JP2002021121A - Operation lever allocating method for construction machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an operation lever allocating method for a construction machine improving the work efficiency without applying an excessive burden to an operator by operating an operation panel or the like with a command input by voice and improving its convenience by quickly avoiding an inadequate operation pattern of a machine body, and allowing voice command inputs by a plurality of operators. SOLUTION: The operator switches the operation pattern to a desired one while saying 'operation pattern switching' by voice (step B1), then he allocates the operation lever to the switched desired operation pattern while saying 'boom up' (step B2).

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for allocating an operating lever in a construction machine, which is suitable for use, for example, in a hydraulic shovel.

[0002]

2. Description of the Related Art Generally, a construction machine such as a hydraulic shovel has an upper revolving structure 100 having a driving operation room (cabin) 600 on a lower traveling structure 500 having an endless track section 500A as shown in FIG. And the upper revolving superstructure 1
00, boom 200, stick 300, bucket 4
It is equipped with an articulated arm mechanism consisting of 00.

[0003] Then, the boom 200 and the stick 30
0 and the bucket 400, respectively,
0, 121 and 122. The hydraulic cylinder 120 drives the boom 200, the hydraulic cylinder 121 drives the stick 300, and the hydraulic cylinder 122 drives the bucket 400.

[0004] These hydraulic cylinders 120 to 122 are
Each of them is normally operated by operating levers 6 and 8 (see FIGS. 1 to 3; details thereof will be described later) provided in the driving operation room 600, whereby the boom 200 is moved in the directions a and b by the stick. The bucket 300 can operate in the c and d directions, and the bucket 400 can operate in the e and f directions. By the way, in order to maintain work efficiency and safety, there has been proposed a method of automatically changing the operation pattern of a hydraulic excavator by assigning the operation direction of the operation levers 6 and 8 as one operation pattern of an actual hydraulic excavator. I have. For example, when the boom is lowered, the right operation lever 8 is set to the front, the stick-in (the operation of moving the stick 300 inward) is set to the left operation lever 6, and the bucket close is set to set the right operation lever 8 to the left. The lever operation realized by such an operation is assigned to one type of operation pattern, and the operation pattern is automatically executed.

[0005] The operation pattern can be switched by a method using a menu system, a method using a switch, or a method using teaching. FIG. 7A is a diagram for explaining operation pattern switching by the menu system. The monitor screen 59 shown in FIG.
Is for displaying several types of operation patterns of the hydraulic shovel stored in advance, and the operator selects one of them.

FIG. 7B is a diagram for explaining operation pattern switching by a switch method. The operation panel 60 with a keypad shown in FIG. 7B has switches 60a and 60 for displaying respective operation patterns.
b, 60c, and 60d, and one of the operation patterns is selected by the operator selecting and pressing one of the switches. In the following description, the operation panel 60 with a keypad may be simply referred to as the operation panel 60.

FIG. 7 (c) is a diagram for explaining operation pattern assignment by the teaching method.
The monitor screen 59 shown in FIG. 7 (c) teaches the operation pattern to the operator, and the operator assigns the operation pattern on the spot according to the instruction.

[0008]

However, according to these methods, the operator still has a complicated operation panel 6.
Since the operator has to operate 0 and must check the monitor screen 59, there is a problem that a long-time operation increases the burden on the operator. Also, if an incorrect operation pattern is assigned or an inappropriate operation pattern is assigned, such as an impossible operation pattern, the operator is notified immediately that the error is incorrect and needs to be changed immediately. However, there is a problem that it is difficult to notify the operator of this fact.

SUMMARY OF THE INVENTION The present invention has been made in view of the above-described problems, and replaces the operation of an operation panel or the like by performing a command input by voice, thereby avoiding an excessive burden on an operator. Contribute to improving work efficiency,
A method of allocating an operation lever in a construction machine, in which an inappropriate operation pattern can be quickly prevented from being allocated and, at the same time, convenience is improved by allowing input of voice commands by a plurality of operators. The purpose is to provide.

[0010]

Therefore, according to the method of assigning an operation lever in a construction machine according to the present invention, an operator switches to a desired operation pattern by voice from a plurality of operation patterns for adjusting the working posture of the construction machine. It is characterized by comprising a switching step and an input step of assigning an operation lever to a desired operation pattern switched in the switching step (claim 1).

