Method for constructing concrete structure and cable crane system

Abstract

To provide a cable crane system capable of easily realizing efficient operation, and a construction method capable of constructing a concrete structure with high productivity by shortening concrete transportation time.SOLUTION: A method for constructing a concrete structure includes a determination step of determining a first speed set value that defines a moving speed of a traversing trolley and a second speed set value that defines a lifting / lowering speed of a bucket, and a transportation step of transporting concrete by a cable crane through automatic operation of a control device using the first speed set value and the second speed set value determined in the determination step. The determination step includes a simulation step of performing a simulation of transporting concrete using a plurality of patterns of set values obtained by combining a plurality of types of first speed set values and a plurality of types of second speed set values.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a method for constructing a concrete structure and a cable crane system. [Background technology]

[0002] Patent Document 1 shows a cable crane equipped with a main cable stretched over a valley, a traverse trolley that moves along the main cable, and a bucket suspended from the traverse trolley so that it can be raised and lowered. By using this cable crane, concrete can be transported to a construction area in the valley and poured to construct a concrete structure such as a dam embankment. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2022-154200 Summary of the Invention [Problem to be solved by the invention]

[0004] When constructing concrete structures, cable cranes transport concrete repeatedly. Therefore, operating cable cranes efficiently and shortening the time required for each transport contributes to shortening the construction period of concrete structures. However, operating cable cranes efficiently requires skilled techniques.

[0005] The present invention aims to provide a cable crane system that can easily achieve efficient operation, and a construction method that can shorten the time required to transport concrete and construct concrete structures with high productivity. [Means for solving the problem]

[0006] A method for constructing a concrete structure according to one aspect of the present invention includes the steps of: A method for constructing a concrete structure, comprising: transporting concrete to a construction area using a cable crane having main cables stretched over a construction area, a traverse trolley that moves along the main cables, and a bucket that is suspended from the traverse trolley so as to be able to rise and fall; and a control device that automatically operates the cable crane; and constructing a concrete structure by pouring the transported concrete, a determining step of determining a first speed setting value that defines the moving speed of the traverse trolley and a second speed setting value that defines the lifting speed of the bucket; a transporting step in which the control device automatically operates the cable crane using the first speed setting value and the second speed setting value determined in the determining step, thereby causing the cable crane to transport the concrete; Including, The determining step an area designation step of designating an area to which the concrete is to be transported from among a plurality of areas within the construction range; A simulation step of simulating the transport of concrete to the destination area using a plurality of set values ​​that combine a plurality of types of first speed set values ​​and a plurality of types of second speed set values; a determining step of determining the first speed setting value and the second speed setting value corresponding to the destination area based on a result of comparing specific physical quantities in a plurality of the simulations performed using the plurality of patterns of setting values, respectively; Including, During the transportation process, the control device automatically operates the cable crane using the first speed setting value and the second speed setting value determined corresponding to the destination area, thereby transporting concrete to the area.

[0007] the transporting step includes a period in which the traverse trolley is operated at an accelerated speed, at a constant speed, and at a decelerated speed in the order, and also includes a period in which the bucket is operated at an accelerated speed, at a constant speed, and at a decelerated speed in the order in the lifting direction, The first speed setting may define a speed of the constant speed movement of the traverse trolley, and the second speed setting may define a speed of the constant speed movement of the bucket.

[0008] In the above-mentioned method for constructing a concrete structure, In the transporting step, the control device controls the movement of the traverse trolley and the lifting and lowering of the bucket, One or both of the moving operation and the lifting operation may include an operation that adds a speed change that reduces swinging of the bucket.

[0009] In the above-mentioned method for constructing a concrete structure, In the transporting step, the cable crane repeatedly transports concrete to one area, The method may further include a setting change step that allows a worker to change the settings of the first speed setting value and the second speed setting value during the transporting process.

[0010] One aspect of the cable claim system of the present invention comprises: a cable crane having a traverse trolley that moves along a main rope and a bucket that is suspended from the traverse trolley so as to be able to rise and fall; a control device that automatically operates the cable crane; a simulator that simulates the automatic operation of the cable crane; Equipped with The simulator an input unit for inputting area information indicating an area to which the object to be transported by the cable crane is to be transported; a physical calculation unit that simulates the operation of the cable crane transporting the load to the area of ​​the area information in accordance with a first speed setting value that defines the moving speed of the traversing trolley and a second speed setting value that defines the lifting speed of the bucket; an output unit that outputs setting information including the first speed setting value and the second speed setting value determined based on a plurality of simulation results using a plurality of patterns of setting values ​​that are combinations of a plurality of types of the first speed setting value and a plurality of types of the second speed setting value, or a physical quantity that is measured in the simulation and is related to the setting information; and The control device By operating the cable crane in accordance with the first speed setting value and the second speed setting value included in the setting information, the cable crane transports the load to the area indicated by the area information.

[0011] In the above cable crane system, The control device Repeatedly operating the cable crane to transport the load to the area indicated by the area information, Further provided is a setting operation device that can communicate with the control device and that can receive operation inputs from an operator, The first speed setting value and the second speed setting value may be changeable during the repeated operation by operating the setting operation device. [Effects of the Invention]

[0012] The cable crane system according to the present invention can easily realize efficient operation of the cable crane. The method for constructing a concrete structure according to the present invention can shorten the time required to transport concrete to the valley, thereby realizing highly productive construction of a concrete structure. [Brief explanation of the drawings]

[0013] [Figure 1] FIG. 1 is a diagram showing a cable crane system installed at a construction site. [Figure 2] FIG. 1 is a side view of a traversing trolley and bucket of a cable crane. [Figure 3] FIG. 2 is a block diagram showing the configuration of a control system of the cable crane system. [Figure 4] FIG. 10 is a diagram showing an example of a traversing trolley and bucket transporting concrete to one area. [Figure 5] 10 is a time chart showing an example of the change over time in the moving speed of the traverse trolley (a) and the lifting and lowering speed of the bucket (b) on the outward journey. [Figure 6]10 is a time chart showing an example of the change over time in the moving speed of the traverse trolley (a) and the lifting and lowering speed of the bucket (b) on the return trip. [Figure 7] 1 is a flowchart showing a method for constructing a concrete structure according to the present embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0014] Hereinafter, embodiments will be described with reference to the drawings. Features and technical effects of the embodiments will be understood from the following detailed description and drawings. However, the scope of the present invention is not limited to the embodiments disclosed below. Because the drawings are provided for illustrative purposes only, the scope of the present invention is not limited to the examples in the drawings.

