JPH1029788A - Concrete placing method and device therefor - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a concrete placing method by which alteration of a concrete placing position or concrete placing in an area requiring laborious work for concrete placing can be carried out by means of a remote operation while performing an automatic operation without any operator. SOLUTION: When placing by a bucket 3 is prepared in a placing standby position B0 after the bucket 3 is conveyed by means of a crane to the placing standby position B0 above a placing position B1 , the fact that a placing command is waited is informed to a placing director. The placing director informed that the crane waits a placing command sends an automatic placing command signal to the crane, and then, concrete in the bucket 3 is placed in the placing position B1 . On the other hand, if concrete is placed in a placing position B2 different from the placing position B1 , a remote operation command signal is fed to the crane by the placing director, and the bucket 3 is moved to the placing position B2 other than the placing position B1 by means of the crane, and then, concrete inside the bucket 3 is placed in the placing position B2 after the shift.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a concrete casting method and an apparatus for transporting a bucket to a casting position and casting concrete in the bucket.

[0002]

2. Description of the Related Art Conventionally, in a concrete placing facility for dam construction, as shown in FIG. 7, concrete transferred by a transfer car 2 from a batcher plant 1 is transferred to a bucket 3, and then the bucket 3 is lifted up by a crane. 1
0, the bucket 3 is moved to the dam embankment body 20.
To the casting position. Then, the gate of the bucket 3 is opened, and the concrete in the bucket 3 is poured into the dam bank 20 at the casting position. In order to cast such concrete, it is necessary to have skill in the operations of turning, raising and lowering the boom 5 and hoisting / lowering the wire 4, and the length of the cycle time of the crane 10 determined by the level of skill requires a long period of time for dam construction. , Which greatly affects the cost.

Accordingly, the present applicant automatically transports the bucket to the casting position by automatically controlling the turning / raising / lowering of the crane, the hoisting / lowering of the wire, and the opening / closing of the gate of the bucket without an operator. Has built a crane for casting concrete in a bucket.

[0004]

However, when the above-mentioned crane for automatic operation is used for concrete casting equipment for dam construction, the crane is transported to the setting position on the dam embankment 20 by automatic operation and then cast. There is a disadvantage that the position cannot be easily changed during automatic operation. Further, the crane has a drawback that the bucket cannot be transported by automatic operation to an area where the casting is difficult, such as the end of the concrete casting surface.

An object of the present invention is to provide a concrete casting method and a concrete placing method which can easily change a casting position or place in a hard-to-place area while performing automatic operation without an operator. It is to provide a device.

[0006]

According to a first aspect of the present invention, there is provided a concrete casting method, wherein a concrete-loaded bucket is suspended by a crane.
Transport the above bucket to the casting position where the casting conductor is located,
In the concrete pouring method for pouring concrete in the bucket at the pouring position, the concrete crane process from transporting the bucket to pouring concrete from the pouring position information sent from the pouring conductor. Calculating an operation schedule; transporting the bucket to the placement position by the crane based on the operation schedule; and, when the bucket is ready to be placed on the placement position, Sending a signal from the crane that indicates awaiting a casting command to the casting commander; and receiving a signal indicating that the crane is waiting for a casting command, the casting commander Send an automatic casting command to the crane to instruct concrete to be poured directly into the casting position according to the operation schedule above, or Selecting whether to send, to the crane, a remote operation command for instructing the concrete placement by a remote operation of the placement conductor to a placement position different from the placement position; and Receiving the automatic placing command from the crane, placing the bucket in the bucket after lowering the bucket from above the placing position by the crane, and placing concrete in the bucket; When the crane receives the remote operation command from the operator, the crane moves the bucket from the driving position to a different driving position from the driving position in accordance with the remote operation command, Casting concrete in the bucket at the position.

