Method for constructing a concrete structure and cable crane system

Abstract

Provided are a cable crane system capable of easily realizing efficient operation, and a construction method capable of shortening the transportation time of concrete and constructing a highly productive concrete structure. 【Solution means】The construction method of a concrete structure includes a determination step of determining a first speed setting value that defines the moving speed of a traversing trolley and a second speed setting value that defines the lifting speed of a bucket, and a control device automatically operates using the first speed setting value and the second speed setting value determined in the determination step, and a transportation step in which a cable crane transports concrete. The determination step includes a simulation step of performing a simulation of transporting concrete using a plurality of patterns of setting values obtained by combining a plurality of types of first speed setting values and a plurality of types of second speed setting values.

Description

Technical Field

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

Background Art

[0002] Patent Document 1 discloses a cable crane including a main cable spanned above a valley, a traversing trolley moving along the main cable, and a bucket suspended from the traversing trolley so as to be movable up and down. By using the cable crane, concrete can be transported to the construction area in the valley, and by placing the concrete, a concrete structure such as a dam embankment can be constructed.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] When constructing a concrete structure, the cable crane repeatedly transports concrete many times. Therefore, if the cable crane can be operated efficiently and the time required for one transportation can be shortened, it contributes to shortening the construction period of the concrete structure. On the other hand, skilled techniques are required to operate the cable crane efficiently.

[0005] An object of the present invention is to provide a cable crane system that can easily achieve efficient operation, and a construction method that can shorten the concrete transportation time and enable construction of a highly productive concrete structure.

Means for Solving the Problems

[0006] A method for constructing a concrete structure according to one aspect of the present invention is A cable crane having a main cable spanned above the construction area, a traversing trolley moving along the main cable, and a bucket suspended from the traversing trolley so as to be able to move up and down, and a control device for automatically operating the cable crane are used to transport concrete to the construction area and place the transported concrete to which is a dam embankment A method for constructing a concrete structure by constructing a concrete structure, A determining step of determining 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; A transporting step in which the cable crane transports the concrete by the control device automatically operating using the first speed setting value and the second speed setting value determined in the determining step; including The determining step includes An area designating step of designating an area to which the concrete is to be transported from among a plurality of areas within the construction area; A plurality of types of the first speed setting values and a plurality of types of the second speed setting values are combined to form a plurality of patterns of setting values by applying each of transporting concrete to the area to which the concrete is to be transported multiple types of A simulation step of performing a simulation; the multiple types in the simulation quantities related to the transportation time of concrete A determining step of determining the first speed setting value and the second speed setting value corresponding to the area to which the concrete is to be transported based on the result of comparison; including In the simulation step, a plurality of patterns of setting values in which only the combination of the first speed setting value and the second speed setting value is different the above-applied each of are simulated a plurality of times, In the transporting step, the cable crane transports concrete to the area by the control device automatically operating using the first speed setting value and the second speed setting value determined corresponding to the area to which the concrete is to be transported.

[0007] The conveying process includes periods during which the traversing trolley is sequentially subjected to acceleration operation, constant-speed operation, and deceleration operation, and also includes periods during which the bucket is sequentially subjected to acceleration operation, constant-speed operation, and deceleration operation in the vertical direction. The first speed setting value may define the speed of the traversing trolley during the constant-speed operation, and the second speed setting value may define the speed of the bucket during the constant-speed operation.

[0008] In the method for constructing the above concrete structure, In the conveying process, the control device performs the moving operation of the traversing trolley and the lifting operation of the bucket. One or both of the moving operation and the lifting operation may include an operation of adding a speed change for reducing the sway of the bucket.

[0009] In the method for constructing the above concrete structure, In the conveying process, the cable crane repeatedly conveys concrete to one area. The method may further include a setting change step that can accept setting changes of the first speed setting value and the second speed setting value by an operator during the conveying process.

[0010] A cable crane system according to an aspect of the present invention includes a traversing trolley that moves along a main cable, and a bucket that is suspended from the traversing trolley so as to be movable up and down. and transporting concrete to construct a dam embankment a cable crane; a control device that automatically operates the cable crane; a simulator that simulates the operation of the automatic operation of the cable crane; and is provided with The simulator includes an input unit that inputs area information indicating an area where a conveyed object is to be conveyed by the cable crane; a physical calculation unit that simulates the operation of the cable crane conveying a conveyed object to the area of the area information according to 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. Among the multiple types of the first speed setting values and the multiple types of the second speed setting values, those that can shorten the transportation time of concrete setting information including the first speed setting value and the second speed setting value, or measured in the simulation quantities related to the transportation time of the applied concrete an output unit that outputs having The simulator is a plurality of patterns of setting values obtained by combining a plurality of types of the first speed setting values and a plurality of types of the second speed setting values, and the plurality of patterns of setting values in which only the combination of the first speed setting value and the second speed setting value is different each of which is applied performs a plurality of simulations, determines the first speed setting value and the second speed setting value included in the setting information based on the results of the simulations, The control device operates the cable crane according to the first speed setting value and the second speed setting value included in the setting information, and the cable crane transports the conveyed object to the area indicated by the area information.

[0011] In the cable crane system described above, The control device repeatedly performs an operation in which the cable crane transports the conveyed object to the area indicated by the area information, further includes a setting operation device that can communicate with the control device and can be operated by an operator, The first speed setting value and the second speed setting value may be changeable during the repeated operation by an operation input via the setting operation device.

