JPH07117984A - Carry-in/out control device for burden - Google Patents

Abstract

PURPOSE:To automatically covey a burden between the ground and the prescribed floor of a building. CONSTITUTION:Data such as the carry-in angles in the turn direction of a boom 15 to the wall face openings 46 of individual floors 44 of a building 45, extension quantities of the boom 15 to the floors 44, and the position data for positioning the tip of the boom 15 directly above the burden slinging position on the ground are inputted via the key section 523 of an automatic control operation panel 52 and stored in the memory of a main controller 521 in advance, and a burden carry-in/out floor is specified via the automatic control operation panel 52. An elevator 12 is moved to the specified floor, then the positioning of the boom 15 to the slinging position, the descent of a wire 17 to the slinging position, the hoisting of a burden 21, the carrying-in action of the burden 21 by the turn and expansion/shrinkage of the boom 15 to the wall face opening 46, the grounding action on the floor 44, the winding action of the wire 17, the shrinking action of the boom 15, and the movement of the boom 15 to the slinging position are automatically performed.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a luggage loading / unloading control apparatus for automatically loading and unloading luggage such as materials and equipment through a wall opening in a building under construction.

[0002]

2. Description of the Related Art In a building under construction such as a condominium or an office building, a transportation means for loading and unloading materials and equipment required for the construction is equipped with a telescopic boom. Lifters are used. This type of hoisting machine includes an elevating platform that can be lifted up and down on columns that stand upright along the floor height direction of the building, and an extendable and retractable boom that can be swung up and down on this elevating platform. It is composed of a wire for suspending a load suspended from the tip of a boom, and a hoisting machine provided on an elevating stand for feeding and winding the wire.

When carrying construction materials and equipment to a predetermined floor by such a hoist, the materials and equipment are slid around the hanging end of the wire via a hook near the ground and the wire is taken up by a hoist. After hoisting to near the tip of the boom, the elevating platform including the boom is raised to the loading floor along the pillar, and then the boom is turned to a position where the tip of the boom faces the wall opening of the building. After that, by extending the boom, the materials and equipment hung from the tip of the boom through the wires are carried into the floor through the wall opening, and the wires are unwound to lower the materials and equipment onto the floor. Remove the sling. Further, in the case of carrying out the equipment and the like from the predetermined floor, it becomes possible by performing the operation reverse to the above.

[0004]

However, in the conventional hoisting machine as described above, the lifting / lowering of the elevating / lowering platform to the loading / unloading floor, the feeding / winding of the wire, the swinging / extending / contracting of the boom, etc. are carried out when loading / unloading the luggage. Since the operator manually performs the above series of operations in the driver's seat provided on the lifting platform, a skilled operator is required for these operations, and at the loading / unloading place of the luggage, There was a problem that several observers needed to communicate the start and end of hanging of luggage between them, and the number of workers increased, the human cost increased, and the work efficiency was poor.

The present invention solves the above-mentioned conventional problems, and an object of the present invention is to automatically carry in cargo to and from a predetermined floor of a building. An object of the present invention is to provide a load / unload control device capable of loading and unloading.

[0006]

In order to achieve the above object, the present invention provides a support provided along the height direction of a building,
An elevating body provided on the support so as to be elevating, an elevating drive means for elevating the elevating body along the support, and a boom supported on the elevating body so as to be extendable and retractable and horizontally rotatable. A telescopic drive means for telescopically moving the boom, a swivel drive means for swiveling the boom, a load suspending wire extending from the elevating body along the longitudinal direction of the boom and suspended from the tip of the boom, and the wire. Of the hoisting machine, a stroke sensor that detects the stroke amount when the boom is expanded and contracted, a swing angle sensor that detects the swing angle of the boom, and a boom for the wall opening of each floor of the building. The input means for inputting the turning angle, the extension amount of the boom with respect to each floor, the position data for positioning the tip of the boom directly above the luggage sling position, and the loading / unloading floor of the luggage. First control means for moving the elevating body to a designated floor by controlling the elevating and lowering drive means in accordance with the loading / unloading floor of the luggage input by the input means; and input by the input means. Storage means for storing the data and the operation program required for loading and unloading the luggage into the building and unloading from the building, and positioning the boom to the slinging position based on the input data and the operation program and the detection signals from the sensors, The second control means is provided for automatically controlling the descent of the wire to the sling position, the lifting of the luggage after slinging it, and the loading / unloading of the luggage by turning and expanding / contracting the boom. Further, according to the present invention, the input means is provided with a first operating means for issuing a command for feeding / winding operation of the wire and a second operating means for issuing a command for turning / extending / extending the boom.