According to the concrete casting method of the first aspect, the operation schedule of the crane from the transport of the bucket to the concrete placement is determined in advance based on the placement position information sent from the casting conductor. calculate. And
The bucket is transported to the casting position by the crane, and after the bucket can be driven, that is, the swing of the bucket is within an allowable error range, the concrete is directly moved from the driving commander to the driving position according to the operation schedule. When you send an automatic casting command to the crane to command
After the bucket is automatically lowered from the casting position to the casting position by the crane, concrete in the bucket is poured. On the other hand, when the casting position is changed after the bucket is transported to the casting position, the concrete is cast from the casting commander to a different casting position from the casting position by remote control of the casting commander. When the remote operation command is sent to the crane, the bucket is moved by the crane to a different driving position from the initially specified driving position according to the remote operation command, and the concrete in the bucket is moved to the driving position after the movement. Is installed. Further, for example, when the bucket is transported to the area of the end where the concrete is difficult to be placed on the concrete placing surface, the bucket is placed in a temporary placement position near the area where the placement is difficult and where the bucket can be easily transported. After the bucket is transported to the temporary placement position, the crane is controlled by remote control of the placement commander, and the bucket is moved to the placement position in an area where the placement is difficult, and the placement position after the movement. Pour concrete in bucket.

Therefore, it is possible to easily control the crane by remote control to change the driving position or to perform the driving in an area where the driving is difficult, while performing the automatic operation without the operator.

According to a second aspect of the present invention, a concrete-loading device is suspended by a crane, and a bucket loaded with concrete is suspended, and the bucket is transported to a casting position where a casting conductor is present. In a concrete placing device for placing concrete in the bucket,
An operation schedule calculating means for calculating an operation schedule of the crane from the transportation of the bucket to the placement of concrete from the placement position information sent from the placement conductor; and When the bucket is in a state where the bucket is ready to be driven, after receiving the automatic placing command from the placing commander to place concrete as it is according to the operation schedule at the placing position, Placing concrete in the bucket after lowering the bucket automatically from the casting position to the casting position by a crane, or transporting the bucket to the casting position by the crane, After the bucket is ready to be cast, the casting commander places the bucket at a different casting position from the casting commander. Upon receiving a remote operation command instructing to cast concrete by a remote operation, the bucket is moved from the casting position to a different casting position from the casting position in accordance with the remote operation command, and The present invention is characterized in that there is provided a selecting means for selecting whether to cast concrete in the bucket at the casting position, and a remote control means for sending the remote control command by the casting commander to the crane.

According to the concrete casting device of the second aspect, the operation schedule of the crane from the transport of the bucket to the concrete casting is operated based on the casting position information sent from the casting conductor. It is calculated in advance by the schedule calculation means. Then, the bucket is transported to the driving position by the crane, and after the bucket can be driven, that is, the swing of the bucket falls within the allowable error range, the driving commander returns the driving position to the driving position according to the operation schedule. When receiving an automatic placing command for placing concrete, the automatic placing is selected by the selecting means, the bucket is lowered from the placing position to the placing position, and the concrete in the bucket is placed. On the other hand, when changing the placement position after transporting the bucket to the placement position, select remote placement by the remote means,
From the casting commander, a remote control command was sent to the casting position different from the above casting position to place concrete by remote control of the casting commander, and the bucket was first instructed according to the remote control command. The concrete is moved to a casting position different from the casting position, and the concrete in the bucket is cast at the moved casting position. Further, for example, when the bucket is transported to the area of the end where the concrete is difficult to be placed on the concrete placing surface, the bucket is placed in a temporary placement position near the area where the placement is difficult and where the bucket can be easily transported. After the bucket is transported to the temporary placement position, the crane is controlled in accordance with a remote control command from the placement commander, and the bucket is moved to the placement position in an area where the placement is difficult, and Pour concrete in the bucket at the installation position.

Therefore, it is easy to control the crane according to the remote control of the casting commander to change the casting position or to perform the casting in an area where the casting is difficult, while performing the automatic operation without the operator. Can be.

[0012]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The concrete casting method and apparatus of the present invention will be described below in detail with reference to the embodiments shown in the drawings.

