JPH06104555B2 - Crane voice remote control device - Google Patents

Description

The present invention relates to an audio remote control device for a crane including a cargo handling machine and the like.

[Conventional technology]

In recent years, in the control of overhead traveling cranes and the like, a method of performing a plurality of operations for the entire traveling crane by voice control of one worker has been adopted (for example, Japanese Patent Laid-Open No. 61-
267687 publication).

[Problems to be solved by the invention]

However, with the conventional voice control crane as described above, it is not necessary for the worker to be near the control position of the crane, and there is an advantage that it is possible to work while grasping the situation directly at the site of cargo handling, but the moving range of the crane is large. However, for example, when the load-hanging position and the load-unloading position are apart from each other, there is an inconvenience that the moving range of the worker is too wide to cope with it.

Therefore, the present invention eliminates the inconveniences described above, and reduces the burden on the operator by controlling one crane by voice control from a plurality of operators at different points as necessary. At the same time, it is an object of the present invention to provide a voice remote control device for a crane that enables efficient and safe cargo handling work.

[Means for solving problems]

A voice remote control device for a crane according to the present invention is provided with a plurality of mobile radio stations for performing remote control with a voice in which the crane is registered in advance, and is provided on the crane side, and is different corresponding to each of the mobile radio stations. A plurality of fixed radio stations that send and receive voice on a channel, and a control device that controls the crane according to a command word given from the plurality of mobile radio stations via these fixed radio stations, and the control device Is a voice recognition device for inputting the voice signal of the corresponding mobile radio station received by the fixed radio station and comparing and identifying it with a voice registration pattern registered in advance, and a voice signal of the identified result to the fixed radio station. And a reception output of one fixed radio station among the plurality of fixed radio stations are selectively connected to the voice recognition device, and the voice synthesis device A switching device for selectively connecting the output to the transmission input side of the one fixed radio station is added, and the control device further confirms the registration pattern transmitted from the corresponding mobile radio station and then performs the control. Inquiry signal generating means for transmitting from the device to the mobile radio station an inquiry signal as to whether or not the mobile radio station is operating alone, and a response transmitted from the mobile radio station in response to the inquiry. Means for identifying the result, and the control device switches the switching device to another fixed station side at each crane operation time only when the result of the response is a multi-person operation.

Example of Invention

Next, embodiments of the present invention will be described with reference to the drawings.

FIG. 1 is a block diagram showing the configuration of an embodiment according to the present invention. In this figure, two mobile radio stations
5a and 5b can be separately carried and used by workers A and B, respectively. These mobile radio stations 5a and
5b are transmitters 9a and 9b, receivers 10a and 10b, and a battery, respectively.
19a and 19b, and further includes headset type microphones 7a and 7b, earphones 8a and 8b, and antennas 20a and 20b.

The mobile radio stations 5a and 5b are capable of bidirectionally communicating with a fixed radio station 6 described later at transmission frequencies f ₁ and f ₃ and reception frequencies f ₂ and f ₄ , respectively, and the mobile radio stations 5a and 5b can communicate with each other. Press talk communication using a single wave, or f ₅ and
f ₆ duplex talk communication using the two waves is possible.

The fixed radio station 6 is mounted together with the on-board controller 13 on the carriage of the traveling crane, for example. Fixed wireless station 6 is 2
Pedestal fixed station 6a, consist 6b, each reception frequency f ₁ which is connected to a common antenna 20c demultiplexer (not seen in Figure),
Receivers 11a and 11b of f ₃ and transmitters 12a and 12b of transmission frequencies f ₂ and f ₄
And are included.

The onboard control device 13 is provided with a voice recognition device 15, a control device 17, and a voice synthesis device 16. The voice recognition device 15 performs word-based voice recognition of a specific speaker, and voice patterns of a plurality of workers are registered. This speech recognizer 15
Is connected to the output side of either of the receivers 11a and 11b via a switch 14 which is selectively switched to one of the fixed stations 6a and 6b by the control device 17, so that the fixed station 6a, or 6b. Compare and judge the word voice such as crane operation target, direction, start / stop, etc., input from the registered voice pattern,
The result can be output.

