To prevent excessive acceleration from working on a suspended body in an automatic hoisting device for hoisting a body suspended by a helicopter.

A helicopter has a hoist part 4 and a hoist hook 7 at the tip of a cable 4a suspends a suspended body or a hoisted person 8. A hoist hook side acceleration sensor 1 is mounted to the hook 7 and a body side acceleration sensor 2 is mounted to a helicopter body and they input a detected signal into a controller 3. An operator operates a hoist pendant 6 to control the hoisting work of the suspended body 8 and the controller 3 receives an acceleration signal from the sensors 1, 2 and refers to the signal and previously sets the acceleration of the suspended body 8 and controls the hoist 4 such that it is within a lower limit and controls the movement of the cable 4a, which reduces a burden of vibration applied to the suspended body or hoisted person 8.