JPH0416394B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a voice control device for a crane that allows a crane to be directly operated by a voice command from a commander.

(Prior art) Conventionally used methods of operating cranes include having a dedicated operator operate a controller in the operator's cab on top of the machine, or operating a pendant switch suspended near the floor. There are three main types: those operated by a driver on the floor using a radio control device.

(Problems to be Solved by the Invention) Since all of these devices must be operated using one or both hands, a full-time 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.

In addition, although there was an idea to operate the crane using voice control, it was found that normal voice input devices do not have sufficient measures to prevent dangers, such as preventing runaways due to misrecognition and malfunctions due to noise, and the characteristics of voice input. Inching operation performed in the upper minute time and 2
It is impossible to perform a combined operation (operation in which each operation is started at a different time), and nothing that can be put to practical use has yet to be realized.

Therefore, the present invention improves the above-mentioned disadvantages of conventional crane operation, 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 crane safely and with good operability, saving labor. It is an object of the present invention to provide a voice control device for a crane, which is capable of improving performance, and also makes possible inching operation and combined operation of two or more operations by compensating for the technical insufficiency of the voice control device.

(Structure of the Invention) The voice control device according to the present invention includes a command module for inputting the command words for the operation of each part of the crane using the command person's own voice and monitoring the response of the command words, and A voice recognition unit that compares and recognizes an input command word with a matching pattern of a pre-registered command person, a control unit that outputs a command corresponding to the command word recognized by the voice recognition unit, and an output command from this control unit. The voice control panel has an interface relay unit that transmits the command to the crane's drive control device. A feature of the system is that it is configured to execute a command when a confirmation word for an answerback monitored by the user is input.

(Example) Hereinafter, the present invention will be explained using the illustrated example. FIG. 1 shows a perspective view of an embodiment of the voice control panel according to the present invention, and FIG. 2 shows a control block diagram of the connection state between the dispatcher module and the crane control device.

The voice control device for this crane consists of a mobile radio device 1 with a headphone microphone 4, which is a module for the dispatcher, and a boss control panel 2 connected to a crane control device 3. Let's discuss the case.

Here, the voice control panel 2 is installed on the traveling machine of the crane, and is equipped with a fixed radio device 6 having an onboard antenna 5. The voice signal is output to the voice recognition device 7 of the computer.

This voice recognition device 7 is connected to a storage device 8 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 8 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 4 can be written.

A microcomputer 10 and a speech synthesizer 9 are connected to the output side of the speech recognition device 7, and a recognition result signal is output to the microcomputer 10.
In addition, the recognition result signal is also output to the voice synthesizer 9 side in the same manner as described above, and the voice synthesizer 9 synthesizes the same voice as the recognized voice in response to the input recognition result signal and synthesizes it to the fixed radio device 6. Output to. This synthesized voice is wirelessly transmitted from the fixed radio device 6 to the mobile radio device 1, and is answered via the headphone microphone 4 to the commander.

An output interface relay 11 is connected to the output side of the microcomputer 10, and the microcomputer 10 outputs a sequence activation signal corresponding to the recognition result signal to the interface relay 11. In other words, the microcomputer 10 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 is started at the same time), and combined operation (operation in which each operation is started with a time difference). A predetermined sequence for preventing malfunctions and taking safety measures is built in, and a predetermined output is output to the output interface relay 11 in response to the voice recognition result.

The output interface relay 11 outputs a sequence signal to the crane control device 3, and the crane control device 3 transmits a drive signal to each drive section of the crane, and the crane operates according to the voice command.

Here, the storage device 8 has command word training (registration) and registration recall functions, and a floppy disk type or a bulk memory type such as a bubble memory is used. Figure 3 shows a flowchart for training on operating command words using the floppy disc method on a crane machine.
Here, steps 2, 3, and 4 are repeated for each word in the operation word table shown in FIG. 7, and writing to the floppy disk is completed at steps 5 and 6.

Next, in the case of a registered call, as shown in the flowchart of Figure 4, after each person's floppy disk is set in the storage device 8, voice control is possible by inputting a command on the mobile radio 1 side. becomes.

In this method, by registering one dispatcher for each floppy disk, the floppy disk can be used as a crane operator's ID card or key.

