JPH066871A - Voice recognition radio control crane - Google Patents

Abstract

PURPOSE:To prevent a crane from reckless driving due to a malfunction by providing a control signal detecting part which outputs a stop signal to a control part when a control signal is not inputted even after the lapse of a set time. CONSTITUTION:A signal processing part 15 on a reception side decodes a data signal received by a receiver 14 into the control signal, and transmits the control signal to a control part 8, so that a crane driving system 9 can be operated. A control signal detecting part 16 is provided on the output side of the signal processing part 15. The control signal detecting part 16 always confirms the arrival of the control signal, and starts to count the set time by a timer means at every time of detecting the input of the control signal. Then, when the next control signal is not inputted even after the lapse of the set time, the control signal detecting part 16 outputs a stop signal SS to the control part 8. As the result, the operation of the crane driving system 9 is stopped by the control part 8.

Description

Detailed Description of the Invention

[0001]

FIELD OF THE INVENTION The present invention relates to a crane that is remotely controlled by voice and wirelessly. In conventional crane operation, the target operation switch has to be selected and operated from among many operation switches, so each time the operation is performed, the line of sight is moved to the operation switch and the operation switch is checked and operated. , Etc. are required. Moreover, the movement of the crane can be visually inspected for each operation.
The operation result must be confirmed.

On the other hand, with a voice, for example, a word,
When operating the crane remotely, it is not necessary to divert the line of sight from the movement of the crane, and there is an advantage that the crane can be operated remotely while always checking the movement of the crane, which is excellent in operability and safety.

[0003]

2. Description of the Related Art [Voice Signal Transmission System] FIG. 7 is a block diagram showing a conventional configuration of a radio controller for a crane using voice recognition. The radio control crane is roughly composed of a radio transmission unit 1 and a radio reception unit 2. Transmitter 1
Is a device that modulates / transmits a voice signal input from the microphone 3 by the wireless transmitter 4, and the receiving unit 2 receives and demodulates the voice signal transmitted from the transmitter 4, and a wireless receiver 5 for demodulating the same. Voice recognition unit 6 for recognizing voice signals
And a signal processing unit 7 for converting the voice recognition result into a control signal for the crane.

The control signal output from the signal processing unit 7 is input to the control unit 8 of the crane through the a contact of the remote controller / manual changeover switch SW ₁ to operate the crane drive system 9. If the remote control / manual switch SW ₁ is switched to the b contact side, the crane can be controlled by manually operating the switch section 10.

The voice recognition method is such that the voice recognition unit 6 stores a standard word pattern and the voice recognition process uses DP (Dynamic P
rogramming) It is convenient to use the matching method. That is, it is a method of giving a command by voice using words. Of course, other methods can be used as long as the speech recognition rate is sufficiently practical.

In this apparatus, for example, words such as "winding up (makiage)" and "winding down (maxiage)" are used as command words to perform a hoisting operation and a hoisting operation of the crane. That is, when these words are input as voice from the microphone 3, modulated by the transmitter 4, and transmitted, the receiver 5 receives and demodulates them, and the voice recognition unit 6 recognizes the voice. Then, the recognition result is converted into a control signal by the signal processing unit 7, and the crane drive system 9 is operated via the control unit 8.

[Digital Signal Transmission System] However, when a voice signal is transmitted by wireless communication as described above, there is a problem that the voice (word) recognition rate sharply decreases even if the communication quality is slightly deteriorated. That is, the receiver 5 receives
The S / N of the demodulated voice is lowered and the distortion rate is increased, so that the voice recognition rate is extremely lowered.

As a result, there is a risk that the remote control cannot be performed at the operator's discretion and the crane may malfunction. Therefore, a method of wirelessly transmitting an audio signal in the state of being converted into a digital signal is disclosed in Japanese Patent Application No. 4-1924.
Proposed in Issue 1. FIG. 8 is a diagram showing this digital signal transmission method, (a) is a block diagram showing the configuration of a voice recognition wireless control crane, (b) is a chart showing the relationship between the word giving a command, the transmission data and the operation of the crane, Is.

The transmission unit 1 comprises a microphone 3, a voice recognition unit 11, a signal processing unit 12 and a radio transmitter 13. The voice recognition unit 11 is a unit that performs voice recognition of words, registers the voice of the operator for each word to which a command is given, and stores the input word as a word standard pattern. That is, the voice registration switch SW ₃ is operated to perform voice registration such as “winding up (makiage)” and “winding down (maximum)”. In addition, the voice recognition process,
The DP matching method or the like is effective.