The input step includes a notification step of notifying the operator of a desired operation pattern name by voice from a speaker, and an operation lever of the operator for the desired operation pattern notified in the notification step. It can be configured to include a first assignment step of assigning by setting to a predetermined position (claim 2). Further, preferably, when the desired operation pattern assigned in the input step is not appropriate, the speaker may be provided with a prohibition pattern notification step for notifying the operator that the assignment cannot be performed ( Claim 3).

The input step can be configured as a second assignment step of assigning an operation lever to the operation pattern while the operator utters a voice command corresponding to a desired operation pattern. . In addition, in assigning an operation lever to a desired operation pattern in the input step, a first recognition step of recognizing a voice of the first operator, a second recognition step of recognizing a voice of the second operator, A determination step of comparing the voice recognized in the first recognition step and the voice recognized in the second recognition step to determine a match / mismatch; and A return step for returning to the used operation pattern may be provided.

[0013]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a schematic configuration diagram of a hydraulic shovel (construction machine) according to an embodiment of the present invention. The excavator 80 shown in FIG.
The upper revolving unit 100 with the driving operation room 600 is provided on the lower traveling unit 500 having A to be rotatable in a horizontal plane.

Then, with respect to the upper rotating body 100,
A boom 200 having one end rotatably connected is provided,
Further, a stick 300 having one end rotatably connected to the boom 200 via the joint 21 is provided. Further, a bucket 400 is provided, which is rotatably connected at one end to the stick 300 via the joint portion 22 and has a tip excavated at the ground and capable of storing earth and sand therein. These boom 200, stick 30
0 and the bucket 400 constitute an articulated arm mechanism.

Further, as a cylinder type actuator,
Boom hydraulic cylinder 120, stick hydraulic cylinder 1
21, a bucket hydraulic cylinder 122 is provided.
Hereinafter, the boom hydraulic cylinder 120 will be referred to as the cylinder 12
0, the stick hydraulic cylinder 121 may be called the cylinder 121, and the bucket hydraulic cylinder 122 may be simply called the cylinder 122.

The boom hydraulic cylinder 120 has one end rotatably connected to the upper swing body 100 and the other end rotatably connected to the boom 200. That is, the boom hydraulic cylinder 120
Is interposed between the upper swing body 100 and the boom 200, and the distance between the ends expands and contracts.
Can be rotated with respect to the upper swing body 100.

The stick hydraulic cylinder 121 is
One end is rotatably connected to the boom 200, and the other end is rotatably connected to the stick 300. That is, the stick hydraulic cylinder 1
Reference numeral 21 is interposed between the boom 200 and the stick 300, and the stick 300 can be rotated with respect to the boom 200 by expanding and contracting the distance between the ends.

Further, the bucket hydraulic cylinder 122 includes:
One end is rotatably connected to the stick 300, and the other end is rotatably connected to the bucket 400. That is, the bucket hydraulic cylinder 1
Reference numeral 22 denotes a device that is interposed between the stick 300 and the bucket 400 and that can rotate the bucket 400 with respect to the stick 300 by expanding and contracting the distance between the ends. The bucket hydraulic cylinder 122
A link mechanism 130 is provided at the tip of the.

As described above, the cylinders 120 to 12
Thus, a cylinder-type actuator mechanism having a plurality of cylinder-type actuators for driving an arm mechanism by performing an expansion / contraction operation using the second mechanism is constructed. Then, in the driving operation room 600 shown in FIG.
A speaker 62, operation levers 6, 8, a monitor 10, and an operation panel 60 with a keypad are provided.

Here, the microphone 61 converts sound into an electric signal and inputs the electric signal to the controller 1. The electric signal output from the microphone 61 is input to the controller 1 via an amplifier (not shown), and performs a voice recognition process as described later. Further, the speaker 62 is used for notifying with a synthetic voice and for notifying a warning sound.

The operation levers 6, 8 are respectively
The operator controls the boom 200, the stick 300, and the bucket 400 to have a desired telescopic displacement according to the working state of the hydraulic excavator 80. in addition,
The monitor 10 monitors the operation status and the like.
The keypad 8 is used to set a control method such as lowering the engine speed during neutral operation, to set a changeover to automatic traveling two-speed changeover control, or to instruct an airframe condition test mode.

