Posture automatic control device and posture automatic control method for suspended load

Abstract

To provide a control device and a control method capable of automatically controlling the posture of a suspended load at low cost.SOLUTION: A posture automatic control device for suspended load according to the present invention comprises a posture information acquisition device 2 installed on a suspended load 1 and acquiring posture information on the suspended load 1, multiple chain blocks 3 each provided with a chain for suspending the suspended load 1, a horizontal linear motion mechanism 7 connected to the chain blocks 3 and moving the position of the chain blocks 3 horizontally, and a control part 8 for controlling the chain blocks 3 and the horizontal linear motion mechanism 7. The control part 8 controls the length of the chains by controlling the chain blocks 3 based on the posture information on the suspended load 1 acquired by the posture information acquisition device 2 and also controls the posture of the suspended load 1 by controlling the horizontal linear motion mechanism 7 to move the position of the chain blocks 3 in the horizontal direction.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to an apparatus and method for automatically controlling the attitude of a suspended load during transportation.

Background Art

[0002] In the transportation of suspended loads at construction sites, manufacturing sites, etc., in order to install the suspended load at an accurate position, a total station or a camera may be mounted on the suspended load, and an operator manually controls the suspended load while monitoring the attitude of the suspended load and the surrounding environment. In order to eliminate the shortage of manpower and human errors in such manual control, technologies for automatically controlling the attitude of suspended loads have attracted attention.

[0003] An example of a conventional technique for automatically controlling the attitude of a suspended load is described in Patent Document 1. In the apparatus described in Patent Document 1, the suspended load is lifted via a core control unit suspended by a wire from the tip of the jib of the tower crane's suspended load, and positioning data from a satellite, wire angle data, suspended load acceleration data, and suspended load attitude angle data are received to detect the sway angle of the suspended load. A thrust corresponding to the sway angle is generated from a thruster to control the sway of the suspended load, and the slide amount is calculated from the difference between the current position and the mounting position of the suspended load, and the attitude of the suspended load is controlled by aligning it with the mounting position using a thruster.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] When a suspended load is suspended by a lifting tool and transported by, for example, a crane, if the suspended load is large, the suspended load may tilt or rotate together with the lifting tool during transportation.

[0006] When an operator manually controls and installs a suspended load while monitoring the posture of the suspended load, it is difficult to accurately level the posture of the suspended load, and there is a problem that it is difficult to install the suspended load with high precision. In addition, in manual control by an operator, there is a concern that labor costs will be incurred in a long-term process and installation mistakes or personal accidents due to human error may occur.

[0007] In a technology for automatically controlling the posture of a suspended load, the above problems in manual control can be solved. However, when controlling the position of the suspended load using positioning data from a satellite or coordinate data obtained using a total station, there is a problem that the cost increases. In addition, for example, when transporting a suspended load under high radiation, there is a possibility that the equipment for controlling the position of the suspended load will be contaminated by radiation. Therefore, it is necessary to replace the equipment for each process, which incurs a huge cost.

[0008] An object of the present invention is to provide a control device and a control method capable of automatically controlling the posture of a suspended load at low cost.

Means for Solving the Problem

[0009] The posture automatic control device for a suspended load according to the present invention includes a posture information acquisition device installed on the suspended load to acquire information on the posture of the suspended load, a plurality of chain blocks each having a chain for suspending the suspended load, a horizontal linear motion mechanism connected to the chain block to move the position of the chain block in the horizontal direction, and a control unit for controlling the chain block and the horizontal linear motion mechanism. The control unit controls the length of the chain by controlling the chain block based on the information on the posture of the suspended load acquired by the posture information acquisition device, and controls the position of the chain block in the horizontal direction by controlling the horizontal linear motion mechanism, thereby controlling the posture of the suspended load.

[0010] According to the present invention, a method for automatically controlling the attitude of a suspended load includes an acquisition step in which an attitude information acquisition device installed on a suspended load suspended by chains provided in each of a plurality of chain blocks acquires information on the attitude of the suspended load, and a control step in which a control unit controls the length of the chain and moves the position of the chain block in the horizontal direction based on the information on the attitude of the suspended load acquired by the attitude information acquisition device, thereby controlling the attitude of the suspended load.

Effect of the Invention

[0011] According to the present invention, it is possible to provide a control device and a control method capable of automatically controlling the attitude of a suspended load at low cost.