The signal processing unit 12 is an encoder for performing (encoding) processing for converting the recognition result of the voice recognition unit 11 into a data signal. The encoding result is the signal processing unit 1.
The modulated signal of 2 is transmitted by the wireless transmitter 13.

The receiver 2 comprises a radio receiver 14 and a signal processor 15. The wireless receiver 14 receives and demodulates the transmission wave of the transmitter 13 of the transmission unit 1, and supplies it to the signal processing unit 15. The signal processing unit 15 decodes the data signal received by the receiver 14 into a control signal and inputs the control signal to the control unit 8 to operate the drive system 9 of the crane.

As shown in FIG. 8 (b), numerical data $ 00 to $ 15 which can be easily identified are used as transmission data, but $ 00, $ 11, $ 13 and $ 15 are not used. . Further, as shown in the illustrated example, a word indicating the operation content of the crane is adopted as the registered voice. For example, the command word in the case of a right turning motion is “Migi”, and the command word in the case of a left turning motion is “hidari”. And Similarly, “Nobil”, “Chidim” ...
Register "Stop" by voice.

In this way, if a series of words such as "Migi" ... "Stop" is registered in the voice recognition unit 11 by the voice of the operator, then the operator turns to the microphone 3, for example, "Migi". , The data $ 01 is transmitted from the transmitter 1 to the receiver 2, and the crane starts turning to the right.

[0014]

As described above, the operation of the crane can be instructed by voice. However, the transmitter and the receiver are too far apart from each other, the signal does not reach, the interference radio wave is received, Or the crane may malfunction due to poor voice recognition. For example, in some cases, even if the user speaks “Migi” to instruct a right turn, and then speaks “Stop” to instruct a stop while making a right turn motion, the player may not stop.

Even if the crane is instructed to stop in this way, if the crane does not stop and the vehicle continues to turn right, there is a danger of danger. Although there are those that detect excessive movement of the crane with a limit switch or the like, there is a risk of collision with the human body or other structures before being detected by the limit switch or the like.

The technical problem of the present invention is to pay attention to such a problem, and in a crane which is remotely controlled by a voice command and wirelessly, it is possible to prevent the crane from going out of control due to a malfunction. is there.

[0017]

FIG. 1 is a block diagram for explaining the basic construction of a voice recognition wireless control crane according to the present invention. This figure shows the voice recognition unit 1 on the transmitting side as shown in FIG.
1 is an example of a system in which the result of the voice recognition in 1 is converted into a digital signal and the digital signal is transmitted wirelessly. In this figure, the output side of the signal processing unit 15 on the receiving side has passed the time set by the timer means. However, the control signal detector 16 outputs the stop signal SS to the controller 8 when the signal for crane control is not input.

In this figure, the control signal detector 16 is provided on the receiving side.
However, the control signal detection unit 16 may be provided on the output side of the voice recognition unit 11 or the output side of the signal processing unit 12 of the transmission unit. Alternatively, when applied to the method of transmitting in the state of a voice signal as shown in FIG. 7, it may be provided inside the transmitter 4 or next to the voice recognition unit 6 or the signal processing unit 7 on the receiving side.

[0019]

According to the present invention, the control signal detector 16 always confirms the arrival of the control signal. Then, each time the input of the control signal is detected, the timer means starts counting the set time, and if the next control signal is not input even after the set time elapses, the stop signal SS is sent to the control unit 8. Output. As a result, the control unit 8 stops the operation of the drive system 9 of the crane.

As described above, the control signal does not arrive even after the time set by the timer means has elapsed. In some cases, the operator may not have issued the next control command, or due to a malfunction, the control signal arrives. Without it, the crane may be out of control. In the former case, the crane automatically stops when the time set by the timer means has elapsed, but if it is desired to continue the same operation, the operator can issue the same command to continue the same operation.

When the set time set by the timer means elapses because the crane is out of control due to a malfunction as in the latter case, the crane will not run out of control any more, so that danger can be prevented. The shorter the time set by the timer means, the shorter the runaway distance can be made, but it stops in small steps. In order to prevent this and continue the same operation, it is sufficient for the operator to repeatedly say the same command in a short cycle, such as “Migi”, “Migi”, ... Before the set time elapses.

Therefore, according to the present invention, even when the crane is out of control because no control signal is input during operation, the crane automatically stops when the time set by the timer means has elapsed. It is possible to prevent further runaway and ensure safety.