FIG. 2 is a schematic diagram of a driving room 600 according to an embodiment of the present invention. The operation lever 6 shown on the left side of FIG. 2 is used for adjusting the position of the stick 300 and turning the upper revolving unit 100, and the operation lever 8 shown on the right side.
Is for adjusting the position of the boom 200 and the bucket 400. And these operation levers 6, 8
Respectively, depending on the operator, front, rear, neutral or left,
The position is adjusted by being tilted to the right and neutral.

The displacement of the operating levers 6 and 8 set by the operator is electrically detected by using a sliding resistance or detected by using a pilot hydraulic pressure. An appropriate detection method is used.
As a result, the operator tilts the operation levers 6 and 8 to an appropriate position, and the tilted position is read by the controller 1 and the operation required for one type of operation pattern is stored. Specifically, for example, boom 2
00 is moved up and down, the stick 300 is moved inward (this operation is called stick-in) or moved outward (this operation is called stick-out), or the bucket 400 is scooped / discharged. Are stored.

The traveling pedal 9a shown in FIG. 2 is an accelerator pedal for advancing the hydraulic shovel 80 leftward, and the traveling pedal 9b is an accelerator pedal for advancing the hydraulic shovel 80 rightward. It is a pedal. Further, when the operator steps on these traveling pedals 9a and 9b at the same time, the hydraulic excavator 80 moves forward (straight).

FIG. 3 is a diagram schematically showing an overall configuration of a control system of a hydraulic excavator 80 according to one embodiment of the present invention. The controller 1 shown in FIG.
It is connected to the operation panel 60, the microphone 61, the speaker 62, the operation levers 6, 8, and the sensor 67, and controls the boom 200, the stick 300, the bucket 400, and the like to have a desired telescopic displacement. 1a, an input unit 1b, a speech synthesis unit 1e, a determination unit 1c, a storage unit 1d, and a control unit 1f.

Here, the voice recognition section 1a is connected to the microphone 61, and automatically recognizes a command of voice input from the microphone 61. The speech recognition unit 1a acoustically analyzes an input speech signal by, for example, a computer, calculates a similarity to a feature parameter obtained by the analysis, and optimally arranges some phonemes to form a word or sentence. The voice recognition is performed by outputting a candidate as a speech recognition technology, and a known voice recognition technology is used.

The input unit 1b is connected to the monitor 10, the operation levers 6, 8, the operation panel 60, and the like, and reads out the state, values input by the operator, and the like. The voice synthesizing unit 1e is connected to the speaker 62 and synthesizes voice by software on a computer based on an instruction from the determination unit 1c. A known voice synthesizing technique is used. Also, by inputting this synthesized voice signal to the speaker 62,
The operator can directly hear the operation pattern. As a result, the operator can continue the operation without releasing his / her hands from the operation levers 6 and 8.

Next, the determination unit 1c is connected to the voice recognition unit 1a, the input unit 1b, the voice synthesis unit 1e, the storage unit 1d, and the control unit 1f, and based on the recognition command recognized by the voice recognition unit 1a. A processing content corresponding to the recognition command is determined, a signal from the input unit 1b is read, a necessary output display is output to the input unit 1b, and a different synthesized voice signal for each type of operation pattern is sent to the voice synthesis unit 1e. Output.

The storage unit 1d is connected to the determination unit 1c and stores the processing contents. For example, a memory is used. Then, the determination unit 1c and the storage unit 1d cooperate with each other so that a plurality of commands and the processing contents to be performed in response to each command are read from the storage unit 1d. Further, the control unit 1f includes the determination unit 1
b, the hydraulic circuit 70 and the sensor 67, and the boom 2
The control unit controls an articulated arm mechanism composed of the 00, the stick 300, and the bucket 400.

Here, the sensor 67 detects the engine speed, the operating oil temperature, and the like, and the detected information is input to the control unit 1f of the controller 1. Note that these speech recognition unit 1a, input unit 1b,
The functions of the voice synthesis unit 1e and the determination unit 1c are respectively
U (Central Processing Unit) or ROM (Read Only M
emory), a random access memory (RAM), and the like.

