims

1. A working machine comprising a speed detection unit that detects the swing speed in a predetermined axial direction of a suspended object suspended from a first member, and performing drive control to move the first member in the axial direction based on the detection result of the speed detection unit to reduce the swing of the suspended object.

2. The working machine according to claim 1, wherein in the drive control, the first member starts to move based on the fact that the speed has reached an extreme value.

3. The working machine according to claim 1, wherein the control amount of the drive control is changed based on the speed.

4. The first member is a boom, and the axial direction is the X-axis direction along the turning direction of the boom, the Y-axis direction which is the horizontal component in the direction of raising and lowering and falling of the boom, or including two of the X-axis direction and the Y-axis direction, the working machine according to claim 1.

5. The working machine according to claim 1, wherein the direction of operating the first member in the drive control is determined according to the surrounding situation of the working machine.

6. The speed detection unit detects the swing speed when the first member is stopped, and the drive control is control to move and stop the first member from a state where the first member is stopped, the working machine according to claim 1.

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