Advantages of the Invention

[0012] According to the cable crane system of the present invention, efficient operation of the cable crane can be easily realized. According to the method for constructing a concrete structure of the present invention, the time for transporting concrete to the valley can be shortened, and the construction of a highly productive concrete structure can be realized.

Brief Description of the Drawings

[0013]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

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

[0015] [1. Outline of the Construction System] FIG. 1 is a perspective view of a cable crane system 1 installed at a construction site. The cable crane system 1 according to the present embodiment includes a concrete supply facility 10, a cable crane 20, and a control facility 40 for controlling the cable crane 20.

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

[0017] The concrete supply facility 10 is constructed in the middle of the mountain 92. The concrete supply facility 10 manufactures fresh concrete and supplies the manufactured fresh concrete to the cable crane 20. Note that, in combination with the concrete supply facility 10 or instead of the concrete supply facility 10, another concrete supply facility may be constructed in the middle of the mountain 91.

[0018] The cable crane 20 is installed between the mountains 91 and 92. The cable crane 20 receives the supply of fresh concrete from the concrete supply facility 10 and transports the fresh concrete to the valley 93. The cable crane 20 may transport materials other than fresh concrete to the valley 93. The cable crane 20 may transport materials from the mountain 91 to the valley 93. The cable crane 20 may transport materials that have become unnecessary in the valley 93 from the valley 93 to the mountain 91 or the mountain 92. Hereinafter, an object such as concrete (specifically, fresh concrete) or materials transported by the cable crane 20 is also referred to as a conveyed object.

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

[0020] The batcher plant 11 is constructed in the middle of the mountain 92. The batcher plant 11 kneads cement, water, and aggregates to manufacture fresh concrete.

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

[0022] The transporter 13 is constituted by, for example, a transfer car or a bucket trolley. The transporter 13 is capable of traveling along the banker track 12 on the banker track 12. The transporter 13 repeatedly executes the following operations. First, the transporter 13 receives the supply of fresh concrete at the batcher plant 11 and loads the fresh concrete. The transporter 13 transports the fresh concrete along the banker track 12 from the batcher plant 11 to the stacking location P1. Next, the transporter 13 transfers the fresh concrete to the bucket 29 described later at the stacking location P1. Next, the transporter 13 returns to the batcher plant 11 to receive the fresh concrete.

[0023] Note that the stacking location P1 is along the banker track 12 and below the main cable 21 described later. That is, when looking at the banker track 12 and the main cable 21 from above them, the intersection of the banker track 12 and the main cable 21 is the stacking location P1.

[0024] [3. Cable Crane] Referring to FIGS. 1 to 3, the cable crane 20 will be described in detail. FIG. 2 is a side view of the traversing trolley 22 and the bucket 29 of the cable crane 20.

[0025] The cable crane 20 is a one-sided moving type cable crane among the ropeway types. The ropeway type cable crane refers to one in which one or both ends of the main cable 21 installed above the valley 93 move along the valley 93. The one-sided moving type cable crane refers to one in which one end or the other end of the main cable 21 moves along the valley 93. Note that the cable crane 20 may be a two-sided moving type cable crane among the ropeway types, or may be a fixed type cable crane instead of the ropeway type. The two-sided moving type cable crane refers to one in which both ends of the main cable 21 move along the valley 93. The fixed type cable crane refers to one in which both ends of the main cable 21 are fixed without moving.

[0026] The cable crane 20 includes a main cable 21, a traverse trolley 22, a first winch 23, a towing cable 23a, a first tower 24, a pair of second towers 25, a track cable 26, a traveling trolley 27, a second winch 28, a bucket 29, a hoisting winch 30, and a hoisting cable 30a.

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

[0028] The second tower 25 is also called the track cable tower. The second tower 25 is constructed in a state of standing on the top or middle of the mountain 92. The installation location of the second tower 25 is higher than the installation locations of the batch plant 11 and the bunker track 12, and the second tower 25 is installed closer to the top of the mountain 92 than the batch plant 11 and the bunker track 12. The two second towers 25 are arranged along the valley 93 with a space therebetween.

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

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

[0031] The second winch 28 is installed on the peak 92. More specifically, the second winch 28 is installed in the machine room 82 on the peak 92. The second winch 28 pulls the traveling trolley 27 to travel along the track cable 26 by applying tension to the traveling traction cable by winding and unwinding the traveling traction cable. 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 instead of traction type. The self-propelled type 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 cable 21 is spanned between the peak 91 and the peak 92 above the valley 93. More specifically, one end of the main cable 21 is connected to the first tower 24, particularly at its top, on the peak 91, and the other end of the main cable 21 is connected to the traveling trolley 27 on the peak 92, and the main cable 21 is spanned between the first tower 24 and the traveling trolley 27.

[0033] Note that when the cable crane 20 is fixed type, one second tower 25 is constructed standing on the top or middle part of the peak 92, and the main cable 21 is spanned between the first tower 24 and the second tower 25. When the cable crane 20 is both-side moving type, two first towers 24 are constructed standing on the top or middle part of the peak 91, the track cable is spanned between the two first towers 24, the second traveling trolley travels along the track cable, and the main cable 21 is spanned between the second traveling trolley and the traveling trolley 27.

[0034] The traversing trolley 22 is supported by the main cable 21 and is provided so as to be able to travel along the main cable 21 on the main cable 21. The weight of the traversing trolley 22 deflects the main cable 21.

[0035] The traction cable 23a is spanned between the top of the first tower 24 and the traveling trolley 27 along the main cable 21. The traction cable 23a is wound around the first winch 23 on the mountain 91, folded back from the first winch 23 through the top of the first tower 24 towards the traversing trolley 22, and connected to the traversing trolley 22. The traction cable 23a is wound around a pulley on the mountain 92, folded back from the pulley through the traveling trolley 27 towards the traversing trolley 22, and connected to the traversing trolley 22.