[0015] [1. Overview of the system] 1 is a perspective view of a cable crane system 1 installed at a construction site. The cable crane system 1 according to this embodiment includes a concrete supply facility 10, a cable crane 20, and a control facility 40 that controls the cable crane 20.

[0016] The cable crane system 1 constructs a concrete structure 99 such as a dam embankment in a valley 93 between mountains 91 and 92. The cable crane system 1 transports materials such as ready-mixed concrete from a concrete supply facility 10 prepared beside the valley 93 to the valley 93 in order to construct the concrete structure 99.

[0017] The concrete supply facility 10 is constructed on the side of a mountain 92. The concrete supply facility 10 produces ready-mixed concrete and supplies the produced ready-mixed concrete to a cable crane 20. Note that another concrete supply facility may be constructed on the side of a mountain 91 in addition to or instead of the concrete supply facility 10.

[0018] Cable crane 20 is erected between peak 91 and peak 92. Cable crane 20 receives ready-mixed concrete from concrete supply equipment 10 and transports the ready-mixed concrete to valley 93. Cable crane 20 may transport materials other than ready-mixed concrete to valley 93. Cable crane 20 may transport materials from peak 91 to valley 93. Cable crane 20 may transport materials that are no longer needed in valley 93 from valley 93 to peak 91 or peak 92. Hereinafter, objects such as concrete (specifically ready-mixed concrete) or materials transported by cable crane 20 may also be referred to as transported objects.

[0019] [2. Concrete supply equipment] The concrete supply facility 10 includes a batcher plant 11, a bunker track 12, and a transport vehicle 13.

[0020] The batcher plant 11 is constructed on the side of a mountain 92. The batcher plant 11 mixes cement, water, and aggregate to produce ready-mix concrete.

[0021] The bunker track 12 is laid along the valley 93 from the batcher plant 11 on the side of the mountain 92.

[0022] The transport vehicle 13 is configured by, for example, a transfer car or a bucket truck. The transport vehicle 13 is capable of traveling on the bunker track 12 along the bunker track 12. The transport vehicle 13 repeatedly performs the following operations. First, the transport vehicle 13 receives a supply of ready-mixed concrete at the batcher plant 11 and loads the ready-mixed concrete. The transport vehicle 13 transports the ready-mixed concrete along the bunker track 12 from the batcher plant 11 to the loading location P1. Next, the transport vehicle 13 transfers the ready-mixed concrete to a bucket 29, which will be described later, at the loading location P1. Next, the transport vehicle 13 returns to the batcher plant 11 to receive the ready-mixed concrete.

[0023] The loading location P1 is located along the bunker track 12 and below the main ropes 21 described below. In other words, when looking at the bunker track 12 and the main ropes 21 from above, the point where the bunker track 12 and the main ropes 21 intersect is the loading location P1.

[0024] [3. Cable crane] The cable crane 20 will be described in detail with reference to Figures 1 to 3. Figure 2 is a side view of the traversing trolley 22 and bucket 29 of the cable crane 20.

[0025] The cable crane 20 is a rail-type cable crane, particularly a one-side mobile cable crane. A rail-type cable crane is one in which one or both ends of the main ropes 21, which are erected above the valley 93, move along the valley 93. A one-side mobile cable crane is one in which one or both ends of the main ropes 21 move along the valley 93. Note that the cable crane 20 may be a rail-type cable crane with both sides mobile, or may be a fixed cable crane rather than a rail-type cable crane. A two-side mobile cable crane is one in which both ends of the main ropes 21 move along the valley 93. A fixed cable crane is one in which both ends of the main ropes 21 are fixed and do not move.

[0026] The cable crane 20 comprises a main rope 21, a traverse trolley 22, a first winch 23, a traction cable 23a, a first tower 24, a pair of second towers 25, a rail cable 26, a traveling trolley 27, a second winch 28, a bucket 29, a lifting winch 30, and a lifting cable 30a.

[0027] The first tower 24 is also called the main cable tower. The first tower 24 is constructed standing on the middle or top of the mountain 91.

[0028] The second tower 25 is also called a cable tower. The second tower 25 is constructed standing on the top or halfway up of the mountain 92. The installation location of the second tower 25 is higher than the installation locations of the batcher plant 11 and the bunker track 12, and the second tower 25 is installed closer to the top of the mountain 92 than the batcher plant 11 and the bunker track 12. The two second towers 25 are lined up along the valley 93 with a gap between them.

[0029] The rail cable 26 is installed on the mountain 92 along the valley 93. More specifically, one end of the rail cable 26 is connected to one of the second towers 25, particularly to the top thereof, and the other end of the rail cable 26 is connected to the other second tower 25, particularly to the top thereof, and the rail cable 26 is installed between these second towers 25.

[0030] The traveling trolley 27 is supported by the rail 26 and is provided so as to be able to travel on and along the rail 26. The traveling trolley 27 is connected to a traveling traction cable, and the traveling traction cable is wound around a second winch 28.

[0031] The second winch 28 is installed on the mountain 92. More specifically, the second winch 28 is installed in a machine room 82 on the mountain 92. The second winch 28 applies tension to the traveling traction cable by winding and unwinding the traveling traction cable, thereby towing the traveling trolley 27 so that the traveling trolley 27 travels along the rail 26. The second winch 28 has a drum around which the traveling traction cable is wound, and a motor that drives the drum. Note that the traveling trolley 27 may be self-propelled rather than being towed. Self-propelled means that a motor is provided on the traveling trolley 27 and the traveling trolley 27 travels by the power of the motor.

[0032] The main rope 21 is stretched between the peaks 91 and 92 above the valley 93. More specifically, one end of the main rope 21 is connected to the first tower 24, particularly to its top, at the peak 91, and the other end of the main rope 21 is connected to the traveling trolley 27 at the peak 92, so that the main rope 21 is stretched between the first tower 24 and the traveling trolley 27.

[0033] When the cable crane 20 is a fixed type, one second tower 25 is erected on the top or halfway up the mountain 92, and the main rope 21 is stretched between the first tower 24 and the second tower 25. When the cable crane 20 is a bilaterally movable type, two first towers 24 are erected on the top or halfway up the mountain 91, a rail cable is stretched between the two first towers 24, a second traveling trolley runs along the rail cable, and the main rope 21 is stretched between the second traveling trolley and the traveling trolley 27.

