JP6619213B2 - Voice control system - Google Patents

Description

  The present invention relates to a voice control system.

  Conventionally, a system for controlling a lifting device (for example, a crane or the like) for lifting a suspended load has been proposed (see, for example, Patent Document 1). Such a system is generally a control device that gives a drive command to a crane motor, and an operation device connected to the control device, and an operation for inputting a command input by an operator to the control device. A device (for example, including a changeover switch, a control lever, a load release button, a weight measurement button, a continuous conveyance button, and the like) is configured.

JP2015-124022A

  Here, in the system as described above, since the worker manually operates the above operating device to control the crane, the worker is required to have skill and can be controlled intuitively and easily. I could not do it. In addition, since the operator needs to operate the operating device using the upper limbs, other operations cannot be performed using the upper limbs while operating the operating device. For example, the worker who operates the operating device and the sling There is a possibility that the number of workers performing the operation increases, and the number of workers increases.

  The present invention has been made in view of the above, and an object of the present invention is to provide a system capable of controlling a lifting device intuitively and easily and reducing the number of workers.

In order to solve the above-described problems and achieve the object, the voice control system according to claim 1 is a voice control system that controls a lifting device that lifts a suspended load by voice, and the lifting device When the control is instructed by the user, the instructed control is continued until the next control is instructed without referring to the history information of the control performed before the instructed control. When the control is instructed by the normal control and the user, the history information of the control performed immediately before the instructed control is referred to, and the instructed control is continued for a predetermined time and then automatically stopped. When additional control and control are instructed by the user, the specified control is continued for a predetermined time and automatically stopped without referring to the history information of the control performed before the instructed control. Key to Is said speech control system for controlling and, the, the audio information for specifying a sound indicating an instruction of control with respect to the lifting device, and a control content information for specifying a control content for the lifting device mutually The control content storage means stored in association with the voice, and the voice information and the control content information stored in the control content storage means are referred to based on the voice input to the input means, and corresponds to the input voice Control content specifying means for specifying the control content to be controlled, and control means provided in the lifting device for controlling the lifting device based on the control content specified by the control content specifying means and means, and a history storage means for storing history information of the specified control content by the control content determining means, as said control content storage means, the normal braking relative to the lifting device Normal control content storage means for storing the normal voice information for specifying the voice indicating the instruction and the normal control content information for specifying the control content of the normal control for the lifting device in association with each other; The additional voice information for specifying the voice indicating the instruction of the additional control for the lifting device, and the control content based on the control content specified by the control content specifying means, and the addition to the lifting device Additional control content storage means for storing the additional control content information for specifying the control content of the control in association with each other, and adjusted sound information for specifying the sound indicating the instruction of the adjustment control to the lifting device; Adjustment control content storage means for storing the adjustment control content information for specifying the control content of the adjustment control for the lifting device in association with each other, and The control content specifying unit refers to the normal audio information and the normal control content information stored in the normal control content storage unit based on the audio input to the input unit, and corresponds to the input audio The control content of the normal control is specified, and based on the voice input to the input means, the additional voice information and the additional control content information stored in the additional control content storage means, and the history Based on the history information stored in the storage means, additional control content specifying means for specifying additional control content corresponding to the input voice, and the adjustment control based on the voice input to the input means Adjustment control content specifying means for specifying the adjustment control content corresponding to the input voice with reference to the adjustment voice information and the adjustment control content information stored in the content storage means; The control content specifying means determines whether the control corresponding to the input voice is the normal control based on the voice input to the input means, and determines that the control is the normal control. If the control content specifying unit determines that the control content specifying unit is not the normal control, the control signal for executing the normal control is generated. It is determined whether or not the control to be performed is the additional control, and when it is determined that the control is the additional control, a control signal for executing the additional control is generated, and the adjustment control content specifying unit is configured to When it is determined that the control content specifying means is not the additional control, it is determined whether or not the control corresponding to the input voice is the adjustment control, and when it is determined that the control is the adjustment control, Key Create the control signal for executing a control, the control means controls the lifting device on the basis of the control signal.

  The voice control system according to claim 2 is the voice control system according to claim 1, wherein the control means is a suspension means provided in the lifting device, and the suspension is for hanging the suspended load. In the case where the suspended load is moved in the horizontal direction by controlling the means, the moving speed at the beginning or the end of the movement is made smaller than the moving speed of the middle board.

  A voice control system according to a third aspect of the invention is the voice control system according to the first or second aspect, further comprising a swing specifying means for specifying a direction of swing of the suspended load, wherein the control means is provided in the lifting device. The suspension means provided is configured to move the suspension means for suspending the suspended load in the same direction as the direction of shaking specified by the shaking specifying means.

A voice control system according to a fourth aspect is the voice control system according to any one of the first to third aspects, based on a voice input to at least one of the plurality of input means. An audio control system for controlling a lifting device, comprising: an input specifying unit that specifies at least one of the plurality of input units as an effective input unit for effectively receiving a voice input; The content specifying unit specifies the control content corresponding to the voice based on the voice input to the effective input unit specified by the input specifying unit.

The voice control system according to claim 5 is the voice control system according to any one of claims 1 to 4 , wherein the obstacle detection means for detecting the position of the obstacle and the position of the suspended load are detected. Suspension control means, and the control means prevents the suspension detected by the suspension detection means from interfering with the obstacle detected by the obstacle detection means. To control.

The voice control system according to claim 6 is the voice control system according to any one of claims 1 to 5 , wherein the voice information is a voice indicating a control instruction to the lifting device, and is invalid. If the control content specifying means determines that the voice input to the input means corresponds to the invalid voice, the control means includes: The control instruction indicated by the invalid voice is invalidated.

A voice control system according to a seventh aspect is the voice control system according to any one of the first to sixth aspects, wherein the voice control system is a transmission means provided in the lifting device, the lifting device relating to the lifting device. Transmitting means for transmitting apparatus information, receiving means for receiving lifting apparatus information transmitted by the transmitting means, and lifting apparatus information output means for outputting lifting apparatus information received by the receiving means A terminal device.

According to the voice control system of claim 1, the control content for the lifting device is specified based on the voice indicating the control instruction for the lifting device, and the lifting device is controlled based on the specified control content. Therefore, the operator can control the lifting device by voice, and can control the lifting device intuitively and easily, and the slinger can also serve as the operator and reduce the number of workers. .
Further, according to the voice control system of the first aspect, it is possible to perform the adjustment control that automatically stops after continuing for a predetermined time.
In addition, according to the voice control system of the first aspect, the control unit controls the lifting device based on the history information, so that it is possible to save time and effort for re-inputting information performed in the past. Workability can be improved.
According to the voice control system of claim 1, the lifting device is based on the history information regarding the control content immediately before stored in the history storage unit and the additional control content specified by the additional control content specifying unit. Therefore, additional control content can be performed without re-inputting the previous control content, the number of input characters can be reduced, and the accuracy of speech recognition can be improved.

  According to the voice control system of the second aspect, when the suspended means is controlled to move the suspended load in the horizontal direction, the moving speed of the early stage or the final stage in the movement of the hanging means is higher than the moving speed of the middle board. Since it is made small, the moving speed of the suspended load can be changed gently, and the suspended load can be moved safely by reducing the swing of the suspended load at the beginning or end of the movement where the change in acceleration is large.

  According to the voice control system of the third aspect, since the control means moves the suspension means in the same direction as the direction of the swing of the suspended load specified by the swing specifying means, The suspended load can be moved safely.

According to the voice control system of the fourth aspect , since the lifting device is controlled based on the voice inputted to at least one of the plurality of input means, the operator is appropriately switched depending on the situation. Thus, it is possible to reduce the possibility of erroneously recognizing a voice that is not related to control issued by a person other than the operator as control, and improve safety.

According to the voice control system of the fifth aspect , the control means controls the lifting device so that the suspended load does not interfere with the obstacle detected by the obstacle detecting means. It is possible to reduce the possibility of danger due to breakage and improve safety.