[0036] The first winch 23 is a first driving 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 traversing trolley 22 to travel along the main cable 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 traversing trolley 22 may not be traction type but self-propelled type. The self-propelled type means that a motor as a driving device is provided on the traversing trolley 22 and the traversing trolley 22 travels by the power of the motor.

[0037] The bucket 29 is suspended from the traversing trolley 22 by the hoisting cable 30a so as to be hoistable and holds the conveyed object. The bucket 29 is connected to the hoisting winch 30 via the hoisting 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 hoisting cable 30a is wound. The bucket body 29b is suspended from the block 29a. The bucket body 29b accommodates and holds the conveyed material, particularly concrete. The bucket body 29b has an opener / closer 29c at the bottom that opens and closes by remote control. When the opener / closer 29c closes, the conveyed material is held inside the bucket body 29b, and when the opener / closer 29c opens, the conveyed material is dropped from the bucket body 29b.

[0039] The hoisting cable 30a is wound around a hoisting winch 30. The hoisting cable 30a is fed out from the hoisting winch 30 and is routed in sequence through a pulley at the top of the first tower 24, a first pulley of the traversing trolley 22, the movable pulley of the block 29a, and a second pulley of the traversing trolley 22 to the traveling trolley 27.

[0040] The hoisting winch 30 is a second driving device. The hoisting winch 30 is installed on the mountain 91, more specifically, inside the machine room 81. The hoisting winch 30 has a drum around which the hoisting cable 30a is wound and a motor that drives the drum. The hoisting winch 30 raises the bucket 29 by winding up the hoisting cable 30a. The hoisting winch 30 lowers the bucket 29 by feeding out the hoisting cable 30a.

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

[0042] The controller 41 is used to remotely operate the winches 23, 28, 30 and the switch 29c. The controller 41 has input devices such as operation levers, foot pedals, handles, push buttons, joysticks, and switches. 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 an operation command corresponding to the operation signal to the drive circuits of the winches 23, 28, 30 and the switch 29c. Thereby, the winches 23, 28, 30 and the switch 29c are driven according to the operation. In the present embodiment, the controller 41 is used supplementarily, and usually, the cable crane 20 is automatically operated as described below.

[0043] [4-1. First Control Device] The first control device 42 is, for example, a PLC (Programmable Logic Controller). It receives the operation signal from the controller 41, performs a logical operation using the operation signal as an input to determine an operation command, and outputs the operation command to any one of the drive circuits of the winches 23, 28, 30 and the switch 29c. Further, the first control device 42 receives an automatic operation signal from the second control device 43, determines an operation command based on the signal in the same manner as above, and outputs it. By these control operations, the operation of the cable crane 20 corresponding to the operation of the controller 41 or the automatic operation of the first control device 42 is realized.

[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 the communication unit 435 of the second control device 43 via a wired LAN (Local Area Network) and operate in accordance with a common communication standard. The first communication unit 421 can receive information on setting changes of the first control device 42 and information on setting changes of the second control device 43 from the setting operation device 44. When the first communication unit 421 receives information on setting changes of 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 perform the functions of 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 computer that operates by executing a program stored in the storage unit 431. The program includes an automatic driving program 431a for automatically driving the cable crane 20.

[0046] The second control device 43 outputs, in sequence at timings determined by the program, a plurality of signals for automatically controlling the cable crane 20 to the first control device 42 by executing the automatic driving program 431a. The first control device 42 drives the cable crane 20 in response to the automatic control signals. Thereby, an automatic operation is realized in which the traversing trolley 22 and the bucket 29 return to their original positions after transporting the concrete to a predetermined area in the valley 93. The second control device 43 includes an output port 432 and outputs the automatic control signals to the first control device 42 via the output port 432.

[0047] The automatic driving program 431a incorporates an algorithm that performs speed control to reduce the sway of the bucket 29 during automatic driving. Further, the automatic driving program 431a may incorporate an algorithm that performs speed control to meet various other purposes during automatic driving. With the automatic driving program 431a, when the second control device 43 controls the moving speed of the traversing trolley 22 and when it controls the lifting speed of the bucket 29, it also performs speed control to reduce the sway of the bucket 29 or to meet other purposes.

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

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

[0050] [4-3. Simulator] The simulator 45 is a 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 one computer 46. The above program includes an automatic driving simulation program 451a that simulates the operation of the automatic driving of the cable crane 20. The process of simulating the operation of automatic driving is hereinafter referred to as "simulation process". Further, the above program includes an evaluation processing program 451b that causes a plurality of patterns of simulation processes to be performed and evaluates specific parameter values (speed setting values described later) in each simulation process.

[0051] The simulator 45 includes an input unit 452 that inputs setting information for the automated driving to be simulated, a physical calculation unit 453 that calculates the physical movements of the cable crane 20, and an output unit 454 that outputs set values (e.g., speed set values described later) evaluated by a plurality of simulation processes.

[0052] The input unit 452 may be configured to input information by the 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 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 specific physical quantities (e.g., the single transportation time of concrete described later) measured by a plurality of simulation processes respectively.