[0007]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is an overall schematic configuration diagram showing an embodiment of a luggage loading / unloading control device according to the present invention, FIG. 2 is a block diagram of a lifting machine operation control unit, and FIG. 3 is a block diagram of an automatic control operation unit. In FIG. 1, 10 is a lifting machine, and this lifting machine 10 is a pillar 1 which is erected on the ground along the floor height direction of the building.
1, and an elevating / lowering body 12 provided on the pillar 11 so as to be capable of ascending / descending,
A boom mount 14 is installed on the lifting body 12 via a base 13 so as to be rotatable, an extendable and retractable boom 15 supported on the boom mount 14 so that the load is suspended from the tip of the boom 15. A wire 17 for hanging and a movable pulley 18 with a hook connected to the hanging end of the wire 17.
And a hoisting machine 19 which is installed on the boom mount 14 to feed and wind the wire 17. The movable pulley 1
A luggage 21 such as equipment is slid on the hook 18a of No. 8 by a sling wire 20.

The lifting / lowering body 12 is lifted / lowered along the support column 11 by a lifting / lowering drive device 22 comprising a well-known rack and pinion and an electric motor for rotationally driving the pinion, and the boom mount 14 is hydraulically mounted on the base 13. The motor 23 and a gear train (not shown) are driven to rotate. Also, the boom 15
Is composed of a boom that expands and contracts in two stages.
Is expanded and contracted by the built-in hydraulic cylinder 24,
The entire boom 15 is driven up and down by a hydraulic cylinder 25 attached to the boom mount 14. The hoisting machine 19 is driven by a hydraulic motor 26.

In FIG. 1, 27 is a stroke sensor provided on the boom 15.
Is for detecting the extension / contraction length of the boom 15, and is composed of an encoder and the like. 28 is a wire length sensor for detecting the payout length and the winding length of the wire 17,
The wire length sensor 28 is, for example, an encoder that converts the rotation of a guide pulley (not shown) that guides the wire 17 from the hoisting machine 19 toward the tip of the boom 15 into the pay-out length and the take-up length of the wire 17. Etc. Further, 29 is a turning angle sensor for detecting a turning angle of the boom pedestal 14, and the turning angle sensor 29 is connected to a rotating portion of the boom pedestal 14 via a reduction gear train. Reference numeral 30 is a left limit switch for limiting the turning angle of the boom pedestal 14 when turning left, and 31 is a right limit switch for limiting the turning angle of the boom pedestal 14 when turning right. Reference numeral 32 denotes a touch sensor provided at the tip of the boom 15, and the touch sensor 32 detects that the tip of the boom 15 comes into contact with an obstacle or the like when the boom 15 turns or retracts, and stops the swing or extend or retract operation of the boom 15. It is for making it. Further, 33 is a wire over-winding limit switch provided at the tip of the boom 15, 34 is a boom extension limit switch provided on the boom 15, 35 is a boom contraction limit switch provided on the boom 15, and 36 is a hoisting of the boom 15. Boom angle sensor for detecting the angle, 37 is the boom 1
A horizontal limit switch for detecting the horizontal position of 5, a limit limit switch 38 for the boom 15, and a boom 15 for the boom 15.
Is an overload limit switch, and 40 is an overload limit switch for limiting overload applied to the wire 17.

In FIG. 1, reference numerals 41 and 42 denote first and second stop floor limit switches provided on the lifting body 12, and the first and second stop floor limit switches 41 and 42 are
It is turned on by engaging with a dock 43 provided on the pillar 11 in accordance with the floor height of the building, and a logical product of both ON signals causes the elevator 12 to coincide with each floor of the building to stop accurately. ing. The details will be described later.

In FIG. 1, reference numeral 44 denotes a floor of the building 45, and wall openings 46 corresponding to windows are formed between the floors 44, and the lifting machine 10 carries in / out the luggage through the wall openings 46. Is done. In addition, the wall surface opening 4 of each floor 44
6, a fall prevention door 47 is provided so as to be openable and closable, and an opening limit switch 48 and a closing limit switch 49 that detect opening and closing of the door 47 are provided.
Reference numeral 50 denotes an operation control panel of the lifting machine 10. The operation control panel 50 and the lifting machine 10 are connected by a cable 51. An automatic control operation panel 52 is connected to the operation control panel 50.