Further, when the voice recognition device 15 recognizes a specific command word and outputs a signal, the control device 17 outputs the command word to the voice synthesis device.
Resynthesize to 16. The output side of the speech synthesizer 16 is a switch 14
Connected to the input terminals of the transmitters 12a and 12b of the mobile radio station by resynthesizing the command words recognized by the voice recognition device 15.
Answer back to 5a and 5b. When the mobile station recognizes the answer back, the control device 17 outputs a crane control signal to the corresponding drive unit.

Although not shown, the mobile radio stations 5a and 5b are provided with an oscillator that outputs a registration start signal, and the registration start signal is transmitted to the transmitters 9a and 9b by turning on the registration start switch.
Sent from. When this registration start signal is received by the receivers 11a and 11b of the fixed wireless station, the signal is processed by a filter or the like and then sent directly to the control device 17. When the control device 17 receives the registration start signal, the control device 17 records and writes the voice registration pattern that is subsequently sent in a predetermined procedure.

Now, when one worker A can control the lifting and unloading of conveyed goods by a crane, the switching device 14 is a control device.
Upon receiving a specific switching message from 17, the worker A is connected to the fixed station 6a on the side of the mobile radio station 5a carried by the worker A. Thus, the operator A is transmitted from the mobile radio station 5a audio signals operating direction command to the crane specifying unit at the frequency f _1, receiving it at a fixed station 6a. This input voice signal is a voice recognition device.
At 15, the voice signal is compared with the registered voice pattern, and if recognized as a command word, a recognition signal is output to the control device 17.
Therefore, the control device 17 outputs a synthesized sound output signal corresponding to the recognized command word to the speech synthesis device 16.

The voice synthesizer 16 creates a synthesized word corresponding to the synthesized sound output signal, and transmits the frequency f ₂ from the fixed station 6a to the mobile radio station 5a of the worker A.
And transmits an answer back to the worker A through the earphone 8a. Therefore, if the direction command word that the worker A has ordered by himself and the direction command word obtained by combining from the earphone 8 match, the driving command word such as "start" is input to the microphone.
Input from 7a and processed on the same route. Thus, the controller 17 generates a corresponding crane drive signal and sends it to the crane drive to control each part of the crane.

There is a case where it is desired to transfer the control of the crane to another worker B at the time when the above-described control process, for example, lifting and moving of the conveyed product is completed by the locomotive and the conveyed product is directed to the unloading point. In order to adapt to that case, the name from the worker A is the control device.
When it is recognized in 17 and the matching pattern is sent,
Further, the worker A receives an inquiry from the controller 17 of the on-board controller 13 as to whether or not to perform the catchball operation with the synthesized sound. In response to this inquiry, the worker A responds "No" when operating alone, and "Execution" when operating two. In the case of execution, at the time of execution of the catchball operation, the control device 17 detects the moving position of the crane, automatically switches the switch 14 to the wireless system on the fixed station 6b side, and carries the mobile wireless station 5b. The operator B calls the registered pattern, confirms it, and thereafter controls the crane.

FIG. 2 is a flow chart for explaining the operation flow of the embodiment shown in FIG. In this chart, when the fixed wireless station 6 and the onboard controller 13 are already powered on and the battery of the mobile wireless station is turned on, the onboard controller 13 is activated by the pilot signal and the controller 17 Outputs a voice synthesis signal to the voice synthesizer 16.
When the voice synthesizer 16 transmits the voice synthesized based on the synthesized signal to the mobile radio station 5a via the fixed station 6a, the earphone 8a receiving the voice outputs a question "Who is the worker?".