[0053] In the storage unit 451 of the simulator 45, structure data 451c indicating the structure of the cable crane 20, the dimensions of each part, and the weight of each part is stored. Further, setting information for automated driving (e.g., region information indicating the region of the concrete transportation destination and speed set values described later) is input from the input unit 452. The physical calculation unit 453 simulates the movement of each part of the cable crane 20 when automated driving is performed using the structure data and the setting information. Further, the automated driving simulation program 451a includes the same automated driving control algorithm as that executed by the second control device 43. The control algorithm includes an algorithm for speed control to reduce the sway of the bucket 29, and may also include an algorithm for speed control to satisfy various other purposes. The physical calculation unit 453 simulates the movement of each part of the cable crane 20 when automated driving including the above speed control is performed.

[0054] The simulator 45 further executes a plurality of simulation processes by changing some setting values (for example, speed setting values) included in the setting information for autonomous driving and executing evaluation processing program 451b. Then, the simulator 45 measures a specific physical quantity (for example, the one-time transportation time of cement) 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 includes a display unit 441 capable of displaying an image, an operation input unit 442 through which an operator can input data, and a communication unit 443 capable of communicating with the second control device 43. As the display unit 441 and the operation input unit 442, a touch panel type display panel may be adopted.

[0056] The setting operation device 44 is a device that can switch some setting items of the first control device 42 by the operation of an operator. Specifically, the setting operation device 44 outputs an operation screen for inputting or selecting the values of the above setting items to the display unit 441. Then, when the operator inputs or selects a value via the operation input unit 442, information on the setting change is sent to the first control device 42 via the communication unit 443. The setting of the first control device 42 is changed according to the information.

[0057] The first control device 42 has some setting items whose convenience is improved by being switchable by an operator. For example, a setting item for switching the specifications of the buttons of the controller 41, a setting item for switching the correspondence between some operation signals of the controller 41 and the operation commands output to the cable crane 20, and so on. The setting operation device 44 is, for example, a portable configuration. By using the setting operation device 44, an operator such as a driver can change the above some setting items by an operation near the driver's cab or the construction site.

[0058] In addition, the setting operation device 44 has a function that allows an operator to change the settings of specific setting items related to the automatic driving of the second control device 43 (for example, the first speed setting value and the second speed setting value described later) by operating. This function may be realized by providing an operation item for changing or selecting the value of the specific setting item within the operation screen where the settings of the first control device 42 can be changed. Alternatively, the above function may be realized by using an operation screen in the same manner as the operation screen for changing the settings of the first control device 42 to enable the changing operation of the specific setting item related to the automatic driving. When an operation to change the value of the specific setting item related to the automatic driving 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, based on this information, the second control device 43 changes the settings of the automatic driving. By using the setting operation device 44, an operator such as a driver can change the value of a specific setting item related to the automatic driving by performing an operation similar to switching the setting items of the first control device 42 that the operator is familiar with. In addition, the operator can change the value of a specific setting item related to the automatic driving at the driver's seat away from the second control device 43 or near the work site. Note that the information on the setting change related to the automatic 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. Outline of the method for constructing the dam embankment] FIG. 4 is a diagram showing an example when the traversing trolley 22 and the bucket 29 transport concrete to one area A. In FIG. 4, the locus of a part C of the bucket 29 when moving from the starting point D1 to the ending point D2 is indicated by a dashed line. FIG. 5 of the bucket 29 is a time chart showing an example of the time change of the moving speed of the traversing trolley and the lifting and lowering speed of the bucket in the forward path. FIG. 6 is a time chart showing an example of the time change of the moving speed of the traversing trolley and the lifting and lowering speed of the bucket in the return path.

[0060] When constructing a dam embankment, as shown in Fig. 4, the construction range H0 in the valley 93 where concrete is placed is divided into a plurality of regions A, and a series of operations are performed in which the transportation and placement of concrete are repeated a large number of times in one region A. Then, by repeatedly executing such a series of operations while changing the region A, the amount of concrete placed in each region A gradually increases, and finally, concrete is placed up to the required height over the entire construction range H0. Since the transportation of concrete is repeated a very large number of times, even a slight increase or decrease in the transportation time of concrete for one time will have a great impact on the construction period. Therefore, there is a demand to shorten the transportation time of concrete for one time.

[0061] As shown in Fig. 4, the transportation of concrete for one time is realized by reciprocating the bucket 29 between the concrete storage place P1 and the region A by moving the traversing trolley 22 and raising and lowering the bucket 29. The reciprocating movement is realized by automatic operation by the second control device 43. In the automatic operation, as shown in Figs. 5 and 6, in the forward and return trips, periods of accelerating operation, constant-speed operation, and decelerating operation of the traversing trolley 22 in sequence (acceleration periods T11, T21, constant-speed periods T12, T22, deceleration periods T13, T23) are included. Similarly, periods of accelerating operation, constant-speed operation, and decelerating operation of the bucket 29 in the vertical direction in sequence (acceleration periods T31, T41, constant-speed periods T32, T42, deceleration periods T33, T43) are included. In addition, the vertical operation of the bucket 29 includes operations for realizing the ground cutting operation B1 and the landing operation B2 at the concrete storage place P1.