Further, in FIG. 3, the hydraulic circuit 70
A hydraulic motor 140 connected to the controller 1 and controlling a main control valve (not shown) drives the cylinders 120 to 122 and the left and right endless track portions 500A, respectively.
And a swing motor 141 for swinging and driving the upper swing body 100
Is performed. Also, this hydraulic circuit 7
By 0, the boom 200, the stick 300, and the bucket 400 are controlled. Since the hydraulic control uses a known technique, a detailed description thereof will be omitted.

Thus, the signals input to the controller 1 are as follows. That is, the voice uttered by the operator is collected by the microphone 61 and input to the determination unit 1c via the voice recognition unit 1a. On the other hand, the position information of the operation levers 6 and 8 operated by the operator is read by the input unit 1b, the information is input to the determination unit 1c, and the operation signal from the operation panel 60 is also input to the input unit 1b. .

The control unit 1f detects the detection information from the sensor 67 and the state of the hydraulic pressure of the hydraulic circuit 70, and the determination unit 1c determines the cylinders 120 to 122, the traveling hydraulic motor, the swing motor, and the like. Is controlled via the control unit 1f so that the state is optimal. On the other hand, as for the signal output from the controller 1, a synthesized voice signal is output from the determination unit 1c to the voice synthesis unit 1e, and a warning sound and a synthesized voice are emitted from the speaker 62 to the operator. A signal for displaying information that the operator wants to know is output to the monitor 10 via the input unit 1b, and the content is displayed.

Thus, the operator hears the synthesized voice from the speaker 62, utters a voice command, and the signal recognized by the voice recognition unit 1a is input to the determination unit 1c. Then, the instruction message relating to the optimum operation pattern is selected, and the determination unit 1c inputs the synthesized voice to the voice synthesis unit 1e, and the voice message necessary for the operation pattern is transmitted from the speaker 62.

The operation lever assignment method for the excavator 80 according to the present invention is such that the operator switches a desired operation pattern by voice from a plurality of operation patterns for adjusting the working posture of the excavator 80 (switching step). The operation levers 6 and 8 are assigned to the desired operation pattern switched in the switching step (input step).

There are two methods for assigning the operation levers 6 and 8 to this operation pattern, and these will be described. The first method is a guideline method using speech synthesis, and the second method is a method using speech recognition. In the guideline method using voice synthesis as the first method, the input step notifies the operator of a desired operation pattern name by voice such as “boom up” from the speaker 62 (notification step). This is a method in which the operator assigns the desired operation pattern notified in this notification step by setting the operation levers 6, 8 to predetermined positions (first allocation step).

Here, if the assigned desired operation pattern is not appropriate, the speaker 62 informs the operator that the assignment cannot be made (prohibition pattern notification step). That is, when an inappropriate operation pattern is assigned, such as an incorrect operation pattern assignment or an impossible operation pattern assignment, the operator is notified from the speaker 62 that the pattern is a prohibited pattern. is there.

In assigning the operation levers 6 and 8 to a desired operation pattern in the above input step, first, the voice of the first operator is recognized (first recognition step), and the voice of the second operator is recognized. The voice is recognized (second recognition step), and the voice recognized in the first recognition step and the voice recognized in the second recognition step are compared with each other by voice comparison.
A mismatch is determined (determination step). If it is determined in this determination step that they do not match, the operation pattern returns to the previously set operation pattern (return step).

As described above, when an incorrect operation pattern is assigned, such as an incorrect operation pattern assignment or an impossible operation pattern assignment, it is determined by voice synthesis that the assignment cannot be made. Can be communicated to the person, thus ensuring safety.
Further, in the method using voice recognition as the second method, the input step described above is performed while the operator utters a voice command such as “boom up” corresponding to a desired operation pattern.
This is a method of allocating operation levers 6 and 8 for the operation pattern (second allocation step).

Here, in the second assigning step, the voice of the first operator is recognized (first recognition step), and the voice of the second operator is recognized (second recognition step). The voice recognized in the first recognition step is compared with the voice recognized in the second recognition step to determine a match / mismatch (judgment step). Return to the previously set operation pattern (return step).