According to the voice control system of the sixth aspect , when the control content specifying unit determines that the voice input to the input unit corresponds to the invalid voice, the control unit invalidates the control instruction indicated by the invalid voice. Therefore, it is possible to prevent unintended control due to erroneous recognition of voice similar to the voice that the operator wants to input, and improve safety.

According to the voice control system of the seventh aspect , since the lifting device information related to the lifting device is transmitted to the terminal device and output, the information obtained by the lifting device is the suspended load and the environment in the vicinity of the suspended load. It is possible to output detailed information regarding the lifting device, and it is possible to control the lifting device based on the more detailed information.

1 is an external view conceptually showing a voice control system and a crane. It is a block diagram which shows a voice control system and a crane notionally. It is a conceptual diagram which shows the kind of control of a crane, Comprising: Fig.3 (a) shows a side view, FIG.3 (b) shows a side view, FIG.3 (c) shows a top view. It is a figure which illustrates the information stored in normal control DB. It is a figure which illustrates the information stored in history DB. It is a figure which illustrates the information stored in additional control DB. It is a figure which illustrates the information stored in adjustment control DB. It is a flowchart of a control process. It is a flowchart of control content specific processing. It is a flowchart of a normal control process. It is a flowchart of an additional control process. It is a flowchart of an adjustment control process. It is a flowchart of a control signal transmission process.

  Embodiments of a voice control system according to the present invention will be described below in detail with reference to the accompanying drawings. First, [I] the basic concept of the embodiment will be described, then [II] the specific content of the embodiment will be described, and finally, [III] a modification to the embodiment will be described. However, the present invention is not limited to the embodiments.

[I] Basic Concept of Embodiment First, the basic concept of the embodiment will be described. The embodiment relates to a voice control system that controls a lifting device with voice. Here, the “lifting device” includes any equipment used for lifting a suspended load, such as a crane (a known overhead crane, jib crane, bridge crane, unloader, cable crane, Telha or stacker crane). Etc.) and unmanned aerial vehicles (such as drones and radio control helicopters) that lift and lift suspended loads as well as lifting machines such as gondola. For details, it is assumed that the jib crane). In addition, the “suspended load” is an object to be lifted, and includes, for example, an object that is suspended by a wire or the like on a lifting device or a thing that is fixed to the lifting device itself. For example, it includes building materials such as columns, beams, or walls, and heavy machinery (for example, when small heavy machinery is disassembled and lifted by large heavy machinery). “Speech” is a concept including sounds and voices, for example, a concept including a real voice uttered by a person and an electronic voice uttered by a machine. Moreover, although the use of the voice control system according to the present embodiment is arbitrary, in the following, the voice control system is used to transport building materials to the destination of the construction site in the construction work of the building.

  Here, a person who works on a construction site where the voice control system is used is collectively referred to as a “worker”. This operator includes an “operator” who actually controls the crane with voice and an “instructor” who gives an operation instruction to the operator with a gesture or voice at a construction site.

[II] Specific Contents of Embodiment Next, specific contents of the embodiment will be described.

(Constitution)
First, the configuration of the voice control system 1 and the crane 2 according to the present embodiment will be described. FIG. 1 is an external view conceptually showing the voice control system 1 and the crane 2, and FIG. 2 is a block diagram conceptually showing the voice control system 1 and the crane 2.

(Configuration-Crane)
The crane 2 is a lifting means for lifting a suspended load, and generally includes a jib 3, a hook 4, and a camera 5. The jib 3 is suspension means provided on the crane 2 and is suspension means for hanging a suspended load. The jib 3 is a portion of an arm protruding obliquely or horizontally to suspend a suspended load with one end as a fulcrum. A wire is suspended from the tip of the jib 3. The hook 4 is a hanger attached to the lower end of a wire suspended from the tip of the jib 3. Since the configuration of the crane 2 such as the jib 3 and the hook 4 is known, a detailed description is omitted. The camera 5 is an external input means for photographing the surrounding environment of the crane 2 and inputting the photographed video data to the crane control device 50. Specifically, the camera 5 is attached to the tip of the jib 3 downward (to face the direction of the suspended load), and is attached so that the suspended load and the periphery of the suspended load are reflected.

  Here, the type of control of the crane 2 will be described. FIGS. 3A and 3B are conceptual diagrams showing types of control of the crane 2. FIG. 3A is a side view, FIG. 3B is a side view, and FIG. 3C is a plan view. As shown in FIG. 3, the types of control of the crane 2 mainly include undulation, winding up and down, and turning. Here, “undulation” is control for changing the inclination angle of the jib 3, and specifically includes “jib raising” for raising the jib 3 and “jib lying” for lowering the jib 3. Further, “winding up and down” is control for moving the position of the hook 4 up and down. Specifically, “winding up” for moving the hook 4 upward and “winding” for moving the hook 4 downward. "Under". Further, “turning” is control for turning the jib 3 to the left and right as viewed from the turning center, and specifically, “right turning” for turning the jib 3 to the right when viewed from the turning center, This includes “left turn” in which the jib 3 is turned leftward when viewed from the turning center.

(Configuration-Voice control system)
Returning to FIGS. 1 and 2, the voice control system 1 includes a terminal device 10, an input / output device 20, a signal converter 30, a transceiver 40, and a crane control device 50.

(Configuration-Voice control system-Terminal device)
The terminal device 10 receives the lifting device information received by the communication unit 13 (described later) and the communication device 13 that receives the lifting device information transmitted by the communication unit 52 (described later) of the crane control device 50. A device having a display 12 for outputting, which is a concept including a known arithmetic device such as a notebook personal computer or a tablet terminal, is hereinafter referred to as a notebook personal computer. The terminal device 10 generally includes a touch pad 11, a display 12, a communication unit 13, a data recording unit 14, and a control unit 15.

(Configuration-Voice control system-Terminal device-Touchpad)
The touch pad 11 is an operation unit that receives various operation inputs from the user when pressed by a user's finger or the like. Although the specific configuration of the touch pad 11 is arbitrary, for example, a publicly known one provided with an operation position detecting means by a resistance film method or a capacitance method can be used.

(Configuration-Voice control system-Terminal device-Display)
The display 12 is a display unit that displays various images. Although the specific configuration of the display 12 is arbitrary, for example, a known liquid crystal display 12 or a flat panel display such as an organic EL display can be used. Note that the touch pad 11 and the display 12 may be integrally formed as a touch panel.

(Configuration-Voice control system-Terminal device-Communication unit)
The communication unit 13 is a communication unit that receives lifting device information transmitted by a communication unit 52 (described later) of the crane control device 50, and communicates with the input / output device 20 via a network. Is a communication means. Although the specific kind and structure of this communication part 13 are arbitrary, a well-known mobile radio | wireless communication means can be used, for example.

(Configuration-Voice control system-Terminal device-Data recording unit)
The data recording unit 14 is a recording unit that records a program and various data necessary for the operation of the terminal device 10, and is configured using, for example, a hard disk (not shown) as an external recording device. However, any other recording medium including a magnetic recording medium such as a magnetic disk or an optical recording medium such as a DVD or a Blu-ray disk can be used instead of or together with the hard disk.

  Here, the data recording unit 14 includes a normal control database (hereinafter referred to as DB) 14a, a history DB 14b, an additional control DB 14c, and an adjustment control DB 14d.

  The normal control DB 14a is a control content storage unit that stores voice information for specifying a voice indicating a control instruction for the crane 2 and control content information for specifying control content for the crane 2 in association with each other. . FIG. 4 is a diagram illustrating information stored in the normal control DB 14a. As shown in FIG. 4, the normal control DB 14 a stores the item “normal control”, the item “voice”, the item “return”, and information corresponding to each item in association with each other.

  Here, as information corresponding to the item “normal control”, control content information for specifying the control content for the crane 2 is stored. For example, “power-on a” indicating control to turn on the terminal device 10. And “power-on b”, “jib raising a” and “jib raising b” indicating control for raising the jib 3, “jib second speed” indicating control for setting the control speed of the jib 3 to second speed, winding “3rd hoisting speed” indicating control for setting the speed to 3rd speed, “right turning” indicating control for turning right, and “all stop” indicating control for stopping all the controls being executed by the crane 2 , “Turning stop” indicating control for stopping only turning control among all the controls being executed by the crane 2, and “invalid control a”, “invalid control b”, “ This is a concept including “invalid control c” and the like. The reason for storing such invalid controls a, b, and c will be described later.