[0023]

EXAMPLES Next, examples of practical use of the voice recognition wireless control crane according to the present invention will be described. The flowchart of FIG. 2 shows the operation of the control signal detection unit 16 and the subsequent units provided on the output side of the device having the signal processing unit 15 on the digital signal receiving side as in FIGS. 1 and 8. Now the steps of the flowchart
When a control signal is input to the control signal detection unit 16 in S1, the control signal is input to the control unit 8 directly from the signal processing unit 15 or via the control signal detection unit 16, and step S2 Controls the crane.

However, if the control signal is no longer input to the control signal detector 16 and it is determined in step S3 that the time set by the timer means has elapsed, the speed of the crane operation at that time is determined in step S4. Is detected. Then, in step S5,
Braking is performed according to the crane speed at that time, and the crane automatically stops.

That is, the crane is smoothly stopped by detecting the speed of a motor or the like driving the crane and applying a braking force according to the speed. When the next control signal is input within the time set by the timer means in step S3, the crane operates according to the control signal as shown in steps S1 and S2.

As shown in FIG. 7, when a voice signal is received, the control signal detection unit 16 of the present invention is provided on the output side of the voice recognition unit 6 or the output side of the signal processing unit 7 on the receiving side for a predetermined time. When the control signal is not input therein, the stop signal may be output to the control unit 8.

In the device of FIG. 8, when the control signal detecting unit of the present invention is provided on the transmitting side, the control signal detecting unit 16 is provided on the output side of the voice recognizing unit 11 on the transmitting side or the output side of the signal processing unit 12. If the control signal is provided and the control signal is not input within the predetermined time, the stop signal is wirelessly transmitted. As described above, when the stop signal is wirelessly transmitted, the stop signal may not be received due to poor reception. Therefore, it is necessary to provide the control signal detection unit of the present invention on the receiving side for reliability. Excellent in points.

[Working test type crane] In this way, runaway during use of the crane can be prevented in advance, but there may be cases where the cause of runaway occurs before the use of the crane is started. In such a case, it is desirable to investigate the cause of the runaway in advance and eliminate the obstacle.
Also, it may not operate normally from the beginning due to a failure or the like.

The flowchart of FIG. 3 is an example in which such a pre-work fault can be inspected. The work control circuit is built in the control unit 8 on the receiving side of FIG. In step S1 of this flowchart, when the main switch MSW provided in the control unit 8 of FIG. 1 is operated to turn it on, test 1 is started in step S2, and if there is an abnormality as a result, step 1
An abnormality is displayed in S3, and the main switch MSW is automatically disconnected in step S4. Therefore, since the cause of the abnormality is displayed and the main switch MSW is automatically turned off, the crane cannot be used unless the cause of the abnormality is eliminated.

If no abnormality is detected in step S2, the second test 2 is performed in the next step S5. If an abnormality is detected as a result, as in the case described above, step S3 is performed.
The abnormality display in and the main switch disconnection in step S4 are performed. If no anomaly is detected, the next third test 3 is performed.

In the same manner, the final nth test n is performed in step S6. Then, in all the 1st to nth tests, only when no abnormality is detected, the control signal can be input in step S7, and the voice can be input by the microphone 3 to start the crane.

The contents of each test 1 to n are performed by, for example, uttering each word in sequence and checking whether or not a control signal corresponding to the control unit 8 has been input.

Thus, according to this embodiment, when the main switch MSW is turned on before using the crane,
The controller automatically performs a series of preset tests, and if an abnormality is detected as a result, the main switch MSW of the crane is automatically disconnected. It is possible to prevent runaway of the car.

[Voice Misrecognition Crane] When voice recognition is used in a device that performs dangerous work such as a crane, if the voice recognition rate is low, malfunction is likely to occur, which is dangerous. For example, if you are calm in a normal tone and say "stop" and have registered voice, if the crane moves too much due to operator's carelessness and it is likely to collide with the human body or other structures, the operator There is a danger that the crane will not stop because the voice cannot be recognized even if you rush to say "Stop!"

In order to solve such a problem, as shown in FIG. 4, the voice recognition unit 11 is provided with a word storage memory 17.
As a configuration, a configuration in which a RAM such as a CMOS is connected is adopted. Then, as in the case of FIG. 8, the voice registration switch
With SW3 pressed, voice registration is performed in various tones as shown in FIG. In other words, with regard to the transmission data “01”, after calming in a normal tone and uttering “Migi”, the same transmission data “01” is assumed to be dangerous this time. I say. Furthermore, if necessary, the same transmission data "01" is uttered as "Migi" by a cold voice.