Hereinafter, the operation of assigning operation patterns by voice recognition according to the present embodiment configured as described above will be described in detail with reference to the flowcharts shown in FIGS. FIG. 4 is a flowchart for explaining operation pattern assignment by voice synthesis according to an embodiment of the present invention. In FIG. 4, an operator is described as an operator.

First, when the operator speaks "switch operation pattern" (step A1), the speaker 62 announces "Please assign a boom up" (step A2), and the operator issues a boom up switch. An assignment operation is performed (step A3). Thereby, the movement of the boom 200 changes. Also, in the case of "stick-in", first, the speaker 62 announces "Please assign a stick-in" (step A4), and the operator performs a stick-in assignment operation (step A5).

Further, the speaker 62 announces "Please assign bucket close" (step A).
6) The operator performs an assignment operation of "bucket close" (step A7). Subsequently, the speaker 62
"Please assign right turn" is announced (step A8), and the operator performs "right turn" assignment operation (step A9).

Further, the controller 1 identifies the operator based on the voice uttered by the operator, and individually registers an operation pattern for each operator. Then, even if the operation pattern is changed by another operator, the operator's voice command returns to the previously set operation pattern of the operator. Therefore, the operator utters in step A1, and the operation pattern is switched in steps A3, A5, A7 and A9. Thereby, the operator does not have to operate the complicated operation panel 60 by hand, and the trouble is reduced.

As described above, the switching in the voice synthesis is performed in accordance with the voice from the controller 1 and the operation levers 6 and 6.
By switching the position 8, the switching can be performed very easily without depending on the technical experience of the operator. Further, in this way, the operator who operates the hydraulic excavator 80 is identified, and the operation pattern of the operator is returned to the previously set operation pattern by the voice command of the operator.

In this manner, one operation such as lowering the boom moves the right operation lever 8 forward, stick-in moves the left operation lever 6 backward, and closing the bucket moves the right operation lever 8 to the left. Assigned as a type of operation pattern, work efficiency is achieved. Next, FIG.
6 is a flowchart for explaining operation pattern assignment by voice recognition according to an embodiment of the present invention. In FIG. 5, the operator is also described as an operator.

First, from among a plurality of operation patterns in which the excavator 80 adjusts the work posture, a command is issued by the operator to start switching to a desired operation pattern by voice "switch operation pattern" (step B1). Performs an operation to allocate the boom while saying "boom up" (step B2). In the case of “stick-in”, first, the operator performs a stick-in assignment operation while saying “stick-in” (step B3). An assignment operation of "bucket close" is performed (step B4). Further, the same applies to the case of "right turn", and the operator performs right turn assignment operation while saying "right turn" (step B5).

Since the operation pattern is registered by the voice of a specific operator, when another operator issues a voice command, the operation pattern returns to the operation pattern previously set by the specific operator. Therefore, once the operator switches the operation pattern, the operation pattern is stored for each operator.
As described above, in the switching by the voice recognition, the operation pattern can be switched at the operator's own pace, so that the work efficiency can be improved. Further, even if another operator changes the operation pattern, the operation pattern is switched to the previously set operation pattern by one voice command, so that it is not necessary to set the operation pattern again, and the work efficiency can be improved. .

As described above, since the operation of the operation panel 60 is performed by voice command input, the operation efficiency of the excavator 80 is improved without imposing an excessive burden on the operator. In addition, since the command is input by voice in this manner, when an incorrect operation pattern is assigned or an improper operation pattern is assigned, such as an impossible operation pattern is assigned, a voice is issued.
The operator is notified that the assignment cannot be made. Therefore, the danger of work is quickly avoided.

Further, since input of voice commands by a plurality of operators is permitted, convenience is improved. The operator can quickly know the reason why the assignment cannot be made and can change it quickly. It should be noted that the present invention is not limited to the above-described embodiment and its modifications, and can be implemented with various modifications without departing from the spirit of the present invention.

In this embodiment, the excavator 80 has been described. However, the present invention can be similarly applied to a construction machine having the operation levers 6 and 8.

[0052]

As described above in detail, according to the operation lever assigning method for a construction machine according to the present invention, the operator selects a desired operation pattern from a plurality of operation patterns for adjusting the working posture by the construction machine. , And an input step of assigning an operation lever to a desired operation pattern switched in the switching step, so that a series of operations are assigned as one type of operation pattern, There is an advantage that the efficiency is improved and the work efficiency of the construction machine is improved without imposing an excessive burden on the operator.