[0034] The traverse trolley 22 is supported by the main ropes 21 and is provided on the main ropes 21 so as to be able to travel along the main ropes 21. The weight of the traverse trolley 22 causes the main ropes 21 to bend.

[0035] The traction cable 23a is stretched along the main rope 21 between the top of the first tower 24 and the traveling trolley 27. The traction cable 23a is wound around the first winch 23 at the peak 91, passes from the first winch 23 to the top of the first tower 24, turns back towards the traverse trolley 22, and is connected to the traverse trolley 22. The traction cable 23a is wound around a pulley at the peak 92, passes from the pulley through the traveling trolley 27, turns back towards the traverse trolley 22, and is connected to the traverse trolley 22.

[0036] The first winch 23 is the first drive device. The first winch 23 is installed on the mountain 91. More specifically, the first winch 23 is installed in the machine room 81 on the mountain 91. The first winch 23 pulls the traverse trolley 22 so that the traverse trolley 22 travels along the main ropes 21 by applying tension to the traction cable 23a by winding and unwinding the traction cable 23a. The first winch 23 has a drum around which the traction cable 23a is wound and a motor that drives the drum. The motor may be a motor with a brake. Note that the traverse trolley 22 may be self-propelled rather than being a towed type. Self-propelled means that a motor serving as a drive device is provided on the traverse trolley 22 and the traverse trolley 22 travels by the power of the motor.

[0037] The bucket 29 is suspended from the traversing trolley 22 by a lifting cable 30a so as to be able to move up and down, and holds an object to be transported. The bucket 29 is connected to a lifting winch 30 via the lifting cable 30a.

[0038] The bucket 29 has a block 29a and a bucket body 29b. The block 29a has a movable pulley around which the lifting cable 30a is wound. The bucket body 29b is suspended from the block 29a. The bucket body 29b accommodates and holds the load, particularly concrete. The bucket body 29b has a switch 29c at its bottom that is remotely controlled to open and close. When the switch 29c is closed, the load is held within the bucket body 29b, and when the switch 29c is opened, the load is dropped from the bucket body 29b.

[0039] The lifting cable 30a is wound around the lifting winch 30. The lifting cable 30a is unwound from the lifting winch 30 and is routed to the traveling trolley 27, passing through the pulley at the top of the first tower 24, the first pulley of the traverse trolley 22, the movable pulley of the block 29a, and the second pulley of the traverse trolley 22.

[0040] The lifting winch 30 is a second drive device. The lifting winch 30 is installed on the mountain 91, more specifically, in the machine room 81. The lifting winch 30 has a drum around which the lifting cable 30a is wound, and a motor that drives the drum. The lifting winch 30 lifts the bucket 29 by winding up the lifting cable 30a. The lifting winch 30 lowers the bucket 29 by letting out the lifting cable 30a.

[0041] [4. Control equipment] 3 is a block diagram showing the configuration of a control system for cable crane system 1. Cable crane 20 is controlled by control equipment 40. Control equipment 40 has a controller 41 that enables an operator to operate cable crane 20, a first control device 42 that controls the drive of cable crane 20, a second control device 43 that controls the automatic operation of cable crane 20, a setting operation device 44 that can make various settings for cable crane 20, and a simulator 45 that can simulate the operation of cable crane 20. Simulator 45 and second control device 43 may be integrated into a single calculator (i.e., computer) 46. Second control device 43 corresponds to an example of a control device according to the present invention.

[0042] The controller 41 is used to remotely control the winches 23, 28, 30 and the switchgear 29c. The controller 41 has input devices such as an operating lever, a foot pedal, a handle, a push button, a joystick, and a switch. When the operator operates the controller 41, an operation signal is sent from the controller 41 to the first control device 42, and the first control device 42 sends operation commands corresponding to the operation signal to the drive circuits of the winches 23, 28, 30 and the switchgear 29c. As a result, the winches 23, 28, 30 and the switchgear 29c are driven in accordance with the operation. In this embodiment, the controller 41 is used auxiliary, and the cable crane 20 is normally operated automatically as described below.

[0043] [4-1. First control device] The first control device 42 is, for example, a PLC (Programmable Logic Controller), which receives an operation signal from the controller 41, performs logical operations using the operation signal as input to determine an operation command, and outputs the operation command to the drive circuit of one of the winches 23, 28, 30 and the switch 29c. Furthermore, the first control device 42 receives an autopilot signal from the second control device 43, and determines and outputs an operation command based on the signal in the same manner as described above. These control operations realize the operation of the cable crane 20 in accordance with the operation of the controller 41 or in accordance with the autopilot of the first control device 42.

[0044] Furthermore, the first control device 42 includes a first communication unit 421 that transmits and receives information to and from the setting operation device 44, and a second communication unit 422 that transmits and receives information to and from the second control device 43. The second communication unit 422 may be connected to a communication unit 435 of the second control device 43 via a wired local area network (LAN), for example, and may operate in accordance with a common communication standard. The first communication unit 421 is capable of receiving information on setting changes for the first control device 42 and information on setting changes for the second control device 43 from the setting operation device 44. When the first communication unit 421 receives information on setting changes for the second control device 43, the second communication unit 422 transfers the information to the second control device 43. Note that one communication module may function as both the first communication unit 421 and the second communication unit 422.

[0045] [4-2. Second control device] The second control device 43 is a calculator (computer) that operates by executing programs stored in a storage unit 431. The programs include an automatic operation program 431a that performs automatic operation of the cable crane 20.

[0046] The second control device 43 executes the automatic operation program 431a to sequentially output a plurality of signals for automatically operating the cable crane 20 to the first control device 42 at timing determined by the program. The first control device 42 drives the cable crane 20 in response to the automatic operation signals. This achieves automatic operation in which the traversing trolley 22 and the bucket 29 transport concrete to a predetermined area within the valley 93 and then return to their original positions. The second control device 43 has an output port 432 and outputs the automatic operation signals to the first control device 42 via the output port 432.

[0047] The automatic driving program 431a incorporates an algorithm for performing speed control during automatic driving to reduce swaying of the bucket 29. Furthermore, the automatic driving program 431a may also incorporate algorithms for performing speed control during automatic driving to satisfy various other purposes. According to the automatic driving program 431a, when controlling the movement speed of the traverse trolley 22 and when controlling the lifting and lowering speed of the bucket 29, the second control device 43 also executes speed control to reduce swaying of the bucket 29 or to satisfy other purposes.

[0048] The second control device 43 further includes a display unit 433 and an input device (keyboard, mouse, etc.) 434. Then, via the display on the display unit 433 and the operation input of the input device 434, a worker such as an operator can input values ​​for the various setting items for the above-mentioned automatic operation.

