JPS60120411A - Remote control method of industrial machine such as crane - Google Patents

Abstract

PURPOSE:To improve the safety and the operability of a device by using voice recognition to issue an operation command with a voice. CONSTITUTION:A remote control box 2 has a mocrophone 10, a push button for operation executing command, a transmitter 13 and a receiver 14 for a crane controller 3, etc. The crane controller 3 has a voice recognizing device 18, a voice synthesizing device 19, a transmitter 20, a receiver 16, etc. In the remote control of a crane, an operator speaks a preliminarily registered command word, and contents of this command are transmitted from the transmitter 13 through the receiver 16 of the controller 3 and are recongnized by the voice recognizing device 17 and are stored in an operation command storage device 18. Simultaneously, a voice indicating an operation command is synthesized by the voice synthesizing device 19 and is monitored through the transmitter 20 and the receiver 16 by an earphone 15. If this command and monitor contents coincide with each other, said command push button 11 is depressed to issue two kinds of operation signal alternately, and the commanded operation is started.

Description

[Detailed description of the invention]

The present invention relates to a remote control method for industrial machines such as cranes, and is intended to improve operability and safety, and to reduce the size of the device. BACKGROUND ART Conventionally, remote control of industrial machines such as cranes has been carried out using a controller 1 equipped with pushbutton switches la, 2a, . . . for commanding various operations, as shown in FIG. However, such devices have disadvantages such as having both hands occupied for operation, increasing the number of push buttons when controlling more items, making the device larger, and making it easier to operate incorrectly. there were. The present invention has been made in view of the above-mentioned points VC, and is intended to provide a remote control method for industrial machines such as cranes, which can improve operability and safety and reduce the size of the remote control device. According to this invention, by issuing operation commands by voice using the voice command, it is possible to reduce the size of the device and improve operability. , the content of the command issued by the operator by voice,
After confirming that the returned command contents match, the operation natural command switch is turned on to execute the command contents, thereby alternately transmitting two types of operation signals to prevent malfunctions due to recognition errors. I try to do that. Embodiments of the present invention will be described below with reference to the drawings with gaps. FIG. 3 shows a flowchart of the remote control method according to the present invention. When performing remote control, the operator uses pre-registered command words to command the operation content by voice. The voice recognition device receives it, identifies the contents of the command, and holds it. Further, the identified command contents are returned to the operator for monitoring. If the contents of the command issued by the operator match the contents of the returned command, the operator turns on the operation execution command switch to execute the contents of the command held in PJ11. In this case, two types of signals are alternately emitted as operation signals, and if one or both signals are not received, the device is stopped, thereby preventing accidents due to malfunctions. If there is a discrepancy, issue a command. l'J ''j 0 Figure 3 shows an example of the device for performing the above remote control. This shows the case where the side control device is connected wirelessly.Part 3
FIG. 1al shows the configuration of the remote control box 2, and FIG. 3 1al shows the configuration of the crane 1f1111 city 1j control device 3. In FIG. 3, the remote control box 2 is
A microphone 10 for issuing commands by voice; a motion execution signal oscillator 12 that oscillates a motion execution signal at a predetermined frequency when the motion execution command push button 1] is turned on; the input voice and Transmitter 13 that transmits the oscillated operation execution signal, crane splitter 1111 device 3
a receiver 14 that receives the recognized command content returned from t'L; an earphone 1 that monitors the received command content;
It has 5. The crane control device 3 includes a receiver 16 that receives voice commands and operation execution signals transmitted from the remote control box 2, a voice recognition device 117 that identifies the received command contents, and holds the identified command contents. The control box 2 includes an operation command storage device 18 for performing the commands, a speech synthesis device 19 for synthesizing the speech of the identified command contents, and a transmitter side for transmitting the speech-synthesized commands to the control box 2. The mouth PM recognition device 17 also serves as a device that recognizes the operation execution signal from the received signal, reads out the operation command held in the operation command 6 storage device, and executes the operation. When performing remote control with the device shown in Figure 3,
The operator utters an operation command into the microphone 10 using command words registered in advance. This finger signal is sent from the transmitter 13, and
is received by receiver I6. And the voice recognition device 17
The command content is recognized and the operation command 6 self-memory ffm: J8
is memorized. At the same time, the voice synthesizer 19KN was installed