Brief Description of the Drawings

[0012]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6A

Figure 6B

Mode for Carrying Out the Invention

[0013] In the automatic attitude control device and the automatic attitude control method for a suspended load according to the present invention, when transporting a suspended load using a lifting tool, the attitude of the suspended load is automatically controlled using information on the attitude of the suspended load (tilt angle and turning angle). In the present invention, since a relatively inexpensive device is used to acquire the tilt angle and turning angle of the suspended load and the attitude of the suspended load is automatically controlled, the occurrence of human error can be prevented and the cost can be reduced.

[0014] Hereinafter, a load attitude automatic control device and a load attitude automatic control method according to an embodiment of the present invention will be described. In the drawings used in this specification, the same or corresponding components are denoted by the same reference numerals, and repeated descriptions of these components may be omitted.

[0015] Also, in the following description, the load attitude automatic control device and the load attitude automatic control method may be abbreviated as an attitude automatic control device and an attitude automatic control method, respectively.

Embodiment

[0016] FIG. 1 is a diagram showing an outline of the configuration of a load attitude automatic control device according to Embodiment 1 of the present invention.

[0017] The load 1 is suspended from a spreader 9 and transported by a crane (not shown). The crane moves the spreader 9. The spreader 9 is a member having a flat surface portion and can be configured by a plate-like member, a truss-like member formed by assembling steel frames, or the like.

[0018] The attitude automatic control device according to this embodiment automatically controls the attitude of the load 1 suspended from the spreader 9. In this embodiment, it is assumed that the attitude automatic control device performs control to make the attitude of the load 1 horizontal.

[0019] The attitude automatic control device according to this embodiment includes an attitude information acquisition device 2, a plurality of chain blocks 3, a horizontal linear motion mechanism 7, and a control unit 8, and automatically controls the attitude of the load 1.

[0020] The attitude information acquisition device 2 is installed on the load 1 and acquires information on the attitude of the load 1. The attitude information acquisition device 2 can be configured by, for example, an inertial measurement unit (IMU) or an inclinometer, and measures and acquires the roll angle, pitch angle, and yaw angle of the load 1 as information on the attitude of the load 1. The attitude information acquisition device 2 can be installed at an arbitrary position of the load 1.

[0021] Note that the roll angle and pitch angle are the inclination angles of the suspended load 1 with respect to the ground (horizontal plane). The yaw angle is the turning angle of the suspended load 1 and is the turning angle with respect to a predetermined direction in the horizontal plane. The predetermined direction in the horizontal plane is an arbitrarily determined direction, for example, the direction determined by an inertial measurement device (for example, the direction of geomagnetism measured by a geomagnetic sensor).

[0022] The plurality of chain blocks 3 connect the suspended load 1 and the lifting tool 9 and suspend the suspended load 1 from the lifting tool 9. Each of the chain blocks 3 is provided with a chain, and the suspended load 1 is suspended by the chain. The number of chain blocks 3 can be determined according to the shape of the suspended load 1, etc., and for example, 3 or more are preferable. In this embodiment, as an example, an example in which the attitude automatic control device includes four chain blocks 3 (3a, 3b, 3c, 3d) is shown. The four chain blocks 3a, 3b, 3c, 3d are connected to the corners of the suspended load 1 as shown in FIG. 1, for example.

[0023] The horizontal linear motion mechanism 7 is a mechanism that is connected to the chain block 3 and moves the position of the chain block 3 in the horizontal direction. In this embodiment, as an example, an example in which the attitude automatic control device includes two horizontal linear motion mechanisms 7 (7a, 7b) is shown. The horizontal linear motion mechanism 7a is connected to the chain blocks 3a, 3d and moves the positions of the chain blocks 3a, 3d in the horizontal direction. The horizontal linear motion mechanism 7b is connected to the chain blocks 3b, 3c and moves the positions of the chain blocks 3b, 3c in the horizontal direction.

[0024] The control unit 8 includes an arithmetic unit 10, a hub 11, and a control device 12, and controls the chain block 3 and the horizontal linear motion mechanism 7 to control the attitude of the suspended load 1. Based on the information on the attitude of the suspended load 1 acquired by the attitude information acquisition device 2, the control unit 8 controls the chain block 3 to control the length of the chain, and controls the horizontal linear motion mechanism 7 to move the position of the chain block 3 in the horizontal direction, thereby controlling the attitude of the suspended load 1.