[0062] For the automatic driving by the second control device 43, speed control for reducing the sway of the bucket 29 is added. In this embodiment, the speed control is performed by adding speed changes δV1 to δV4 for reducing sway during the acceleration periods T11 and T21 and the deceleration periods T13 and T23 of the traverse trolley 22. Similarly, speed changes δV5 to δV8 for reducing sway are added during the acceleration periods T31 and T41 and the deceleration periods T33 and T43 in the vertical direction of the bucket 29. By such speed control, at least when dropping the concrete into the area A and when the bucket 29 lands on the concrete loading place P1, the sway of the bucket 29 can be reduced below the threshold value. Also, the sway of the bucket 29 can be reduced even 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 adding acceleration or deceleration for reducing sway may be applied at the start, middle, or end of the constant speed periods T12 and T22 of the traverse trolley 22, and at the start, middle, or end of the constant speed periods T32 and T42 of the bucket 29. Further, a method 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 may be employed. Also, even if the method for reducing sway is constant, the period of sway depends on the suspension length from the traverse trolley 22 to the bucket 29. Therefore, the speed changes δV1 to δV8 for reducing sway do not have a constant magnitude or waveform due to different lifting amounts of the bucket 29. Also, the amplitude of sway depends on the moving speed of the traverse trolley 22 and the lifting speed of the bucket 29 when sway remains. Therefore, the speed changes δV1 to δV8 for reducing sway do not have a constant magnitude or waveform due to different moving speeds or lifting speeds.

[0064] In the automatic driving by the second control device 43, since speed control for reducing such shaking is added, simply increasing the moving speed of the traversing trolley 22 and the lifting speed of the bucket 29 may actually increase the transportation time of the concrete for one time. For example, in transportation where the moving distance and the lifting distance are relatively short, even if the speed set value is set to the maximum value, the moving speed and the lifting speed do not reach the maximum speed. In this case, the acceleration periods T11, T21 and the deceleration periods T13, T23 become longer, so that the time for speed control for reducing shaking becomes longer, and the transportation time of the concrete for one time may become longer. Also, even for the moving distance and the lifting distance where the constant speed periods T12, T22 occur, depending on the lengths of the acceleration periods T11, T21 and the deceleration periods T13, T23, it may not be possible to completely reduce the shaking during that period. In this case, the time for speed control for reducing shaking does not fit within the originally planned acceleration periods T11, T21 and deceleration periods T13, T23, and the transportation time of the concrete for one time becomes longer.

[0065] Furthermore, in the automatic driving by the second control device 43, other speed controls may be added to satisfy various other purposes. And when such speed control is added, simply increasing the moving speed of the traversing trolley 22 and the lifting speed of the bucket 29 may actually increase the period during which the above-mentioned speed control is added, resulting in an increase in the transportation time of the concrete for one time.

[0066] As described above, in the method for constructing a dam embankment, there is a requirement to shorten the transportation time of concrete for one trip. Therefore, in the present embodiment, in order to shorten the transportation time of concrete for one trip, a determination step of determining a speed setting value by simulating the automatic operation of the cable crane 20 is included. In the determination step, an area A at the destination of concrete transportation is specified, and a plurality of simulation processes with different speed setting values for the automatic operation are performed by the simulator 45. Then, the time required for transporting the concrete (the time required for the forward and return trips) is measured in each simulation process. Furthermore, by comparing these results, a speed setting value that can shorten (for example, minimize) the transportation time of concrete for one trip is determined.

[0067] When the speed setting value is determined, the second control device 43 automatically operates the cable crane 20 at the speed setting value and repeatedly transports the concrete to the specified area A. Then, the concrete is placed in the area A.

[0068] The determination of the speed setting value as described above, the transportation and placement of the concrete are each carried out in all areas A included in the range where the dam embankment is constructed. Also, in one area A, as the placement of the concrete progresses, the height of the area A changes. Therefore, when the amount of change in height becomes equal to or greater than the threshold value, the determination step of the speed setting value is performed again for the area A. Then, when the planned placement of the concrete is carried out in all areas A, the dam embankment is constructed.

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

[0070] The second speed setting values V3, V4 represent the speeds during the constant speed periods T32, T42 in FIGS. 5 and 6. The speeds during the acceleration periods T31, T41 and the deceleration periods T33, T43 are defined based on the constant speed. The second speed setting values V3, V4 are, for example, five setting values that indicate any of a plurality of discrete speeds as shown in the following table. The relationship between the setting value and the hoisting and lowering speed may be different when the bucket 29 is rising with concrete loaded, when the bucket 29 is rising in an empty state, and when the bucket 29 is descending. [Table 2] In the table, X represents any numerical value from 0 to 9. V represents speed. Vmax represents the maximum speed.

[0071] Note that 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, or may be continuous rather than discrete. Also, the first speed setting value is not limited to being a value indicating the moving speed during the constant speed periods T12 and T22. The first speed setting value may be any physical quantity as long as it is a value that defines the moving speed of the horizontal trolley 22, such as, for example, the average magnitude or period length of acceleration or deceleration, the maximum speed during the entire period of the forward or return journey, the rotational speed of the first winch 23, etc. Similarly, the second speed setting value is not limited to being a value indicating the lifting and lowering speed during the constant speed periods T32 and T42. The second speed setting value may be any physical quantity as long as it is a value that defines the lifting and lowering speed of the bucket 29, such as, for example, the average magnitude or period length of acceleration or deceleration, the maximum speed during the entire period of the forward or return journey, the rotational speed of the lifting and lowering winch 30, etc. Also, the first speed setting values V1 and V2 may be set to different values for the forward and return journeys, and the second speed setting values V3 and V4 may be set to different values for the forward and return journeys.

[0072] [Detailed Example of Method for Determining Speed Setting Value] In the simulation process for determining the speed setting value, it is specified which area A within the construction range H0 the concrete is to be transported to. Further, the first speed setting value and the second speed setting value applied to the simulation process are specified. The first speed setting value and the second speed setting value may be different for the forward and return journeys. The area information indicating the area A is input from the input unit 452. The speed setting value is specified by the evaluation processing 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 transportation of the concrete, for example, the time taken for the forward and return journeys.