  In addition, as information corresponding to the item “voice”, voice information for specifying a voice indicating a control instruction to the crane 2 is stored. For example, the voice information includes air vibration caused by voice as an electrical signal. Including converted data (hereinafter referred to as audio data), specifically, “Junbi-Oke” indicating “Power-on” control instructions, “Ojigo-o” indicating “jib wake-up” control instructions "Oh" and voices such as "Makisage", "Makisage ni soku", "Makisage ni soku" indicating invalid voice information which is a control instruction for executing the above invalidation controls a, b and c. Data is stored. Here, the “invalid voice information” is voice information indicating a control instruction for the crane 2 and is voice information for specifying invalid voice that is voice received as invalid. By storing the invalid voice information in this way, it is possible to prevent the control different from the control intended by the operator from being performed. That is, for example, when the operator utters “Makiage”, if the voice is similar to the “Makiage” and indicates a different control (for example, “Makisage”), the operator intends to roll up. In spite of this, there is a possibility that automatic voice recognition may be erroneously recognized as “Makisage” and perform the lowering control. In particular, such misrecognition is likely to occur when there is a difference only in consonants for “Makiage” and “Makisage”. Therefore, for the “lower part” that has the possibility of misrecognition, as shown in FIG. 4, only the voice that is difficult to misrecognize as “Makiage” such as “Kusura” is stored, and instead the voice “Makisage” is stored. When recognized, the voice input can be invalidated to prevent erroneous recognition.

  Moreover, it is preferable to store a plurality of sounds as sounds corresponding to the same normal control. For example, “Junbi-o-ke” is stored as the sound corresponding to the normal control “power-on a”, and “Den-on” is the sound corresponding to the normal control “power-on b”. However, all these voices indicate the same control of “turning on the power”. Thus, by making a plurality of voices correspond to the same normal control, it becomes easier to draw the operator's intention and the recognition rate can be improved. In the following description, when it is not necessary to distinguish between the same controls such as power-on a and power-on b, description will be made without adding symbols a and b simply as “power on”.

  Further, as information corresponding to the item “return”, electronic voice data generated in advance by a publicly known method is stored, and voice data of electronic voice output at the time of execution of normal control is stored. The electronic voice data that is output when the power is turned on, and the electronic voice data that is output when the jib is raised. Data is stored. By storing the voice of the repetition in this way, it is possible to perform the repetition corresponding to the voice recognition result when the operator performs voice input. Therefore, the operator can easily grasp which word in the normal control DB 14a is recognized as his / her voice input (or whether it is correctly recognized), and can prevent erroneous control of the crane 2. Information corresponding to the item “return” in the additional control DB 14c and the adjustment control DB 14d described later is also stored for the same purpose.

  Returning to FIG. 2, the history DB 14 b is a history storage unit that stores history information of the control content specified by the control content specifying unit 16 (described later). FIG. 5 is a diagram illustrating information stored in the history DB 14b. As illustrated in FIG. 5, the history DB 14 b stores an item “date and time”, an item “crane control”, an item “execution in progress”, and information corresponding to each item in association with each other.

  Here, as the information corresponding to the item “date and time”, the date and time when the control of the crane 2 was executed (the date and time when voice input was performed by the operator) is stored, for example, “10/10, 13:00”. As described above, the date, time, and the like are stored. In addition, as information corresponding to the item “crane control”, specific contents of control for the crane 2 are stored, for example, “jib-turned a”, “right turn”, “all stop”, and the like. Further, as information corresponding to the item “execution in progress”, information for identifying whether or not the control is currently being executed is stored. Specifically, “0” indicating that the control is not being executed. Or “1” indicating that the control is being executed is stored. For example, FIG. 5 shows that the control of “jib raising a” and “second hoisting speed” are being executed simultaneously.

  Returning to FIG. 2, the additional control DB 14 c stores the audio information and the additional control content information for specifying the additional control content based on the control content specified by the control content specifying unit 16 in association with each other. Control content storage means. FIG. 6 is a diagram illustrating information stored in the additional control DB 14c. As illustrated in FIG. 6, the additional control DB 14 c stores the item “addition control”, the item “speech”, the item “return”, and information corresponding to each item in association with each other.

  Here, additional control content is stored as information corresponding to the item “additional control”. The “additional control content” is control content based on the control content specified by the control content specifying unit 16 (described later). “Control based on the control content” includes executing the control content in a different manner with reference to the control content input by the operator, for example, changing the control duration and the control speed. Including. Specifically, “control immediately before addition (small) a, b”, which is an additional control that automatically stops after executing the control content input by the operator immediately before for a short time (for example, 1 second), “Control immediately before addition (medium) a, b”, which is an additional control that automatically stops after executing the input control content for a medium time (for example, 2 seconds), and the control content input immediately before by the operator for a long time (for example, "Additional control (large) a, b", which is an additional control that automatically stops after execution for 3 seconds), and "Addition", an additional control that executes the control content input by the operator immediately before at the second speed. The concept includes “immediate control (second speed) a, b” and “additional control (acceleration) a, b” which is additional control for executing the control content input by the operator immediately before increasing the speed. .

  Also, as information corresponding to the item “voice”, voice information corresponding to an instruction of additional control content is stored. For example, the audio information includes audio data. Specifically, “choice” indicating a control instruction of “control immediately before addition (small) a” and control instruction of “control immediately before addition (middle) a” are provided. Audio data such as “mochoi” is stored. In addition, it is preferable to store a plurality of sounds as sounds corresponding to the same additional control. This is the same reason as the normal control described above. In addition, as information corresponding to the item “return”, audio data of audio output at the time of execution of additional control is stored, and the audio data is generated in advance by a known method and stored in the data recording unit 14, for example. Specifically, the electronic voice data that is output “during the control immediately before the addition (small) a, b” is output, or “control immediately before the addition (acceleration) ) This is a concept including electronic voice data of “I'll give you a beat” that is output during the control of “a, b”.

  Returning to FIG. 2, the adjustment control DB 14 d correlates the voice information with the adjustment control content information for specifying the adjustment control content that is the control content for the crane 2 and continues for a predetermined time. It is the adjustment control content storage means to store. FIG. 7 is a diagram illustrating information stored in the adjustment control DB 14d. As shown in FIG. 7, the adjustment control DB 14 d stores the item “adjustment control”, the item “sound”, the item “return”, and information corresponding to these items in association with each other.

  Here, adjustment control content is stored as information corresponding to the item “adjustment control”. The “adjustment control content” is control content that automatically stops after continuing for a predetermined time. Here, as the “predetermined time”, a desired time may be set in advance, but may be a time of about 0.5 seconds to 3 seconds, for example. Specifically, “adjustment hoisting a and b” for executing hoisting for one second, “adjustment raising” for performing jib raising for one second, and the like are stored in the item. In addition, as information corresponding to the item “voice”, voice information corresponding to an instruction of adjustment control content is stored. For example, the audio information includes audio data, and specifically, “chooki” indicating a control instruction for “adjustment hoisting a”, “chocomotive” indicating a control instruction for “adjustment raising”, and the like. Audio data is stored. It is preferable to store a plurality of sounds as sounds corresponding to the same adjustment control. This is the same reason as the normal control described above. In addition, as information corresponding to the item “return”, audio data output at the time of execution of adjustment control is stored, and as the audio data, for example, generated in advance by a known method and stored in the data recording unit 14 Including electronic voice information, specifically, the voice data of “Cho Ikki” that is output during the control of “Adjustment volume a” and the “Choice” output during the control of “Adjustment wakeup” It is a concept that includes audio data of electronic voice.

