JPS61267688A - Travelling type conversation type crane - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed Description of the Invention] (Industrial Application Field) The present invention relates to a mobile conversational crane that can be directly operated by a worker's voice commands and can monitor various crane conditions from a terminal on the worker's side. .

(Prior technology) Conventionally used methods of operating overhead cranes include having a dedicated operator operate a controller in the onboard operator's cabin, or operating a pendant switch suspended near the floor. There are three main types: those operated by the driver on the floor using a radio control device.

(Problems to be Solved by the Invention) Since all of these devices must be operated using one or both hands, a dedicated operator is required to operate the crane. In addition, the work on the entire overhead lane requires a worker to perform auxiliary work such as slinging, setting water sprinklers, and driving the vehicle, which poses problems in terms of labor saving and work efficiency.

Further, information regarding the condition of the crane, such as the weight, position, amount of movement of the suspended load, distance from an adjacent crane, etc., is important when operating the crane.

However, with relatively large equipment such as overhead lanes, it is difficult for the crane operator to accurately grasp the overall situation, and there are cases where it is necessary to station an observer to confirm safety.

Therefore, the present invention improves the above-mentioned disadvantages of conventional lane operation, eliminates the need for a full-time operator who only operates the crane, and safely performs multiple tasks for the entire lane operated by one operator. To provide a traveling conversational crane that is easy to operate, saves labor, and allows a crane operator to accurately grasp information regarding the crane's status and perform safe operations.

(Structure of the Invention) The traveling conversational crane according to the present invention is provided with a sensor for detecting various information regarding the status of the crane in the crane, and a command terminal that can input operation commands for each part of the crane and monitor the crane status. A command word is input by the command person's real voice, and this input command word is recognized by comparing it with a matching pattern of the command person registered in advance in the voice recognition section provided in the voice control section. A corresponding control output is output from the output interface section through a control section specific to the voice control crane, and a control sequence corresponding to a plurality of drive devices of the lane to be traveled is output to the crane control section to voice control the lane to be traveled, A feature of the present invention is that the output from the sensor can be outputted from the input/output interface to the designated terminal for monitoring.

(Example) Hereinafter, an explanation will be given with reference to an example shown in the drawings. Fig. 1 shows an example of an overhead traveling conversational crane, and Fig. 2 shows its block diagram. This conversational crane is equipped with a mobile radio equipped with a headphone microphone carried by the dispatcher. It consists of a crane drive device 4°5.6, 7.8 connected via a voice control panel 2 and a crane control panel 3.

Here, the voice control panel 2 is installed on the running rod of the crane, and is equipped with a fixed radio device 13 having an onboard antenna 12, and receives a signal from the mobile radio device 1 and sends it to the next stage voice recognition device 14. Output audio signal.

A storage device 15 is connected to this voice recognition device 14, in which a command word matching pattern for each commander is registered in advance.
A matching pattern is read out from the storage device 1iis when performing recognition calculation processing on an input voice signal, and a matching pattern is also written from the mobile radio device 1 with the headphone microphone 11 when registering a command word from a dispatcher. can.

A control unit specific to the voice codon roll crane, that is, a microcomputer 17 and a voice synthesizer 16 are connected to the output side of the voice recognition device 14, and a recognition result signal is output to the microcomputer 17.

Further, the recognition result signal is also output to the speech synthesizer 16 side in the same manner as described above, and the speech synthesizer 16 synthesizes and outputs the same speech as the recognized speech in response to the input recognition result signal. This synthesized voice is wirelessly transmitted from the fixed radio device 13 to the mobile radio device 1 and answered back to the commander via the headphone microphone 11.

An input/output interface 18 is connected to the output side of the microcomputer 17, and the microcomputer 17 outputs a sequence activation signal corresponding to the recognition result signal to the input/output interface 18. That is, the microcomputer 17 has built-in predetermined sequences for inching operation, simultaneous operation of two or more operations, combined operation, prevention of erroneous operations, and safety measures that are essential for controlling the crane by voice. A predetermined output is output to the input/output interface 18 in accordance with the recognition result.