[0073] The automatic driving simulation program 451a includes the control algorithm for automatic driving implemented 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 implemented by the second control device 43. That is, the simulator 45 also simulates the control of reducing the swing of the bucket 29 implemented by the second control device 43 in parallel with automatic driving, as well as the speed control performed for various other purposes. Therefore, the single transport time measured by the simulator 45 is a value that accurately reflects the single transport time 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 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. Then, the simulator 45 selects, as the speed set value to be applied to the actual automatic driving, for example, the speed set value that results in the shortest transport time, by comparing the transport times measured in each simulation process. These processes are called "evaluation processes". Note that in the evaluation process, the selection criterion 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-described evaluation process may be performed by the simulator 45 using the evaluation process program 451b, or may be performed by an operator such as an operator causing the simulator 45 to execute the simulation process a plurality of times while changing the settings.

[0076] [8. Modification of Speed Set Value] The simulation of the operation of the cable crane 20 by the simulator 45 does not always exactly match the actual operation. Therefore, even if the speed setting value is determined based on the result of the simulation process, when the cable crane 20 is actually automatically operated with the set speed setting value, the expected transportation time may not be achieved. In addition, during actual automatic operation, there may be cases where slow transportation is suddenly required. To handle such cases, during the automatic operation of repeatedly transporting concrete, the second control device 43 is configured such that the speed setting value can be changed by the operation of a worker such as an operator. For example, the worker can operate the input device 434 of the second control device 43 to display an item for changing the speed setting value from the automatic operation setting menu. Then, the worker can update the speed setting value in this item.

[0077] The above-described speed setting value change process can also be performed by a worker such as a driver using the setting operation device 44. The setting operation device 44 has an operation screen with reduced unnecessary menus and items for the worker. Therefore, the worker can easily update the speed setting value via the setting operation device 44. Furthermore, the setting operation device 44 can be installed at a location away from the second control device 43, for example, near the driver's seat or at the work site. Therefore, the worker can update the speed setting value near the driver's seat or at the work site.

[0078] When a worker such as a driver or an operator predicts that a more suitable transportation time will be achieved by slightly changing the speed setting value, or when it is necessary to extend the transportation time for some reason, the worker uses the above means to update the speed setting value. Thereby, from the next forward or return journey of the transportation, the second control device 43 performs automatic operation applying the updated speed setting value.

[0079] [Detailed Example of the Method for Constructing a Concrete Structure] FIG. 7 is a flowchart showing a method for constructing a concrete structure according to an embodiment of the present invention. Here, a construction process of the concrete structure constituting the dam embankment will be described. In this construction process, first, an operator installs a concrete supply facility 10 and a cable crane 20 at a construction site (step S1). Then, when it comes to the stage of placing concrete in the construction range H0 of the dam embankment, the operator designates an area A for placing concrete from within the construction range H0 (step S2: area designation step).

[0080] Subsequently, the operator inputs area information indicating the area A and causes the simulator 45 to execute an evaluation processing program 451b, so that the simulator 45 executes loop processing of steps S3 to S6. That is, the simulator 45 selects a set of setting values from among a plurality of patterns of setting values obtained by combining a plurality of types of first speed setting values and a plurality of types of second speed setting values (step S3). Then, the simulator 45 performs a simulation process of automatic driving for transporting concrete to the area A designated in step S2 using the selected setting values (step S4: simulation step). Further, the simulator 45 extracts the transport time of the concrete (the time taken for the round trip) measured during the simulation process as a specific physical quantity (step S5). The transport time is a physical quantity related to the speed setting value (more specifically, a physical quantity serving as a material for determining the speed setting value). Subsequently, the simulator 45 determines whether the selection of all pattern setting values in step S3 has been completed (step S6). If the determination result is NO, the process returns to step S3, the simulator 45 selects another set of setting values, and the processes of steps S4 to S6 are executed again.

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

[0082] Next, the operator inputs the area information indicating the area A specified in step S2, and the first speed setting value and the second speed setting value determined in step S7, into the second control device 43 as the values of the automatic driving setting items (step S8). Then, the second control device 43 starts a loop process (steps S9 to S12) of repeatedly transporting and placing concrete by automatic driving. In the loop process, the second control device 43 automatically drives the cable crane 20 to transport the concrete to the area A (step S9). The processes of step S8 and step S9 in the loop process described above correspond to an example of the transportation process according to the present invention.

[0083] Then, the transported concrete is placed in the area A (step S10). Further, the second control device 43 determines whether the end condition for concrete placement in the area A (for example, when the number of transports or the transportation time reaches the end condition, or when an end command is input from the operator) is met (step S11). Further, 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 the case where an operator such as an operator performs an operation to change the speed setting value to the second control device 43, or the case where an operator such as a driver performs an operation to change the speed setting value via the setting operation device 44.

[0084] And if the results of the determinations in steps S11 and S12 are both NO, the loop process of steps S9 to S12 is repeatedly executed, whereby the transportation and placement of concrete to area A are carried out multiple times.

[0085] On the other hand, when the result of the determination in step S12 is YES, the second control device 43 reflects the set speed value that has been changed (step S13), and then returns the process to the loop process from step S9 again. Therefore, from the next concrete transportation, the automatic operation in which the set speed value that has been changed is reflected is carried out. Steps S12 and S13 described above correspond to an example of the setting change step according to the present invention.