Therefore, if the worker A has registered the pattern in advance, the worker transmits his / her name from the microphone 7a. When this is recognized by the voice confirmation device 15 via the fixed station 6a, the registered pattern of the worker A determined here is output. Subsequent to the sending of the registered pattern, the worker A is asked whether or not to perform catch ball operation. If the answer is "No", the operation proceeds to the one-man driving as it is, and if the operation is "execution" for the two-people driving (catching ball operation), a response to that effect is given. Then, when the catchball operation is executed, the fixed station 6b and the mobile wireless station 5b are switched.

Although the number of mobile radio stations and fixed stations used during catchball operation is limited to two in the above-described embodiment, the crane may move through complicated steps or the distance may increase. If it is necessary to operate in a remote place, it is necessary to provide two or more mobile radio stations and fixed stations.

〔The invention's effect〕

As is clear from the above description, according to the present invention, at the start of crane control, the control device asks a worker who carries the corresponding mobile radio station in advance whether he or she is driving alone or whether or not catch ball operation is being performed. By doing so, it becomes possible to smoothly switch to another mobile radio station during catchball operation, and the effect is large in that control efficiency and high safety can be obtained.

[Brief description of drawings]

FIG. 1 is a block diagram showing the configuration of an embodiment according to the present invention,
FIG. 2 is a flow chart for explaining the operation flow of the embodiment shown in FIG. In the figure, 5a and 5b are mobile radio stations, 6 is a fixed radio station, 6a,
6b is a fixed station, 7a, 7b are microphones, 8a, 8b are earphones, 9a, 9b,
12a and 12b are transmitters, 10a, 10e, 11a and 11b are receivers, 13 is an on-board controller, 14 is a switch, 15 is a voice recognition device, 16 is a voice synthesizer, 17 is a controller, and 18 is a power supply. , 19a, 19b are batteries, and 20a, 20b, 20c are antennas.

Front page continued (72) Inventor Shoichi Manabe 5-2 Sokai-cho, Niihama-shi, Ehime Sumitomo Heavy Industries, Ltd. Niihama Works (72) Inventor Hironori Maekawa 23-15, Suzuko-cho, Kamaishi-shi, Iwate New Nippon Steel Co., Ltd. in Kamaishi Works (72) Inventor Ryuichi Tada 23-15 Suzuko-cho, Kamaishi-shi, Iwate Prefecture New Nippon Steel Co., Ltd. in Kamaishi Works (72) Kenichi Noguchi Heian, Tsurumi-ku, Yokohama-shi, Kanagawa Kyosan Mfg. Co., Ltd. 1 at 2-29, Machi (56) References JP-A-60-6587 (JP, A)

Claims (1)

[Claims] 1. A plurality of mobile radio stations for remotely operating a crane with pre-registered voice and a mobile station provided on the crane side for transmitting and receiving voices on different channels corresponding to the mobile radio stations. A plurality of fixed wireless stations and a control device for controlling the crane according to a command word given from the plurality of mobile wireless stations via these fixed wireless stations, and the control device includes the fixed wireless stations. A voice recognition device for inputting a received voice signal of a corresponding mobile radio station and comparing and identifying it with a voice registration pattern registered in advance, and a voice synthesizing device for outputting the recognized result to the fixed radio station as a voice signal. , The reception output of one fixed radio station among the plurality of fixed radio stations is selectively connected to the voice recognition device, and the output of the voice synthesis device is
A switch that is selectively connected to the transmission input side of one fixed radio station is added, and further, the control device confirms the registration pattern transmitted from the corresponding mobile radio station and then moves the mobile device from the mobile device. Inquiry signal generating means for transmitting to the wireless station an inquiry signal as to whether or not one person is driving or a plurality of persons are driving, and the result of the response sent from the mobile wireless station in response to the inquiry. Means is included, and the control device detects the moving position of the crane at the time of execution of the catch ball operation only when the result of the response is a multi-person operation, and automatically causes the switching device to operate the one fixed radio station. From the voice remote control device of the crane, which is controlled to switch from the fixed wireless station to another fixed wireless station.