FIG. 1 is a block diagram of a control device for a crane used in an embodiment of the present invention. Also,
The above crane has the same configuration as the crane 10 used in the concrete placing equipment shown in FIG. 7 except for the control device. In FIG. 2 described below, the same components are denoted by the same reference numerals and description thereof is omitted. I do.

The crane control device includes a transport start position input unit 1 for inputting three-dimensional coordinate data of the transport start position.
7 based on the output of the transport starting position input unit 11 and the output of the driving position input unit 12 based on the output of the driving start position input unit 11 and the input of three-dimensional coordinate data of the driving position. A calculation unit 13 as an operation schedule calculation means for calculating an operation schedule for turning, raising and lowering the wire 5 and raising / lowering the wire 4, and turning the boom 5, raising and lowering the wire 4 based on the output of the calculator 13. A control unit 14 for controlling hoisting / lowering and the like and including a selection means for selecting automatic operation or remote operation; a boom turning motor 15 for turning the boom 5 based on a control signal of the control unit 14; A boom raising / lowering motor 16 for raising / lowering the boom 5 based on a control signal from the controller 14 and a wire winding motor for raising / lowering the wire 4 based on a control signal from the controller 14. And a motor 17. Also,
A casting command input unit 18 for inputting an automatic casting command signal representing a casting command from a casting commander described later, and a remote control for inputting a remote control command signal to be commanded by remote control from the casting commander A command input unit 19, a gate opening / closing switch 80 for opening / closing a gate (not shown) of the bucket 3 based on a driving signal from the control unit 14, and a predetermined signal based on a display signal from the control unit 14. And a display section 30 in which the lamps are turned on.

FIG. 2 is a schematic plan view of a concrete placing facility using the control device of the crane 10. The crane 10 is provided with a display unit 30 at a position on the dam embankment body 20 which is visible to a casting conductor. Further, a reflecting mirror 2 for measuring a casting position on the dam embankment 20 is provided.
1, the total station 22 irradiates the reflecting mirror 21 with a laser beam from the total station 22, and the total station 22 measures the three-dimensional coordinates of the placing position B based on the reflected light from the reflecting mirror 21. Then, based on the three-dimensional coordinates of the transport start position A of the bucket 3 on the bunker line 9 on which the transfer car 2 runs and the three-dimensional coordinates of the casting position B indicated by the reflector 21 on the dam embankment 20, Is automatically controlled without an operator to raise and lower the boom 5 while rotating the boom 5 about the point O, and to raise / lower the wire 4 (shown in FIG. 7). Further, the display unit 30 includes a blue lamp 31 indicating that an instruction for a driving position is requested, a green lamp 32 indicating that the bucket 3 is ready for driving at the driving standby position, and an automatic lamp 31. A yellow lamp 34 for displaying that the vehicle is running.

FIG. 3 is a front view of a handy controller 40 as a remote control means operated by the placing conductor C on the dam body 20 shown in FIG. The handy controller 40 has an upper display section 41, and below the display section 41, a stop button 42 for emergency stop of the crane 10, a control button 43 for setting the crane 10 to the automatic operation mode, and a driving button 43 An installation button 44 for instructing input of three-dimensional coordinates of a position, a through button 45 for instructing that the next casting position is the same as the previous position, and a casting button 46 for issuing a casting instruction Have. The handy controller 40 includes a hoist button 51 for instructing the winding of the wire 4, a lowering button 52 for instructing the lowering of the wire 4, a raising button 53 for instructing the boom 5 to rise, and a boom 5 and a right button 55 for instructing the boom 5 to turn right.
And a left button 56 for instructing the boom 5 to turn left. The hoisting button 51 to the left button 56 allow the placing conductor C to perform a remote operation during the automatic operation of the crane 10. The handy controller 40 wirelessly transmits a signal corresponding to the pressed button to the control device of the crane 10.

FIGS. 4 and 5 are flowcharts for explaining the operation of the control device of the crane 10 described above.