[0086] Also, when 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] After the automatic operation stops, the worker determines whether all the concrete placement in the construction range H0 of the dam embankment has been completed (step S15). If NO, another area A that requires concrete placement in step S2 is designated. Thereby, the processes of steps S3 to S14 can be executed for the newly designated area A. And when the concrete placement in the construction range H0 progresses and it is determined to be completed in step S15, the construction process of the concrete structure of the dam embankment is completed.

[0088] In the above description, an example where the worker designates area A in step S2 is shown. However, the designation of area A may be performed by another control device that creates the construction plan of the dam embankment. Also, an example where the worker inputs information to the second control device 43 in step S8 is shown. 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, an example was shown in which the simulator 45 performs the process of selecting a set of setting values from among the plurality of pattern setting values in step S3 and the process of determining the speed setting value in step S7. However, these processes may be performed by an operator.

[0090] Also, in the above description, when the area A for placing concrete is designated, an example was shown in which simulation processing is performed to determine the speed setting value corresponding to the area A. However, the speed setting values corresponding to various areas A may be determined in advance by performing simulation processing collectively, and when the cable crane 20 is automatically operated, the speed setting values determined in advance may be read out and used.

[0091] Also, in the above description, in the processes of steps S3, S4, and S6, a method was shown in which each of all combinations of the first speed setting value and the second speed setting value is selected and simulation processing is performed. However, for example, only a plurality of combinations expected to shorten the transportation time may be the target of selection in step S3.

[0092] [10. Summary] As described above, according to the method for constructing a concrete structure of the present embodiment, the operation of the cable crane 20 is simulated by the simulator 45. Then, the transportation times of the concrete measured in a plurality of simulation processes with different speed setting values are compared, and based on the comparison results, the first speed setting value and the second speed setting value of the cable crane 20 are determined. In the automatic operation of the cable crane 20, when various speed controls are applied, simply maximizing the speed setting value may instead increase the transportation time for one trip. However, by determining the first speed setting value and the second speed setting value as described above, the transportation time of the concrete 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 repeats the transportation of concrete many times in one area A. Therefore, by shortening the transportation time of the concrete for one trip, it contributes to shortening the entire construction period and realizing the construction of a highly productive concrete structure.

[0093] Furthermore, according to the method for constructing a concrete structure of the present embodiment, the concrete transportation process includes periods during which the second control device 43 sequentially accelerates, operates at a constant speed, and decelerates the traversing trolley 22. Furthermore, the concrete transportation process includes periods during which the second control device 43 sequentially accelerates, operates at a constant speed, and decelerates the bucket 29 in the vertical direction. The first speed setting value defines the speed of the traversing trolley 22 during the above constant-speed operation, and the second speed setting value defines the speed of the bucket 29 during the above constant-speed operation. By adopting such first and second speed setting values, it is easy for the operator to intuitively understand what kind of automatic operation is performed based on the first and second speed setting values. Therefore, after the operator intuitively grasps it, the speed setting value of the automatic operation can be applied.

[0094] Furthermore, according to the method for constructing a concrete structure of the present embodiment, the second control device 43 performs an operation of adding speed changes δV1 to δV8 for reducing the sway of the bucket 29 in one or both of the movement operation of the traversing trolley 22 and the lifting operation of the bucket 29. When the cable crane 20 is operated, the movement speed of the traversing trolley 22 and the lifting speed of the bucket 29 may affect each other and cause the bucket 29 to sway. Therefore, it is difficult to independently optimize the first speed setting value and the second speed setting value so as to shorten the transportation time while reducing the sway of the bucket 29. On the other hand, in the present embodiment, by performing a plurality of types of simulation processes, the transportation time can be compared for each of a plurality of patterns of setting values obtained by combining a plurality of types of first speed setting values and a plurality of types of second speed setting values. Therefore, even in a situation where it is difficult to independently optimize the first speed setting value and the second speed setting value, an appropriate speed setting value can be easily determined.

[0095] Furthermore, according to the method for constructing a concrete structure of the present embodiment, during the repeated transportation of concrete to one area A, it includes setting change steps (steps S12, S13) for accepting changes in the first speed setting value and the second speed setting value made by the operator. In the automatic operation of the cable crane 20, first, the first speed setting value and the second speed setting value determined by the simulation process are used. Therefore, in the actual automatic operation of the cable crane 20, a better transportation time may be achieved by slightly changing the speed setting value. Also, for some reason, there may be a requirement to slow down the movement of the cable crane 20. In such a case, the above setting change steps can be used to respond.

[0096] Moreover, according to the cable crane system 1 of the present embodiment, a simulator 45 is provided that simulates the operation of the automatic operation of the cable crane 20 by the second control device 43. Further, the simulator 45 includes an input unit 452 for inputting area information indicating the area A of the destination of the conveyed object (specifically, concrete), and a physical calculation unit 453 for simulating the operation of the cable crane 20 conveying the conveyed object to the area A according to the first speed setting value and the second speed setting value. In the simulator 45, it is possible to cause the physical calculation unit 453 to perform a plurality of simulations using respectively a plurality of patterns of setting values obtained by combining a plurality of types of first speed setting values and a plurality of types of second speed setting values. In addition, 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 plurality of simulations described above. Therefore, by performing automatic operation using the speed setting value output from the output unit 454, the conveyance time of the conveyed object by the cable crane 20 can be shortened, and highly productive conveyance of the conveyed object can be realized.

