Crane Equipment

Abstract

To provide a crane device capable of urging a worker to take countermeasures against an earthquake by making effective use of the time from the occurrence of the earthquake to the arrival of the actual shaking of the earthquake, and capable of safely handling a suspended load.SOLUTION: A crane device comprises: earthquake information receiving means for receiving earthquake information; a control processing unit that receives the earthquake information and executes alarm control processing and suspended load control processing; alarming means that is controlled by the control processing unit to notify the surroundings of the arrival of an earthquake by means of sound generating means by executing the alarm control processing; and suspended load control means that is controlled by the control processing unit to move a suspended load to an appropriate position according to the current status of the suspended load by executing the suspended load control processing.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present invention relates to a crane apparatus, and more particularly to a crane apparatus linked with an earthquake reporting system. [Background technology]

[0002] When workers use a crane installed in a factory or the like to lift or move products, there is a risk that the load being lifted or moved may swing or fall during the lifting or moving process in the event of an earthquake. For this reason, it is necessary to handle the load suspended from the crane appropriately in the event of an earthquake.

[0003] However, because it is difficult to predict the occurrence of earthquakes, it is not possible to take earthquake shaking into consideration when carrying out work on site. For this reason, a practical method for minimizing the adverse effects of earthquakes on cranes is known in which the control of the crane device is automatically switched to a control that responds to earthquakes when an earthquake is detected.

[0004] For example, JP 2013-121864 A (Patent Document 1) discloses a crane apparatus equipped with a landing detection unit that detects when a suspended container is landed in a predetermined position, an earthquake detection unit that detects the occurrence of an earthquake, a tension relief mechanism that releases the tension in the main hoisting rope, and a control unit that outputs an operation signal for the tension relief mechanism unit on the condition that it receives both a landing detection signal from the landing detection unit and an earthquake occurrence signal from the earthquake detection unit.

[0005] According to this crane device, if an earthquake occurs during loading and unloading of a suspended container on a container ship or the like, the tension relief mechanism will operate in response to an operating signal output from the control unit, preventing tension or excessive tension acting on the main hoisting rope. [Prior art documents] [Patent documents]

[0006] [Patent Document 1] JP 2013-121864 A Summary of the Invention [Problem to be solved by the invention]

[0007] A crane apparatus such as that described in Patent Document 1 detects the occurrence of an earthquake using a seismometer or accelerometer installed on the crane apparatus, or a signal of earthquake information input from outside, and switches the control of the crane apparatus to control that corresponds to the earthquake.

[0008] However, the crane apparatus described in Patent Document 1 simply switches the control of the crane apparatus to control that responds to earthquakes, and does not take into consideration notifying workers working in a factory of the occurrence of an earthquake. In particular, no specific measures are shown for encouraging workers to respond to an earthquake (stopping work, calling attention to evacuation, etc.) by using the time until the actual earthquake shaking arrives, or for the handling of the crane apparatus thereafter.

[0009] Therefore, there is a need for specific measures to encourage workers to respond to the earthquake by utilizing the time it takes for the actual earthquake shaking to reach the area from the point where the earthquake occurs, as well as measures for the safe handling of the loads suspended by the crane equipment after this.

[0010] An object of the present invention is to provide a crane apparatus that utilizes the time it takes for the actual earthquake shaking to reach the area from the point where the earthquake occurs, to encourage workers to take action against the earthquake, and further, to handle suspended loads safely. [Means for solving the problem]

[0011] The present invention is a crane apparatus equipped with a hoisting motor that hoists a hook to which a load is attached, a moving motor that moves the hoisting motor back and forth and / or left and right, and control means that controls the operation of the hoisting motor and the moving motor, wherein the control means is characterized by the crane apparatus equipped with earthquake information receiving means that receives earthquake information, a control processing unit that receives the earthquake information and executes an alarm control process and a load control process, an alarm means that is controlled by the control processing unit and notifies the surrounding area of ​​an impending earthquake using a sound generating means by executing the alarm control process, and a load control means that is controlled by the control processing unit and moves the load to an appropriate position depending on the current condition of the load by executing the load control process. Effect of the Invention

[0012] According to the present invention, it is possible to provide a crane apparatus that utilizes the time between the occurrence of an earthquake and the arrival of actual earthquake shaking to encourage workers to respond to an earthquake and further safely handle a suspended load. [Brief description of the drawings]

