Remote operation system of crane device

Abstract

To provide a remote operation system of a crane device capable of easily operating and reducing burden on an operator during working.SOLUTION: If a received detected value is within the range of a stop region 60 (S03:YES), a remote operation system of a crane device monitors a detected value while stopping a winch (S04). If the detected value is outside the stop area (S03:NO) and remote operation equipment is rotated beyond the threshold in a pitching-up direction (S05), the system compares the rotation attitude of the remote operation equipment with the rotation attitude of a reference attitude to set the winch rotation speed proportional to the pitch angle difference (S06), and rotate the winch in the winding direction (S07). If the remote operation equipment is rotated beyond the threshold in the pitching-down direction (S05:NO), the system compares the rotation attitude of the remote operation equipment with the rotation attitude of the reference attitude to set the winch rotation speed proportional to the pitch angle difference (S08), and rotate the winch in the unwinding direction (S09).SELECTED DRAWING: Figure 5

Description

[Technical Field]

[0001] The present invention relates to a remote control system for a crane apparatus. [Background technology]

[0002] Conventionally, a remote control device has been used to operate a crane device. For example, in the case of a mobile crane in which a vehicle-mounted crane is mounted on a truck, a remote control device is used that operates on battery power and communicates wirelessly with the vehicle-mounted crane.

[0003] Such vehicle-mounted cranes are equipped with multiple actuators for changing the position and moving the hook up and down, and the remote control also has switches for controlling the forward and reverse movements of each actuator.

[0004] For example, a remote controller such as that disclosed in Patent Document 1 is provided with four switches for operating the boom rotation, extension and retraction, and up and down movement of the hook (winding and unwinding of the winch). The operator of the vehicle mounted crane operates these switches to cause the vehicle mounted crane to perform the desired operation. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Application Laid-Open No. 2012-054678 Summary of the Invention [Problem to be solved by the invention]

[0006] When performing work using a vehicle-mounted crane, it is necessary to operate a plurality of actuators simultaneously in order to perform the work efficiently. For example, even when simply extending the boom, unless the winch is unwound at the same time, the hook will naturally rise as the boom is extended.

[0007] Therefore, in order to perform this operation, both hands must be used to operate it, and if a rotation operation is to be performed in combination, each finger on one hand must operate a different switch, which increases the burden on the operator and requires a high level of skill to operate.

[0008] In view of the above circumstances, an object of the present invention is to provide a remote control system for a crane apparatus that can be easily operated and can reduce the burden on the operator during work. [Means for solving the problem]

[0009] A first invention is a remote operation system including a crane apparatus having a control unit and a remote operator, wherein the crane apparatus includes a winch and a hook connected to a wire rope that is wound around the winch, the control unit includes a receiver, a rotation direction setting unit, and a control unit, the remote operator includes a remote operator attitude detection unit and a transmitter, and a predetermined reference attitude is set, the remote operator attitude detection unit detects the angle of the remote operator around its pitch axis using the reference attitude as an initial value, the transmitter transmits the detection value of the remote operator attitude detection unit which is received by the receiver, the rotation direction setting unit sets the rotation direction of the winch based on the detection value of the remote operator attitude detection unit, and the control unit operates the winch based on the setting value of the rotation direction setting unit.

[0010] A second aspect of the present invention is a remote control system for a crane apparatus, wherein the remote controller attitude detection unit according to the first aspect of the present invention is an inclination angle sensor.

[0011] A third invention is a remote control system for a crane apparatus, wherein the control unit according to the first invention further includes a rotational speed setting unit that sets the rotational speed of the winch in proportion to the difference between the angle about the pitch axis and the initial value, based on the detection value of the remote controller attitude detection unit.

[0012] A fourth invention is a remote control system for a crane apparatus, wherein the remote controller described in the first invention is equipped with an input unit for operating the crane apparatus, and the reference attitude is set to the attitude of the remote controller when an operation input is made to the input unit.

[0013] A fifth invention is a remote control system for a crane apparatus, characterized in that the control unit operates the winch based on the setting value of the rotation direction setting unit only while an operation input is being made to the input unit.

[0014] A sixth invention is a remote operation system for a crane apparatus, wherein a stop area is set within a predetermined angle range including the initial value among the angles about the pitch axis according to any one of the first to fifth inventions, and the rotation direction setting unit is set to stop operation of the winch when the angle about the pitch axis is inside the stop area, to rotate the winch in a direction in which the hook rises when the angle exceeds a threshold on the pitch-up side of the stop area, and to rotate the winch in a direction in which the hook descends when the angle exceeds a threshold on the pitch-down side of the stop area.

[0015] A seventh invention is a remote control system for a crane apparatus, wherein the stopping area according to the sixth invention is set to an angle range of 10° or more and 20° or less, with the angle of the reference posture as a median.

[0016] An eighth invention is a remote control system for a crane apparatus, wherein the remote controller described in the sixth invention further includes a stop area setting unit for setting an angle range within which the stop area is set. [Effects of the Invention]

[0017] According to the present invention, it is possible to provide a remote control system for a crane apparatus that is easy to operate and can reduce the burden on the operator during work. [Brief explanation of the drawings]

[0018] [Figure 1] 1 is a side view of a mobile crane according to an embodiment of the present invention. FIG. [Figure 2] 1A is a diagram showing the structure and remote control coordinate system of a remote control according to one embodiment of the present invention, and FIG. 1B is a diagram showing the structure of the main body. [Figure 3] 1 is a diagram showing a configuration of a remote control system for a crane apparatus according to an embodiment of the present invention. [Figure 4] 5A and 5B are diagrams illustrating the operation of the remote control system for a crane apparatus according to an embodiment of the present invention. [Figure 5] 4 is a flowchart showing the operation of the remote control system for a crane apparatus according to one embodiment of the present invention. [Figure 6] 4 is a flowchart showing the operation of the remote control system for a crane apparatus according to one embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0019] The crane operation system will be described below with reference to the drawings as appropriate. It should be noted that the drawings are schematic. Therefore, it should be noted that the relationship between thickness and planar dimensions, ratios, etc. may differ from the actual relationship between thickness and planar dimensions, and the drawings may also include portions where the relationship between dimensions and ratios differ. Furthermore, the embodiments shown below are merely examples of devices and methods for embodying the technical concept of the present invention, and the technical concept of the present invention is not limited to the following embodiments in terms of the materials, shapes, structures, arrangements, etc. of the components. In the following description, only the parts related to the present invention will be described in detail, and other parts will be only briefly described or will not be described at all.

[0020] In the following explanation and drawings, a mobile crane in which a vehicle-mounted crane is mounted on a truck will be described as an example of a crane apparatus. In the following explanation, unless otherwise specified, the crane apparatus provided on the mobile crane is assumed to be in a position in which the tip of the boom is tilted approximately horizontally toward the rear of the vehicle and its length is aligned with the fore-and-aft direction of the vehicle. Additionally, the direction in which the mobile crane moves forward (the direction in which it travels when the shift is selected in D range, etc.) may be referred to as "forward." Similarly, in the following explanations and drawings, the direction in which the mobile crane moves backward (the direction in which it travels when the shift is selected in R range) may be referred to as "rearward," and the left hand side of the operator of the mobile crane 1 when he is sitting in the driver's seat will be referred to as the "left side," and the right hand side of the operator when he is sitting in the driver's seat will be referred to as the "right side." Therefore, in the following description and drawings, expressions such as "front side of the vehicle," "rear side of the vehicle," "right side of the vehicle," and "left side of the vehicle" may be used in accordance with these definitions.

[0021] <Mobile crane configuration> The configuration of a mobile crane 1 will be described with reference to FIG. The mobile crane 1 is constructed by mounting a vehicle-mounted crane on a chassis frame CF of a truck. The vehicle-mounted crane has a lower base B fixed to the chassis frame CF, and a crane device 10, which is a working machine, is provided on top of the base B. The base B is provided with outrigger devices OU that protrude outward in the vehicle width direction to ensure the stability of the mobile crane 1. Furthermore, a control valve C that distributes pressure oil supplied from a pump (not shown) to the actuators of the crane apparatus 10 is fixed to the upper part of the base B.

[0022] <Crane device structure> The structure of the crane apparatus 10 will be described with reference to FIGS. 1, the crane apparatus 10 includes, from the bottom, a slewing device 11, a column 12, a boom 13, and a control unit 50. The detailed configuration of the control unit 50 will be described later. The slewing device 11 supports the base of the column 12 so that it can rotate around an axis along the vertical direction of the vehicle, and the upper end of the column 12 supports the base end of the boom 13 so that it can swing around an axis along the width direction of the vehicle.

[0023] The column 12 is provided with a winch 14 at its top. A wire rope W is wound around the winch 14, and a hook 15 is connected to the end of the wire rope W. The wire rope W hangs down from the hook 15 via the tip of the boom 13.

[0024] <Remote control device structure> The remote controller will be described with reference to FIGS. As shown in FIG. 2(a), the remote controller 30 includes a grip portion 31 and a main body portion 32, and a battery pack (not shown) is inserted into the grip portion 31 as a power source.

[0025] As shown in FIG. 2(b), the main body 32 is provided with a display unit 33 that displays information such as the attitude of the crane device 10, and the lower part is provided with an input unit IP including a left stick 34, a right stick 35, and a setting switch 36A. The left stick 34 and the right stick 35 are used to operate the crane device 10 and the outrigger device OU. The setting switch 36A is used to operate the setting unit 36, which will be described later.

[0026] In the following description, the side on which the display unit 33 is provided is defined as the front of the remote controller 30, the side on which the main body 32 is provided is defined as the top, and the side on which the grip is provided is defined as the bottom. In the following description, when expressions such as "top," "bottom," "left side," "right side," "front side," and "rear side" of the remote controller 30 are used, the definitions of each direction will be based on those definitions.

[0027] As shown in FIG. 3, the left stick 34 and the right stick 35 are equipped with two-axis sensors that detect the magnitude and direction of tilt. The two-axis sensors consist of X-axis sensors 37L and 37R that detect left-right tilt and Y-axis sensors 38L and 38R that detect up-down tilt, and detect the direction and magnitude of stick tilt in the form of coordinate values ​​on the X and Y axes. Furthermore, when no external force is applied, a biasing force is applied so that the sticks automatically return to their origin positions, where input values ​​on both the X and Y axes are 0. In this embodiment, the X axis is set to the left-right direction of the remote controller 30, and the Y axis is set to the up-down direction. Although a detailed description will be omitted, signals for causing the crane apparatus 10 to perform a desired operation are generated by inputting the left stick 34 and the right stick 35 to the X axis and the Y axis.

[0028] Furthermore, the remote controller 30 includes a setting unit 36, a transmission unit 39, and a remote controller attitude detection unit 40. The setting unit 36 ​​also serves as a stop area setting unit as recited in claim 8. When the setting switch 36A is operated, the setting unit 36 ​​displays a setting screen on the display unit 33, and performs a switching operation between a tilt operation mode and a normal operation mode, which will be described later, and sets a stop area. The remote controller attitude detection unit 40 includes a three-axis acceleration sensor 41 as an inclination angle sensor for attitude detection. The transmitter 39 transmits to the control unit 50 the input values ​​of the left stick 34 and the right stick 35 based on the operation input, the signal of the setting unit 36, and the detection value of the remote controller attitude detector 40.

[0029] <Control unit configuration> The control unit 50 includes a receiving section 51 , a reference attitude setting section 52 , a rotation direction setting section 53 , a rotation speed setting section 54 , a stop area storage section 55 , and a control section 56 . The receiving unit 51 receives information transmitted from the transmitting unit 39 of the remote controller 30 . The reference attitude setting unit 52 sets the attitude of the remote controller 30 at a predetermined time as a reference attitude, which will be described later. The rotation direction setting unit 53 sets the rotation direction of the winch 14 based on the detection value of the remote controller attitude detection unit 40. The rotation speed setting unit 54 sets the rotation speed of the winch 14 based on the detection value of the remote controller attitude detection unit 40. The stop region storage unit 55, the details of which will be described later, sets the rotational attitude of the remote controller 30 that stops the winch 14. The control unit 56 transmits a signal to the control valve C to operate the winch 14 based on the settings of the rotation direction setting unit 53, the rotation speed setting unit 54, and the stop region storage unit 55.

[0030] <Setting the coordinate system and reference attitude> Setting of the remote controller coordinate system C1 and the predetermined attitude will be described with reference to FIGS. (remote control coordinate system) 2(a), the remote controller coordinate system C1 is a three-dimensional Cartesian coordinate system set with the remote controller 30 as the reference. Specifically, the X axis is set along the left-right direction of the remote controller 30, the Y axis is set along the up-down direction of the remote controller 30, and the Z axis is set along the front-rear direction of the remote controller 30. In the following explanation, the direction from the left side to the right side of the remote controller 30 will be referred to as the + direction of the X axis, the direction from the bottom to the top of the remote controller 30 will be referred to as the + direction of the Y axis, and the direction from the back to the front of the remote controller 30 will be referred to as the + direction of the Z axis. Additionally, the coordinate axes of the remote control coordinate system C1 may be expressed as the X-axis as the XTx-axis, the Y-axis as the YTx-axis, and the Z-axis as the ZTx-axis. Rotating the YTx-axis so that the - side faces downward and the + side faces upward is referred to as pitch-up rotation, and rotating in the opposite direction is referred to as pitch-down rotation. In addition, in FIG. 2(a) and FIG. 4, the rotation angle around the pitch axis is expressed as θ [°].