[0097] Furthermore, according to the cable crane system 1 of the present embodiment, a setting operation device 44 that can be set by an operator such as a driver is provided. Further, during the repeated automatic operation of the cable crane 20 by the second control device 43, the operator can change the first speed setting value and the second speed setting value via the setting operation device 44. Therefore, when it is possible to achieve a better conveyance time by slightly changing the speed setting value, or when there is a request to slow down the movement of the cable crane 20 due to some circumstances, etc., these situations can be promptly responded to.

[0098] The construction method of the concrete structure and the cable crane system 1 of the present embodiment have been described above. However, the present invention is not limited to the above embodiment. For example, in the above embodiment, a dam embankment is shown as the concrete structure, but the construction method of the concrete structure of the present embodiment may be a method for constructing other concrete structures. Further, in the above embodiment, an example in which the cable crane system 1 transports concrete is shown, but the cable crane system according to the present invention may be configured to transport various conveyances. Further, in the above embodiment, as the physical quantity serving as the material for determining the speed setting value, the one-time transportation time measured by simulation is shown. However, as the physical quantity, the transportation time for a predetermined number of times may be used, and further, different types of physical quantities such as the maximum value of the swing of the bucket 29 may be added.

[0099] In addition, the configurations and methods specifically shown in the present embodiment can be appropriately changed without departing from the gist of the invention. For example, in the embodiment, when changing the speed setting value using the setting operation device 44, a configuration in which the information on the setting change is sent to the second control device 43 via the first control device 42 is shown, but it may be directly sent to the second control device 43. Further, in the embodiment, an example is shown in which, immediately before transporting concrete to a certain area A, simulation processing is performed to determine the speed setting value corresponding to the area A. However, the speed setting value corresponding to each of a plurality of areas A may be determined in advance by performing simulation processing, and when transporting concrete, automatic operation may be performed using the speed setting value determined in advance. Further, the second control device 43 and the simulator 45 may be realized by a server computer at a remote location that is communicably connected. Furthermore, various programs and data stored in the second control device 43 and the simulator 45 may be stored in a server computer at a remote location that is communicably connected.

Explanation of Reference Numerals

[0100] 20 Cable crane 21 Main cable 22 Transverse trolley 23 First winch 30 Hoisting 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 structure H0 Construction range A Area

Claims

1. A cable crane having a main cable spanned above the construction area, a traversing trolley moving along the main cable, and a bucket suspended from the traversing trolley so as to be movable up and down, and a control device for automatically operating the cable crane, is used to transport concrete to the construction area, and a concrete structure is constructed by placing the transported concrete. A method for constructing a concrete structure, comprising: a determining step of determining a first speed setting value that defines the moving speed of the traversing trolley and a second speed setting value that defines the lifting and lowering speed of the bucket; a transporting step in which the control device automatically operates using the first speed setting value and the second speed setting value determined in the determining step, so that the cable crane transports the concrete; comprising; the determining step includes: a region designating step of designating a region to which the concrete is to be transported from among a plurality of regions within the construction area; a simulation step of performing a plurality of simulations of transporting concrete to the designated region by applying each of a plurality of patterns of setting values obtained by combining a plurality of types of the first speed setting values and a plurality of types of the second speed setting values; a determining step of determining the first speed setting value and the second speed setting value corresponding to the region to which the concrete is to be transported based on a result of comparing amounts related to the concrete transport time in the plurality of simulations; comprising; in the simulation step, the plurality of simulations are performed by applying each of the plurality of patterns of setting values that differ only in the combination of the first speed setting value and the second speed setting value; in the transporting step, the control device automatically operates using the first speed setting value and the second speed setting value determined corresponding to the region to which the concrete is to be transported, so that the cable crane transports the concrete to the region. A method for constructing a concrete structure.

2. The transporting step includes a period in which the traversing trolley is sequentially accelerated, operated at a constant speed, and decelerated, and a period in which the bucket is sequentially accelerated, operated at a constant speed, and decelerated in the up and down directions. The first speed setting value defines the speed of the traversing trolley during the constant speed operation, and the second speed setting value defines the speed of the bucket during the constant speed operation. The method for constructing a concrete structure according to Claim 1.

3. In the transportation process, the control device performs the moving operation of the traversing trolley and the lifting operation of the bucket, One or both of the moving operation and the lifting operation include an operation of adding a speed change for reducing the sway of the bucket. The method for constructing a concrete structure according to claim 1.

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

5. A cable crane having a traversing trolley that moves along the main cable and a bucket that is suspended from the traversing trolley so as to be able to move up and down, and transporting concrete to construct a dam embankment, A control device for automatically operating the cable crane, A simulator for simulating the operation of the automatic operation of the cable crane, Comprising The simulator An input unit for inputting area information indicating the area of the transport destination of the transported object by the cable crane, A physical calculation unit that simulates the operation of the cable crane transporting the transported object to the area of the area information according to 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 that can shorten the concrete transportation time among a plurality of types of the first speed setting value and a plurality of types of the second speed setting value, or a quantity related to the concrete transportation time measured in the simulation, Having The simulator A plurality of patterns of setting values obtained by combining a plurality of types of the first speed setting value and a plurality of types of the second speed setting value, and performing a plurality of simulations by applying each of the plurality of patterns of setting values in which only the combination of the first speed setting value and the second speed setting value is different, and determining the first speed setting value and the second speed setting value included in the setting information based on the results of the simulation, The control device By operating the cable crane according to 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 The cable crane repeatedly performs an operation of transporting a conveyed object to the area indicated by the area information. The cable crane system further includes a setting operation device that can communicate with the control device and can receive operation inputs from an operator. The first speed setting value and the second speed setting value can be set and changed during the repeated operation by an operation input via the setting operation device. The cable crane system according to claim 5.

Images