Further, FIGS. 5 and 6 show flowcharts of operation command word training and registration call when using bubble memory. With this bubble memory, it is possible to register a large number of people while it is installed in the normal storage device 8, and the registration call can be made from the mobile radio device 1 on the floor, and the call can be made by simply inputting the name of the dispatcher by voice. I can do it.

FIG. 9 shows a flowchart of a single operation.
In this sequence, main hoisting, auxiliary hoisting, traversing, and running are controlled, and in steps 1, 2, and 3, the operation words illustrated in FIG. 7 are input and recognized. When correction is to be made by answering, the correction routine of steps 14 and 15 is used when the user utters "Machigai". Continuous operation or inching operation is selected in step 4, and in the case of continuous operation, if you say "start" after generating the operation word, the process moves to the main routine from step 5 to step 14, and continuous operation is started. It is done. The operation command output at this time is
The pulse waveform shown in FIG. 8a is output.

Furthermore, if the inching operation word "chiyoi" is uttered in step 4, the inching routine of steps 20 to 24 is executed. Here, the first inching becomes "chiyoi" and is output in the waveforms shown in FIG. 8c and b, respectively, and after the second inching, this inching operation command word can be accepted any number of times without uttering the operation word. pulse width
t ₁ and t ₂ are set according to the usage situation, and different time limits can be set for each of winding up, down winding, south, north, east, and west. Further, even if the continuous operation command word "start" is uttered after the inching operation command words "chiyoi" or "chiyoi chiyoi" are uttered, the command will be rejected.

Step 16 to prevent crane runaway
Equipped with emergency stop routines up to 19, the mobile radio 1
The entire output of the control panel 2 is cut off and the main contactor of the crane control device 3 is opened by turning off the emergency stop switch or power switch provided at

Furthermore, when the voice recognition device rejects, the operation is stopped, but in this case, the emergency stop routine is not executed and an answer back of "Putpuu" is output to the headphone microphone 4.

FIG. 10 shows a flowchart for executing the sequence of complex operations.

In this sequence, in step 7, for example, an attempt is made to perform a combined operation of traverse southbound and drive east, and the operation words "Minami" and "Higashi" are used consecutively (actually, with an answer back for voice synthesis interposed). If you speak, it will be input. As for combinations of complex operations (overhead crane with auxiliary hoisting), all combinations of the main operations are possible as shown in the table of FIG. In addition, if you enter conflicting words (for example, "Kita",
“Minami”) There is an answer back of “Hawko error”, which ignores the word entered later. It is also possible to stop the operation of only one of the composite operations through steps 10-15. Furthermore, during compound operations, each operation can be started and stopped at any timing as shown in Figure 12a and b, and steps can be performed.
Even in the inching operation of 26 to 29, the combination of the basic inching mode shown in Fig. 13a allows two or more simultaneous directional movements, such as the simultaneous downward inching of the main and auxiliary windings shown in Fig. 13b. Dynamic operation is also possible.

FIG. 14 shows a flowchart of trial operation and main contactor input. Step 1,
2 and 3, voice control panel 2 becomes mobile radio 1
Check whether it works or not, and follow steps 4 to 9.
Enter the siren operation word "siren" to test the alarm device. Steps 10, 12, 14, 13
Say “Master On” and step 17.
Say “start” and turn on the main contactor. Furthermore, in step 23, "master kill" is uttered as the main contactor opening operation word, and in step 26, "start" is uttered to send out a main contactor opening command output. Furthermore, in the event of an abnormality, by operating the emergency stop switch provided on the mobile radio 1, an emergency stop is executed in steps 32-35.

Furthermore, if the main contactor cannot be opened even after performing the main contactor opening operation twice or more, it is configured to perform an emergency stop for safety reasons.

In this regard, all outputs from the voice control panel 2 can be turned OFF by turning off the power switch of the mobile radio 1 in an emergency to stop the carrier, or by operating a separately provided emergency stop switch.

In addition, the mobile radio 1 has a built-in tilt switch, and if the mobile radio 1 falls over a preset angle and continues for more than the time set in the microcomputer, the crane The output is turned OFF and at the same time a "dead man" answer is issued using a code word to prevent accidents caused by the dispatcher fainting.

In addition, as a safety measure for the sequence, the operation command words for main movement operations are AND (logical sum), so the crane will not operate due to someone else's voice or noise.
Even if the voice recognition device does not recognize it (rejects), all output of the crane will be turned OFF.

Furthermore, if you accidentally input an input that is contrary to the predetermined input sequence (for example, if you utter the driving command word "start" first and then produce a direction command word such as "kita"), the combination word ""Terminologyerror" is answered and all input is ignored.

Similarly, if you accidentally enter conflicting direction commands (for example, “Kita” → “Minami” → “Start”)
→When inputting “Nishi”) Answers the “direction error” using a compound word and turns off the output to the crane.

Furthermore, the main contactor is turned off in the first
Apart from the method shown in the flowchart of FIG. 4, it is also possible to use a method of turning OFF only with an OFF (direction) command word (for example, "Master Kiri") if the main movement is not in operation. In this case, if the main movement is in operation, the command word is OFF, and the main contactor is
Leave it ON and turn off the output of the movement in progress.

Incidentally, a sequence is configured in the microcomputer 17 so that operations that require relatively quick response in safety equipment such as the illumination lights 9 and the alarm 10 can be performed using only direction command words (without driving command words). .

In this way, the crane's voice control device can be operated directly by the dispatcher's voice commands.
Both hands (or one hand) of the operator during operation are freed from crane operation. 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. It can be made unnecessary and its power can be reduced.

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

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 command output via a conventional radio control device. be.

In addition, instead of answering using a voice synthesizer, indicator lights and various indicators (LED, LCD, plasma,
It is also possible to adopt a command confirmation method using a CRT (CRT, etc.).

By using a microcomputer and a voice recognition device in combination, this device achieves almost complete safety measures, and also enables inching operation, combined operation, simultaneous operation, etc. to be performed on the same level as manual operation. This resulted in a device that could withstand practical use.

Furthermore, in the case of an automatic crane that is controlled by a host computer, online input/output to the host computer is performed using the voice control panel's communication function with the computer. This can improve the effectiveness of automated crane operation.

(Effects of the Invention) The embodiment of the voice control device for a crane according to the present invention is as described above, and the following effects can be achieved.

By operating the crane, one operator can safely and easily perform multiple operations on the entire crane, saving labor.The crane's voice control also enables inching operation and combined operation of two or more movements. It becomes a control device.

[Brief explanation of drawings]

Fig. 1 is an overall view of the voice control panel according to the embodiment of the present invention, Fig. 2 is a control block diagram showing the connection and configuration of the mobile radio and the crane control device, and Fig. 3
4 and 4 are flowcharts of the floppy disk registration and recall functions implemented in the storage device,
5 and 6 are flowcharts of the registration and calling functions when the valve memory is similarly implemented,
Fig. 7 is a diagram showing examples of operation words, Fig. 8 a, b,
c is an example of the output pulse waveform to the crane, Fig. 9 is a flowchart for continuous operation and single operation, Fig. 10 is a flowchart for continuous operation and combined operation, Fig. 11 is an example of a combination of combined operations, and Fig. 12 Figures a and b are charts showing examples of start and stop timings for compound operations, Figures 13 a and b are output waveforms of inching operations and examples of simultaneous lowering and inching, and Figure 14 is trial operation and main contactor input. This is a flowchart. 1...Mobile radio device, 2...Voice control panel, 3...Crane control device, 4...Headphone microphone, 5...Onboard antenna, 6...Fixed radio device, 7...Voice recognition device, 8... ...Storage device, 9...
...Speech synthesizer, 10...Microcomputer,
11...Output interface relay.

Claims (1)

[Claims] 1. A crane control device comprising a plurality of drive devices that operate according to a predetermined sequence and a crane control unit that controls the plurality of drive devices according to control signals input from the outside. a command module capable of inputting commands for the operation of each part of the crane using the commander's physical voice and monitoring the answer back of the command words; and a command word input by voice from the command module. A voice recognition unit that compares and recognizes matching patterns of pre-registered dispatchers, and a sequence that creates a simple command word recognized by the voice recognition unit and predetermined and a crane operation command, and the operation command. The voice control panel includes a control section for outputting an output and an output interface section for transmitting an output command from the control section to the crane control device, and the voice control panel transmits the command word recognized by the voice recognition section to the This voice control device for a crane is characterized in that it answers back to a module for a commander and executes the command when the commander who monitors the answer back inputs a confirmation word from the module for the commander.