As shown in FIG. 2, the operation control panel 50 includes a sequencer 501 for outputting a control signal according to a command command from the automatic control operation panel 52, and a sequencer 50.
1 and an output circuit 502 that converts the control signal output from the output terminal 1 into an analog signal and outputs the analog signal. The output circuit 502 is connected to the electric motor 22a of the elevation drive device 22 via a motor control circuit 53. Further, in the control device 50, a swing hydraulic motor 23 for boom swing is provided via a hydraulic control circuit 54, a boom extension / contraction hydraulic cylinder 24 is provided via a hydraulic control circuit 55, and a boom is provided via a hydraulic control circuit 56. A hoisting hydraulic cylinder 25 is connected to a hoisting hydraulic motor 26 for the hoisting machine 19 via a hydraulic control circuit 57.

As shown in FIG. 1, the automatic control operation panel 52 is a monitor including a main control section 521 for controlling and managing the entire lifting machine 10 including the operation control panel 50, and a CRT connected to the main control section 521. Part 522 and operation panel 523
Equipped with. The main controller 521 has a built-in memory 521.
A command command is output to the sequencer 501 according to the automatic operation program stored in a.
The main controller 521 includes the stroke sensor 27,
Wire length sensor 28, turning angle sensor 29, left limit and right limit switches 30, 31, touch sensor 32,
Wire overwinding limit switch 33, boom extension limit switch 34, boom contraction limit switch 35, hoisting angle sensor 36, horizontal, hindrance, hoisting and overload limit switches 37, 38, 39, 40, The 1st and 2nd stop floor limit switches 41 and 42, and the open and close limit switches 48 and 49 are connected, respectively.

On the monitor section 522, a photographed image of the front of the boom tip taken by the television camera 60 provided at the tip of the boom 15 is displayed. The operation panel 523
Is a key portion 523a for inputting a destination floor command of the lift 12 and various command data, a joystick 523b for issuing a command for reeling / winding operation of the wire 17, the boom 1
Joystick 523 for issuing turning / stretching operation command of 5
with c.

Next, the operation of unloading using the load carrying-in / carrying-out control device of the present embodiment configured as described above will be described with reference to the flow chart shown in FIG. First, the boom 15 and the luggage 21 hung at the tip of the wall opening 46 of each floor 44 of the building 45 are attached to the wall opening 46.
The angle θ1 in the turning direction of the boom 15 at the time of loading the luggage that can be loaded into the building 45 without interfering with
Boom 1 required to securely carry onto each designated floor of 5
5, the extension amount L of 5, the position data for positioning the tip of the boom 15 directly above the luggage slinging position of the luggage carrying truck or the like waiting on the ground (the angle θ2 in the turning direction of the boom and the undulating angle θ3 of the boom), etc. Data of automatic control operation panel 5
It is input from the second key unit 523 and stored in the memory 521a in the main control unit 521 in advance (step S1).

Next, the lifting machine 10 including the lifting body 12 is lifted to the loading floor (step S2), and the sequencer 501 determines whether or not the lifting body 12 is stopped on the floor (step S3). Here, when it is determined that the elevator 12 has stopped based on the ON signal from the stop floor limit switches 41 and 42, the elevator 12 is fixed to the designated floor. When the lifting machine 10 moves up to the luggage loading floor, the key portion 523a on the operation panel 523 is operated to specify the luggage loading floor. As a result, when the destination floor signal of the elevator 12 is taken into the main control unit 521, the main control unit 521 outputs a destination floor command command to the sequencer 501 of the operation control panel 50. The sequencer 501 outputs a control signal corresponding to the destination floor command command to the motor control circuit 53 through the output circuit 502 to activate the electric motor 22a of the lifting drive device 22 and direct the lifting body 12 to the designated floor. To raise. When the first and second stop floor limit switches 41 and 42 are both engaged with the dock 43 facing the designated floor, the sequencer 501 outputs a stop command to the motor control circuit 53, thereby stopping the electric motor 22a. Then, the lifting body 12 is stopped and fixed on the designated floor.