Hereinafter, the operation of the automatic operation of the control device will be described with reference to the flowcharts of FIGS. At the start of the automatic operation, all the display units 30 are turned off, and the bucket 3 is on the bunker line 9.

First, when the casting commander C presses the control button 43 of the handy controller 40, the process for controlling the automatic operation starts, and in step S1, the yellow lamp 34 indicating that the crane 10 is operating automatically is turned on. Light.

Next, proceeding to step S2, the blue lamp 31
Is turned on to notify the casting conductor C that the instruction for the casting position B is waiting. Next, in step S3, the placing conductor C
Indicates the placing position B. That is, when the casting conductor C installs the reflecting mirror 21 at the casting position B and presses the installation button 44 of the handy controller 40, the position of the reflecting mirror 21 measured by the total station 22, that is, the setting position B The three-dimensional coordinates are input to the placement position input unit 12. Then, in step S4, the blue lamp 31 is turned off, and the placement conductor C is notified that the placement position input unit 12 has input the three-dimensional coordinates of the placement position B.

Then, the process proceeds to a step S5, wherein the bunker line 9
The position of the upper bucket 3 is measured. The position of the bucket 3 is determined by irradiating a reflecting mirror (not shown) provided above the bucket 3 with a laser beam from a total station (not shown), and receiving the reflected light by the total station. After measuring the three-dimensional coordinates of the transport start position A of the bucket 3 on the bunker line 9, the three-dimensional coordinates of the transport start position A from the total station 22 are measured.
The dimensional coordinates are input to the transport start position input unit 11.

Next, the process proceeds to step S6, where the calculation is performed based on the three-dimensional coordinates of the transport start position A from the transport start position input unit 11 and the three-dimensional coordinates of the driving position B from the driving position input unit 12. The operation schedule of the crane 10, that is, the schedule of turning, raising and lowering the boom 5 and hoisting / lowering the wire 4 is calculated by the unit 13.

Then, the process proceeds to step S7, where the bucket 3
After loading the concrete into the, proceed to step S8,
The operation of the crane 10 starts.

Next, if it is determined in step S9 that the bucket 3 has arrived at the casting standby position above the casting position B, the process proceeds to step S10, where the operation of the crane 10 is stopped.
If it is determined that the bucket 3 has not arrived at the casting standby position, the process proceeds to step S9 until the bucket 3 arrives at the casting standby position.
repeat. Then, in step S11, the green lamp 32 indicating that the crane 10 is in the state of waiting for the placing command is turned on, and the process proceeds to step S12. The crane 10
The wire 4 is wound up from the transport start position A on the bunker wire 9 and the boom 5 is swung up and down to transport the bucket 3 on which the concrete is loaded to the driving position B. Then, the wire 4 is lowered while measuring the height of the bucket 3 by a distance finder (not shown) attached to the side surface of the bucket 3, and the bucket 3 is stopped at the casting standby height. Until the swing of the bucket 3 falls within the allowable error range by the steadying control of the green lamp 32, the green lamp 32
Does not light.

Next, in step S12, when the placement conductor C determines that the placement is possible at this position, the process proceeds to step S21 shown in FIG. If it is determined, the process proceeds to step S13. Then, after moving the bucket 3 to the concrete placing position by remote control in step S13, concrete is driven by remote control in step S14. That is, the above-mentioned casting conductor C makes the hoist buttons 51 to 51 of the handy controller 40.
When the left button 56 is operated to send a remote operation command signal to the crane 10 and the remote operation command signal is input to the remote operation command input unit 19 of the control device, the control unit 14 turns the boom according to the remote operation command signal. It controls the motor 15, the boom raising / lowering motor 16, the wire winding motor 17, and the gate opening / closing switch 80.

Next, in step S15, the wire is wound up by remote control. If it is determined in step S16 that the bucket 3 is higher than the height of the casting standby position, the process proceeds to step S26 shown in FIG. If it is determined that the height is less than the height of the setting standby position, the process returns to step S15 to continue winding the wire 4.