The input step includes a notification step of notifying the operator of a desired operation pattern name by voice from a speaker, and an operation lever of the operator for the desired operation pattern notified in the notification step. It can be configured to include a first allocation step of allocating by setting to a predetermined position. In this case, an inappropriate operation pattern such as an incorrect operation pattern or an impossible operation pattern can be allocated. When the assignment is made, the fact that the assignment cannot be made is transmitted to the operator by voice, and there is an advantage that the danger of work is quickly avoided (claims 2 and 3).

The above input step can be constituted as a second assignment step of assigning an operation lever to an operation pattern while the operator utters a voice command corresponding to a desired operation pattern. For example, since input of voice commands by a plurality of operators is permitted, convenience is improved, and the operator can quickly know the reason why the assignment cannot be made and can change it quickly (claims 4 and 5). .

[Brief description of the drawings]

FIG. 1 is a schematic configuration diagram of a hydraulic shovel according to an embodiment of the present invention.

FIG. 2 is a schematic diagram of a driving operation room according to an embodiment of the present invention.

FIG. 3 is a diagram schematically showing an overall configuration of a control system of the hydraulic shovel according to one embodiment of the present invention.

FIG. 4 is a flowchart for explaining operation pattern assignment by voice synthesis according to an embodiment of the present invention.

FIG. 5 is a flowchart illustrating a voice recognition operation pattern assignment according to an embodiment of the present invention.

FIG. 6 is a perspective view showing a general construction machine.

FIGS. 7A to 7C are diagrams for explaining operation pattern switching; FIG.

[Explanation of symbols]

 Reference Signs List 1 controller 1a voice recognition unit 1b input unit 1c determination unit 1d storage unit 1e voice synthesis unit 1f control unit 6,8 operation lever 9a, 9b running pedal 10 monitor 21,22 joint unit 59 monitor screen 60 operation panel with keypad 60a, 60b, 60c, 60d Switch 61 Microphone 62 Speaker 67 Sensor 70 Hydraulic circuit 80 Hydraulic shovel 100 Upper revolving unit 120 Boom hydraulic cylinder 121 Stick hydraulic cylinder 122 Bucket hydraulic cylinder 130 Link mechanism 140 Hydraulic motor 141 Rotating motor 200 Boom 300 Stick 400 Bucket 500 Undercarriage 500A Endless track section 600 Operation room

 ────────────────────────────────────────────────── ─── Continued on the front page F term (reference) 2D003 AA01 AB02 AB03 AB04 BA02 BA06 BA07 BA08 CA02 DA03 DA04 DB03 DB06 DB08 EA02 EA06 5D015 KK01 KK02 KK04 5D045 AB17

Claims (5)

[Claims] 1. A switching step in which an operator switches to a desired operation pattern by voice from a plurality of operation patterns in which a construction machine adjusts a work posture, and an operation is performed on the desired operation pattern switched in the switching step. An operation lever assignment method for a construction machine, comprising an input step of assigning a lever. 2. The notifying step of notifying the operator of the desired operation pattern name by voice from a speaker to the operator, and the operation of the desired operation pattern notified in the notifying step. 2. A method according to claim 1, further comprising a first assigning step of assigning the operating lever by setting the operating lever at a predetermined position. 3. If the desired operation pattern assigned in the input step is not proper, the speaker is provided with a prohibition pattern notifying step for notifying the operator that the assignment cannot be performed. The method according to claim 2, wherein the operation lever is assigned to a construction machine. 4. The method according to claim 1, wherein the input step is configured as a second assignment step of assigning the operation lever to the operation pattern while the operator utters a voice command corresponding to the desired operation pattern. The method according to claim 1, wherein the operation lever is assigned. 5. A first recognition step for recognizing a voice of a first operator, and a second recognizing step of recognizing a voice of a second operator in assigning an operation lever to the desired operation pattern in the input step. A recognition step; a voice comparison between the voice recognized in the first recognition step and the voice recognized in the second recognition step to determine a match / mismatch; and a mismatch in the determination step. 2. The method according to claim 1, further comprising a return step of returning to the previously set operation pattern when determined.