In this state, when the automatic driving key on the key portion 523a on the operation panel 523 is pressed (step S4), the driving program stored in the memory 521a in the main control portion 521 and the angles θ2 and θ3 are set. A boom operation command is output from the main control unit 521 to the sequencer 501 according to the data. The sequencer 501 outputs a control signal according to the boom operation command to the hydraulic control circuit 54 through the output circuit 502 to activate the turning hydraulic motor 23 to turn the boom 15 at an angle corresponding to θ2, and at the same time, the hydraulic circuit 56. Hydraulic cylinder 25
Is operated to raise the boom 15 from the horizontal position to an angle corresponding to θ3, and the tip of the boom 15 is positioned directly above the slinging position of a luggage carry-in truck or the like waiting on the ground (step S5).

When the positioning operation of the boom 15 is completed,
In step S6, the main control unit 5 follows the operation program.
A wire feeding command is output from 21 to the sequencer 501. Accordingly, the sequencer 501 outputs the output circuit 5
By outputting a control signal to the hydraulic control circuit 57 through 02, the hoist hydraulic motor 26 is activated, and the wire 1
Roll out 7. When the wire 17 having a length corresponding to the distance from the designated floor where the lifting body 12 is stopped to the sling position on the ground is paid out, the hoisting hydraulic motor 26 is stopped and the wire 17 is also stopped. The payout length of the wire 17 at this time is detected by the wire length sensor 28 and fed back to the sequencer 501.

At the slinging position, an operator or operator standing by here slings the luggage 21 on the hook 18a of the movable pulley 18 with the slinging wire 20 (step S7). Then, when the operation key on the operation panel 523 is operated again (step S8), a winding control command is output from the main control unit 521 to the sequencer 501 according to the operation program. Along with this, the sequencer 501 outputs a control signal to the hydraulic pressure control circuit 57 through the output circuit 502 to activate the hoisting hydraulic motor 26 and wind the wire 17 to lift the load 21 (step S9). When the hoisting level of the luggage 21 reaches a level below the tip of the boom 17 by a predetermined distance, the hoisting operation of the hoisting machine 19 is automatically stopped. At the time of automatic stop at this time, the sequencer 5 determines the wire winding length detected by the wire length sensor 28 and the wire feeding length from the floor where the lifting body 12 is stopped to the slinging position.
The comparison is made at 01 and it is determined that the two match.

When the lifting of the luggage 21 is completed, a horizontal operation command is output from the main control unit 521 to the sequencer 501 according to the operation program. Along with this, the sequencer 5
By outputting a control signal from 01 to the hydraulic control circuit 56 through the output circuit 502, the hydraulic cylinder 25 is contracted to rotate the boom 15 in a horizontal posture (step S10). When the boom 15 is in the horizontal posture, the horizontal limit switch 37 is turned on, whereby the contraction operation of the hydraulic cylinder 24 is stopped and the boom 15 is maintained in the horizontal posture. When the horizontal movement of the boom 15 is completed, the main controller 521 outputs a boom turning command to the sequencer 501 in accordance with the operation program. Along with this, the sequencer 501 outputs a control signal to the hydraulic control circuit 54 through the output circuit 502 to drive the hydraulic motor 23 to move the boom platform 14 from the load lifting angle position to θ1.
And turn the boom 15 to the building 45.
To be directly opposed to the wall surface opening 46 (step S11). At this time, an image of the surroundings including the tip of the boom 15 and the baggage 21 taken by the TV camera 60 is displayed on the monitor unit 522. Therefore, the operator visually checks the monitor unit 522 to check the building of the baggage 21. It is possible to monitor the carrying-in status into 45.

When the boom 15 is turned in the direction directly facing the wall opening 46, the main controller 521 is operated according to the operation program.
A boom extension command is output from the sequencer 501 to the sequencer 501.
Along with this, by outputting a control signal from the sequencer 501 to the hydraulic control circuit 55 through the output circuit 502, the hydraulic cylinder 24 is operated to extend the boom 15 (step S12) and the boom 15 is hung at the tip of the boom 15. As shown by the chain double-dashed line in FIG. 1, the loaded luggage 21 is carried into the building 45 through the wall surface opening 46. At the stage where the luggage 21 is carried into the building 45, the fall prevention door 47 is opened by an operator who is on the loading floor. Further, the open state of the door 47 at this time is detected by the open limit switch 48, and the detection signal is taken into the seed control unit 521 of the automatic control operation panel 52 to display the open state of the door 47 on the monitor unit 522. To do.

When the luggage 21 is carried into the building 45, the main controller 521 causes the sequencer 50 to operate according to the operation program.
A wire feeding command is output to 1. Along with this, by outputting a control signal from the sequencer 501 to the hydraulic control circuit 57 through the output circuit 502, the hoisting hydraulic motor 26 is driven to feed the wire 17 (step S13), and the luggage 21 is placed on the floor 44. Land on the hook 1
Remove the luggage 21 from 8a. After that, if the removal of the luggage 21 is confirmed by wireless communication from the floor worker or the like, the operation key on the operation panel 523 is operated again (step S14). When the operation key is operated again, the wire 17 is wound up to a predetermined level according to the operation program (step S15), then the boom 15 is contracted (step S16), and then the next step S1.
In 7, the boom 15 is turned by an angle corresponding to the slinging position, and the boom 15 is erected at a predetermined angle to position the tip of the boom 15 directly above the slinging position. This completes a series of unloading operations. In the following, when carrying luggage on the same floor as the above or another floor, FIG.
The processing from step S4 onward is repeatedly executed.

The closed state of the door 47 is displayed on the monitor section 522 by fetching the detection signal detected by the closing limit switch 49 into the seed control section 521. Also,
The stroke sensor 27 of the boom 15, the wire length sensor 28, the turning angle sensor 29, the left limit and right limit switches 30, 31, the touch sensor 32, the wire overwinding limit switch 33, the boom extension limit switch 34,
Boom limit switch 35, undulation angle sensor 3
6. The operating state of each of the limit switches 37, 38, 39 and 40 for horizontal, limit, limit and overload is also monitored by the monitor unit 52.
It is displayed in 2. Also, the unloading of the building 45 to the ground can be performed by the same operation as described above.

As described above, in this embodiment, the building 4
5, the angle θ1 in the turning direction of the boom 15 with respect to the wall opening 46 of each floor 44, the extension amount L of the boom 15 with respect to each floor 44, and the position data for positioning the tip of the boom 15 directly above the luggage sling position on the ground. Data such as the above is input from the key section 523 of the automatic control operation panel 52, and the main control section 5
It is stored in advance in the memory 521a in 21, and then
By specifying the luggage loading floor (or unloading floor) with the automatic control operation panel 52, the elevator 12 including the boom 15 is moved to the specified floor, and then the operation key on the automatic control operation panel 52 is operated to operate the program. By starting the operation, the boom 15 is automatically positioned at the slinging position, and the wire 17 is lowered to the slinging position.
After slinging the luggage 21 to the baggage, the luggage 21 is lifted, the loading 21 is carried in by the swinging / extending operation toward the wall opening 46 of the boom 15, the landing operation on the floor 44, the luggage 21.
After winding up the wire 17, retracting the boom 15 and retracting the boom 15 to the sling position,
Since the automatic operation is performed according to the operation program, even one operator who operates the automatic control operation panel 52 can reliably and easily carry the luggage 21 to the desired floor 44. Therefore, it is possible to reduce the number of personnel required for loading and unloading the luggage, reduce the human cost, and improve the loading and unloading work of the luggage.

Next, the joysticks 523b and 52
A case in which the luggage 21 is lifted up and down and the boom 15 is swung and expanded and contracted using 3c will be described. When the joystick 523b is tilted back and forth, a signal due to this is fetched by the main controller 521 and is output to the sequencer 501 through the main controller 521. In the sequencer 501, a control signal output based on the received signal is applied to the hydraulic pressure control circuit 56 via the output circuit 502 to activate the hoisting hydraulic motor 26 to move the hoisting machine 19 in the wire winding direction. , Or the wire is rotated in the feeding direction, and the luggage 21 is manually raised and lowered. If the joystick 523c is tilted left or right,
By driving the turning hydraulic motor 23, the boom 15 is turned in the horizontal direction. When the joystick 523c is tilted back and forth, the hydraulic cylinder 24 expands and contracts to expand and contract the boom 15.

Therefore, in this embodiment, even if the loading / unloading of the package 21 cannot be carried out fully automatically, the loading / unloading of the package 21 can be carried out semi-automatically by the joysticks 523b, 523c.

The present invention is not limited to the structure described in the above embodiment, and various modifications can be made without departing from the scope of the claims.