Next, at step S21 shown in FIG. 5, the placement conductor C checks the safety condition under the bucket 3. Then, when the placing conductor C determines that the lower part of the bucket 3 is safe in step S22, the process proceeds to step S23, and the placing conductor C issues a placing instruction. That is, when the casting conductor C presses the casting button 46 of the handy controller 40, the automatic casting command signal is wirelessly transmitted to the control device of the crane 10.

Then, in step S24, the green lamp 32 is turned off, indicating that the casting command input unit 18 has received the automatic casting command signal. That is, when an automatic driving command signal is input to the driving command input unit 18 of the control device, the control unit 1
Reference numeral 4 outputs a display signal to the display unit 30 to turn off the green lamp 32 of the display unit 30.

Next, concrete is cast in step S25. In this case, the wire 4 is wound down from the standby position for placing the bucket 3 and the bucket 3 is lowered to the placing position. Then, the gate (not shown) of the bucket 3 is opened, and after the concrete 50 is discharged from the opening 7 onto the concrete casting surface, the gate is closed.

Next, in step S26, the crane 10
Is started, and the bucket 3 with the gate 6 closed is returned to a new transport start position A on the bunker line 9 or to the same transport start position A as the previous time. When it is determined in step S27 that the bucket 3 has arrived on the bunker line 9,
Proceeding to step S28, after stopping the operation of the crane 10, proceeding to step S29. On the other hand, if it is determined in step S27 that the bucket 3 has not arrived on the bunker line 9, step S27 is repeated until the bucket 3 arrives on the bunker line 9.

Next, in step S29, it is determined whether or not all the driving has been completed. If it is determined that all of the driving has been completed, the process proceeds to step S30, where the yellow lamp 34 is turned off, and this processing is performed. To end. On the other hand, if it is determined in step S29 that all the driving has not been completed, the process returns to step S2 shown in FIG. 4, and the next driving cycle is performed in the same manner.

In this way, the crane 1 can be used without an operator.
While performing the automatic operation of “0”, the placing conductor C on the dam embankment 20 according to the display contents of the display unit 30 of the crane 10
Using the reflecting mirror 21 and the handy controller 40, the controller of the crane 10 is instructed on the three-dimensional coordinates of the casting position A, and is also instructed to cast concrete in the bucket 3. When the casting conductor C wants to change the casting position, or when it is desired to place concrete in an area where casting is difficult in automatic operation, the crane 10 is controlled by remote control. For example, as shown in FIG. 6, the concrete placement surface 50 on the dam body 20 is at the bottom of the concave portion 60, and the bucket 3 is transported to the placement position B ₂ at the end of the concrete placement surface 50 and the concrete When placing, the recess 6
Like scaffold 70 provided on the side surface of the 0 hinders some cases the bucket 3 it is difficult to unload directly below from the top pouring position B _2. In this case, the hitting set conductor C, first, to instruct the pouring position B ₁ of the provisional inboard recesses 60, striking設待machine bucket 3 on pouring position B ₁ by the crane 10 position B After being transported to ₀ by the automatic operation, the swing of the bucket 3 is controlled within the allowable error range by the steadying control of the bucket 3, and the green lamp 32 is turned on. After confirming that the green lamp 32 has been turned on, the placement conductor C operates the hoist buttons 51 to 51 for remote control of the handy controller 40.
By operating the left button 56, for example, the wire 4 is lowered winding, pouring the temporary bucket 3 from hitting設待machine position B ₀ position B ₁
After down to, turning the boom 5, to move the bucket 3 to the true pouring position B _2, for pouring the concrete pouring position B ₂ from pouring position B ₁ of the provisional.

Therefore, the crane 1 can be used without an operator.
0 while operating the crane 10 by remote control.
, It is easy to change the casting position after the bucket 3 has been transported to the casting position, and it is possible to easily cast concrete in an area that is difficult to be placed by automatic operation. .