(Configuration-Voice control system-Terminal device-Control unit)
Returning to FIG. 2, the control unit 15 is a control instruction means for sending a control instruction to the crane 2. Specifically, the control unit 15 is a CPU and various programs (such as a basic OS such as an OS that are interpreted and executed on the CPU) A computer including a control program and an application program that is activated on the OS and realizes a specific function), and an internal memory such as a RAM for storing the program and various data.

  The control unit 15 includes a control content specifying unit 16, an input specifying unit 17, and an abnormality specifying unit 18 in terms of functional concept.

  The control content specifying unit 16 refers to the voice information and the control content information stored in the normal control DB 14a based on the voice input to the microphone 21 (described later) of the input / output device 20, and corresponds to the input voice. This is control content specifying means for specifying the control content to be performed. The control content specifying unit 16 generally includes an additional control content specifying unit 16a and an adjustment control content specifying unit 16b. The additional control content specifying unit 16a refers to the voice information and the additional control content information stored in the additional control DB 14c based on the voice input to the microphone 21 of the input / output device 20, and adds corresponding to the input voice. It is an additional control content specifying means for specifying the control content. The adjustment control content specifying unit 16b refers to the sound information and the adjustment control content information stored in the adjustment control DB 14d based on the sound input to the microphone 21 of the input / output device 20, and performs the adjustment corresponding to the input sound. Adjustment control content specifying means for specifying the control content. The input specifying unit 17 is an input specifying unit that specifies at least one of the microphones 21 of the plurality of input / output devices 20 as an effective input unit for effectively receiving voice input. The abnormality specifying unit 18 is an abnormality specifying unit that specifies the abnormality in the state of the crane 2 based on the history information stored in the data recording unit 14 and indicating the state of the crane 2.

(Configuration-Voice control system-Input / output device)
The input / output device 20 is input / output means for inputting information to the terminal device 10 and outputting information transmitted from the terminal device 10. The input / output device 20 can be arbitrarily configured as long as it can input and output information. However, it is preferable that the worker can carry it without gripping it with the upper limbs. A headset with an integrated microphone speaker is possible. In the following, a plurality of input / output devices 20 are used at the construction site, and each worker can wear the input / output device 20 on his / her head and communicate with each other through the input / output device 20. It shall be Specifically, audio information input to a microphone 21 (described later) of each input / output device 20 is transmitted to the terminal device 10, and the terminal device 10 that has received this audio information transmits the audio information to all the input / output devices 20. A conversation is possible by transmitting information and outputting the sound from a speaker 22 (described later) of each input / output device 20. Since each input / output device 20 can be configured in the same manner, only one input / output device 20 will be described below. Here, the input / output device 20 includes a microphone 21, a speaker 22, a button 23, and a communication unit 24.

(Configuration-Voice control system-Input / output device-Microphone)
The microphone 21 is a voice input unit that receives a voice input and converts it into an electrical signal. As the microphone 21, a known microphone can be used.

(Configuration-Voice control system-Input / output device-Speaker)
The speaker 22 is sound output means for outputting information by sound. The specific mode of the sound output from the speaker 22 is arbitrary. For example, a real voice input by a worker who uses another input / output device 20, a synthesized voice generated as necessary, or a recording in advance Can be output.

(Configuration-Voice control system-Input / output device-Button)
The button 23 is an input unit that receives an input for controlling various devices. For example, as the button 23, an emergency stop button for transmitting a signal for emergency stopping the crane 2, a volume adjustment button for adjusting the volume of the speaker 22, a power button for switching on / off the power of the input / output device 20, etc. May be provided.

(Configuration-Voice control system-Input / output device-Communication unit)
The communication unit 24 is a communication unit that performs communication with the terminal device 10 via a network. Although the specific type and configuration of the communication unit 24 are arbitrary, for example, a known mobile radio communication unit can be used.

(Configuration-Voice control system-Signal converter)
The signal converter 30 is a signal conversion means for converting the signal from the control unit 15 of the terminal device 10 into a signal for the transceiver 40 and outputting the signal, and the signal from the transceiver 40 is converted to the terminal device 10. The signal conversion means for converting the signal into a signal for the control unit 15 and outputting the signal. The signal converter 30 may be a known transducer that converts a signal current or voltage. The signal converter 30 is connected to the terminal device 10 and the transceiver 40 by wire.

(Configuration-Voice control system-Transceiver)
The transceiver 40 is a transmission / reception means for transmitting and receiving signals. The transceiver 40 is a known wireless transceiver that can transmit and receive voice and video as radio signals to and from the crane control device 50. For example, a conventional wireless controller transceiver that manually operates the crane 2 with a lever or a button is used. Can be used. The transceiver 40 is wired to the signal converter 30 and wirelessly connected to the crane control device 50.

(Configuration-Voice control system-Crane control device)
The crane control device 50 is a control means for causing the crane 2 to perform ups and downs, winding up and down, or turning by controlling a crane motor (not shown) or the like. Specifically, the crane control device 50 is a computer that is loaded on the crane 2 or formed integrally with the crane 2 and operates the jib 3 and the hook 4 of the crane 2 based on the voice uttered by the operator. Device. Here, the crane control device 50 schematically includes a crane control unit 51 and a communication unit 52.

(Configuration-Voice control system-Crane control device-Crane control unit)
The crane control unit 51 is a control unit provided in the crane 2, and is a control unit that controls the crane 2 based on the control content specified by the control content specifying unit 16. Specifically, the CPU, various programs that are interpreted and executed on the CPU (including basic control programs such as an OS and application programs that are activated on the OS to realize specific functions), programs, and various data It is a computer configured with an internal memory such as a RAM for storing. Here, the crane control part 51 is roughly provided with the swing specific part 51a, the obstruction detection part 51b, and the suspended load detection part 51c.

  Here, the swing specifying unit 51a is a swing specifying unit that specifies the direction of swing of the suspended load. Here, the “swaying direction” indicates the direction of suspended load displacement with reference to the position directly below the tip of the jib 3 in the vertical direction. The obstacle detection unit 51b is an obstacle detection unit that detects the position of the obstacle. Here, the “obstacle” is an object or person that becomes an obstacle when the suspended load is moved to a target position, and is a concept including, for example, building materials and workers constituting the building. The suspended load detection unit 51c is a suspended load detection unit that detects the position of the suspended load. Various processes executed by each unit of the crane control unit 51 will be described later.

(Configuration-Voice control system-Crane control device-Communication unit)
The communication unit 52 is a communication unit that performs communication with the transceiver 40 via a network. Although the specific type and configuration of the communication unit 52 are arbitrary, for example, a known mobile wireless communication unit can be used.

(processing)
Next, processing executed by the voice control system 1 will be described.

(Processing-Valid device identification processing)
First, the effective device specifying process will be described. The effective device specifying process specifies at least one of the plurality of input / output devices 20 as an effective device for effectively receiving voice input (that is, the input / output device 20 owned by the operator). It is processing.

  Specifically, the input specifying unit 17 registers the input / output device ID of the valid device for uniquely identifying the valid device in the data recording unit 14 of the terminal device 10. Although the specific method of this registration is arbitrary, for example, the input specifying unit 17 stores the input / output device ID of the effective device input by the worker on the touch pad 11 of the terminal device 10 in the data recording unit 14. You may register. Alternatively, for example, when a predetermined voice (for example, “Pete Torokuro”) is input to the microphone 21 of the input / output device 20 by an operator, the input / output device 20 receives the input voice. A registration signal is transmitted to the terminal device 10 with 20 input / output device IDs, and the input specifying unit 17 assigns the input / output device ID attached to the registration signal to the data recording unit 14 of the terminal device 10. You may register for. In the following, there is only one operator, and only one input / output device 20 is registered as an effective device, but a plurality of input / output devices 20 may be registered. This completes the valid device specifying process.

(Processing-Control processing)
Next, the control process will be described. FIG. 8 is a flowchart of the control process. This control process is generally a process for controlling the crane 2 based on an operator's voice input. In addition, although the timing which performs the said control processing is arbitrary, for example, below, it demonstrates as what is repeatedly performed when the power supply of the terminal device 10 is turned on. In the following description of each process, the step is abbreviated as “S”.

(Processing-Control processing-Control content identification processing)
In SA1, the control content specifying unit 16 executes a control content specifying process. FIG. 9 is a flowchart of the control content specifying process. The control content specifying process is a process for specifying the control content input by the operator.

  In SB1, the control content specifying unit 16 determines whether or not the operator's voice information has been acquired. Although a specific method for this determination is arbitrary, an example will be described below. First, when sound is input to the microphone 21 of any of the input / output devices 20, the communication unit 24 of the input / output device 20 uniquely assigns the sound data of the sound to the input / output device 20 to which the sound is input. It transmits to the terminal device 10 with the input / output device ID to identify. Then, the control content specifying unit 16 determines whether the input voice is an operator voice. Specifically, the control content specifying unit 16 compares the input / output device ID attached to the voice data with the input / output device ID of the valid device registered in the data recording unit 14 in the above-described valid device specifying process. To do. When these input / output device IDs match, it is determined that the voice information of the operator has been acquired, and when they do not match, it is determined that the voice information other than the operator has been acquired. And it waits until an operator's audio | voice information is acquired (SB1, No), and when an operator's audio | voice information is acquired (SB1, Yes), it transfers to SB2.

  In SB2, the control content specifying unit 16 determines whether the audio information acquired in SB1 is audio information related to normal control. Specifically, the voice data of the voice information acquired in SB1 is compared with the voice data of the voice information stored in the item “voice” of the normal control DB 14a shown in FIG. It is determined whether or not. For example, when the operator utters “Oya Go-H”, since the voice data “O-Go-Go” exists in the item “Voice” of the normal control DB 14a, it is determined that there is matching voice data. If there is matching voice data (SB2, Yes), the process proceeds to SB3. If there is no matching voice data (SB2, No), the process proceeds to SB4.

  In SB3, the control content specifying unit 16 executes normal control processing. FIG. 10 is a flowchart of the normal control process. The normal control process is a process for generating a control signal for causing the crane 2 to execute normal control.

  In SC1, the control content specifying unit 16 specifies normal control. Specifically, in SB2, the voice data determined to match the operator's voice (for example, “Oyago-he”) and the control stored in the item “normal control” in the same record in FIG. 4 (for example, “Jib wake a”) is identified.

  In SC2, the control content specifying unit 16 creates a control signal for causing the crane 2 to execute the normal control specified in SC1. Since a specific method for creating such a control signal is known, a detailed description thereof will be omitted. At this point, the normal control process is terminated, and the process returns to the control content specifying process.

  Returning to the control content specifying process of FIG. 9, in SB4, the additional control content specifying unit 16a determines whether or not the audio information acquired in SB1 is audio information related to the additional control. Specifically, the voice data of the voice information acquired in SB1 is compared with the voice data of the voice information stored in the item “voice” of the additional control DB 14c shown in FIG. It is determined whether or not. For example, when the operator utters “choi”, the voice data of “choi” exists in the item “voice” of the additional control DB 14c, and therefore, it is determined that there is matching audio data. If there is matching voice data (SB4, Yes), the process proceeds to SB5, and if there is no matching voice data (SB4, No), the process proceeds to SB6.

  In SB6, the additional control content specifying unit 16a executes an additional control process. FIG. 11 is a flowchart of additional control processing. This additional control process is generally a process of generating a control signal for causing the crane 2 to perform additional control.

  In SD1, the additional control content specifying unit 16a specifies additional control. Specifically, in SB4, the voice data determined to match the operator's voice (for example, “Choi”) and the control stored in the item “Addition control” in the same record in FIG. (Small) "a) is specified.

  In SD2, the additional control content specifying unit 16a specifies the immediately preceding control. Here, “immediate control” is the most recent control among the controls being executed by the crane 2. Specifically, referring to the history DB 14b of FIG. 5, a record in which “1” indicating that the control is being executed is stored in the item “execution” (in FIG. 5, “10/10, 13: Of the record of “06:00” and the record of “10/10, 13:06:10”), the record with the latest date and time stored in the item “date and time” (in FIG. 5, “10/10” , 13:06:10 ”), the control stored in the item“ crane control ”(in FIG. 5, the second speed of hoisting) is specified.

  In SD3, the additional control content specifying unit 16a is based on the additional control specified in SC1 (for example, “control immediately before addition (small) a”) and the previous control specified in SC2 (for example, second winding speed). To create a control signal. For example, in the above example, the control signal for causing the crane 2 to execute the control for stopping the crane 2 is created after the control of the hoisting second speed is executed only for a short time (one second). Since a specific method for creating such a control signal is known, a detailed description thereof will be omitted. Then, the additional control process is terminated, and the process returns to the control content specifying process of FIG.

  Returning to the control content specifying process of FIG. 9, in SB6, the adjustment control content specifying unit 16b determines whether or not the audio information acquired in SB1 is audio information related to the adjustment control. Specifically, the voice data of the voice information acquired in SB1 is compared with the voice data of the voice information stored in the item “voice” of the adjustment control DB 14d shown in FIG. It is determined whether or not. For example, when the operator utters “Choi Maki”, the voice data “Choi Maki” exists in the item “Voice” of the adjustment control DB 14d. If there is matching audio data (SB6, Yes), the process proceeds to SB7. If no matching audio data exists (SB6, No), neither normal control, additional control, nor adjustment control is assumed. The process returns to SB1 in order to accept voice input from the operator again.

  In SB6, the adjustment control content specifying unit 16b executes an adjustment control process. FIG. 12 is a flowchart of the adjustment control process. This adjustment control process is a process for generating a control signal for causing the crane 2 to execute the adjustment control.

  In SE1, the adjustment control content specifying unit 16b specifies adjustment control. Specifically, in SB6, the voice data determined to match the voice of the operator (for example, “Choi Maki”) and the control stored in the item “Adjustment Control” in the same record in FIG. Top a ") is specified.

  In SE2, the adjustment control content specifying unit 16b creates a control signal for causing the crane 2 to execute the adjustment control specified in SE1. Since a specific method for creating such a control signal is known, a detailed description thereof will be omitted. Then, the adjustment control process is terminated, and the process returns to the control content specifying process of FIG.

  Returning to FIG. 9, when the normal control process of SB3, the additional control process of SB5, or the adjustment control process of SB7 is finished, the control content specifying process is terminated, and the process returns to the control process of FIG.

(Processing-Control processing-Control signal transmission processing)
In SA2, the control unit 15 executes a control signal transmission process. FIG. 13 is a flowchart of the control signal transmission process. The control signal transmission process is a process for transmitting the control signal generated in the control content specifying process of SA1 to the crane control device 50.

  In SF1, the control unit 15 performs a control content repetition process in order to make the operator recognize the control content. Specifically, when the normal control process is performed in the control content specifying process of FIG. 9, the voice of the item “return” in the normal control DB 14a of FIG. 4 corresponding to the normal control specified in SC1 of FIG. When the data is acquired and the additional control process is performed in the control content specifying process of FIG. 9, the voice of the item “repetition” in the additional control DB 14c of FIG. 6 corresponding to the additional control specified in SD1 of FIG. When the data is acquired and the adjustment control process is performed in the control content specifying process in FIG. 9, the voice of the item “return” in the adjustment control DB 14d in FIG. 7 corresponding to the adjustment control specified in SE1 in FIG. Data is acquired, and the acquired voice data is transmitted to the input / output device 20 of the operator. Although the specific method of this transmission is arbitrary, for example, the control unit 15 attaches the input / output device ID sent together with the voice data of the operator's voice described above to the voice data of the repeater, and the terminal device 10 wirelessly transmitted via the communication unit 13. Then, the input / output device 20 that has received the audio data determines whether or not the input / output device ID included in the audio data matches the input / output device ID of the input / output device. Data audio may be output.

  In SF2, the control unit 15 transmits a control signal for actually controlling the crane 2. Specifically, the control signal generated in SC2 of the normal control process in FIG. 10, the control signal generated in SD3 of the additional control process in FIG. 11, or the control signal generated in SE2 of the adjustment control process in FIG. And a crane ID for uniquely identifying the crane 2 to be controlled are wirelessly transmitted. In addition, the crane control unit 51 of the crane control device 50 that has received the control signal determines whether or not the crane ID attached to the received control signal matches the crane ID of the crane 2 on which the crane is loaded. If they match, the crane 2 is controlled as instructed by the control signal. In addition, since the concrete method of such control is well-known, detailed description is abbreviate | omitted. In addition, in SC1 of the normal control process illustrated in FIG. 10 described above, when the control content specifying unit 16 determines that the voice input to the microphone 21 corresponds to the invalid voice, the crane control unit 51 performs the control indicated by the invalid voice. Is invalidated (that is, the crane 2 is not controlled). In addition, after performing a repeat process in SF1, after waiting for the predetermined time (for example, 3 second) for accepting cancellation of control signal transmission, you may transmit the control signal of the said SF2. The specific method of accepting the cancellation is arbitrary. For example, the control unit 15 knows that the emergency stop button provided in the input / output device 20 has been pressed (for example, reception of a signal from the input / output device 20). If detected in step S2, the transmission of the SF2 control signal may be canceled.

  In SF3, the control unit 15 determines whether the control to be executed is normal control. Specifically, referring to information included in the control signal transmitted in SF2, it is determined whether the type of control is normal control, additional control, or adjustment control, and is normal control (SF3 Yes), the process proceeds to SF4, and when the control is not normal (SF3, No), the control signal transmission process is terminated without proceeding to SF4.

  In SF4, the control unit 15 updates the history DB 14b of FIG. Specifically, the control unit 15 adds a new record to the history DB 14b of FIG. 5, and stores the current date and time measured by a predetermined time measuring means (not shown) in the item “date and time” of the record. In the item “crane control”, the contents of the normal control are stored with reference to the information included in the control signal transmitted in SF2. Also, the information corresponding to the item “execution in progress” is updated according to the contents of the newly added normal control. For example, when the content of the added normal control is “all stop”, “1” included in the item “running” of all records in the history DB 14b is changed to “0”. If the newly added normal control content and the content of the normal control currently being executed conflict, the newly added normal control is preferentially updated. For example, if the content of the newly added normal control is “jib lie down”, the content is in conflict with the currently executed “jib wake up”, so the currently executed “jib wake up” is set to “0”. Change and change the newly added “jib face down” to “1”.

  Here, when the jib 3 of the crane 2 is controlled to move the suspended load in the horizontal direction, the moving speed of the beginning or end of the movement of the jib 3 (more specifically, the tip of the jib 3) It is preferable to make it smaller than the moving speed. As a result, it is possible to prevent the jib 3 from abruptly starting and stopping and thereby preventing the position of the jib 3 and the suspended load on the plane from being greatly displaced, and preventing the suspended load from greatly shaking. it can. As described above, the control signal transmission process is completed and the process returns to the control process of FIG.

(Processing-shaking stop processing)
Next, the shaking stop process will be described. This sway stop process is a process for suppressing the sway when the suspended load sways due to any factor (for example, wind or the like). Specifically, first, the swing identification unit 51a identifies the direction of the suspended load. This specific concrete method is arbitrary. For example, first, an image input from the camera 5 is analyzed to identify the current position of the suspended load by a known method, and then the crane control device 50 It compares with the initial position (position in the case of no shaking) of the suspended load stored in the recording unit (not shown). Then, the direction from the initial position to the current suspended load position is specified as the direction of shaking.

  Subsequently, the swing identification unit 51a moves the jib 3 (more specifically, the tip of the jib 3) in the same direction as the direction of the swing of the suspended load specified as described above, thereby swaying the suspended load. suppress. For example, if the suspended load has swayed to the right, turn the jib 3 to the right to move the jib 3 to the right, and if the suspended load has swayed to the front, turn the jib 3 down. Move the jib 3 forward. In this way, the swing identification unit 51a automatically suppresses the swing of the suspended load, thereby enabling the suspended load to be moved to a more accurate position and causing the suspended suspended load to collide with a building or the like. The possibility of damaging an object can be reduced.

(Processing-Obstacle avoidance processing)
Next, the obstacle avoidance process will be described. This obstacle avoidance process is generally a process for preventing the suspended load from coming into contact with the obstacle. Specifically, the obstacle detection unit 51b first detects the position of the obstacle. The specific method of this detection is arbitrary, for example, you may specify by analyzing the image | video input from the camera 5, and may specify based on the information acquired from the ultrasonic sensor etc. which are not shown in figure. Subsequently, the suspended load detection unit 51c detects the position of the suspended load. The specific method of this detection is arbitrary, for example, you may specify by analyzing the image | video input from the camera 5, and you may specify by converting the inclination angle of the jib 3, a winding amount, etc. .

  Next, the crane 2 is controlled so that the suspended load detected by the suspended load detection unit 51c does not interfere with the obstacle detected by the obstacle detection unit 51b. Here, “to prevent the suspended load from interfering” is to prevent the obstacle and the suspended load from coming into contact with each other. The position of the suspended load or the position of the obstacle can be moved. Including things to let For example, the suspended load may be prevented from contacting an obstacle by moving the position of the suspended load by moving the crane 2 up and down, winding up and down, or turning. Alternatively, by outputting an alarm sound or an electronic sound (for example, an electronic sound such as “the suspended load passes”) from an alarm transmission device (not shown) provided in the crane 2, an obstacle (that is, work) Member) You may move itself.

(Processing-bidirectional processing)
Next, bidirectional processing will be described. That is, in the above-described control processing, the point that information is transmitted from the terminal device 10 to the crane control device 50 has been described, but conversely, information may be transmitted from the crane control device 50 to the terminal device 10. Here, the specific content of the information to be transmitted is arbitrary, and is measured by, for example, the control state of the crane 2 (the inclination angle of the jib 3 and the hoisting amount) by the crane control unit 51 and an anemometer (not shown). It is assumed that the wind speed around the crane 2 and the video taken by the camera 5 are transmitted, and these pieces of information are hereinafter collectively referred to as “acquired information”.

  First, the crane control part 51 acquires said acquisition information by arbitrary methods. Subsequently, the crane control unit 51 transmits the acquisition information by the communication unit 52 of the crane control device 50, the transmission / reception device 40 receives the acquisition information, converts it by the signal converter 30, and inputs it to the terminal device 10. To do. Thus, the acquisition information input to the terminal device 10 is output by an arbitrary method. For example, the acquired information may be displayed on the display 12 of the terminal device 10 or may be transmitted to the input / output device 20 and output from the speaker 22. In this way, the worker can obtain information based on the acquired information obtained around the crane, and can control the crane 2 based on this information. It becomes possible.

(Processing-Abnormality identification processing)
Next, the abnormality identification process will be described. This abnormality specifying process is a process for specifying an abnormality in the state of the crane 2. First, the crane control device 50 acquires state information (for example, current value, voltage value, etc.) regarding the state of the crane 2 at a predetermined cycle (for example, every 30 minutes). Subsequently, the crane control unit 51 transmits the acquired state information by the communication unit 52 of the crane control device 50, and this state information is received by the transceiver 40, converted by the signal converter 30, and converted into the terminal device 10. To enter. Thus, the state information input to the terminal device 10 is accumulated in the data recording unit 14 and displayed on the display 12 of the terminal device 10 by a predetermined method. The operator can confirm that an abnormality has occurred in the crane 2 by viewing the output. For example, when an obvious abnormal voltage is detected, it is preferable to make the worker recognize the alarm by outputting an alarm.

(Effect of embodiment)
Thus, according to the voice control system 1 of the present embodiment, the control content for the crane 2 is specified based on the voice indicating the control instruction for the crane 2, and the crane 2 is controlled based on the specified control content. Since it controls, the operator can control the crane 2 by voice, and the crane 2 can be controlled intuitively and easily, and a slinger or the like can also serve as the operator, and the number of workers can be reduced.