[0028]

As described above, according to the present invention, the support provided along the floor height direction of the building, the lift provided on the support so as to be able to move up and down, and the lift provided on the support. An elevating and lowering drive means for elevating and lowering along a line, a boom supported by the elevating and lowering body so as to be extendable and retractable and horizontally rotatable, an extendable and retractable drive means for extending and retracting the boom, and a swinging drive means for rotating the boom. , A load-hanging wire extending from the elevating body along the longitudinal direction of the boom and hung from the tip of the boom, a hoisting machine for feeding and winding the wire, and a stroke amount when the boom is expanded and contracted. A stroke sensor for detecting, a turning angle sensor for detecting an angle when the boom turns, a turning angle of the boom with respect to a wall opening of each floor of the building, a boom extension amount for each floor, and a boom tip. Inputting means for inputting position data for positioning directly above the object slinging position and loading / unloading floor of the luggage, and controlling the elevating / lowering driving means according to the loading / unloading floor of the luggage inputted by the input means. First control means for moving the elevating body to a designated floor by means of: and loading of data and luggage input by the input means into the building,
Storage means for storing the operation program required for unloading from the building, positioning of the boom to the slinging position based on the input data and the driving program and the detection signals from the sensors, dropping of the wire to the slinging position, luggage The second control means for automatically controlling the lifting after slinging and the loading / unloading of the baggage by turning and expanding / contracting the boom is provided. Therefore, even one operator can reliably and easily carry the luggage to the desired floor, the number of personnel required to carry the luggage in and out can be reduced, and the human cost can be reduced. There is an effect that the carry-out work can be improved.

Further, in the present invention, the input means is provided with a first operating means for issuing a command for feeding / winding operation of the wire and a second operating means for issuing a command for swinging / extending / extending the boom. As a result, semi-automatic loading and unloading of luggage can be enabled.

[Brief description of drawings]

FIG. 1 is a schematic configuration diagram of a lifting machine equipped with a loading / unloading control device for cargo according to the present invention.

FIG. 2 is a block diagram of a lifting machine operation control unit in the present embodiment.

FIG. 3 is a block diagram of an automatic control operation unit in the present embodiment.

FIG. 4 is a flowchart showing an operation procedure of unloading in the present embodiment.

[Explanation of symbols]

 11 Support (support) 12 Elevator 15 Boom 17 Wire 19 Hoisting machine 21 Luggage 22 Elevating drive device (elevating drive means) 23 Hydraulic motor for swing (swing drive means) 24 Hydraulic cylinder (extendable drive means) 27 Stroke sensor 44 Floor 45 Building 46 Wall opening 501 Sequencer (control means) 521 Main control part (control means) 523 Operation panel (input means) 523a Key part (input means) 523b Joystick (operation means) 523c Joystick (operation means)

Claims (2)

[Claims] 1. A support provided along a floor height direction of a building, a lift provided on the support so as to be able to move up and down, and a lift drive means for driving the lift along the support. A boom supported by the elevating body so as to be extendable and retractable in a horizontal direction, an elongating and retracting driving means for elongating and retracting the boom, a revolving driving means for revolving the boom, and a longitudinal direction of the boom from the elevating and lowering body. And a hoisting machine that extends and winds the wire, a stroke sensor that detects a stroke amount when the boom expands and contracts, and a boom that swings. Angle sensor that detects the angle of the boom, the swing angle of the boom with respect to the wall opening on each floor of the building, the extension amount of the boom with respect to each floor, and the tip of the boom is positioned directly above the luggage sling position. Input means for inputting position data and loading / unloading floor of luggage, and the lifting / lowering body is designated by controlling the lifting / lowering drive means according to the loading / unloading floor of luggage input by the input means. First control means for moving to a floor, storage means for storing data input by the input means and an operation program required for loading and unloading luggage into the building, and the input data and operating program Positioning of the boom to the slinging position, wire drop to the slinging position, lifting after slinging the luggage, and loading / unloading of the luggage by swiveling / extending and retracting the boom are automatically controlled based on the detection signals from the sensors. A loading / unloading control device for luggage comprising a second control means. 2. The input means is provided with a first operating means for issuing a command for feeding / winding operation of the wire and a second operating means for issuing a command for turning / extending / extending the boom. Item 1. The loading / unloading control device for luggage according to item 1.