In the following, with respect to all the transmission data, in the same manner, tone such as "calm down", "quick talk", "cold voice", "hidari", "nobiru""jijimu" ... "stop", etc. The command word is voice registered in the word storage memory 17. Voice registration switch SW3
If the same word as the registered voice is uttered into the microphone 3 with the switch off, the crane operation can be reliably performed even if the voice is fast or cold.

For example, in the case of stopping, even if "Stop" is uttered in a normal tone, or even if the user feels dangerous and utters "Stop!" Quickly, each tone is stored in the word storage memory 17. By comparing each of the word standard patterns registered in (1) with the voice recognition unit 11, it is converted into the corresponding transmission data “14” and transmitted to the receiving side.
Therefore, it is possible to detect the danger and to speak quickly, resulting in poor voice recognition, which makes it impossible to operate the crane at will.
The problem is solved and it is extremely effective in preventing danger.

The flow chart of FIG. 6 shows the processing when voice is input to the microphone 3 in the apparatus of FIG. Now in step S1, microphone 3
If the voice registration switch SW3 is turned on when the voice is input to, it is determined that the voice is registered, and in step S2,
As shown in FIG. 5, the word storage memory 17 is used in various tones.
Voice registration is performed.

If the voice registration switch SW3 is turned off in step S1, it is determined that the crane is operated, and step S3 is performed.
And the voice detected by microphone 3 and
Each tone is compared with each word standard pattern registered in the word storage memory 17, and converted into corresponding transmission data.

For example, when it is desired to turn right, not only when calming in a normal tone and saying "Migi", but also when feeling dangerous and saying "Migi!" Quickly, or when a cold occurs. Even if a cold voice "Migi" is uttered, the voice recognition is surely performed and converted into the corresponding transmission data "01".

Then, in step S4, the transmitter 13 of FIG.
When wirelessly transmitted from and received by the receiver 14, the crane drive system 9 operates according to the word recognized by voice recognition. As described above, according to this embodiment, even if the user speaks swiftly and swiftly, the voice can be surely recognized, which is extremely effective in avoiding danger.

The crane in the present invention includes a crane traveling on the ceiling.

[0043]

As described above, according to the present invention, the control signal detector 16 constantly confirms the arrival of the control signal, and the set time is set by the timer means each time the control signal is detected. If the next control signal is not input even after the start of counting and the set time has elapsed, the stop signal SS is output to the control unit 8 and the operation of the crane drive system 9 is stopped by the control unit 8. You can

Therefore, when the crane goes out of control due to a malfunction, the crane automatically stops when the time set by the timer means elapses and does not run further, so danger can be prevented in advance and control is performed during operation of the crane. Even if the signal stops being input, runaway can be reliably prevented.

[Brief description of drawings]

FIG. 1 is a block diagram showing a basic configuration of a voice recognition wireless control crane according to the present invention.

FIG. 2 is a flowchart showing a control process of the voice recognition wireless control crane of the present invention.

FIG. 3 is a flowchart showing a work test process of the work test type crane.

FIG. 4 is a block diagram showing a configuration of a erroneous voice recognition prevention type crane.

FIG. 5 is a diagram showing a method of voice registration corresponding to each transmission data and a corresponding crane operation.

FIG. 6 is a flowchart showing a process when voice is input to a microphone of a voice misrecognition preventing crane.

FIG. 7 is a block diagram showing a conventional voice-recognition wireless control crane using voice signal transmission.

FIG. 8 is a block diagram showing a conventional voice recognition wireless control crane using digital signal transmission, and a table showing a correspondence relationship between a command word, transmission data, and a crane operation.

[Explanation of symbols]

1 Voice recognition wireless control crane transmitter 2 Voice recognition wireless control crane receiver 3 Microphone 4,13 Transmitter 5,14 Receiver 6 Voice recognition unit 7 Signal processing unit 8 Control unit 9 Crane drive system 10 Switch unit 11 Voice Recognition unit 12 Signal processing unit 13 Transmitter 14 Receiver 15 Signal processing unit 16 Control signal detection unit 17 Word memory memory SW ₁ , SW ₂ Remote / manual switch SW ₃ Voice registration switch MSW main switch

Claims (1)

[Claims] 1. A stop signal for a control unit (8) in a crane that can be remotely controlled by voice and wirelessly when a signal for crane control is not input even after a set time by a timer means has elapsed. A voice recognition wireless control crane, comprising a control signal detector (16) for outputting (SS).