  In addition, when moving the suspended load in the horizontal direction by controlling the jib 3, the moving speed of the beginning or the end of the movement of the jib 3 is made smaller than the moving speed of the middle board, so that the moving speed of the suspended load changes gently. Therefore, the suspended load can be moved safely by reducing the swing of the suspended load at the beginning or end of the movement with a large change in acceleration.

  Moreover, since the crane control part 51 moves the jib 3 in the same direction as the direction of the swing of the suspended load specified by the swing specifying part 51a, the swing of the suspended load is reduced, and the suspended load is made safe. It can be moved.

  In addition, since the crane control unit 51 controls the crane 2 based on the history information, it is possible to omit the trouble of re-inputting information that has been performed in the past and to improve workability.

  Moreover, since the crane 2 is controlled based on the history information related to the previous control content stored in the history DB 14b and the additional control content specified by the additional control content specifying unit 16a, the re-input of the previous control content is omitted. Thus, additional control content can be performed, the number of input characters can be reduced, and the accuracy of speech recognition can be improved.

  In addition, since the crane 2 is controlled based on the sound input to at least one of the plurality of microphones 21, the operator can be switched appropriately according to the situation, and other than the operator The possibility of erroneously recognizing a voice that is not related to the control emitted by the object as a control can be reduced, and safety can be improved.

  Moreover, since the crane control part 51 controls the crane 2 so that a suspended load does not interfere with the obstacle detected by the obstacle detection part 51b, an obstacle and a suspended load may be damaged and danger may arise. Safety can be reduced and safety can be improved.

  Further, when the control content specifying unit 16 determines that the voice input to the microphone 21 corresponds to the invalid voice, the crane control unit 51 invalidates the control instruction indicated by the invalid voice. As a result of erroneously recognizing a similar voice, it is possible to prevent unintended control and to improve safety.

  Moreover, since the lifting device information regarding the crane 2 is transmitted to the terminal device 10 and output, it is possible to output detailed information regarding the suspended load and the environment in the vicinity of the suspended load, which is information obtained by the crane 2. The crane 2 can be controlled based on detailed information.

[III] Modifications to Embodiments Although the embodiments according to the present invention have been described above, the specific configuration and means of the present invention are within the scope of the technical idea of each invention described in the claims. Can be arbitrarily modified and improved. Hereinafter, such a modification will be described.

(About problems to be solved and effects of the invention)
First, the problems to be solved by the invention and the effects of the invention are not limited to the above contents, and may vary depending on the implementation environment and details of the configuration of the invention. May be solved, or only some of the effects described above may be achieved.

(About dimensions and materials)
The dimensions, shapes, materials, ratios, etc. of each part of the voice control system 1 and the crane 2 described in the detailed description of the invention and the drawings are merely examples, and other arbitrary dimensions, shapes, materials, ratios, etc. Can do.

(I / O device)
In the present embodiment, the input / output device 20 is described as wirelessly communicating with the terminal device 10, but may be wired. The input / output device 20 may be the head mounted display 12 further including a display unit, and information transmitted from the crane control device 50 may be displayed on the display unit.

(About operator input / output devices)
In the present embodiment, it has been described that when a voice is input to the microphone 21 of the input / output device 20 of the operator, the voice is transmitted to the terminal device 10. The device 20 may be provided with an input button (not shown), and the sound may be transmitted to the terminal device 10 only when the operator presses the input button. In addition, when the terminal device 10 receives a predetermined start signal voice (for example, “Aizu Shizuru”), the terminal device 10 receives another input signal until the end signal audio (for example, “Aizu Shu Ryo”) is received. Input from the output device 20 may be ignored.

(Regarding normal control)
In the present embodiment, the normal control has been described as including instructions for the operation of the crane 2 (for example, ups and downs, winding up and down, and turning). However, an instruction to move the suspended load to a specific position may be included. . For example, the 3D coordinates of the slinging position and the ball removal position are registered in the data recording unit 14 in advance, and when the operator inputs a voice “Tamagakeichi”, the crane 2 is controlled and automatically suspended. The load may be moved to the position. As a route to be passed at this time, a route in which a suspended load does not pass through a position directly above an obstacle (for example, a worker) detected in the obstacle detection process as described above is searched and installed by a known method. May be.

(About additional control)
In the present embodiment, when executing additional control, among currently executed controls (controls storing “1” as information corresponding to the item “execution” in the history DB 14b of FIG. 5), Although the additional control is executed based on the immediately preceding control, the present invention is not limited to this, and the additional control may be executed based on the immediately preceding control regardless of whether or not it is currently being executed. For example, in the case where there is no control being executed in FIG. 5 (when “0” is stored in all records as information corresponding to the item “execution”), the operator makes a voice input “little”. In such a case, the crane 2 may be stopped after the “second hoisting speed” which is the immediately preceding control is executed only for a short time (1 second). In such a case, it is not necessary to store the item “executing” in the history DB 14b and information corresponding to the item.

(Appendix)
The voice control system of Supplementary Note 1 is a voice control system that controls a lifting device that lifts a suspended load by voice, and specifies a voice that indicates a control instruction to the lifting device. Control content storage means for correlating and storing voice information for control and control content information for specifying control content for the lifting device, and storing the control content based on the voice input to the input means Control content specifying means for specifying the control content corresponding to the input voice with reference to the voice information and the control content information stored in the means, and control means provided in the lifting device, Control means for controlling the lifting device based on the control content specified by the control content specifying means.

  The voice control system according to supplementary note 2 is the voice control system according to supplementary note 1, wherein the control means is suspension means provided in the lifting device, and controls suspension means for hanging the suspended load. Thus, when the suspended load is moved in the horizontal direction, the moving speed at the beginning or end of the movement is made smaller than the moving speed of the middle board.

  The voice control system according to appendix 3 is the voice control system according to appendix 1 or 2, wherein the voice control system includes swing specifying means for specifying a swing direction of the suspended load, and the control means is a suspension provided in the lifting device. The suspending means for suspending the suspended load is moved in the same direction as the swaying direction specified by the sway specifying means.

  The voice control system according to supplementary note 4 is the voice control system according to any one of supplementary notes 1 to 3, further comprising history storage means for storing history information of the control content specified by the control content specifying means, The means controls the lifting device based on the history information stored in the history storage means.

  The voice control system according to supplementary note 5 is the voice control system according to supplementary note 4, wherein additional control content information for specifying additional control content based on the voice information and the control content specified by the control content specifying means With reference to the voice information and the additional control content information stored in the additional control content storage unit, based on the voice input to the input unit, Additional control content specifying means for specifying the additional control content corresponding to the input voice, and the control means includes history information on the control content immediately before stored in the history storage means, and the additional control content The lifting device is controlled based on the additional control content specified by the specifying means.

  The voice control system according to supplementary note 6 is the voice control system according to any one of supplementary notes 1 to 5, wherein the lifting device is installed on the basis of the voice input to at least one of the plurality of input means. An audio control system for controlling, comprising: an input specifying unit that specifies at least one of the plurality of input units as an effective input unit for effectively receiving a voice input, wherein the control content specifying unit includes: The control content corresponding to the voice is specified based on the voice input to the effective input means specified by the input specifying means.

  The voice control system according to appendix 7 is the voice control system according to any one of appendices 1 to 6, wherein the obstacle detection means detects the position of the obstacle, and the suspended load detection means detects the position of the suspended load. The control means controls the lifting device so that the suspended load detected by the suspended load detecting means does not interfere with the obstacle detected by the obstacle detecting means.

  The voice control system according to supplementary note 8 is the voice control system according to any one of supplementary notes 1 to 7, wherein the voice information is a voice indicating a control instruction to the lifting device and is accepted as invalid. When the control content specifying unit determines that the voice input to the input unit corresponds to the invalid voice, the control unit specifies the invalid voice. The control instruction indicated by is invalidated.

  The voice control system according to supplementary note 9 is the voice control system according to any one of supplementary notes 1 to 8, wherein the voice control system is a transmission means provided in the lifting device, and transmits lifting device information relating to the lifting device. A terminal device comprising: a transmitting means for receiving; a receiving means for receiving the lifting apparatus information transmitted by the transmitting means; and a lifting apparatus information output means for outputting the lifting apparatus information received by the receiving means; Is provided.