[0013] [Figure 1] FIG. 2 is a perspective view showing the overall configuration of the crane apparatus. [Diagram 2] FIG. 2 is a configuration diagram showing the overall configuration of a control system for a crane apparatus. [Diagram 3] 1 is a block diagram showing a configuration of a control system for a crane apparatus according to an embodiment of the present invention. [Figure 4] 4 is a flowchart showing a process flow of the control system shown in FIG. 3. [Diagram 5] 5 is a flowchart showing a safety processing flow after the stopping operation processing shown in FIG. 4. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0014] Hereinafter, an embodiment of the present invention will be described in detail with reference to the drawings. However, the present invention is not limited to the following embodiment, and various modifications and application examples within the technical concept of the present invention are also included within its scope.

[0015] FIG. 1 shows the overall configuration of a crane apparatus to which the present invention is applied, and FIG. 2 shows the overall configuration of a control system for a crane apparatus according to an embodiment of the present invention.

[0016] A crane device is roughly equipped with a hoisting motor that hoists and lowers a crane hook on which a load is attached, a moving motor that moves the hoisting motor back and forth and / or left and right, and a control means that controls the operation of the hoisting motor and the moving motor. The specific configuration is as follows.

[0017] In Fig. 1, it is composed of a crane hook 1, a wire rope 2, a hoisting induction motor 3, a hoisting drum 4, a traverse induction motor 5, traverse wheels 6, a traverse girder 7, a traveling induction motor 8, a traveling wheel 9, a traveling girder 10, a hoisting / traverse inverter control device 11, an operation input device 12 suspended from a cable, a traveling inverter control device 13, etc. Also, the hoisting induction motor 3, the traverse induction motor 5, and the traveling induction motor 8 each have an induction motor brake 14 (see Fig. 2) built in.

[0018] Here, the hoisting induction motor 3 raises and lowers the load hung from the crane hook 1 in the direction of gravity, and the traverse induction motor 5 and the traveling induction motor 8 are movement motors that move the hoisting induction motor 3 in the forward / backward and / or left / right directions.

[0019] The crane device moves a load attached to a crane hook 1 in the direction of gravity (indicated by the Y direction, -Y arrow), i.e., up and down, by using a hoist drum 4 rotated by a hoist induction motor 3 to wind up and down a wire rope 2. In addition, a traverse induction motor 5 rotates traverse wheels 6, which move the load in the left and right directions (indicated by the X direction, -X arrow) along a traverse girder 7. In addition, a traveling induction motor 8 rotates traveling wheels 9, which move the load in the front and back directions (indicated by the Z direction, -Z arrow) along a traveling girder 10.

[0020] As shown in Fig. 2, the hoisting / traversing inverter control device 11 incorporates a hoisting / traversing inverter control unit 15, a hoisting inverter 16, and a traversing inverter 17. The traveling inverter control device 13 incorporates a traveling inverter control unit 18 and a traveling inverter 19. The hoisting / traversing inverter control unit 15 and the traveling inverter control unit 18 are connected by a communication line 20.

[0021] The hoisting induction motor 3 and the traverse induction motor 5 are controlled by a hoisting / traverse inverter control unit 15 stored in the hoisting / traverse inverter control device 11. That is, when an operator inputs a predetermined instruction from the operation input device 12, the hoisting / traverse inverter control unit 15 provides control information required for control to the hoisting inverter 16 and the traverse inverter 17 in order to control them. An encoder 21 is attached to the hoisting induction motor 3, and inputs rotation information of the hoisting induction motor 3 to the hoisting / traverse inverter control unit 15.

[0022] The hoisting inverter 16 and the traverse inverter 17 apply the necessary frequency, voltage, and current to the hoisting induction motor 3 and the traverse induction motor 5, and at the same time control the release of the induction motor brake 14. As a result, in the case of the hoisting drum 4, the load attached to the crane hook 1 is moved in the Y direction without falling, and in the case of the traverse wheels 6, the traverse wheels 6 are moved in the X direction along the traverse girder 7.

[0023] Similarly, when an operator inputs a specified instruction from the operation input device 12, the traveling induction motor 8 attached to the traveling wheel 9 is controlled by the traveling inverter control unit 18 stored in the traveling inverter control device 13, which controls the traveling inverter 19, and the traveling inverter 19 applies the required frequency, voltage, and current to the traveling induction motor 8, and at the same time controls the release of the induction motor brake 14, thereby moving the traveling wheel 9 in the Z direction along the traveling girder 10.