[0049] The second control device 43 includes a communication unit 435 that can communicate with the first control device 42 and the simulator 45. The second control device 43 can receive setting change information sent from the setting operation device 44 via the communication unit 435, and can also receive information sent from the simulator 45.

[0050] [4-3. Simulator] The simulator 45 is a calculator (computer) that operates by executing a program stored in the storage unit 451. The simulator 45 and the second control device 43 may be integrated into a single calculator 46. The above programs include an automatic operation simulation program 451a that simulates the automatic operation of the cable crane 20. The process of simulating the automatic operation is hereinafter referred to as a "simulation process." Furthermore, the above programs include an evaluation process program 451b that performs a plurality of patterns of simulation process and evaluates specific parameter values ​​(speed setting values, which will be described later) in each simulation process.

[0051] The simulator 45 includes an input unit 452 for inputting setting information for the automated driving to be simulated, a physical calculation unit 453 for calculating the physical movement of the cable crane 20, and an output unit 454 for outputting setting values ​​(for example, the speed setting values ​​described below) evaluated by multiple simulation processes.

[0052] The input unit 452 may be configured to be able to input information by operation of a worker such as an operator, or may be configured to input information sent from a higher-level control device via communication or the like. The output unit 454 may be configured to be able to output information to a worker such as an operator, or may be configured to output information to the second control device 43 via communication. The output unit 454 may be configured to output a specific physical quantity (for example, the time required for one concrete transport trip, which will be described later) measured in each of a plurality of types of simulation processing.

[0053] The memory unit 451 of the simulator 45 stores structure data 451c indicating the structure, dimensions, and weight of each part of the cable crane 20. Furthermore, setting information for automatic operation (e.g., area information indicating the area to which concrete is to be transported, and a speed setting value, as described below) is input from the input unit 452. The physical calculation unit 453 uses the structure data and setting information to simulate the movement of each part of the cable crane 20 when automatic operation is performed. Furthermore, the automatic operation simulation program 451a includes an automatic operation control algorithm similar to that executed by the second control device 43. The control algorithm includes a speed control algorithm for reducing the swaying of the bucket 29, and may also include speed control algorithms for achieving various other purposes. The physical calculation unit 453 simulates the movement of each part of the cable crane 20 when automatic operation including the above-mentioned speed control is performed.

[0054] The simulator 45 further executes the evaluation processing program 451b to execute a plurality of simulation processes by varying some setting values ​​(e.g., speed setting values) included in the setting information for automatic operation. The simulator 45 then measures a specific physical quantity (e.g., the time it takes to transport cement once) in each simulation process and evaluates the setting values ​​of each simulation process by comparing the physical quantities. The simulator 45 can output the evaluated setting values ​​or the values ​​of the physical quantities measured in each simulation process via the output unit 454.

[0055] [4-4. Setting operation device] The setting operation device 44 has a display unit 441 capable of displaying images, an operation input unit 442 that allows an operator to input data, and a communication unit 443 that can communicate with the second control device 43. The display unit 441 and the operation input unit 442 may be a touch panel type display panel.

[0056] The setting operation device 44 is a device that can switch several setting items of the first control device 42 by operation by an operator. Specifically, the setting operation device 44 outputs an operation screen on the display unit 441 that allows the operator to input or select values ​​for the setting items. When the operator inputs or selects a value via the operation input unit 442, setting change information is sent to the first control device 42 via the communication unit 443. The setting of the first control device 42 is changed based on this information.

[0057] The first control device 42 has several setting items that can be changed by the worker to improve convenience. For example, these include a setting item for changing the button specifications of the controller 41, a setting item for changing the correspondence between several operation signals of the controller 41 and operation commands output to the cable crane 20, etc. The setting operation device 44 is, for example, portable, and by using the setting operation device 44, a worker such as the operator can change the several setting items from the driver's cab or near the construction site.

[0058] The setting operation device 44 additionally has a function that allows an operator to change the settings of specific setting items (e.g., the first speed setting value and the second speed setting value described below) related to the automatic operation of the second control device 43. This function may be realized by providing an operation item that allows an operator to change or select the value of the specific setting item on an operation screen that allows the settings of the first control device 42 to be changed. Alternatively, this function may be realized by enabling an operation to change the specific setting item related to the automatic operation using an operation screen similar to the operation screen for changing the settings of the first control device 42. When an operation to change the value of the specific setting item related to the automatic operation is performed using the setting operation device 44, information on the setting change is sent from the communication unit 443 of the setting operation device 44 to the communication unit 435 of the second control device 43 via the first communication unit 421 and the second communication unit 422 of the first control device 42. Then, the second control device 43 changes the settings of the automatic operation based on the information. By using the setting operation device 44, a worker such as a driver can change the values ​​of specific setting items related to autonomous driving by performing operations similar to those used to switching setting items of the first control device 42. In addition, the worker can change the values ​​of specific setting items related to autonomous driving from the driver's seat or near the work site, which is away from the second control device 43. Note that information about setting changes related to autonomous driving may be sent directly from the communication unit 443 of the setting operation device 44 to the communication unit 435 of the second control device 43.

[0059] [5. Overview of dam embankment construction method] Fig. 4 is a diagram showing an example of when the traverse trolley 22 and bucket 29 transport concrete to one area A. In Fig. 4, the trajectory of part C of the bucket 29 as it moves from start point D1 to end point D2 is shown by a dashed dotted line. Fig. 5 of the bucket 29 is a time chart showing an example of the change over time in the moving speed of the traverse trolley and the lifting and lowering speed of the bucket on the outbound journey. Fig. 6 is a time chart showing an example of the change over time in the moving speed of the traverse trolley and the lifting and lowering speed of the bucket on the return journey.

[0060] When constructing a dam embankment, as shown in Figure 4, a series of operations is performed in which the construction area H0 in the valley 93 where concrete is to be poured is divided into multiple areas A, and concrete is transported and poured into each area A many times. By repeatedly performing this series of operations while changing the area A, the amount of concrete poured into each area A gradually increases, and eventually concrete is poured to the required height throughout the entire construction area H0. Because concrete transportation is repeated many times, an increase or decrease in the time it takes to transport the concrete each time has a significant impact on the construction period. Therefore, there is a demand for shortening the time it takes to transport the concrete each time.