(Additional effects)
According to the voice control system according to attachment 1, the control content for the lifting device is specified based on the voice indicating the control instruction for the lifting device, and the lifting device is controlled based on the specified control content. Therefore, the operator can control the lifting device by voice, and can control the lifting device intuitively and easily, and the slinger or the like can also serve as the operator, thereby reducing the number of workers.

  According to the voice control system described in appendix 2, when the suspended means is controlled to move the suspended load in the horizontal direction, the moving speed of the early stage or the final stage in the movement of the hanging means is smaller than the moving speed of the middle board. Therefore, the moving speed of the suspended load can be changed gently, and the suspended load can be moved safely by reducing the shaking of the suspended load at the beginning or the end of the movement with a large change in acceleration.

  According to the voice control system described in appendix 3, the control means moves the suspension means in the same direction as the direction of the swing of the suspended load specified by the swing specifying means, thereby reducing the shaking of the suspended load. Thus, the suspended load can be moved safely.

  According to the voice control system described in appendix 4, since the control unit controls the lifting device based on the history information, it is possible to save the effort of re-inputting information that has been performed in the past and the workability. Can be improved.

  According to the voice control system described in appendix 5, the lifting apparatus is controlled based on the history information regarding the control content immediately before stored in the history storage unit and the additional control content specified by the additional control content specifying unit. Therefore, it is possible to omit the re-input of the previous control content and perform additional control content, to reduce the number of input characters, and to improve the accuracy of speech recognition.

  According to the voice control system according to appendix 6, the lifting device is controlled based on the voice inputted to at least one of the plurality of input means, so that the operator is switched appropriately according to the situation. In addition to being able to perform work, it is possible to reduce the possibility of erroneously recognizing voice that is not related to control issued by a person other than the operator as control, thereby improving safety.

  According to the voice control system according to appendix 7, the control means controls the lifting device so that the suspended load does not interfere with the obstacle detected by the obstacle detecting means, so that the obstacle or the suspended load is damaged. Therefore, the possibility of danger occurring can be reduced, and safety can be improved.

  According to the voice control system described in appendix 8, when the control content specifying unit determines that the voice input to the input unit corresponds to the invalid voice, the control unit invalidates the control instruction indicated by the invalid voice. Therefore, it is possible to prevent unintended control due to erroneous recognition of a voice similar to the voice that the operator wants to input, thereby improving safety.

  According to the voice control system according to attachment 9, since the lifting device information related to the lifting device is transmitted to the terminal device and output, the information obtained by the lifting device is related to the suspended load and the environment around the suspended load. Detailed information can be output, and the lifting apparatus can be controlled based on more detailed information.

DESCRIPTION OF SYMBOLS 1 Voice control system 2 Crane 3 Jib 4 Hook 5 Camera 10 Terminal device 11 Touch pad 12 Display 13 Communication part 14 Data recording part 14a Normal control DB
14b History DB
14c Additional control DB
14d Adjustment control DB
15 control unit 16 control content specifying unit 16a additional control content specifying unit 16b adjustment control content specifying unit 17 input specifying unit 18 abnormality specifying unit 20 input / output device 21 microphone 22 speaker 23 button 24 communication unit 30 signal converter 40 transceiver 50 crane Control device 51 Crane control unit 51a Shaking identification unit 51b Obstacle detection unit 51c Hanging load detection unit 52 Communication unit

Claims (7)

A voice control system for controlling a lifting device for lifting a suspended load by voice,
As control for the lifting device,
When the control is instructed by the user, the normal control that continues the instructed control until the next control is instructed without referring to the history information of the control performed before the instructed control; and
When control is instructed by the user, with reference to the history information of control performed immediately before the instructed control, additional control that automatically stops after continuing the instructed control for a predetermined time; and
An adjustment control that automatically stops after continuing the instructed control for a predetermined time without referring to the history information of the control performed before the instructed control when the user instructs the control; The voice control system
Control content storage means for storing voice information for specifying a voice indicating a control instruction for the lifting device and control content information for specifying control content for the lifting device in association with each other;
Control content specifying means for specifying the control content corresponding to the input voice by referring to the voice information and the control content information stored in the control content storage means based on the voice input to the input means; ,
Control means provided in the lifting device, the control means for controlling the lifting device based on the control content specified by the control content specifying means,
History storage means for storing history information of the control content specified by the control content specifying means,
As the control content storage means,
The normal voice information for specifying the voice indicating the normal control instruction for the lifting device and the normal control content information for specifying the control content of the normal control for the lifting device are stored in association with each other. Normal control content storage means for
The additional voice information for specifying the voice indicating the instruction of the additional control for the lifting device, and the control content based on the control content specified by the control content specifying means, and the addition to the lifting device Additional control content storage means for storing additional control content information for specifying the control content of the control in association with each other;
Adjustment sound information for specifying the sound indicating the adjustment control instruction for the lifting device and adjustment control content information for specifying the control content of the adjustment control for the lifting device are stored in association with each other. Adjustment control content storage means for performing,
The control content specifying means includes
Based on the voice input to the input means, the normal control information corresponding to the input voice is referred to by referring to the normal voice information and the normal control content information stored in the normal control content storage means. Which identifies
Based on the voice input to the input means, referring to the additional voice information and the additional control content information stored in the additional control content storage means, and the history information stored in the history storage means, Additional control content specifying means for specifying additional control content corresponding to the input voice;
Based on the voice input to the input means, the adjustment control content corresponding to the input voice is specified with reference to the adjustment voice information and the adjustment control content information stored in the adjustment control content storage means. Adjustment control content specifying means,
When the control content specifying unit determines whether the control corresponding to the input voice is the normal control based on the voice input to the input unit, and determines that the control is the normal control Create a control signal to execute the normal control,
When the control content specifying unit determines that the control content specifying unit is not the normal control, the additional control content specifying unit determines whether or not the control corresponding to the input voice is the additional control. If it is determined that the control signal for executing the additional control is created,
When the additional control content specifying unit determines that the additional control content specifying unit is not the additional control, the adjustment control content specifying unit determines whether or not the control corresponding to the input voice is the adjustment control, and the adjustment If it is determined to be control, create a control signal for executing the adjustment control,
The control means controls the lifting device based on the control signal;
Voice control system. The control means is suspension means provided in the lifting device, and controls the suspension means for suspending the suspended load to move the suspended load in the horizontal direction. Make the moving speed smaller than the moving speed of the middle board,
The voice control system according to claim 1. Comprising swing specifying means for specifying the direction of swing of the suspended load;
The control means is a suspension means provided in the lifting device, and the suspension means for suspending the suspended load is moved in the same direction as the direction of shaking specified by the shaking specifying means.
The voice control system according to claim 1 or 2. A voice control system that controls the lifting device based on voice input to at least one of the plurality of input means,
An input specifying means for specifying at least one of the plurality of input means as an effective input means for effectively receiving a voice input;
The control content specifying unit specifies the control content corresponding to the voice based on the voice input to the effective input unit specified by the input specifying unit.
The voice control system according to any one of claims 1 to 3. Obstacle detection means for detecting the position of the obstacle;
A suspended load detecting means for detecting the position of the suspended load,
The control means controls the lifting device so that the suspended load detected by the suspended load detection means does not interfere with the obstacle detected by the obstacle detection means.
The voice control system according to any one of claims 1 to 4. The voice information is a voice indicating a control instruction for the lifting device, and includes invalid voice information for specifying invalid voice that is voice accepted as invalid,
When the control content specifying unit determines that the voice input to the input unit corresponds to the invalid voice, the control unit invalidates a control instruction indicated by the invalid voice.
The voice control system according to any one of claims 1 to 5. Transmitting means provided in the lifting device, wherein the transmitting device transmits lifting device information relating to the lifting device;
Receiving means for receiving lifting device information transmitted by the transmitting means, and a terminal device having lifting device information output means for outputting lifting device information received by the receiving means,
The voice control system according to any one of claims 1 to 6.

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