[0024] Furthermore, the hoisting / traversing inverter control device 11 is provided with a communication unit 22, and this communication unit 22 is connected to the hoisting / traversing inverter control unit 15 by a communication line 23. The communication unit 22 is connected by wireless communication to a cloud network (hereinafter referred to as cloud) 24 composed of a server having a calculation function, and this cloud 24 is also connected by wireless communication to an emergency earthquake notification system 25 having a communication unit.

[0025] Therefore, the communication unit 22 and the emergency earthquake notification system 25 are set in an environment in which they can communicate with each other via the cloud 24. Of course, it goes without saying that they may be connected to each other by wire so that they can communicate with each other.

[0026] The cloud 24 equipped with a server is installed in a crane manufacturing company or a maintenance company. The emergency earthquake notification system 25 can use the "Emergency Earthquake Notification System" operated by the Japan Meteorological Agency. This emergency earthquake notification system is designed to issue "forecasts" and "warnings."

[0027] For example, a "forecast" is issued when the maximum seismic intensity is expected to be 3 or greater, or a magnitude of 3.5 or greater, and a "warning" is issued when the maximum seismic intensity is expected to be 5-lower or greater. By selecting between "forecast" and "warning," the control state of the crane equipment can be changed. Also, earthquakes are first observed as "initial tremors" caused by P waves, followed by "main tremors" caused by S waves.

[0028] Therefore, when a "forecast" is issued due to the initial tremor and then an "alarm" is issued in succession due to the main tremor, there is a time lag between them. This time lag can be utilized to execute earthquake-response control of the crane equipment.

[0029] Next, a configuration of a control system for a crane device linked with an emergency earthquake notification system according to an embodiment of the present invention will be described. Fig. 3 shows a schematic configuration of the control system according to this embodiment.

[0030] In this embodiment, a hoisting / traversing inverter control device 11 is used as the control device, but since various control devices can be used, the following description will be given taking the control device 11 as a representative example.

[0031] The control device 11 is equipped with a control processing unit 30, which has a function of executing control processing of the crane device when an earthquake occurs, and as is well known, this is executed by a microcomputer that operates according to a control program. Various information is input to the control processing unit 30 from various sensors. Information related to this embodiment, for example, position information of the suspended load, load information of the suspended load, and image information of the area in which the suspended load is located, is input to the control processing unit 30.

[0032] Position information of the suspended load is acquired by position information acquisition unit 31. This is found from the position of crane hook 1, and can be obtained from the amount of wire rope 2 wound around hoist drum 4. It can also be found from other rotations of hoist induction motor 3, and the point is that it is sufficient to obtain position information of crane hook 1. Position information of crane hook 1 can be treated as position information of the suspended load.

[0033] Load information of the suspended load is acquired by the load information acquisition unit 32. This is obtained from a load meter (not shown). Note that it can also be obtained from the current value (load torque) of the hoisting induction motor 3, and the point is that it is sufficient to obtain load information of the suspended load.

[0034] Video information of the area where the suspended load is located is acquired by the camera image acquisition unit 33. This is obtained from a camera (not shown). In this embodiment, the camera is provided on the hoisting drum 4, but it is also possible to obtain the information from an image of a camera located at a position other than this and away from the crane device. The point is that it is sufficient to obtain video information of the area where the suspended load is located.

[0035] Furthermore, earthquake information (for example, an emergency earthquake alert) relating to the earthquake is input to the control processing unit 30 from the communication unit 22. The earthquake information is sent from the emergency earthquake notification system 25 via the cloud 24.

[0036] As mentioned above, the emergency earthquake notification system 25 receives information from the "Emergency Earthquake Notification System" operated by the Japan Meteorological Agency, and sends out "forecasts" and "warnings" according to the strength of the earthquake. In addition, since the initial tremors caused by P waves and the main tremors caused by S waves arrive at the seismometer with a time delay, "forecasts" and "warnings" may be issued in chronological order in response to this.

[0037] The control processing unit 30 transmits information to the alarm control unit 34 to notify the alarm control unit 34 of a "forecast" and an "alert". The alarm control unit 34 has a function of notifying an audio generating means such as a speaker of the occurrence of an earthquake, the intensity of the earthquake, a request for evacuation, evacuation methods, etc., by voice.