In the above embodiment, a boom type crane 1 used for concrete placing equipment in dam construction
Although the control method and the control device of 0 have been described, the concrete placing method and the device of the present invention may be applied to other than concrete placing equipment. Further, the present invention is not limited to the boom type crane, and may be applied to a telha, a cable crane, and the like.

In the above embodiment, the casting conductor C
The handy controller 40 operated by the user wirelessly outputs the driving position signal, the automatic driving instruction signal, and the remote operation instruction signal to the control device of the crane 10, but the present invention is not limited to wireless, but may be wired or optical.

[0036]

As is apparent from the above description, the concrete casting method according to the first aspect of the present invention is to suspend a bucket loaded with concrete by a crane, and to move the bucket to a casting position where a conductor is placed. In the concrete placing method of transporting and placing concrete in the bucket, the operation schedule of the crane from the transport of the bucket to the placement of concrete is determined based on the placement position information sent from the placing conductor. Calculate in advance, transport the bucket to the driving position by the crane, move the bucket from the driving commander to the driving position after the bucket can be driven, that is, the swing of the bucket is within the allowable error range. When the crane receives an automatic placement command that directs the concrete placement as it is on schedule, the crane automatically When the concrete in the bucket is cast after the lowering of the bucket from the casting position to the casting position, and when the bucket is transported to the casting position and then the casting position is to be changed, When the crane receives a remote operation command for instructing the concrete to be poured into a casting position different from the above-described casting position by a casting commander, the bucket is initially instructed by the crane according to the remote operation command. Move to a different casting position from the setting position,
When the concrete in the bucket is cast at the casting position after the movement, and when the concrete is transported to the area of the end where it is difficult to be cast by automatic operation, the bucket is placed near the area where the casting is difficult and at the position of the bucket. Set the place where transportation is easy as the temporary placement position, transport the bucket to the temporary placement position, and control the crane by remote control of the placement conductor to place the bucket in areas where it is difficult to place the bucket. The concrete in the bucket is moved to the casting position after the movement.

Therefore, according to the concrete casting method of the first aspect of the present invention, the crane is controlled by remote control while the automatic operation is performed without an operator to change the casting position or the area where the casting is difficult. And can be easily cast.

Further, in the concrete casting apparatus according to the second aspect of the present invention, a bucket loaded with concrete is suspended by a crane, the bucket is transported to a casting position where a casting conductor is present, and the concrete in the bucket is moved. In the concrete casting device, the operation schedule of the crane from the transport of the bucket to the concrete placement is calculated in advance by the operation schedule calculation means based on the placement position information sent from the casting conductor. Then, the bucket is transported to the driving position by the crane, and after the bucket can be driven, that is, the swing of the bucket is within the allowable error range, the driving commander returns to the driving position to the driving position according to the operation schedule. When receiving an automatic placing command for placing concrete, automatic placing is selected by the selection means described above. When the bucket is lowered from the casting position to the casting position and the concrete in the bucket is cast, while the bucket is transported to the casting position and the casting position is changed, the bucket is remotely operated by the remote means. And sends a remote operation command from the casting commander to the concrete placement position different from the above casting position to place concrete by remote control of the casting commander. Move the bucket to a different driving position from the initially specified driving position in accordance with, place the concrete in the bucket at the driving position after the movement, and transport it to the end area where it is difficult to drive by automatic operation If the bucket is to be driven, a place near the hard-to-place area and where the bucket can be easily transported is assumed to be the temporary placement position, and after the bucket is transported to the temporary placement position, Remote control command Thus by controlling the crane, move the bucket to the pouring position of Da設 difficult areas, it is to pouring the concrete in the bucket to the pouring position after the movement.

Therefore, according to the concrete casting device of the second aspect of the present invention, the crane is controlled in accordance with the remote control of the casting commander to change the casting position while performing automatic operation without an operator. And can be easily cast in an area where it is difficult to cast.