This input/output interface 18 outputs a sequence signal to the crane control panel 3, and the crane control panel 3 transmits the drive signal to each drive part 4, 5, 6, 7.8 of the crane, and the crane operates according to the voice command. do.

In addition, each part of the crane has information on the weight and position of the suspended load.

Various sensors 19 are provided for detecting the amount of movement, the distance to an adjacent crane, etc., and detection signals from these sensors 19 are input to the microcomputer 17 via the input/output interface 18. The microcomputer 17 outputs a synthesized sound creation signal corresponding to the detection signal of the sensor 19 to the speech synthesizer 16, and the speech synthesizer 16 reads the detection signal of the various sensors 19 as a synthesized sound and outputs it from the fixed wireless device 13 to the commander. The information is transmitted to a mobile radio device 1 equipped with a headphone microphone 11 carried by the user.

The information from these various sensors 19 is sent to the commander.

By specifying and inputting a desired sensor using real voice from the rad microphone 11, it is also possible for the microcomputer 17 to transmit the detection value of the specific sensor 19 to the commanding person based on the recognition result by the voice recognition device 14. . At this time, unlike the voice control of the drive unit, there is no need to call back and confirm the sensor 19.
The configuration is such that it is only necessary to specify the sensor 19.

Since the crane control panel 3 and each of the drive units 4, 5, 6, 7, and 8 are of a conventional type, their explanation will be omitted.

In the above configuration, the voice signal of the operation direction command for the crane specific unit from the mobile radio device 1 carried by the ground commander is received by the fixed radio device 13 of the voice control panel 2, and is input to the voice recognition device 14. Ru. So, the voice recognition device I! 14 reads out the matching pattern in the storage device 15, compares it with the input audio signal, and sends it to the audio synthesizer 16.
Outputs a synthesized sound output signal corresponding to .

The speech synthesizer 16 creates a synthesized word corresponding to the synthesized sound output signal, and wirelessly transmits it from the fixed radio device 13 to the mobile radio device 1.
Answer back to the commander via the headphone microphone 11. Then, if the direction command word that the dispatcher commanded himself and the direction command word synthesized and output from the headphone microphone 11 match, when he inputs a driving command word such as "start" from the headphone microphone, the result will be the same as before. It is processed and input to the microcomputer 17 through the same route.

Here, the microcomputer 17 selects a sequence signal corresponding to the direction command word, inputs it to the corresponding crane control device through the input/output interface 18, and controls each part of the crane. Since the crane operates only when the recognition device correctly recognizes both the operation direction command word and the operation command word for a specific drive part, the possibility of malfunction occurring is extremely low.

In addition, when performing inching operation, input the direction command word and then enter the inching operation command word such as "choi".
Inching operation can be performed for a time and number of times preprogrammed in the microcomputer 17.

The above describes the case of only one operation regarding a specific drive part, but simultaneous activation of two or more operations, individual, arbitrary stop,
Also, arbitrary activation of other operations (two or more operations) during one operation,
Since the microcomputer 17 is programmed to enable stop and two-action simultaneous inching operations, operations equivalent to manual operations are possible.

It should be noted that the microcomputer 17 is programmed to perform operations that require a relatively quick response in safety equipment such as the illumination lamp 9 and the alarm lO, using only direction commands (without driving commands).

In addition, based on the voice input from the dispatcher, ultrasonic sensors can be used to determine the distance to adjacent cranes or obstacles, or provide warnings.
Selectively receives information from various sensors 19, such as information on lateral travel distance or crane position by a synchro transmitter, information regarding hoisting and hoisting distance or hook position by a synchro transmitter, abnormality detection and warning by vibration and temperature sensors, etc. The synthesized sound by the speech synthesizer 16 is transmitted to the commanding party.