[0061] As shown in FIG. 4, each concrete transport trip is achieved by moving the traverse trolley 22 and raising and lowering the bucket 29, thereby moving the bucket 29 back and forth between the concrete loading area P1 and area A. This back and forth movement is achieved by automatic operation by the second control device 43. As shown in FIGS. 5 and 6, the automatic operation includes periods during which the traverse trolley 22 accelerates, operates at a constant speed, and decelerates in the forward and backward directions (acceleration periods T11, T21, constant speed periods T12, T22, deceleration periods T13, T23). Similarly, the automatic operation includes periods during which the bucket 29 accelerates, operates at a constant speed, and decelerates in the ascending and descending directions (acceleration periods T31, T41, constant speed periods T32, T42, deceleration periods T33, T43). Additionally, the ascending and descending operation of the bucket 29 includes operations for performing a ground-breaking operation B1 and a landing operation B2 at the concrete loading area P1.

[0062] Speed ​​control that reduces swaying of the bucket 29 is added to the automatic operation by the second control device 43. In this embodiment, this speed control is performed by adding speed changes ΔV1 to ΔV4 that reduce swaying to the acceleration periods T11 and T21 and deceleration periods T13 and T23 of the traverse trolley 22. Similarly, speed changes ΔV5 to ΔV8 that reduce swaying are added to the acceleration periods T31 and T41 and deceleration periods T33 and T43 in the ascending and descending direction of the bucket 29. This speed control makes it possible to keep the swaying of the bucket 29 below a threshold value at least when dropping concrete into area A and when the bucket 29 lands at the concrete loading area P1. Furthermore, the swaying of the bucket 29 can also be reduced during the constant-speed periods T12, T22, T32, and T42.

[0063] Note that the speed control for reducing the sway of the bucket 29 is not limited to the above example, and various methods can be applied. For example, control for applying acceleration or deceleration to reduce sway may be applied at the beginning, middle, or end of the constant-speed periods T12 and T22 of the traversing trolley 22 and at the beginning, middle, or end of the constant-speed periods T32 and T42 of the bucket 29. Furthermore, a method may be used in which the magnitude and phase of the sway of the bucket 29 are detected and feedforward control and feedback control based on the detection results are used in combination. Even if the sway reduction method is constant, the sway period depends on the suspension length from the traversing trolley 22 to the bucket 29. Therefore, the magnitude or waveform of the speed changes ΔV1 to ΔV8 that reduce sway varies depending on the amount of elevation of the bucket 29. Furthermore, the amplitude of the sway depends on the moving speed of the traversing trolley 22 and the elevation speed of the bucket 29 when sway remains. Therefore, the magnitude or waveform of the speed changes ΔV1 to ΔV8 that reduce sway varies depending on the moving speed or elevation speed.

[0064] Because automatic operation by the second control device 43 involves speed control to reduce such shaking, simply increasing the travel speed of the traverse trolley 22 and the lifting speed of the bucket 29 may actually result in a longer concrete transport time. For example, when the travel distance and lifting distance are relatively short, the travel speed and lifting speed may not reach their maximum speed even when the speed setting values ​​are set to their maximum values. In this case, the acceleration periods T11, T21 and deceleration periods T13, T23 become longer, which lengthens the time required for speed control to reduce shaking, resulting in a longer concrete transport time. Furthermore, even if the travel distance and lifting distance are such that constant-speed periods T12, T22 occur, depending on the lengths of the acceleration periods T11, T21 and deceleration periods T13, T23, it may not be possible to fully reduce shaking during these periods. In this case, the time required for speed control to reduce shaking may exceed the originally scheduled acceleration periods T11, T21 and deceleration periods T13, T23, resulting in a longer concrete transport time.

[0065] Furthermore, in order to achieve various other purposes, other speed controls may be added to the automatic operation by the second control device 43. If the speed control is added, simply increasing the travel speed of the traverse trolley 22 and the lifting speed of the bucket 29 may actually increase the period during which the speed control is applied, which may result in a longer time required to transport concrete per trip.

[0066] As described above, in the method for constructing a dam body, there is a demand for shortening the time required for each concrete transport. Therefore, in this embodiment, in order to shorten the time required for each concrete transport, a determination step is included in which a speed setting value is determined by simulating the automatic operation of the cable crane 20. In the determination step, an area A to which the concrete is to be transported is specified, and the simulator 45 executes multiple simulation processes using different speed setting values ​​for the automatic operation. Then, in each simulation process, the time required for concrete transport (the time required for the outbound and return journeys) is measured. Furthermore, by comparing these results, a speed setting value that can shorten (e.g., minimize) the time required for each concrete transport is determined.

[0067] Once the speed setting value has been determined, the second control device 43 automatically operates the cable crane 20 at that speed setting value, and repeatedly transports concrete to the designated area A. Then, the concrete is poured in area A.

[0068] The above-mentioned determination of the speed setting value and the transportation and pouring of concrete are carried out for each of the entire areas A included in the area where the dam body is to be constructed. Furthermore, even within one area A, the height of area A changes as the concrete pouring progresses. Therefore, if the amount of change in height exceeds a threshold, the process is carried out again for that area A, starting with the determination of the speed setting value. Then, the dam body is constructed by pouring the planned amount of concrete throughout the entire area A.

[0069] [6. Detailed example of speed setting value] The speed settings of the cable crane 20 include first speed settings V1 and V2 that define the travel speed of the traverse trolley 22, and second speed settings V3 and V4 that define the lifting and lowering speed of the bucket 29. The first speed settings V1 and V2 represent the speeds during the constant speed periods T12 and T22 in Figures 5 and 6. The speeds during the acceleration periods T11 and T21 and the speeds during the deceleration periods T13 and T23 are defined based on the constant speed. The first speed settings V1 and V2 are five setting values ​​that indicate one of a plurality of discretely set speeds, for example, as shown in the following table. [Table 1] In the table, X represents a number between 0 and 9. V represents the speed. Vmax represents the maximum speed.

[0070] The second speed setting values ​​V3 and V4 represent the speeds during the constant speed periods T32 and T42 in Figures 5 and 6. The speeds during the acceleration periods T31 and T41 and the speeds during the deceleration periods T33 and T43 are determined based on the constant speed. The second speed setting values ​​V3 and V4 are five setting values ​​that indicate one of a plurality of discrete speeds, as shown in the following table, for example. The relationship between the setting values ​​and the lifting speed may be different when the bucket 29 is lifted while loaded with concrete, when the bucket 29 is lifted while empty, and when the bucket 29 is lowered. [Table 2] In the table, X represents a number between 0 and 9. V represents the speed. Vmax represents the maximum speed.

