At the time of starting up or stopping the trolley, the sway of the container(40) reaches the maximum point, then the swing sensor(60) detects the swing angle and outputs it to the controller(80). The controller controls the adjuster(70) and adjusts the length of the rope. As the trolley sways to the right, by increasing the strokes of the 1st and 3rd servo actuator the 1st, 3rd wire rope is released, and by pulling the 2nd and 4th wire ropes the tension of the 4 ropes is equalized. At this time, the servo actuator, by sensing the stroke of the servo actuator and outputting it to the controller(40), controls the sway of the container with the feedback.
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