JPH0416393B2 - - Google Patents

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to a mobile conversational crane that can be directly operated by a worker's voice commands and can monitor various crane conditions from a terminal on the worker's side. It is.

[Prior art]

Conventional operating methods for overhead traveling cranes include one in which a dedicated driver operates a controller in the operator's cabin on top of the machine, and the other in which the operator operates a pendant switch suspended near the floor. , which are operated by a driver on the floor using a radio control device.

[Problems to be solved by this invention]

Since all of these devices must be operated using one or both hands, a dedicated operator is required to operate the crane. In addition, the overall work of the overhead traveling crane required workers to perform auxiliary work such as slinging, setting flooring, and driving the vehicle, which caused problems in terms of labor saving and work efficiency.

Further, information regarding the condition of the crane, such as the weight, position, amount of movement of the suspended load, distance from an adjacent crane, etc., is important when operating the crane.

However, with relatively large equipment such as overhead cranes, it is difficult for the crane operator to accurately grasp the overall situation, and there are cases where it is necessary to station a supervisor to confirm safety.

Therefore, the present invention improves the above-mentioned disadvantages in operating a conventional traveling crane, eliminates the need for a full-time operator who only operates the crane, and allows a single operator to perform multiple operations on the entire traveling crane safely and easily. To provide a traveling conversational crane that can be operated easily, saves labor, and allows a crane operator to accurately grasp information regarding the crane status and perform safe operation.

[Structure of the invention]

The present invention provides a traveling crane having a plurality of drive devices that operate according to a predetermined sequence, a crane control section that controls the plurality of drive devices in accordance with a control signal input from the outside, and a crane control section that is installed in the crane. a sensor that detects various information regarding the condition of the crane; a mobile radio device capable of inputting command words for the movement of each part of the traveling crane using the commander's own voice and monitoring various information regarding the condition of the crane; a storage device in which a matching pattern of a command word is registered; a voice recognition unit that compares and recognizes a command word input by real voice from the mobile radio device with a preregistered matching pattern of a commanding person; and the voice recognition unit. a control unit that outputs a sequence activation signal corresponding to the command word recognized by the sensor and a composite signal corresponding to the detection signal of the sensor; and a control unit that outputs a sequence signal to the crane control unit via the control unit and detects the detection signal from the sensor. an input/output interface unit that inputs signals to the control unit; a voice synthesizer that reads the synthesized sound generation signal from the sensor and outputs the synthesized sound to a fixed radio device; and a fixed device that outputs the synthesized sound to the mobile radio device. and a control unit having a radio, and outputs a synthesized sound from the sensor from the fixed radio to a mobile radio to transmit various information to a commander.

〔Example〕

The following will explain the embodiments shown in the drawings. Fig. 1 shows an example of an overhead traveling conversational crane, and Fig. 2 shows a control block diagram of the crane. This conversation type crane includes a mobile radio 1 equipped with a headphone microphone 11 carried by a dispatcher, a voice control panel 2 installed on the complaining side, and crane drive devices 4, 5 connected via a crane control panel 3.
Consists of 6, 7, and 8.

Here, the voice control panel 2 is installed on the traveling girder of the crane and is equipped with a fixed radio device 13 having an onboard antenna 12. The audio signal is output to the audio recognition device 14 of.

This voice recognition device 14 is connected to a storage device 15 in which a command word matching pattern for each commander is registered in advance, and the matching pattern is read out from the storage device 15 when performing recognition calculation processing of an input voice signal. . Further, when registering the command word of the commanding person, a verification pattern from the mobile radio device 1 with the headphone microphone 11 can be written.

A control unit unique to the voice control crane, that is, a microcomputer 17 and a speech synthesizer 16 are connected to the output side of the voice recognition device 14, and a recognition result signal is output to the microcomputer 17. In addition, the recognition result signal is also output to the speech synthesizer 16 side in the same manner as described above, and this speech synthesizer 1
6 synthesizes the same voice as the recognized voice corresponding to the input recognition result signal and outputs it to the fixed radio device 13. This synthesized voice is wirelessly transmitted from the fixed radio device 13 to the mobile radio device 1, and is answered via the headphone microphone 11 to the dispatcher.

An input/output interface 18 is connected to the output side of the microcomputer 17, and the microcomputer 17 outputs a sequence activation signal corresponding to the recognition result signal to the input/output interface 18. In other words, the microcomputer 17 is capable of performing inching operation, which is essential for controlling the crane by voice, simultaneous operation of two or more operations (operation in which each operation starts at the same time), combined operation (operation in which each operation starts with a time difference), A predetermined sequence for preventing erroneous operations and taking safety measures is built in, and a predetermined output is output to the input/output interface 18 in response to the voice recognition result.

This input/output interface 18 outputs a sequence signal to the crane control panel 3, and from the crane control panel 3, each drive section 4, 5, 6, 7,
8, and the crane operates according to the audio signal.

In addition, each part of the crane has information on the weight, position, and
Various sensors 19 are provided to detect the amount of movement, the distance to an adjacent crane, etc., and detection signals from these sensors 19 are sent to the microcomputer 1 via an input/output interface 18.
8 to the microcomputer 17. The microcomputer 17 outputs a synthetic sound creation signal corresponding to the detection signal of the sensor 19 to the speech synthesizer 16, and the speech synthesizer 16 outputs a synthesized sound creation signal corresponding to the detection signal of the sensor 19.
9 is read out as a synthesized sound from the fixed radio device 13 to the headphone microphone 1 carried by the dispatcher.
1 is transmitted to mobile radio device 1 with 1.

Information from the various sensors 19 can be inputted by the commanding person using his/her own voice to specify the desired sensor, and then the microcomputer 17 detects the specific sensor 19 based on the recognition result by the voice recognition device 14. It is also possible to transmit the value to the commander. At this time, unlike the voice control of the drive unit, there is no need to call back and confirm the sensor 19.
The configuration is such that it is only necessary to specify the sensor 19.

Crane control panel 3 and each drive section 4, 5, 6, 7,
No. 8 is a conventional type, so its explanation will be omitted.

In the above configuration, when a command person on the ground issues a direction command to the mobile radio device 1 carried by the operator, the voice signal of the operation direction command to the crane specific part from the mobile radio device 1 is transmitted to the fixed radio device 13 of the voice control panel 2. and input into the speech recognition device 14. Therefore, the voice recognition device 14 uses the storage device 15.
The matching pattern is read out, compared with the input audio signal, and a corresponding synthesized audio output signal is output to the audio synthesizer 16.

The speech synthesizer 16 creates a synthesized word corresponding to the synthesized sound output signal, and transmits the synthesized word from the fixed radio device 13 to the mobile radio device 1.
The message is transmitted wirelessly to the person who sent the message, and is answered back to the dispatcher via the headphone microphone 11. If the direction command word given by the dispatcher himself, the direction command word synthesized and output from the headphone microphone 11, and the direction command word synthesized and output from the headphone microphone 11 match, "start" etc. When the driving command word is issued to the headphone microphone, it is processed and input to the microcomputer 17 through the same route as before.

Here, the microcomputer 17 selects a sequence signal corresponding to the direction command word, and outputs the signal to the corresponding crane control panel 3 through the input/output interface 18, and the crane control panel 3 controls each part of the crane.

In this manner, in the present voice-controlled crane, the crane operates only when the voice recognition device 14 correctly recognizes both the operation direction command word and the operation command word for a specific drive part, so there is an extremely low possibility of malfunctions occurring.

In addition, when performing a jogging operation, after inputting a direction command word, by inputting a jogging operation command word such as "chiyoi", the jogging operation is performed for the time and number of times preprogrammed in the microcomputer 17. can be done.

The above has explained the case of only one operation regarding a specific drive part, but the simultaneous activation, individual, arbitrary stopping of two or more operations, and the arbitrary starting, stopping and stopping of other operations (two or more operations) during one operation. Since the microcomputer 17 is programmed to enable simultaneous two-action inching operation, etc., operation equivalent to manual operation is possible.

It should be noted that the microcomputer 17 is programmed to operate with only direction commands (without driving commands) for operations that require relatively quick response in security equipment such as the illumination lights 9 and alarms 10.

In addition, by specifying by voice input from the dispatcher,
Ultrasonic sensors provide information on the distance to adjacent cranes or obstacles or warnings, synchro transmitters provide information on lateral travel distance or crane position, synchro transmitters provide information on hoisting and lowering distances or hook positions, vibration, temperature sensors, etc. Information from various sensors 19, such as detection of an abnormality and warning, is selectively transmitted to the commander side by synthesized sound by the speech synthesizer 16.

Among these, warning information when a dangerous condition is detected is synthesized into voice by interrupt processing in the microcomputer 17, giving priority to other matters, and is transmitted to the commander.