Among these, warning information when a dangerous situation is detected is synthesized into voice by interrupt processing in the microcomputer 17, giving priority to other items, and is transmitted to the commander.

In this embodiment, an interactive type is used between a mobile radio device 1 having a headphone microphone 11 and a voice control panel 2, but it is also possible to monitor on the dispatcher's side using a visual device such as a display panel or CRT. You can also do it.

Furthermore, as a safety measure, the mobile radio 1 is equipped with a power switch to cut off the carrier wave, a tilt switch to protect the dead man, and an emergency stop switch. It is configured to prevent malfunctions and accidents by having programs such as stopping when an input is input and stopping when input is input in an order other than the predetermined input order.

In this way, since the conversational crane can be operated directly by the command's voice command, both hands (or one hand) of the operator are freed from operating the crane. Utilizing this characteristic, we can make workers multi-skilled by performing multiple tasks such as crane operation, slinging, and auxiliary work (setting up watering, driving vehicles, etc.), thereby eliminating the need for full-time operators and slinging workers. This can be made unnecessary and saves labor.

In addition, since it is operated using the most natural voice for a single person, anyone can use it without special training, and the wireless device carried by the worker is small, which can reduce worker fatigue and improve productivity.

In this embodiment, the voice control panel 2 is installed on the aircraft side, but it is also possible to install it on the ground side and control the crane by transmitting the output power to the crane via a conventional radio control device. It is.

In addition, instead of an answer pack using a voice synthesizer, indicator lights and various indicators (LED, LCD, plasma, CRT, etc.)
It is also possible to adopt a command confirmation method.

Furthermore, in the case of automatic cranes where the crane is controlled by a host computer, online input/output to the host computer can be performed using the voice control panel's communication function with the computer. The effectiveness of automated crane operation can be improved.

In this example, we have explained the overhead traveling lane, but there are other types of cranes installed indoors and outdoors.
Truck crane or stacker.

It can also be applied to loading machines for continuous conveyance of bulk materials such as reclaimers and loaders.

(Description of the Invention) The embodiment of the traveling conversational crane according to the present invention is as described above, and can bring about the following effects.

There is no need for a full-time operator who only operates the crane, and voice control allows one operator to safely and easily perform multiple tasks across the entire lane, saving labor and constantly monitoring the crane's status. Therefore, dangers can be prevented before they occur.

[Brief explanation of the drawing]

FIG. 1 is an overall view showing an embodiment of a traveling conversational crane according to the present invention, and FIG. 2 is a control block diagram of FIG. 1. 1... Mobile radio, 2°° Voice control panel, 3... Crane control panel, 4... Main hoisting device, 5
... Auxiliary hoisting device, 6... Traverse device, 7...
・Nα1 traveling device, 8...Nα2 traveling device, 9
...Lighting light, 10...Alarm. DESCRIPTION OF SYMBOLS 11...Headphone microphone, 12...Onboard antenna, 13...Fixed wireless device, 14...Voice recognition device, 15...Storage device, 16...Speech synthesizer, 1
7...Microcomputer, 18...Interface relay, 19...Sensor.

Claims (1)

[Scope of Claims] A traveling lane having a plurality of drive devices that operate according to a predetermined sequence; a crane control unit that controls the plurality of drive devices according to a control signal input from the outside; and a crane control unit installed on the crane. A sensor that detects various information regarding the condition of the crane; a commander terminal that can input commands for the operation of each part of the lane to be run using the commander's physical voice and monitor various information regarding the condition of the crane; A voice recognition unit that compares and recognizes the input command word in the human voice with a pre-registered matching pattern of the command person, and a control unique to the voice control crane that controls the control output corresponding to the command word recognized by the voice recognition unit. a voice control unit having an input/output interface unit that outputs the output to the crane control unit via the input/output interface unit, and the input/output interface is capable of inputting the sensor output and displaying it visually or audibly on the dispatcher terminal. A traveling conversational crane that is characterized by: