JPH0467840B2 - - Google Patents

Description

[Detailed description of the invention]

[Industrial Field of Application] This invention relates to a voice remote control device for a crane. [Prior art] Conventionally, voice control devices used for overhead traveling cranes, etc., control the type of crane operation (hoisting, traversing, etc.)
The direction (up, down, forward, reverse, etc.) is identified and retained by voice recognition of the command related to the operating direction issued by the operator's voice, and the recognition result is temporarily returned to the operator by voice synthesis. The operator confirmed that the command content and the recognition result matched, and then the operator uttered a start-up command, and based on the recognition, the crane was operated in the operating direction. [Problems to be solved by this invention] Normally, when an operator transports a suspended load to a fixed position using a crane, the operator controls the swing of the load by accelerating and decelerating the load in lateral movement, and the swing when the load is stopped, so that the load lands in the fixed position. To do this, the crane brakes or the crane's direction of movement is changed depending on the swing. In order to correct the swinging, when the load is stopped and the swinging of the load is proceeding in the direction of movement of the crane, perform a follow-up operation (to move the crane further in the direction of movement), and if the swinging of the load is lagging behind the direction of movement of the crane. If so, move it in the opposite direction. In voice-based crane control, in order to ensure the technical safety of voice recognition, as mentioned above, the terminology related to the direction is first input, and after confirming that it matches the recognition result, a voice command related to startup is issued. It is operating. If we extract the audio input for the steady rest operation in such a conventional device, for example, as illustrated in Figure 2 a and b, "KITA" + "START" + "TOMARE" moves to the north side and stops, and at this time decelerates. This causes the load to swing significantly in the direction of travel. Therefore, in order to keep the steady rest, input the direction command and timed start command such as "kita" + "chiyoi" + "chiyoi" and perform the steady rest operation. In this case, the steady rest operation requires crane operating skills and experience in adjusting the crane drive start time depending on the condition of the swing. Furthermore, it is usually difficult to correct the deflection with just this operation, so in order to move the load in the opposite direction, that is, to the south, in accordance with the frequency of the suspended load, we input the words "Minami" + "Chiyoi" by voice. these,
Perform an operation to stop vibration by inching (timed start) operation with direction change. It is also possible to stop the runout by performing inching in one direction, that is, timed driving multiple times, according to the runout cycle without changing the direction.
Originally, it took time not only to move away from the desired landing position but also to miss the timing of issuing the command. For this reason, there is no problem in starting the crane, but when performing work to stop the load swinging that is necessary when stopping the crane, conventional voice commands related to direction,
When operating the crane using a voice command related to startup, it took too much time to switch the direction of crane operation, and the operability and efficiency of positioning and steadying the load were very poor. Therefore, the present invention solves the above-mentioned disadvantages of the conventional device, and provides a crane that can switch the operating direction in a short time and with good operability, and can perform positioning and load stabilization work efficiently. The purpose is to provide a voice remote control device. [Structure of the Invention] The voice remote control device for a crane according to the present invention includes a portable wireless station carried by an operator, a fixed wireless station provided on the upper side of the crane, a voice recognition section, and a voice synthesis section, and is capable of controlling the direction in which the crane is driven. In a remote control device for a crane that sequentially answers operation command words related to start-up and outputs a drive output in a timed manner, when a command word related to a specific start-up is input, timed drive in the direction opposite to the drive direction originally input is performed. It is configured to output commands. [Example] Hereinafter, the present invention will be explained using the illustrated example. FIG. 1 shows a block diagram of an entire apparatus according to an embodiment of the present invention. Here, a portable radio station 1 carried by an operator has a microphone 2 for inputting good commands into voice, an earphone 3 for listening to how the input voice is recognized by a voice recognition device described later, and a microphone 2. It is comprised of a transmitter 4 that transmits voice input from the crane controller 9 to the crane controller 9, and a receiver 5 that receives the recognition results returned from the crane controller 9. On the other hand, an onboard radio station 1' and a crane control device 9 are provided on the upper side of the crane machine. The onboard radio station 1' is equipped with a receiver 5' and a transmitter 4' for mutual transmission with the mobile radio station 1, and supplies reception output to the crane control device 9 and receives signals from the crane control device 9. is input and transmitted to the mobile radio station 1 side. The crane control device 9 is composed of a voice recognition device 6, a controller 8, and a voice synthesis device 7, in which the voice recognition device 6 is connected to the output side of the receiver 5' and receives voice commands transmitted from the mobile radio station 1. Words are demodulated and input. Further, the voice recognition device 6 identifies a group of command contents and a voice pattern registered in advance for each operator in an internal memory (not shown), and transmits the recognition results to the controller 8. Controller 8 is a CPU that performs overall control.
As will be explained in detail in the operation section below, the drive direction and activation command word once recognized are memorized.
MEMORY, DO (digital output) that outputs digital drive signals in parallel to various drive devices (not shown), and outputs a voice synthesis signal as a serial signal to the next stage voice synthesizer 7.
Equipped with SIO. The voice synthesizer 7 synthesizes the voice command word pattern-recognized by the voice recognition device 6 based on the voice synthesis signal output from the controller 8, and outputs the synthesized voice to the transmitter 4' of the onboard radio station 1'. It is configured. In the above configuration, in the device according to this embodiment, after a command related to the operating direction (for example, "Kita"),
By uttering a command related to timed activation (for example, "Chiyoi"), it is possible to move north several times, that is, timed drive (two examples at the top of Figure 3 a and b), but "Kita" After uttering the operation direction command, input a timed activation command in the opposite direction (for example, "Reverse Chiyoi") to cause the southward movement (timed drive), and issue the timed drive commands "Chiyoi" and "Reverse Chiyoi". By alternately inputting ``Kita'' after the voice command of the operating direction command, timed drive to the north and south can be performed alternately (Figure 3 a, b bottom 2).
example). In this way, directionality is added to the start command, so for example, the normal voice input side, that is, "KITA" + "START "TOMARE" starts and stops the crane, and for steady rest, the direction is added. All you have to do is input the command “Kita” + Timed start command “Chiyoi” + “Chiyoi” + Timed start command “Reverse Chiyoi” in the opposite direction to the initially input drive direction, and then set the timed start command according to the vibration. The direction can be easily changed by simply using "Chiyoi" and the timed activation command "Reverse Chiyoi" in the opposite direction to the initially input startup direction, and is fully compatible with operations that require quick response such as steady rest and positioning. As shown in Figure 4, the voice input of commands related to north, south, etc. directions is uttered within approximately 0.6 seconds on average at our company, and voice synthesis (answer backup) for confirmation is performed using the voice input. The average time including recognition time is approximately
The answer call ends after 0.8 seconds. Therefore, when using this embodiment to perform continuous inching (timed drive) operation, etc. that includes direction switching, once the direction is input, the command input time (approximately 0.6 sec) and the answer call end. The quick response of the operation can be measured by the total time (about 0.8 seconds) (1.4 seconds). This time is multiplied by the number of inching operations.In addition, as a means to stop the northbound command, instead of inputting "Tomare" by voice, you can input "Kita" again to drive the northbound command. can be stopped. In this case, that is, in the case of a stop command that includes directionality, inching motion in the forward and reverse directions relative to the direction of the current operation can be made possible by simply inputting voice inputs such as "chiyoi" and "reverse chiyoi." Next, as a result of the actual machine test under the following conditions,
The effects shown in the attached table can be obtained. Γ15/5t×29.4m overhead crane Γtest weight 5t ΓEach speed: main winding (8m/min), traverse (40m/min)
min), travel (60m/min) The Γ sling wire is hung, and the suspended load is moved to a point 32m away in the traveling direction of the Γ crane and 16m away in the traverse direction with stopping accuracy within ±50mm. Γ Operator A: No experience in crane operation (licensed) Operator B: 10 years of crane operation The operation from ΓA to B is left to the operator's judgment.