[0031] (Reference posture) In order to calculate the amount of change in the rotational attitude of the remote controller 30, a reference attitude is set for the rotational attitude around the pitch axis of the remote controller 30. The reference attitude is set to the attitude of the remote controller 30 at a time described below. For example, as shown in FIG. 4, if the operator 100 holds the remote controller 30 in front of his / her body and rotates it 45 degrees in the pitch-up direction at a predetermined time, the reference attitude will also be 45 degrees.

[0032] (stop area) The stop area storage unit 55 stores a stop area 60 within a predetermined angle range with the initial value as the median. The stop region 60 is set within a range of 5° in the pitch up direction and pitch down direction. As exemplified in the explanation of the reference attitude, when the aircraft is rotated 45° in the pitch up direction, the stop region 60 is set within a range of 10° from a pitch angle of 40° to 50°. Note that the two-dot chain line 61 in Figure 4 virtually indicates the threshold value on the pitch up side of the stop region 60, and the two-dot chain line 62 virtually indicates the threshold value on the pitch down side of the stop region 60.

[0033] <Operation of the crane remote control system> The operation of the remote control system for the crane apparatus will be described with reference to FIGS. In addition, the remote control system of the crane device according to this embodiment can use two types of operation methods, a first tilt operation mode and a second tilt operation mode, to operate the hook 15 based on the tilt of the remote controller 30. Hereinafter, the operation of the remote controller 30 will be omitted, as it only transmits the detection value of the remote controller attitude detection unit 40, and only the operation of the control unit 50 will be described in detail. Also, reference numeral 100 in Figure 4 denotes an operator.

[0034] (Normal operation mode) When the power is turned on, the remote controller 30 starts up in normal operation mode. In normal operation mode, the right stick 35 is operated in the Y-axis direction to move the hook 15 up and down. Specifically, when the right stick 35 is operated in the +Y direction (upward in Figure 2(b)), the winch 14 rotates to wind up the wire rope W, and the hook 15 moves upward. When the right stick 35 is operated in the -Y direction (downward in Figure 2(b)), the winch 14 rotates to unwind the wire rope W, and the hook 15 moves downward.

[0035] (First tilt operation mode) The first tilt operation mode will now be described with reference mainly to FIG. To set the remote controller 30 to the first tilt operation mode, which moves the hook 15 up and down in conjunction with changes in the attitude of the remote controller 30, the attitude of the remote controller 30 is held within the range of the stop area 60, and the setting switch 36A is operated to switch from the normal operation mode to the first tilt operation mode. Then, the attitude at the time of this switching operation is set as the reference attitude, and the detection value of the remote controller attitude detection unit 40 is stored as an initial value in the reference attitude setting unit 52 (S01). After the first tilt operation mode is activated, the control unit 50 receives the detection value of the remote controller attitude detection unit 40 via the receiver 51 (S02).

[0036] If the received detection value is within the range of the stop region 60 (S03: YES), the winch 14 is kept stopped (S04) and the detection value is monitored. If the detected value is outside the stop region 60 shown in FIG. 4 (S03: NO) and the remote controller 30 has been rotated beyond the threshold value 61 in the pitch-up direction (S05: YES), the rotational posture of the remote controller 30 is compared with the rotational posture of the reference posture, the rotational speed of the winch 14 is set in proportion to the difference in pitch angle (S06), and the winch 14 is rotated in the winding direction to raise the hook 15 (S07).

[0037] If the detected value is outside the stop region 60 (S03: NO) and the remote controller 30 has been rotated beyond the threshold value 62 in the pitch down direction shown in FIG. 4 (S05: NO), the rotational posture of the remote controller 30 is compared with the rotational posture of the reference posture, the rotational speed of the winch 14 is set in proportion to the difference in pitch angle (S08), and the winch 14 is rotated in the unwinding direction to lower the hook 15 (S09).