In this embodiment, an interactive type is used between the mobile radio device 1 having a headphone microphone 11 and the voice control panel 2, but it is also possible to monitor it on the dispatcher's side using a visual device such as a display panel or CRT. You can also do it.

Furthermore, as a safety measure, the mobile radio 1 is equipped with a power switch for cutting off the carrier wave, a tilt switch for dead man protection, and an emergency stop switch. It is configured to have a program that stops when inputting , and stops when inputting in an order other than the predetermined input order, to prevent malfunctions and accidents.

In this way, since the conversational crane can be operated directly by the voice command of the dispatcher, both hands (or one hand) of the operator are freed from operating the crane. Utilizing this characteristic, we can make workers multi-skilled by performing multiple tasks such as crane operation, slinging, and auxiliary work (setting pavers, driving vehicles, etc.), thereby reducing the need for full-time operators and full-time sling workers. This can be made unnecessary and saves labor.

In addition, since it is operated using the most natural voice for humans, anyone can use it without special training, and the wireless device carried by the worker is small, reducing worker fatigue and improving productivity. .

In this embodiment, the voice control panel 2 is installed on the aircraft side, but it is also possible to install it on the ground side and control the crane by transmitting the command output via a conventional radio control device. be.

Further, instead of answering by the voice synthesizer 16, a command confirmation method using an indicator light or various indicators (LED, LCD, plasma, CRT, etc.) may be adopted.

Furthermore, in the case of automatic cranes that are controlled by a host computer, online input/output to the host computer can be performed using the communication function with the computer equipped with a voice control panel. By doing so, the effectiveness of automated crane operation can be improved.

Although this embodiment describes an overhead traveling crane, it can also be applied to various types of cranes placed indoors and outdoors, truck cranes, and cargo handling machines for continuous conveyance of bulk materials such as stackers, reclaimers, and loaders. can.

〔Effect of the invention〕

The embodiments of the traveling conversational crane according to the present invention are as described above, and the following effects can be achieved.

There is no need for a full-time operator who only operates the crane; voice control allows one operator to safely and easily perform multiple tasks on the entire traveling crane, saving labor and constantly monitoring the crane's status. Therefore, danger can be prevented.

In particular, the condition of the crane is detected by various sensors and the detection signal is transmitted to the dispatcher as a synthesized sound using a voice synthesizer, so the dispatcher can continuously monitor the condition of the transported object. Able to work safely.

[Brief explanation of drawings]

FIG. 1 is an overall view showing an embodiment of a traveling interactive crane according to the present invention, and FIG. 2 is a control block diagram of FIG. 1. 1... Mobile radio, 2... Voice control panel, 3... Crane control panel, 4... Main hoisting device,
5...Auxiliary hoisting device, 6...Traversing device, 7...No.1
Traveling device, 8...No.2 traveling device, 9...Lighting light,
10...Alarm, 11...Headphone microphone, 1
2...Airborne antenna, 13...Fixed wireless device, 14
...Voice recognition device, 15...Storage device, 16...
Speech synthesizer, 17...Microcomputer, 1
8...Interface, 19...Sensor.

Claims (1)

[Scope of Claims] 1. A traveling crane having a plurality of drive devices that operate according to a predetermined sequence; a crane control unit that controls the plurality of drive devices according to a control signal input from the outside; and the crane. a sensor installed in the crane to detect various information regarding the condition of the crane; a mobile radio device capable of inputting command words for the operation of each part of the traveling crane by a commanding person's physical voice and monitoring various information regarding the condition of the crane; a storage device in which a matching pattern of a command word of a dispatcher is registered; a voice recognition unit that performs recognition by comparing a command word input by the human voice from the mobile radio with a matching pattern of the dispatcher registered in advance; a control unit that outputs a sequence activation signal corresponding to the command word recognized by the voice recognition unit and a composite signal corresponding to the detection signal of the sensor; and a control unit that outputs a sequence signal to the crane control unit via the control unit, and an input/output interface unit that inputs a detection signal from the sensor to the control unit; a voice synthesizer that reads the synthesized sound creation signal of the sensor and outputs the synthesized sound to the fixed radio; and a voice synthesizer that outputs the synthesized sound to the mobile radio. A mobile conversation type, characterized in that it is equipped with a voice control unit having a fixed wireless device that outputs a voice control unit, and outputs a synthesized sound of the sensor from the fixed wireless device to a mobile wireless device to transmit various information to a commander. crane.