〔Effect of the invention〕

The configuration of the crane voice remote control device according to the present invention is as described above, and the crane voice remote control device can switch the operating direction in a short time with good operability, and can perform positioning and load steadying operations efficiently. It becomes a device.

[Brief explanation of the drawing]

FIG. 1 is a block diagram of a device according to an embodiment of the present invention, and FIGS. 2a and 2b are diagrams of conventional voice command patterns.
3a and 3b are voice command pattern diagrams of the embodiment, and FIG. 4 is a voice pattern diagram similarly displaying the required time. 1...Mobile radio station, 1'...Airborne radio station, 2...
...Microphone, 3...Earphone, 4,4'...Transmitter,
5, 5'...receiver, 6...speech recognition device, 7...
...Voice synthesizer, 8...Controller, 9...Crane control device.

Claims (1)

[Claims] 1. Equipped with a portable radio station carried by the operator, a fixed radio station installed on the top of the crane machine, a voice recognition unit, and a voice synthesis unit, the portable radio station transmits operation commands related to the crane drive direction and startup. In a crane remote control device, the crane remote control device is equipped with a means for receiving a voice message at a fixed wireless station, storing voice recognition results, sequentially answering back to a mobile wireless station, and outputting a crane drive output in a commanded drive direction for a limited time.
1. A voice remote control device for a crane, characterized in that it is configured to output a timed drive command in a direction opposite to the initially input drive direction upon input of a command word related to a specific start-up.