[0071] The speed setting values ​​are not limited to the above examples. For example, each speed setting value may have four or fewer or six or more values, and may be continuous rather than discrete. Furthermore, the first speed setting value is not limited to a value indicating the travel speed during the constant-speed periods T12 and T22. The first speed setting value may be any physical quantity that defines the travel speed of the traverse trolley 22, such as the average magnitude or duration of acceleration or deceleration, the maximum speed during the entire period of the forward or return journey, or the rotational speed of the first winch 23. Similarly, the second speed setting value is not limited to a value indicating the elevation speed during the constant-speed periods T32 and T42. The second speed setting value may be any physical quantity that defines the elevation speed of the bucket 29, such as the average magnitude or duration of acceleration or deceleration, the maximum speed during the entire period of the forward or return journey, or the rotational speed of the elevation winch 30. In addition, the first speed setting values ​​V1 and V2 may be set to different values ​​for the outbound journey and the return journey, and the second speed setting values ​​V3 and V4 may be set to different values ​​for the outbound journey and the return journey.

[0072] [7. Detailed example of how to determine the speed setting value] In the simulation process for determining the speed setting value, it is specified to which area A of the construction range H0 concrete is to be transported. Furthermore, a first speed setting value and a second speed setting value to be applied to the simulation process are specified. The first speed setting value and the second speed setting value may be different for the outbound and return journeys. Area information indicating area A is input from the input unit 452. The speed setting value is specified by the evaluation process program 451b. Then, the simulator 45 simulates the operation of the cable crane 20 under the specified conditions and measures the time required for one concrete transport, for example, the time required for the outbound and return journeys.

[0073] The automatic driving simulation program 451a includes a control algorithm for automatic driving performed by the second control device 43. By executing the automatic driving simulation program 451a, the simulator 45 can simulate the operation of the cable crane 20 by automatic driving performed by the second control device 43. In other words, the simulator 45 also simulates the control for reducing the swaying of the bucket 29 performed by the second control device 43 in parallel with the automatic driving, as well as speed control performed for various other purposes. Therefore, the transport time for one trip measured by the simulator 45 is a value that accurately reflects the transport time for one trip by the actual automatic driving of the cable crane 20.

[0074] To determine the speed set value, the above-described simulation process is performed using multiple patterns of set values ​​that combine multiple types of first speed set values ​​and multiple types of second speed set values. The simulator 45 then compares the transport times measured in each simulation process and selects, for example, the speed set value that results in the shortest transport time as the speed set value to be applied to actual autonomous driving. These processes are called "evaluation processes." Note that the evaluation process is not necessarily limited to selecting the speed set value that results in the shortest transport time, and various selection criteria can be applied, such as selecting the speed set value that results in a desired transport time.

[0075] The above evaluation process may be performed by the simulator 45 using the evaluation process program 451b, or may be performed by an operator or other worker causing the simulator 45 to execute the simulation process multiple times while changing the settings.

[0076] [8. Correcting the speed setting value] The simulation of the cable crane 20's operation by the simulator 45 does not necessarily perfectly match the actual operation. Therefore, even if a speed setting value is determined based on the results of the simulation process, when the cable crane 20 is actually operated automatically with that speed setting value set, the expected transport time may not be achieved. Furthermore, during actual automatic operation, there may be an unexpected need to transport concrete at a slower speed. To address such cases, the second control device 43 is configured to allow a worker, such as an operator, to change the speed setting value during automatic operation of repeatedly transporting concrete. For example, a worker can operate the input device 434 of the second control device 43 to display an option for changing the speed setting value in the automatic operation setting menu. The worker can then update the speed setting value using that option.

[0077] The above-described process of changing the speed setting value can also be performed by an operator or other worker using the setting operation device 44. The setting operation device 44 has an operation screen that reduces unnecessary menus and items for the operator. Therefore, the operator can update the speed setting value with a simple operation via the setting operation device 44. Furthermore, the setting operation device 44 can be installed in a location away from the second control device 43, for example, near the driver's seat or the work site. Therefore, the operator can update the speed setting value near the driver's seat or the work site.

[0078] A worker such as a driver or operator updates the speed set value using the above means when it is predicted that a more appropriate transport time will be achieved by slightly changing the speed set value, or when it becomes necessary to extend the transport time for some reason, etc. As a result, from the next outbound or return transport trip onwards, the second control device 43 performs automatic operation applying the updated speed set value.

[0079] [9. Detailed examples of how concrete structures are constructed] Fig. 7 is a flowchart showing a method for constructing a concrete structure according to an embodiment of the present invention. Here, the construction process of the concrete structure that constitutes the dam body will be described. In this construction process, first, a worker sets up the concrete supply equipment 10 and the cable crane 20 at the construction site (step S1). Then, when it comes time to pour concrete into the construction area H0 of the dam body, the worker designates an area A within the construction area H0 into which the concrete will be poured (step S2: area designation step).

[0080] Next, the operator inputs area information indicating the area A and causes the simulator 45 to execute the evaluation processing program 451b, whereby the simulator 45 executes a loop process of steps S3 to S6. That is, the simulator 45 selects one set of set values ​​from among a plurality of set value patterns that combine a plurality of types of first speed set values ​​and a plurality of types of second speed set values ​​(step S3). Then, the simulator 45 performs a simulation process of automatic operation to transport concrete to the area A specified in step S2 using the selected set values ​​(step S4: simulation step). Furthermore, the simulator 45 extracts the concrete transport time (the time required for the forward and backward travel) measured during the simulation process as a specific physical quantity (step S5). The transport time is a physical quantity related to the speed set value (more specifically, a physical quantity that serves as a material for determining the speed set value). Next, the simulator 45 determines whether the selection of set values ​​for all patterns has been completed in step S3 (step S6). If the result of the determination is NO, the process returns to step S3, where the simulator 45 selects another set value and executes the processes of steps S4 to S6 again.

[0081] On the other hand, if the result of the determination in step S6 is YES, the simulator 45 compares the transportation times extracted in the multiple simulation processes. Then, the simulator 45 determines the first speed setting value and the second speed setting value corresponding to the region A specified in step S2 based on the comparison result (step S7: determination step). For example, the simulator 45 determines the first speed setting value and the second speed setting value that result in the shortest transportation time as the determined values. The processes in steps S2 to S7 above correspond to an example of the determination step according to the present invention.