Voices indicating operation commands are synthesized and transmitted from the transmitter 20. This signal is received by the 916 machine 14 of the remote control box 2 and monitored by the earphone 15. At this time, the operator monitors the command he issued and if the 7L+s match, the command is recognized correctly! Cut off P4J,
Push button lj for operation execution command is turned on. As a result, the operation command stored in the operation command/storage device 18VC is read out and the operation is executed. This operation is performed while the operation execution command push button is pressed, and the operation is stopped when the push button is released. If the command issued by itself and the monitored command do not match, the command is repeatedly uttered without pressing the action execution command push button 11, and when they match, the action execution command push button 11 is pressed. The commands stored in the operation command storage device 18 are deleted when there is no operation execution command signal for a certain period of time or when a new command is manually input. By the way, when the voice recognition device 17 recognizes a certain command, it continues to hold this command and does not block the previous command when a command to cancel this command or another command is entered. If the release command or another command is not recognized due to an example malfunction,
The crane continues to perform the previous command, creating a dangerous situation. For example, as shown in Fig. 4, 1al, if the operation starts with the % increase l command and stops with the 1 stop command, the operation will continue indefinitely if the 1 stop and l commands are not recognized. You will end up losing money. Also, Figure 4 (bl
As shown, give 1! command and operation execution command push button]
When the operation is executed under the condition that both are on, normally the operation execution command push button l
] is turned off, the button-on recognition state is canceled and the operation stops, but for some reason, the operation execution command push button 1 is not activated.
Even if you turn it off, if the off state is not recognized and there is no hole, you will not be able to cancel the on state and the operation will wait. In order to prevent such a danger, for example, it may be possible to output two types of motion execution command signals by turning on the motion execution command push button 11, and to execute the motion under those AND conditions. . That is, by turning on the operation execution command push button 1 as shown in FIG. 4 [alK], the operation execution command signals f1. Send f2 to Yudachi, f1 Shosei →
If the crane is made to operate only while f2 recognition → f1 recognition → f2 recognition →... is repeated, the crane will operate when the operation execution command push button 11 is turned on, and it can be surely stopped when it is turned off. . However, in this case, the signal is interrupted at the switching timing of f1 command → f2 recognition → f1 recognition → f2 recognition →..., so in order to prevent this, the signal f1. An off-delay timer is installed so that even if f2 is interrupted, it remains on for a while. An example of a control circuit for executing such a 71tll side l is shown in FIG. In Fig. 5 VC, switch 5WI (8
W1') closes (opens) instantaneously when the voice recognition device 17 recognizes 1 up and down.Switch 5W2 (skin Q) closes (opens) when the voice recognition device 17 recognizes 1 down. The switch SW3 closes (opens) instantaneously and without a trigger when the voice recognition device 17 receives the operation execution command signal f.
It closes when it recognizes 1. The switch 8W4 is closed when the motion voice recognition device #17 recognizes the motion execution command No. 48 f2. Relays 31 and :32 are on-delay timers, and S33 to S36 are off-delay timers. The delay time of the off-delay timer 35 is set longer than the period of the signals f, , f20, and the nosorus-like signals f1. While f2 is being repeatedly output, the excitation state 4 is maintained. On-delay timer 31
, 32 is a timer for holding until the next push button is pressed after 1 up l or 1 down l recognition button. Contacts 34a and 35h are off-delay timer 34
, 35 contacts. The off-delay timer 36 is activated when both the off-delay timers 34 and 35 are in the excited state, that is, when the signal f1. f2 is recognized by the father pressure and is excited by Φ. The contact 36a is closed when the off-delay timer is in an energized state. The contact 37a closes when the relay 37 indicating the 1-increase-1 command is in an excited state, and the relay 40 is energized. Contact 40a is relay 40
By closing the contact, the crane performs a hoisting motion. The contact 38m is used to switch off the energized state of the relay indicating the 1-lower command and energize the relay 41. Contact 41m is a contact of relay 41, and when this is closed, the crane performs a lowering operation. The contacts 31a and 32a are respectively connected to the on-delay timer 3.
1 and 32 enter the IJJJ@ state and open after a certain time. These relay contacts 31a, 32b are 1
1H1 or 1Ll when command to raise or lower
If the operation execution command is not input for a certain period of time even if the relays 37 and 38 are self-held, the relays 37 and 38 are demagnetized and reset.
It is determined that it will be returned to . The off-delay timer 33 turns on the contacts 33m and 33b to prevent the self-holding relays 37 and 38 from being demagnetized even if the contacts 31m and 32m open. Contacts 37a and 38m are each relay 37°3