[Brief description of the drawings]

FIG. 1 is a block diagram of a control device of a crane used in an embodiment of the present invention.

FIG. 2 is a schematic plan view of concrete placing equipment using the control device of the crane.

FIG. 3 is a front view of a handy controller of the crane.

FIG. 4 is a flowchart showing the operation of the crane control device.

FIG. 5 is a flowchart showing the operation of the control device following FIG. 4;

FIG. 6 is a schematic view for explaining a driving operation at the time of remote operation of the crane.

FIG. 7 is a schematic view of concrete placing equipment in dam construction.

[Explanation of symbols]

1. Batcher plant 2. Transfer car 3.
... bucket, 4 ... wire, 5 ... boom, 9 ... bunker line, 10 ... crane, 11 ... transportation start position input part, 12
... Putting position input unit, 13 ... Calculation unit, 14 ... Control unit, 15
... Boom swing motor, 16 ... Boom hoisting motor, 17 ...
Wire take-up motor, 18: Casting command input unit, 19: Remote control command input unit, 20: Dam embankment, 21: Reflecting mirror, 22
... total station, 30 ... display unit, 40 ... handy controller.

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inaba Kinsei 2-2-2 Matsuzaki-cho, Abeno-ku, Osaka-shi, Osaka Prefecture Inside Okumura Gumi Co., Ltd. (72) Inventor Toshiyuki Ishii 2-2-2 Matsuzaki-cho, Abeno-ku, Osaka-shi, Osaka No. 2 Okumura Gumi Co., Ltd. (72) Inventor Yoshio Araya 2-2-2 Matsuzakicho, Abeno-ku, Osaka, Osaka

Claims (2)

[Claims] 1. A concrete crane which suspends a bucket loaded with concrete by a crane, transports the bucket to a placement position where a placement conductor is present, and places the concrete in the bucket at the placement position. A step of calculating an operation schedule of the crane from the transport of the bucket to the placement of concrete from the casting position information sent from the casting commander, based on the operation schedule, Transporting the bucket to the casting position by the above, and when the bucket is ready to be cast at the casting position, a signal indicating that the crane is waiting for a casting command is sent to the casting machine. Sending the command to the conductor; and receiving a signal from the crane indicating that the casting command has been waited for. Sending an automatic casting command to the crane to instruct concrete to be directly poured into the casting position according to the operation schedule, or to a different casting position from the casting position, Selecting whether to send a remote operation command for instructing concrete placement by remote control to the crane, and when the crane receives the automatic placement command from the placement commander, Placing the concrete in the bucket after lowering the bucket from the casting position to the casting position; and when the crane receives the remote operation command from the casting commander, the remote operation command The bucket is moved from the casting position to a casting position different from the casting position by the crane according to Striking 設方 method of concrete, characterized by a step of pouring the concrete in the bucket. 2. A concrete loaded pile is suspended by a crane, the bucket loaded with concrete is suspended, and the bucket is transported to a placement position where a placement conductor is present, and the concrete in the bucket is placed at the placement position. An operation schedule calculating means for calculating an operation schedule of the crane from transport of the bucket to concrete placement from the casting position information sent from the casting conductor; and After the bucket has been transported to the casting position and the bucket is ready to be cast, an automatic casting command is issued from the casting commander to cast concrete at the casting position according to the operation schedule. Receiving, after automatically lowering the bucket from above the casting position to the above-mentioned casting position by the above-mentioned crane, After the concrete in the ket is cast, or the bucket is transported to the casting position by the crane and the bucket is ready to be cast, the casting commander places the bucket in the bucket. When receiving a remote operation command for instructing to cast concrete by a remote operation of the casting conductor to a casting position different from the position, the bucket is placed from the casting position according to the remote operation command. Selecting means for moving to a casting position different from the position, and selecting whether to cast concrete in the bucket at the casting position after the movement, and sending the remote control command by the casting commander to the crane A concrete casting device, comprising a remote control means.