[0025] The arithmetic unit 10 is connected to the attitude information acquisition device 2. The arithmetic unit 10 calculates and obtains the displacement amount of the chain block 3 required to level the attitude of the suspended load 1 from the information on the attitude of the suspended load 1 acquired by the attitude information acquisition device 2. The arithmetic unit 10 transmits the obtained displacement amount to the control device 12 via the hub 11. The arithmetic unit 10 can be configured by, for example, a computer.

[0026] Based on the displacement amount obtained by the arithmetic unit 10, the control device 12 controls the chain block 3 and the horizontal linear motion mechanism 7 to control the attitude of the suspended load 1 and level the attitude of the suspended load 1. The control device 12 can be configured by, for example, a programmable logic controller (PLC).

[0027] The displacement amount of the chain block 3 includes the amount of displacement of the length of the chain of the chain block 3 and the amount of displacement of the horizontal position of the chain block 3.

[0028] The chain block 3 is controlled by the control unit 8 to be able to change the length of the chain. The chain block 3 is provided with a motor (not shown), and is driven by this motor to change the length of the chain. This motor is controlled by the control device 12 to rotate and drive the chain block 3.

[0029] The inclination angles (roll angle and pitch angle) of the suspended load 1 are controlled by the chain block 3 changing the length of the chain.

[0030] The chain block 3 can change its horizontal position by the horizontal linear motion mechanism 7 controlled by the control unit 8.

[0031] Figure 2 is a diagram showing an outline of the configuration of the horizontal linear motion mechanism 7.

[0032] The horizontal linear motion mechanism 7 includes a motor 13, a ball screw 14, and a stopper 15. In this embodiment, each of the horizontal linear motion mechanisms 7a and 7b includes a motor 13, a ball screw 14, and a stopper 15.

[0033] The motor 13 is connected to one end of the ball screw 14 and is controlled by the control device 12 to rotate and rotate the ball screw 14.

[0034] A plurality of chain blocks 3 are connected to the ball screw 14. In this embodiment, the chain blocks 3a and 3d are connected to the ball screw 14 provided in the horizontal linear motion mechanism 7a, and the chain blocks 3b and 3c are connected to the ball screw 14 provided in the horizontal linear motion mechanism 7b. The ball screw 14 rotates by the action of the motor 13 and moves the position of the chain block 3 in the horizontal direction.

[0035] The stoppers 15 are installed at both ends of the ball screw 14 and limit the driving range of the chain block 3.

[0036] The horizontal linear motion mechanism 7a moves the positions of the chain blocks 3a and 3d connected to the ball screw 14 in the horizontal direction (the extending direction of the ball screw 14) by the motor 13. The horizontal linear motion mechanism 7b moves the positions of the chain blocks 3b and 3c connected to the ball screw 14 in the horizontal direction (the extending direction of the ball screw 14) by the motor 13.

[0037] The chain blocks 3 (3a, 3b, 3c, 3d) can move in the same direction and by the same distance due to the rotation of the motor 13. The chain block 3 can change the moving direction according to the rotation direction of the motor 13.

[0038] The turning angle (yaw angle) of the suspended load 1 is controlled by the rotation of the motor 13 and the horizontal movement of the chain block 3.

[0039] Figure 3 is a block diagram of the attitude automatic control device according to this embodiment.

[0040] FIG. 4 is a diagram showing the system configuration of the attitude automatic control device according to the present embodiment.

[0041] The attitude information acquisition device 2 measures the attitude (roll angle, pitch angle, and yaw angle) of the suspended load 1 and acquires information on the attitude of the suspended load 1. The attitude information acquisition device 2 transmits the acquired attitude information of the suspended load 1 to the arithmetic device 10.

[0042] The arithmetic device 10 obtains the displacement amount of the chain block 3 necessary to level the suspended load 1 from the attitude information of the suspended load 1 acquired by the attitude information acquisition device 2, and transmits the obtained displacement amount of the chain block 3 to the control device 12 via the hub 11. The arithmetic device 10 obtains the displacement amount of the chain block 3 such that the attitude (roll angle, pitch angle, and yaw angle) of the suspended load 1 becomes equal to or less than a predetermined target value. If the roll angle, pitch angle, and yaw angle of the suspended load 1 are equal to or less than the target value, it can be considered that the suspended load 1 is horizontal.

[0043] The control device 12 transmits a displacement command to the chain block 3 and the horizontal linear motion mechanism 7 based on the displacement amount of the chain block 3 obtained by the arithmetic device 10. Specifically, the control device 12 transmits a command to change the length of the chain to the chain block 3 (3a, 3b, 3c, 3d), and transmits a command to rotate the ball screw 14 to change the horizontal position of the chain block 3 to the horizontal linear motion mechanism 7 (7a, 7b).