[0038] Therefore, by providing the crane equipment with an alarm control unit 34 and sound generating means, workers can smoothly take evacuation action based on earthquake information even if they do not carry an information terminal such as a smartphone.

[0039] The control processing unit 30 also has a control function for causing the operation control unit 35 to stop the crane, move the suspended load, etc. For example, it has a function for performing alert control when an "alarm" is received from the communication unit 22, and a function for performing alert control when a "forecast" is received, stop control of the crane apparatus, and movement control of the suspended load, such as landing the suspended load on the floor and hoisting it up.

[0040] Therefore, since the control contents of the crane apparatus are selected according to the intensity of the earthquake, it becomes possible to execute appropriate control of the crane apparatus in response to the earthquake.

[0041] Next, we will explain the specific process flow when an earthquake occurs in such a control system. Figure 4 shows the process flow when an Earthquake Early Warning is received. This control is started by a time interrupt at a predetermined time interval, and when an Earthquake Early Warning is received, control corresponding to the earthquake is executed.

[0042] <Step S11> In step S11, it is determined whether or not an emergency earthquake early warning has been received. If an emergency earthquake early warning has not been received (No), the process goes to END and waits for the next start timing to arrive. On the other hand, if an emergency earthquake early warning has been received, the process proceeds to step S12.

[0043] <Step S12> In step S12, it is determined whether the earthquake level is "Primary" (corresponding to the second predetermined intensity in the claims). This "Primary" corresponds to the earthquake intensity set in the "Forecast". If it is determined that it is not "Primary" (No), the process proceeds to step S13. In other words, if it is not "Primary", it is determined that it is "Scandalary" (corresponding to the first predetermined intensity in the claims), which is the earthquake intensity set in the "Warning". On the other hand, if it is determined to be "Primary", the process proceeds to step S14.

[0044] <Step S13> Since the earthquake level is judged to be "Scandary" in step S12, it is expected that a strong earthquake will occur soon, so in step S13, the safety of the workers is prioritized and an alarm is issued. In this case, a buzzer is sounded by the sound generating means to notify the operator by voice that a strong earthquake is coming.

[0045] In other words, when the intensity of the earthquake is judged to be "Scondary" (above a first predetermined intensity), the load control process described below is not executed, but an alarm control process is executed to quickly alert people using the sound generating means.

[0046] For example, an announcement such as "An earthquake of magnitude 6 has occurred. Please evacuate to the nearest safe place immediately" is made. This enables the worker to quickly take action to evacuate to a safe place and ensure his / her own safety. After executing the process of step S13, the process goes to END and waits for the next start timing to arrive.

[0047] <Step S14> Since the earthquake level is judged to be "Primary" in step S12, it is expected that an earthquake of a relatively low intensity will occur, and therefore the safety of the workers is given priority in step S14, and an alarm is issued. In this case, a buzzer is sounded by the sound generating means, and an audio message is generated to inform the operator that an earthquake of a relatively low intensity will occur.

[0048] For example, an announcement such as "An earthquake of seismic intensity 3 has occurred. Please evacuate to the nearest safe place. There is a risk of further earthquakes of greater intensity occurring" is made. This enables the worker to quickly take action to ensure his / her own safety, such as by evacuating under the nearest desk. When the notification process is completed, the process proceeds to step S15.

[0049] <Step S15> In step S12, the earthquake is deemed to be of a low seismic intensity, and is deemed to be a preliminary tremor that may be followed by a main tremor of high seismic intensity. For this reason, the time delay between the preliminary tremor and the main tremor is utilized to execute the process of stopping the crane apparatus.

[0050] In this case, the operation of the hoisting induction motor 3, the traverse induction motor 5, and the travel induction motor 8 is stopped. This makes it possible to stop the crane device before the main movement arrives. Details of the load safety processing (corresponding to the load control processing referred to in the claims) after this stopping operation processing are shown in FIG. 5. When the stopping operation processing is completed, it exits to the end and waits for the arrival of the next start timing.

[0051] In other words, when the intensity of an earthquake is determined to be equal to or greater than "Primary" (second predetermined intensity), which is smaller than "Scondary" (first predetermined intensity), but less than "Scondary" (first predetermined intensity), an alarm control process is executed to alert the user using an alarm means, and then a safety process (load control process) is executed to move the load to an appropriate position.