[0082] Next, the worker inputs the area information indicating area A specified in step S2 and the first and second speed setting values ​​determined in step S7 into second control device 43 as values ​​of the automatic operation setting items (step S8). Then, second control device 43 starts a loop process (steps S9 to S12) in which concrete is repeatedly transported and placed by automatic operation. In the loop process, second control device 43 automatically operates cable crane 20 to transport concrete to area A (step S9). The process of step S8 and step S9 in the loop process corresponds to an example of a transporting process according to the present invention.

[0083] The transported concrete is then poured into area A (step S10). Furthermore, the second control device 43 determines whether an end condition for pouring concrete in area A has been met (for example, when the number of transports or the transport time reaches the end condition, or when an end command is input from a worker) (step S11). Furthermore, the second control device 43 determines whether a request for changing the settings of the first speed setting value and the second speed setting value has been made (step S12). The request in step S12 corresponds to a case where a worker such as an operator performs an operation to change the setting of the speed setting value on the second control device 43, or a case where a worker such as a driver performs an operation to change the setting of the speed setting value via the setting operation device 44.

[0084] If the determination results in both steps S11 and S12 are NO, the loop process of steps S9 to S12 is repeatedly executed, whereby the concrete is transported to and poured into area A multiple times.

[0085] On the other hand, if the result of the determination in step S12 is YES, the second control device 43 reflects the changed speed setting value (step S13), and then returns the process to the loop process from step S9 again. Therefore, from the next concrete transport, automatic operation is performed with the changed speed setting value reflected. The above steps S12 and S13 correspond to an example of a setting change step according to the present invention.

[0086] If the result of the determination in step S11 is YES, the second control device 43 exits the loop process of steps S9 to S12 and stops the automatic operation of the cable crane 20 (step S14).

[0087] When automatic operation stops, the worker determines whether all concrete pouring in the construction range H0 of the dam body has been completed (step S15), and if the answer is NO, designates another area A where concrete pouring is required in step S2. This allows the processing of steps S3 to S14 to be performed on the newly designated area A. Then, as concrete pouring in the construction range H0 progresses and it is determined to be complete in step S15, the process of constructing the concrete structure of the dam body is completed.

[0088] In the above description, an example has been given in which the designation of area A in step S2 is performed by a worker. However, the designation of area A may be performed by another control device that creates a construction plan for the dam body. Also, an example has been given in which the information input to the second control device 43 in step S8 is performed by a worker. However, a configuration may be adopted in which the information is automatically sent from the simulator 45 to the second control device 43.

[0089] In the above description, the process of selecting a set of set values ​​from a plurality of patterns of set values ​​in step S3 and the process of determining the speed set value in step S7 are performed by the simulator 45. However, these processes may be performed by an operator.

[0090] In the above description, an example has been shown in which, when an area A where concrete is to be poured is designated, a simulation process is performed to determine a speed setting value corresponding to the area A. However, it is also possible to perform a simulation process in advance to collectively determine speed setting values ​​corresponding to various areas A, and then read out and use the previously determined speed setting value when automatically operating the cable crane 20.

[0091] In the above description, all combinations of the first speed setting value and the second speed setting value are selected for the simulation process in steps S3, S4, and S6. However, for example, only the combinations that are expected to shorten the transport time may be selected in step S3.

[0092] [10. Summary] As described above, according to the concrete structure construction method of this embodiment, the operation of the cable crane 20 is simulated by the simulator 45. Then, the concrete transport times measured in multiple simulation processes using different speed settings are compared, and the first and second speed settings of the cable crane 20 are determined based on the comparison results. In the automatic operation of the cable crane 20, various speed controls are implemented, and simply setting the speed setting to the maximum may actually lengthen the time required for one transport. However, by determining the first and second speed settings as described above, the time required for concrete transport by the cable crane 20 can be shortened. In the process of constructing a concrete structure such as a dam embankment, the cable crane 20 repeatedly transports concrete to one area A multiple times. Therefore, shortening the time required for one concrete transport contributes to shortening the overall construction period, enabling the construction of a concrete structure with high productivity.

[0093] Furthermore, according to the concrete structure construction method of this embodiment, the concrete transporting process includes a period in which the second control device 43 sequentially accelerates, operates at a constant speed, and decelerates the traversing trolley 22. Furthermore, the concrete transporting process includes a period in which the second control device 43 sequentially accelerates, operates at a constant speed, and decelerates the bucket 29 in the lifting direction. The first speed setting value defines the speed of the traversing trolley 22 during the constant speed operation, and the second speed setting value defines the speed of the bucket 29 during the constant speed operation. By using such first and second speed setting values, it is easy for a worker to intuitively understand how automatic operation will be performed based on the first and second speed setting values. Therefore, the worker can intuitively understand the speed setting values ​​for automatic operation and then apply them.

[0094] Furthermore, according to the concrete structure construction method of this embodiment, the second control device 43 applies speed changes ΔV1 to ΔV8 to one or both of the movement operation of the traverse trolley 22 and the lifting and lowering operation of the bucket 29 to reduce the sway of the bucket 29. When the cable crane 20 is operated, the movement speed of the traverse trolley 22 and the lifting and lowering speed of the bucket 29 may interact with each other, causing the bucket 29 to sway. Therefore, it is difficult to independently optimize the first speed setting value and the second speed setting value to reduce the sway of the bucket 29 while shortening the transport time. On the other hand, in this embodiment, multiple simulation processes are performed to compare the transport time for each of multiple sets of setting values, which combine multiple types of first speed setting value and multiple types of second speed setting value. Therefore, even in situations where it is difficult to independently optimize the first speed setting value and the second speed setting value, appropriate speed setting values ​​can be easily determined.

[0095] Furthermore, the method for constructing a concrete structure according to this embodiment includes a setting change step (steps S12 and S13) in which a worker changes the first speed setting value and the second speed setting value while repeatedly transporting concrete to one area A. In the automatic operation of the cable crane 20, the first speed setting value and the second speed setting value determined in the simulation process are first used. Therefore, in the actual automatic operation of the cable crane 20, a better transport time may be achieved by slightly changing the speed setting value. Also, there may be a case where a request to slow down the movement of the cable crane 20 arises for some reason. In such a case, the setting change step described above can be used to meet the request.