8 self-holding contacts. Relay contact 41 b,
41C is a relay that is opened when the relay 41 is energized, and is designed to prevent winding up during the lowering operation. The relay contacts 40b and 40c are opened when the relay 40 is energized, and are used to prevent lowering during the winding operation. The relay contact 38b is opened when the relay is in the energized state, and is used to turn off the lifting relay 37 when a lowering command is received. It is opened to turn off the lowering relay 37 when a winding command is received. The operation of the circuit of FIG. 5 is as follows. The case where the 1-up-1 command is input will be explained. When the command 1 to 1 is received and recognized by the voice recognition device 2, the switch SW1 is turned on temporarily,
Relay 37 is energized. This causes relay contact 37
m is turned on and the relay 37 is self-held. When the relay 37 is excited, the on-delay timer 31 is turned on at the same time. This on-delay timer 31
If there is no KwJ operation execution command signal within a predetermined time after the relay 37 is turned on (that is, if the contact 33m is not closed)
, the contact 31a opens and the self-holding of the relay 37 is released. Further, when the relay 37 recognizes the 1-lower command, the contact 38b opens and demagnetizes the relay 37. After the relay 37 starts to be energized, when the command pusher 11 with operation '41 is pressed, a signal f1 of a certain frequency is transmitted, recognized by the voice recognition device 17, and the switch 8W3 is closed. -1', this signal f1 and another signal f2 of a different number of beats alternately.
is transmitted, recognized by the voice recognition device 17, and the switch S
W3 is opened and SW4 is closed. Signal f1. f2 continues to be output as long as the push button 11 is pressed. switch 8
When W3 and 8W4 are turned on, the off-delay timer is turned on. The stamens turn on alternately. Since the signals f□ and f2 are pulse signals that are generated alternately, the switches 8W3 and 8W4 are intermittently turned on and off, but the set delay time of the off-delay timer 34 is based on the on and off cycles of the switches 8W3 and SW4. Since the setting is long, the signal f□. It remains on as long as f2 continues to be output. Off-delay timer style, when 35 is turned on, contact 34m
, 35 is closed and the off-delay timer is turned on. This closes the contact 36a. At this time, contact 37e
is turned on due to the excitation state of relay 37, so
Relay 40 does 17i71e&. Therefore contact 40
m is closed and the winding operation is performed. Furthermore, when the relay contact 36m is turned on, the off-delay timer is turned on, the contact 33a is closed, and the self-holding state of the relay 37 is maintained. When push button 11 is released, signal f1. Since f2 is turned off, switches SW3 and SW4 are opened, and the off-delay timers 34 and 35 are turned off for a certain period of time. This results in
The contacts 34m and 35m open, the off-delay timer 36 turns off for a predetermined period of time, the contact 36a opens, and the relay 40
Open. Therefore, the contact 40m is turned off and the crane stops the hoisting operation. If fl. Even if it is not recognized that one of the signals f2 is off, the off-delay timer is turned off when the other signal is turned off, so that the winding operation can be reliably stopped. When push button 1 is released, the off-delay timer turns off and the contact 33m opens after a certain period of time has elapsed. At this time, since the contact point 31m is already connected, the self-holding state of the relay 370 is released, and even if the push button 1 is pressed next, no winding operation is performed. As a result of the above, the winding sequence is canceled and the machine waits for the next command. FIG. 6 shows the above operation in a time chart. As explained above, according to the present invention, a command is transmitted using voice recognition, the recognized command is monitored, and the command issued by the voice and the monitored command f'L,
The operation execution command switch is turned on only when the specified command matches, and the two types of operation signals are issued alternately to start the operation, which improves operability and safety. , the configuration of the remote control device can be simplified.

[Brief Description of the Drawings] Fig. 1 is a plan view showing a conventionally used remote control device, Fig. 2 is a flowchart showing a remote control method according to the present invention, and Fig. 3 shows an embodiment of the present invention. In the block diagram, (ml is the configuration of remote control box 2, lbl is the crane side fill
The configuration of the Ill device 3, FIG. 4 is a time chart showing various examples of how to stop the operation, FIG. FIG. 6 is a time chart showing the operation of the circuit of FIG. 4. 2...Remote control box, 3...Crane side control device, River...Microphone, 11...Operation execution sliding push button, 15...Earphone. (15) 〇=83- to U D”

Claims (1)

[Claims] The operation command is transmitted by voice, the transmitted command content is identified and held by voice recognition, the identified command content is monitored, and when the voice matches the command content issued, two signals are sent out alternately. A remote control method for an industrial machine such as a crane, characterized in that 5Vc is applied to execute the held command contents by inputting the operation command execution means by the transmission.