[0044] FIG. 5 is a flowchart showing the procedure of the attitude automatic control method according to the present embodiment. The attitude automatic control method shown in FIG. 5 is executed by the attitude automatic control device according to the present embodiment.

[0045] In S101, the arithmetic device 10 and the control device 12 initialize the parameters used by the attitude automatic control device. The parameters used by the attitude automatic control device include the roll angle, pitch angle, and yaw angle of the suspended load 1.

[0046] In S102, the attitude information acquisition device 2 measures and acquires the roll angle and pitch angle of the suspended load 1.

[0047] In S103, the arithmetic unit 10 determines whether the roll angle of the suspended load 1 is less than or equal to the target value of the roll angle and whether the pitch angle of the suspended load 1 is less than or equal to the target value of the pitch angle. The target value of the roll angle and the target value of the pitch angle can be arbitrarily determined in advance as values for making the attitude of the suspended load 1 horizontal, and can be, for example, angles of 10 degrees or less.

[0048] If at least one of the roll angle and the pitch angle of the suspended load 1 exceeds the respective target value, the process proceeds to the step of S104. If both the roll angle and the pitch angle of the suspended load 1 are less than or equal to the respective target values, the process proceeds to the step of S106.

[0049] In S104, the arithmetic unit 10 calculates and obtains the amount of displacement of the length of the chain of the chain blocks 3 (3a, 3b, 3c, 3d) such that the roll angle and the pitch angle of the suspended load 1 are each less than or equal to the target value.

[0050] In S105, the control device 12 controls the chain block 3 based on the amount of displacement of the length of the chain obtained by the arithmetic unit 10 to change the length of the chain. By this control, the roll angle and the pitch angle of the suspended load 1 can be changed.

[0051] After executing S105, the process proceeds to the step of S102 again.

[0052] In S106, the attitude information acquisition device 2 measures and acquires the yaw angle of the suspended load 1.

[0053] In S107, the arithmetic unit 10 determines whether the yaw angle of the suspended load 1 is less than or equal to the target value of the yaw angle. The target value of the yaw angle can be arbitrarily determined in advance as a value for making the attitude of the suspended load 1 horizontal, and can be, for example, an angle of 10 degrees or less.

[0054] If the yaw angle of the suspended load 1 exceeds the target value of the yaw angle, the process proceeds to the step of S108. If the yaw angle of the suspended load 1 is less than or equal to the target value of the yaw angle, the process proceeds to the step of S110.

[0055] In S108, the arithmetic unit 10 calculates and obtains the amount of displacement in the horizontal direction of the chain blocks 3 (3a, 3b, 3c, 3d) such that the yaw angle of the suspended load 1 becomes equal to or less than the target value of the yaw angle.

[0056] In S109, based on the amount of displacement in the horizontal direction of the chain block 3 obtained by the arithmetic unit 10, the control device 12 controls the horizontal linear motion mechanism 7 (7a, 7b) to move the position of the chain block 3 in the horizontal direction. By this control, the yaw angle of the suspended load 1 can be changed.

[0057] After executing S109, the process proceeds to the step of S106 again.

[0058] In S110, the attitude information acquisition device 2 measures and acquires the roll angle, pitch angle, and yaw angle of the suspended load 1.

[0059] In S111, the arithmetic unit 10 determines whether the roll angle, pitch angle, and yaw angle of the suspended load 1 are each equal to or less than the target value. If at least one of the roll angle, pitch angle, and yaw angle of the suspended load 1 exceeds the respective target value, the process proceeds to the step of S103. If all of the roll angle, pitch angle, and yaw angle of the suspended load 1 are each equal to or less than the target value, the process proceeds to the step of S112.

[0060] In S112, the arithmetic unit 10 and the control device 12 perform the end process of the attitude automatic control device. The end process includes, for example, output of the roll angle, pitch angle, and yaw angle of the suspended load 1, and output of the change amount of the chain length and the movement amount of the position of the chain block 3 in the horizontal direction.

[0061] The attitude automatic control device according to the present embodiment performs feedback control as shown in FIGS. 3 and 5, and repeats the measurement and control of the attitude of the suspended load 1 to make the attitude of the suspended load 1 horizontal.

