| 摘要 |
PROBLEM TO BE SOLVED: To precisely detect present positions of a transverse trolley and a bucket, and sufficiently offset swing of the bucket. SOLUTION: A cable crane is provided with the transverse trolley 3 traveling along a main cable 2 while towed by a towing cable 4, and the concrete bucket 6 suspended in a lower part of the trolley 3 via a suspension cable 5, and the cable 4 and the cable 5 are wound unwound by winches 7, 8 to move the trolley 3 and the bucket 6. GPS receivers 80, 82 are mounted on the trolley 3 and the bucket 6, and radio waves are received from a satellite 84 via the two receivers 80, 82 to position the present positions of them respectively. A speed of the trolley 3, a swinging angle of the bucket 6 and its angular velocity are calculated based on positioned results therein, and the swing of the bucket 6 is offset by feedback control in acceleration or deceleration.
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