[0038] In the first tilt operation mode, the setting of the stop area 60 can be changed arbitrarily. In this embodiment, the initial value is set to the median value of the stop area in the initial state, but a command signal for changing the setting of the stop area 60 is sent from the setting unit 36 ​​by operating the setting switch 36A, and the detection value of the remote controller attitude detection unit 40 at the time of receiving the command signal is reset to the median value of the stop area 60.

[0039] (Second tilt operation mode) The second tilt operation mode will now be described with reference mainly to FIG. To set the tilt operation mode in which the hook 15 moves up and down in conjunction with changes in the attitude of the remote controller 30, the setting switch 36A is operated to switch from the normal operation mode to the second tilt operation mode. In the second tilt operation mode, unlike the first tilt operation mode, the reference attitude is not set when switching modes.

[0040] In the second tilt operation mode, the winch 14 waits without operating until an operation input is made to the input unit IP (S11: NO). Then, the rotational attitude of the remote controller 30 when an input operation is made to the input unit IP (S11: YES) is set as the reference attitude (S12), and the detection value of the remote controller attitude detection unit 40 at that time is set as the initial value. The initial value is used while an operation input is being made to the input unit IP, that is, until the input value becomes 0 (S13: YES). Therefore, when the operation input is stopped once and then input operation is made again, the initial value is updated (S13: NO, S11, S12). The range in which the stop area 60 is set is also updated as the initial value is updated.

[0041] As for subsequent operations, similar to the first tilt operation mode, the detection value of the remote controller attitude detection unit 40 is received (S14), and if the detection value is within the stopping area (S15: YES), the winch 14 is stopped (S16), and if it is outside the stopping area (S15: NO), the winch is rotated according to the direction and angle of the attitude change of the remote controller 30 (S17-S21).

[0042] <Effects> By using the remote control system for the crane device of the present invention, it is possible to operate the hook 15 up and down without inputting data into the input unit IP, making it easier to perform crane operations by holding the remote controller 30 with one hand. The remote control system for the crane equipment according to the present invention can also control the operating speed of the hook 15 according to the rotational attitude of the remote controller 30, making it easier to perform crane operations by holding the remote controller 30 with one hand compared to when only the rotational direction is controlled by tilting the remote controller.

[0043] The remote controller 30 according to the present invention detects its attitude using only the three-axis acceleration sensor 41, and therefore, increases in manufacturing costs can be suppressed.

[0044] When the first tilt operation mode described in the embodiment is used, the reference posture is automatically set at the start of work, allowing the worker to set the reference posture to any posture, thereby improving comfort when operating the remote controller 30 compared to a configuration in which a fixed posture is set as the reference posture.

[0045] When the second tilt operation mode described in the embodiment is used, the reference attitude is set when the input unit IP is operated, so that the operator can set the reference attitude in a natural posture. Furthermore, similar to the first tilt operation mode, operation by tilting the remote controller is possible when extending or retracting the boom 13, and there is no need to operate the input unit IP for the hook 15. In particular, the hook 15 moves up and down in conjunction with the extension or retraction operation of the boom 13, but at that time, no input is required to operate the hook 15, making it easier to perform combined operations of the crane apparatus. Furthermore, by not operating the winch 14 based on the attitude of the remote controller 30 while no operation input is being made to the input unit, the remote controller can be held in any attitude, improving comfort during crane operation.

[0046] In the remote operation system for a crane device according to the present invention, the stopping area 60 is set with the initial value as the median value, so that even if the pitch angle changes due to hand shake during operation, it is possible to prevent the hook 15 from operating unintentionally, thereby improving operability.

[0047] The remote control system for a crane apparatus according to the present invention is provided with a stop area memory unit 55, and by making it possible to arbitrarily set the reference posture, the holding posture of the remote controller 30 that matches the operator's physique, etc., can be set as the stop angle of the hook 15, thereby improving the comfort of crane work using the remote controller 30.

[0048] <Modification> In the embodiment, the winch is set to stop while the attitude of the remote controller 30 is within the stopping area, but in the application of the present invention, a process may be added to stop the operation of the winch 14 when the angle of the remote controller attitude detection unit 40 becomes equal to or greater than a predetermined value or becomes smaller than or equal to a predetermined value. For example, if the operator changes from holding the remote controller 30 in front of the body to lowering it to the side, the attitude of the remote controller 30 will suddenly change in the pitch down direction. Therefore, if the angle of the remote controller 30 changes in the pitch down direction by 80 degrees or more from the initial value, processing is performed to stop the operation of the winch 14, thereby preventing the hook 15 from operating unintentionally. In addition, in order to prevent the hook 15 from operating unintentionally, processing may be performed to stop the operation of the winch 14 when not only the angle change of the posture change but also the angular velocity of the posture change is equal to or greater than a predetermined value.