[0062] In the control of the attitude of the suspended load 1, depending on the order of controlling the roll angle, pitch angle, and yaw angle, it may take time for the control. That is, in order to control the attitude of the suspended load 1 in a short time, it is important in what order these three angles (the three degrees of freedom of the suspended load 1) are changed. In this embodiment, after changing the roll angle and pitch angle, the yaw angle is changed. According to the numerical simulation conducted by the inventor, when changing the roll angle, pitch angle, and yaw angle in this order, the attitude of the suspended load 1 can be efficiently controlled in a short time.

[0063] Therefore, it is preferable that the control unit 8 controls the chain block 3 to control the length of the chain so that the roll angle and pitch angle are each below their target values, and then controls the horizontal linear motion mechanism 7 to move the position of the chain block 3 in the horizontal direction so that the yaw angle is below the target value of the yaw angle.

[0064] Hereinafter, an example of the amount of displacement of the length of the chain of the chain block 3 (3a, 3b, 3c, 3d) obtained by the arithmetic unit 10 in S104 of FIG. 5 and an example of the amount of displacement of the horizontal position of the chain block 3 (3a, 3b, 3c, 3d) obtained by the arithmetic unit 10 in S108 will be described. In the following description, it is assumed that the shape of the suspended load 1 is a rectangular parallelepiped, and the roll angle, pitch angle, and yaw angle of the suspended load 1 acquired by the attitude information acquisition device 2 are minute angles of 10 degrees or less. Also, in the following description, it is assumed that the target values of the roll angle, pitch angle, and yaw angle of the suspended load 1 are 0 degrees.

[0065] FIG. 6A is a view showing the suspended load 1 suspended by the sling 9. FIG. 6B is a plan view showing the suspended load 1 and the horizontal linear motion mechanism 7 (7a, 7b).

[0066] The suspended load 1 is suspended from the sling 9 by four chain blocks 3a, 3b, 3c, and 3d. On the upper surface of the suspended load 1, the distance between two chain blocks 3a and 3d (or chain blocks 3b and 3c) adjacent to each other in the longitudinal direction of the suspended load 1 is defined as 2V. On the upper surface of the suspended load 1, the distance between two chain blocks 3a and 3b (or chain blocks 3c and 3d) adjacent to each other in the lateral direction of the suspended load 1 is defined as 2W. Also, the lengths of the chains of the chain blocks 3a, 3b, 3c, and 3d are denoted as La, Lb, Lc, and Ld, respectively. The lengths of the chains La, Lb, Lc, and Ld are the distances at which the respective chains connect the sling 9 and the suspended load 1.

[0067] The horizontal linear motion mechanism 7a has the chain blocks 3a and 3d connected thereto and moves the positions of the chain blocks 3a and 3d in the horizontal direction. The horizontal linear motion mechanism 7b has the chain blocks 3b and 3c connected thereto and moves the positions of the chain blocks 3b and 3c in the horizontal direction.

[0068] As shown in FIGS. 6A and 6B, the suspended load 1 has a roll angle of φ, a pitch angle of θ, and a yaw angle of ψ. Also, in order to correct the yaw angle of the suspended load 1, the amount of horizontal displacement of the chain blocks 3b and 3c moved by the horizontal linear motion mechanism 7b is defined as Δ.

[0069] When the suspended load 1 is inclined by only the roll angle φ and the pitch angle θ, from geometric relationships, the relationships between the lengths La, Lb, Lc, and Ld of the chains of the chain blocks 3a, 3b, 3c, and 3d, the roll angle φ, and the pitch angle θ are expressed by Equation (1) using V and W representing the distances between the chain blocks 3.

[0070]

Equation

[0071] When the suspended load 1 rotates by only the yaw angle ψ, from geometric relationships, the relationship between the yaw angle ψ and the amount of horizontal displacement Δ of the chain blocks 3b and 3c is expressed by Equation (2) using V and W representing the distances between the chain blocks 3.

[0072]

Number

[0073] In this embodiment, it is assumed that the lengths La, Lb, Lc, and Ld of the chains of the chain blocks 3a, 3b, 3c, and 3d are changed without changing the position of the center of the suspended load 1 (i.e., the coordinates of the center position of the suspended load 1). By not changing the position of the center of the suspended load 1, the amount of change in the posture of the suspended load 1 can be reduced, and the posture of the suspended load 1 can be stably controlled in a short time. Therefore, it is preferable that the control unit 8 controls the chain lengths La, Lb, Lc, and Ld without changing the position of the center of the suspended load 1.

[0074] When the position of the center of the suspended load 1 is not changed, the chain lengths La’, Lb’, Lc’, and Ld’ such that the roll angle and pitch angle of the suspended load 1 become the target values (0 degrees) are represented by Equation (3) obtained by transforming Equation (1).