[0052] Next, the safety processing of the suspended load after the stop processing (load control processing) will be explained with reference to Fig. 5. This safety processing is not executed until the stop operation processing shown in Fig. 4 is completed. If the safety processing is executed before the stop operation processing is completed, the suspended load may move unexpectedly. To avoid this, the safety processing is executed after the stop operation processing is completed.

[0053] <Step S21> In step S21, it is determined whether the stop operation based on the emergency earthquake warning has been completed. The reason for this is that, as described above, if safety processing is performed before the stop operation processing is completed, the suspended load may move unexpectedly. Therefore, if it is determined that the stop operation processing is not completed, the system goes to the end and waits for the arrival of the next start timing. On the other hand, if it is determined that the stop operation processing is completed, the system moves to step S22.

[0054] <Step S22> In step S22, a determination is made as to whether or not the load is being lifted. For this determination, the load information obtained from the load information acquisition unit 32 is used. If it is determined from the load information that the load is not being lifted, the process proceeds to step S23. On the other hand, if it is determined from the load information that the load is being lifted, the process proceeds to step S24.

[0055] <Step S23> Since it is determined in step S22 that the load is not being lifted, a process of hoisting the crane hook 1 to its upper limit position is executed in step S23. By hoisting the crane hook 1 in this manner, it is possible to prevent the crane hook 1 from swinging unnecessarily due to earthquake shaking.

[0056] When winding up the wire rope 2 to the upper limit position, the upper limit position can be obtained from the amount of the wire rope 2 wound on the hoist drum 4. It can also be obtained from the rotation of the hoist induction motor 3. When the crane hook 1 is wound up to the upper limit position, it comes out of the end and waits for the next start timing to arrive.

[0057] <Step S24> Since it is determined in step S22 that the load is being lifted, in step S24, a determination is made as to whether the load can be landed on the floor. This determination is made using image information obtained from the camera image acquisition unit 33. The space in which the load is to be landed can be determined using an image recognition function.

[0058] If the image information indicates that there is a space available for landing the suspended load, the process proceeds to step S25. On the other hand, if there is no space available for landing the suspended load, the process proceeds to step S26.

[0059] <Step S25> Since it is determined in step S24 that the load can be landed, in step S25, the hoisting induction motor 3 is operated to execute an automatic landing process for lowering the load into a space where the load can be landed. Once the load has been landed, it is released to the end and waits for the next start timing to arrive.

[0060] <Step S26> Since it is determined in step S24 that the load cannot be landed on the floor, a permission determination is made in step S26 as to whether to allow the load to be hoisted up to the upper limit position. This hoisting permission determination determines whether the suspended load should be left in its current position or should be hoisted up without being left in its current position.

[0061] For example, if the load is close to the floor, the impact of the swinging of the load will be small even if the load is left in the current position, but conversely, if the load is located high up away from the floor, the impact of the swinging of the load will be large from a safety standpoint, and in this case it is preferable to hoist the load. After the hoisting permission decision is made, the process proceeds to step S27.

[0062] <Step S27> In step S27, a decision is made as to whether or not to permit the load to be hoisted to the upper limit position, based on the decision result in step S26. If it is decided that hoisting is not permitted, the load is held at the current position and released to the end to wait for the next start timing.

[0063] <Step S28> Since it is determined in step S27 that hoisting of the load is permitted, in step S28, a process is executed to hoist the load to the upper limit position. When hoisting the wire rope 2 to the upper limit position in this process, the upper limit position can be obtained from the amount of the wire rope 2 wound on the hoist drum 4. It can also be obtained from the rotation of the hoist induction motor 3. When the load is hoisted to the upper limit position, it is released to the end and waits for the arrival of the next start timing.

[0064] By carrying out the above-mentioned safety processing, the suspended load is automatically maintained in an appropriate state even when the worker has evacuated, so that the worker can be prevented from being exposed to the danger caused by the swinging of the suspended load.

[0065] Thus, the present invention is a crane apparatus equipped with a hoisting motor that hoists the crane hook to which a load is attached, a moving motor that moves the hoisting motor back and forth and / or left and right, and control means for controlling the operation of the hoisting motor and the moving motor, wherein the control means is characterized by a crane apparatus equipped with earthquake information receiving means that receives earthquake information, a control processing unit that receives the earthquake information and executes an alarm control process and a load control process, an alarm means that is controlled by the control processing unit and uses a sound generating means to notify the surrounding area of ​​an impending earthquake by executing the alarm control process, and load control means that is controlled by the control processing unit and moves the load to an appropriate position depending on the current condition of the load by executing the load control process.

[0066] This makes it possible to provide a crane apparatus that utilizes the time between the occurrence of an earthquake and the arrival of actual earthquake shaking to encourage workers to respond to the earthquake and that can handle suspended loads more safely.

[0067] The present invention is not limited to the above-mentioned embodiments, but includes various modified examples. The above-mentioned embodiments have been described in detail to clearly explain the present invention, and the present invention is not necessarily limited to those having all the configurations described. In addition, it is possible to replace a part of the configuration of one embodiment with the configuration of another embodiment, and it is also possible to add the configuration of another embodiment to the configuration of one embodiment. It is also possible to add, delete, or replace other configurations with respect to the configuration of each embodiment. [Explanation of symbols]

[0068] 1...Crane hook, 2...Wire rope, 3...Hoisting induction motor, 4...Hoisting drum, 5...Traveling induction motor, 6...Traveling wheel, 7...Traveling girder, 8...Traveling induction motor, 9...Traveling wheel, 10...Traveling girder, 11...Hoisting / Traveling inverter control device, 12...Operation input device, 13...Traveling inverter device, 14...Induction motor brake, 15...Hoisting / Traveling inverter control unit, 16...Hoisting inverter, 17...Traveling inverter, 18...Traveling inverter control unit, 19...Traveling inverter, 20...Communication line, 21...encoder, 22...communication unit, 23...communication line, 24...cloud, 25...emergency earthquake notification system, 30...control processing unit, 31...position information acquisition unit, 32...load information acquisition unit, 33...camera image acquisition unit, 34...alert control unit, 35...operation control unit.

Claims

1. A crane apparatus including a hoisting motor for hoisting a crane hook on which a load is hung, a moving motor for moving the hoisting motor back and forth and / or left and right, and a control means for controlling the operation of the hoisting motor and the moving motor, The control means An earthquake information receiving means for receiving earthquake information; A control processing unit that receives the earthquake information and executes an alarm control process and a load control process; an alarm means for notifying people in the vicinity that an earthquake is approaching by using a sound generating means, the alarm means being controlled by the control processing unit and executing the alarm control process; A load control means is provided which is controlled by the control processing unit and which moves the load to an appropriate position according to the current load condition by executing the load control process; When the intensity of the earthquake is determined to be equal to or greater than a first predetermined intensity, the control processing unit does not execute the load control process, but executes the alarm control process to alert the worker by the alarm issuing means. A crane apparatus comprising:

2. In the crane apparatus according to claim 1, The earthquake information receiving means is connected to a cloud network, and the cloud network is connected to an emergency earthquake notification system. A crane apparatus comprising:

3. The crane apparatus according to claim 1, When it is determined that the intensity of the earthquake is equal to or greater than a second predetermined intensity that is smaller than the first predetermined intensity, and is less than the first predetermined intensity, the control processing unit executes the alarm issuing control process to alert the worker by the alarm issuing means, and subsequently executes the load control process to move the load to an appropriate position by the load control means. A crane apparatus comprising:

4. The crane apparatus according to claim 3, The earthquake information is an emergency earthquake warning obtained from a system operated by the Japan Meteorological Agency, and the first predetermined intensity corresponds to a "warning" of the emergency earthquake warning, and the second predetermined intensity corresponds to a "forecast" of the emergency earthquake warning. A crane apparatus comprising:

5. The crane apparatus according to claim 4, The load control process is executed after the operation of the hoisting motor and the moving motor is stopped. A crane apparatus comprising:

6. The crane apparatus according to claim 5, When it is determined that the load is not being lifted, the load control process lifts the crane hook to an upper limit position. A crane apparatus comprising:

7. The crane apparatus according to claim 6, The load control process performs a process of landing the load on the ground when it is determined that the load is being lifted and that the load can be landed on the ground. A crane apparatus comprising:

8. The crane apparatus according to claim 6, The load control process performs an operation of hoisting the load to the upper limit position when it is determined that the load is being hoisted and that the load cannot be landed on the floor. A crane apparatus comprising:

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