[0049] In the embodiment, the remote controller 30 is described as being switchable between a first tilt operation mode and a second tilt operation mode, but in applying the present invention, the remote controller 30 does not necessarily have to be able to be set to two types of tilt operation modes. Furthermore, although the stop area 60 set in the stop area storage unit 55 can be arbitrarily changed, the setting of the stop area does not necessarily have to be changeable in application of the present invention. In particular, when the second tilt operation mode is available, the setting of the stop area is changed for each operation input, so this is unnecessary when the configuration is provided with only the second tilt operation mode.

[0050] In the embodiment, the stop area 60 was set to a range of 10 degrees with the initial value as the median, but in the application of the present invention, the range in which the stop area is set can be changed up to about 20 degrees according to the operator's preference. Furthermore, the initial value does not necessarily have to be set to the median value, and the setting may be changed to narrow the stop region on the pitch-up side and widen the stop region on the pitch-down side according to the operator's preference.

[0051] In the embodiment, the remote controller 30 is described as having only a triaxial acceleration sensor 41 as the remote controller attitude detection unit 40, but in applying the present invention, the remote controller attitude detection unit 40 does not necessarily have to be only a triaxial acceleration sensor 41. For example, by providing a triaxial angular velocity sensor in addition to the triaxial acceleration sensor 41 and correcting the detection error based on the detection values ​​of each sensor, the rotational attitude of the remote controller 30 can be detected with high accuracy. [Explanation of symbols]

[0052] 1...Mobile crane, 2...Vehicle-mounted crane, 10...Crane device, 11...Slewing device, 12...Column, 13...Boom, 14...Winch, 15...Hook, 30...Remote control device, 34...Left stick, 35...Right stick, 36...Setting section, 36A...Setting switch, 40...Remote control device attitude detection section, 50...Control unit, 51...Receiver, 52...Reference attitude setting section, 53...Rotation direction setting section, 54...Rotation speed setting section, 55...Stop area memory section, 56...Control section, 60...Stop area, C...Control valve

Claims

1. A remote operation system including a crane device having a control unit and a remote operator, The crane apparatus includes a winch and a hook connected to a wire rope wound around the winch, the control unit includes a receiving unit, a rotation direction setting unit, and a control unit; the remote controller includes a remote controller attitude detection unit and a transmission unit, and a predetermined reference attitude is set; the remote controller attitude detection unit detects an angle of the remote controller around a pitch axis using the reference attitude as an initial value; the transmitting unit transmits the detection value of the remote controller attitude detecting unit, and the receiving unit receives the detection value; the rotation direction setting unit sets the rotation direction of the winch based on the detection value of the remote controller attitude detection unit, The control unit operates the winch based on the setting value of the rotation direction setting unit.

2. 2. The remote control system for a crane apparatus according to claim 1, wherein the remote control attitude detector is an inclination angle sensor.

3. 2. The remote control system for a crane apparatus according to claim 1, wherein the control unit further includes a rotational speed setting unit that sets a rotational speed of the winch in proportion to a difference between the angle about the pitch axis and the initial value based on a detection value of the remote controller attitude detection unit.

4. the remote controller includes an input unit for operating the crane apparatus, 2. The remote control system for a crane apparatus according to claim 1, wherein the reference attitude is set to an attitude of the remote controller when an operation input is made to the input unit.

5. 5. The remote control system for a crane apparatus according to claim 4, wherein the control unit operates the winch based on the setting value of the rotation direction setting unit only while an operation input is being made to the input unit.

6. a stop region is set within a predetermined angle range including the initial value among the angles around the pitch axis; 6. The remote operation system for a crane apparatus according to claim 1, wherein the rotation direction setting unit sets the winch to stop operation when the angle about the pitch axis is inside the stopping area, sets the winch to rotate in a direction in which the hook rises when the angle exceeds a threshold on the pitch-up side of the stopping area, and sets the winch to rotate in a direction in which the hook descends when the angle exceeds a threshold on the pitch-down side of the stopping area.

7. 7. The remote control system for a crane apparatus according to claim 6, wherein the stopping region is set to an angle range of 10 degrees to 20 degrees with the angle of the reference posture as a median.

8. 7. The remote control system for a crane apparatus according to claim 6, wherein the remote controller further comprises a stop area setting unit for setting an angle range within which the stop area is set.

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