[0075]

Number

[0076] Further, the amount of displacement Δ1 in the horizontal direction of the chain blocks 3b and 3c and the amount of displacement Δ2 in the horizontal direction of the chain blocks 3a and 3d such that the yaw angle of the suspended load 1 becomes the target value (0 degrees) are represented by Equation (4) obtained by transforming Equation (2).

[0077]

Number

[0078] As shown in Equation (4), the chain blocks 3b and 3c displaced by Δ in the horizontal direction are moved by Δ1 in the direction opposite to the direction of this displacement, and the chain blocks 3a and 3d are moved by Δ2 in the same direction as the direction of this displacement.

[0079] In the attitude automatic control device according to this embodiment, only the attitude information acquisition device 2 (for example, an inertial measurement device or an inclinometer) installed on the suspended load 1 is used as a device (sensor) for acquiring the attitude information of the suspended load 1. Therefore, the attitude of the suspended load 1 can be automatically controlled at low cost.

[0080] Note that the present invention is not limited to the above-described embodiments, and various modifications are possible. For example, the above embodiments have been described in detail for easy understanding of the present invention, and the present invention is not necessarily limited to the embodiments including all the configurations described. Also, a part of the configuration of one embodiment can be replaced with the configuration of another embodiment. Further, the configuration of another embodiment can be added to the configuration of one embodiment. Also, a part of the configuration of each embodiment can be deleted, or another configuration can be added or replaced.

Explanation of Reference Numerals

[0081] 1... Suspended load, 2... Attitude information acquisition device, 3, 3a, 3b, 3c, 3d... Chain blocks, 7, 7a, 7b... Horizontal linear motion mechanisms, 8... Control unit, 9... Suspension tool, 10... Arithmetic unit, 11... Hub, 12... Control device, 13... Motor, 14... Ball screw, 15... Stopper.

Claims

1. An attitude information acquisition device installed on a suspended load to acquire information on the attitude of the suspended load; A plurality of chain blocks each having a chain for suspending the suspended load; A horizontal linear motion mechanism connected to the chain block for horizontally moving the position of the chain block; A control unit for controlling the chain block and the horizontal linear motion mechanism; Comprising: Based on the information on the attitude of the suspended load acquired by the attitude information acquisition device, the control unit controls the length of the chain by controlling the chain block and controls the horizontal linear motion mechanism to horizontally move the position of the chain block, thereby controlling the attitude of the suspended load. An automatic attitude control device for a suspended load, characterized in that.

2. The horizontal linear motion mechanism includes a ball screw to which the chain block is connected and a motor for rotating the ball screw. When the ball screw rotates, the position of the chain block is horizontally moved. The automatic attitude control device for a suspended load according to Claim 1.

3. The attitude information acquisition device acquires the roll angle, pitch angle, and yaw angle of the suspended load as information on the attitude of the suspended load. The control unit controls the length of the chain so that the roll angle and the pitch angle are each below their respective target values, and horizontally moves the position of the chain block so that the yaw angle is below the target value of the yaw angle. The automatic attitude control device for a suspended load according to Claim 1.

4. After the control unit controls the length of the chain so that the roll angle and the pitch angle are each below their respective target values, the control unit horizontally moves the position of the chain block so that the yaw angle is below the target value of the yaw angle. The automatic attitude control device for a suspended load according to Claim 3.

5. The control unit controls the length of the chain without changing the position of the center of the suspended load. The automatic attitude control device for a suspended load according to Claim 3.

6. An acquisition step in which an attitude information acquisition device installed on a suspended load suspended by a chain provided in each of a plurality of chain blocks acquires information on the attitude of the suspended load; A control step in which a control unit controls the attitude of the suspended load by controlling the length of the chain and horizontally moving the position of the chain block based on the information on the attitude of the suspended load acquired by the attitude information acquisition device. A method for automatically controlling the attitude of a suspended load, characterized by having **Claim 7** In the acquisition step, the attitude information acquisition device acquires the roll angle, pitch angle, and yaw angle of the suspended load as information on the attitude of the suspended load. In the control step, after the control unit controls the length of the chain so that the roll angle and the pitch angle are each equal to or less than their target values, the control unit moves the position of the chain block in the horizontal direction so that the yaw angle is equal to or less than the target value of the yaw angle. The method for automatically controlling the attitude of a suspended load according to claim 6.

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