[0096] Furthermore, the cable crane system 1 of this embodiment includes a simulator 45 that simulates the operation of automatic operation of the cable crane 20 by the second control device 43. The simulator 45 further includes an input unit 452 that inputs area information indicating area A to which the load (specifically, concrete) is to be transported, and a physics calculation unit 453 that simulates the operation of the cable crane 20 transporting the load to area A in accordance with a first speed setting value and a second speed setting value. The simulator 45 can cause the physics calculation unit 453 to perform multiple simulations using multiple patterns of setting values ​​that combine multiple types of first speed setting values ​​and multiple types of second speed setting values. Additionally, the simulator 45 includes an output unit 454 that outputs setting information including the first speed setting value and the second speed setting value determined based on the results of the multiple simulations. Therefore, automatic operation using the speed setting values ​​output from the output unit 454 can shorten the time it takes for the cable crane 20 to transport the load, thereby achieving highly productive transport of the load.

[0097] Furthermore, the cable crane system 1 of this embodiment is provided with a setting operation device 44 that allows a worker such as an operator to perform setting operations. Furthermore, during repeated automatic operation of the cable crane 20 by the second control device 43, the worker can change the first speed setting value and the second speed setting value via the setting operation device 44. Therefore, if a better transport time can be achieved by slightly changing the speed setting value, or if a request to slow down the movement of the cable crane 20 arises for some reason, such a case can be quickly addressed.

[0098] The concrete structure construction method and cable crane system 1 of this embodiment have been described above. However, the present invention is not limited to the above embodiment. For example, while the above embodiment illustrates a dam embankment as a concrete structure, the concrete structure construction method of this embodiment may also be a method for constructing other concrete structures. Furthermore, while the above embodiment illustrates an example in which the cable crane system 1 transports concrete, the cable crane system according to the present invention may also be configured to transport various objects. Furthermore, in the above embodiment, the transport time measured by simulation was used as the physical quantity used to determine the speed setting value. However, the physical quantity may be the transport time of a predetermined transport operation, or a different type of physical quantity, such as the maximum swing of the bucket 29, may also be used.

[0099] Furthermore, the configuration and method specifically described in this embodiment can be modified as appropriate without departing from the spirit of the invention. For example, in the embodiment, when the speed setting value is changed using the setting operation device 44, information on the setting change is sent to the second control device 43 via the first control device 42. However, the setting change information may be sent directly to the second control device 43. Also, in the embodiment, an example is shown in which a simulation process is performed to determine a speed setting value corresponding to a certain area A immediately before transporting concrete to the area A. However, a simulation process may be performed to determine a speed setting value corresponding to each of multiple areas A in advance, and the predetermined speed setting value may be used to transport concrete. Furthermore, the second control device 43 and the simulator 45 may be implemented by a remote server computer connected via communication. Furthermore, various programs and data stored in the second control device 43 and the simulator 45 may be stored in a remote server computer connected via communication. [Explanation of symbols]

[0100] 20 Cable Crane 21 Main rope 22 Traverse trolley 23 No. 1 winch 30 Lifting winch 29 Bucket 40 Control Equipment 41 Controller 42 First control device 43 Second control device (control device) 44 Setting operation device 45 Simulator 93 Valley 99 Concrete Structures H0 Construction scope Area A

Claims

1. A method for constructing a concrete structure, comprising: transporting concrete to a construction area using a cable crane having main cables stretched over a construction area, a traverse trolley that moves along the main cables, and a bucket that is suspended from the traverse trolley so as to be able to rise and fall; and a control device that automatically operates the cable crane; and constructing a concrete structure by pouring the transported concrete, a determining step of determining a first speed setting value that defines a moving speed of the traverse trolley and a second speed setting value that defines a lifting speed of the bucket; a transporting step in which the control device automatically operates the cable crane using the first speed setting value and the second speed setting value determined in the determining step, thereby causing the cable crane to transport the concrete; Including, The determining step an area designation step of designating an area to which the concrete is to be transported from among a plurality of areas within the construction range; A simulation step of simulating the transport of concrete to the destination area using a plurality of set values ​​that are combinations of a plurality of types of first speed set values ​​and a plurality of types of second speed set values; a determining step of determining the first speed setting value and the second speed setting value corresponding to the destination area based on a result of comparing specific physical quantities in a plurality of the simulations performed using the plurality of patterns of setting values, respectively; Including, the control device, in the transporting step, causes the cable crane to transport concrete to the destination area by automatically operating the cable crane using the first speed setting value and the second speed setting value determined corresponding to the destination area. Methods for constructing concrete structures.

2. the transporting step includes a period in which the traverse trolley is operated at an accelerated speed, at a constant speed, and at a decelerated speed in the order, and also includes a period in which the bucket is operated at an accelerated speed, at a constant speed, and at a decelerated speed in the order in the lifting direction, the first speed setting value defines the speed of the uniform movement of the traverse trolley, and the second speed setting value defines the speed of the uniform movement of the bucket; A method for constructing a concrete structure according to claim 1.

3. In the transporting step, the control device performs a movement operation of the traverse trolley and a lifting and lowering operation of the bucket, One or both of the moving operation and the lifting operation includes an operation of adding a speed change that reduces swinging of the bucket. A method for constructing a concrete structure according to claim 1.

4. In the transporting step, the cable crane repeatedly transports concrete to one area, The method further includes a setting change step capable of accepting a setting change of the first speed setting value and the second speed setting value by an operator during the transportation process. A method for constructing a concrete structure according to claim 1.

5. a cable crane having a traverse trolley that moves along a main rope and a bucket that is suspended from the traverse trolley so as to be able to rise and fall; a control device that automatically operates the cable crane; a simulator that simulates the automatic operation of the cable crane; Equipped with The simulator an input unit for inputting area information indicating an area to which the object to be transported by the cable crane is to be transported; a physical calculation unit that simulates an operation of the cable crane transporting an object to an area of ​​the area information in accordance with a first speed setting value that defines a moving speed of the traversing trolley and a second speed setting value that defines a lifting speed of the bucket; an output unit that outputs setting information including the first speed setting value and the second speed setting value determined based on a plurality of simulation results using a plurality of patterns of setting values ​​each combining a plurality of types of the first speed setting value and a plurality of types of the second speed setting value, or a physical quantity measured in the simulation and related to the setting information; and The control device By operating the cable crane in accordance with the first speed setting value and the second speed setting value included in the setting information, the cable crane transports the transported object to the area indicated by the area information. Cable crane system.

6. The control device Repeatedly operating the cable crane to transport the load to the area indicated by the area information, Further provided is a setting operation device that can communicate with the control device and that can receive operation inputs from an operator, The first speed setting value and the second speed setting value can be changed during the repeated operation by an operation input via the setting operation device. The cable crane system according to claim 5.

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