JP4404405B2 - Voice control device for work equipment - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a voice control device for a work machine configured to recognize a voice uttered by an operator and remotely control the work machine.
[0002]
[Prior art]
As a remote operation device that remotely operates a work machine such as a crane, the operation command word corresponding to each operation device of the work machine is recognized from the voice uttered by the operator, and the corresponding operation device is remotely operated based on the recognition result. There is a voice control device configured to do this.
[0003]
As shown in FIG. 3, a conventional voice control device is attached to an operator's helmet or the like, and includes a headphone microphone 2 (consisting of a voice microphone 2a and a headphone 2b) and a transceiver 3. A transmitter / receiver 4 that transmits / receives audio signals between the portable operating device 1 and the transmitter / receiver 3 of the portable operating device 1 attached to the work machine body side, and an audio microphone 2a received by the transmitter / receiver 4. Voice data (for example, for winch hoisting operation) corresponding to each operation device (for example, winch device, swivel device, etc.) that has received the audio signal and has been registered in advance by the operator's own voice. Compared to “Hook Age”, “Hook Sage” for lowering operation, “Migashi Senkai” for turning right operation of swiveling device, “Hidari Senkai” for left turning operation, etc.) A voice recognition means 5 for outputting an operation command word as a recognition result, a controller 7 for outputting a valve switching signal to a valve device 6 for driving and controlling a corresponding operating device in response to the recognition result of the voice recognition means 5, and the voice A voice synthesizing unit 8 that receives the recognition result from the recognition unit 5 and synthesizes an answer-back voice corresponding to the recognition result and outputs it to the headphones 2b of the headphone microphone 2 via the transceivers 4 and 3; Yes.
[0004]
The voice control device configured as described above is configured to remotely operate the work machine in the following procedure. That is, for example, when the winch device of the work implement is operated to be wound at a normal speed, the operator first utters “hook age”, which is a winch device winding operation command word, toward the voice microphone 2a. The operation command voice is collected by the voice microphone 2 a to become a voice signal, transmitted from the transceiver 3 to the transceiver 4 and input to the voice recognition means 5. In the voice recognition means 5, the voice data of the operation command word group corresponding to each operation device registered in advance by the operator's own voice (for example, “Hook Age”, “Hook Sage”, “Migi Senkai”) The operation command word having the lowest degree of difference (in this case, “hook age” of the hoist operation command word) is output to the speech synthesizer 8 as a recognition candidate. The voice synthesizing means 8 receives the recognition result from the voice recognition means 5, synthesizes the answer-back voice of “hook age”, and answers the operator from the headphones 2 b of the headphone microphone 2 via the transceivers 4 and 3. .
[0005]
The operator who has received the answer back checks whether or not the recognition result of the voice recognition means 5 (the answer back “hook age” voice) matches the operation command. Say “yes” and, if wrong, say the disapproval word “no”. In this case, “Yes” is uttered because the recognition result of the voice recognition means 5 matches the operation command. The confirmation voice is collected by the voice microphone 2a and input to the voice recognition means 5, and is compared with the voice data of the confirmation / denial word group registered in advance by the voice recognition means 5. When the voice recognition means 5 recognizes that the confirmation word is “yes”, it is determined that the recognition candidate “hook age” has been confirmed, and the recognition result is determined. On the other hand, if it is recognized that the disapproval word is “NOW”, the recognition candidate “Hook Age” is determined to be misrecognized, the recognition result is cleared, and a voice input standby state is entered.
[0006]
Next, the operator utters “start” which is a drive command word at a normal speed. This drive command voice is collected by the voice microphone 2a and input to the voice recognition means 5 in the same manner as the operation command voice described above, and is compared with the voice data of the drive command word group registered in advance by the voice recognition means 5. The When the speech recognition unit 5 recognizes that the drive command word “start” at the normal speed is recognized, “start” is output to the speech synthesis unit 8 as a recognition candidate. The voice synthesizer 8 synthesizes a “start” answer-back voice in the same manner as described above, and answers the operator. When the operator who has received the answer back utters “Yes” as the confirmation word, the voice recognition means 5 that has received the confirmation recognizes it as the confirmation word and determines the drive command at the normal speed. The drive command word includes a drive command word “start” at normal speed, a drive command word “bisoku start” at slow speed, and driving by inching (a method of driving by repeatedly driving and stopping). There is a command word “choi” or the like, and these drive command words are also recognized and confirmed by the same procedure as described above.
[0007]
Next, the voice recognition means 5 in which the operation command and the drive command are determined is configured to output both recognition results to the controller 7. Receiving the recognition result from the voice recognition means 5 (in this case, “winding operation” at “normal speed”), the controller 7 switches the valve device 6 that drives the winch device in the winding direction to switch the valve corresponding to the normal speed. A signal is output to drive the winch device at a normal speed. When the drive command is “slow speed”, a valve switching signal with a limited switching amount is output, and when it is “inching”, a valve switching signal is output for a short time, and the winch device is wound at a low speed. It comes to drive.
[0008]
In this way, the voice control device can remotely operate the work machine with the voice uttered by the operator, and the voice control device can be used as a remote control device for a crane or the like that requires the operator to perform the sling work with both hands. Widely used as the price of recognition devices is reduced and recognition accuracy is improved.
[0009]
[Problems to be solved by the invention]
However, in the conventional voice control device, although the recognition accuracy is improved, the voice recognition means may misrecognize in a noisy environment or the like, and the operator may move unintentionally. For this reason, the recognition result is confirmed, that is, the operator recognizes the recognition result with a voice sound, and the operator who has received the answer back confirms the recognition result and utters the confirmation voice again by the voice recognition means. It was supposed to do the finalizing work to finalize. Since this confirmation work is performed via voice, there is a problem that it is complicated, time consuming and poor in operability.
[0010]
SUMMARY OF THE INVENTION The present invention has been made in view of the above-described conventional problems, and an object of the present invention is to provide a voice control device for a working machine that improves the operability by performing a recognition result determination operation without using voice.
[0011]
[Means for Solving the Problems]
The present invention has the following configuration as means for solving the above problems. According to the first aspect of the present invention, an operation command word corresponding to each operation device of the work implement is recognized from the voice microphone provided in the portable operation device and the voice of the operator collected by the voice microphone and recognized. A voice recognition means that outputs after confirming the result, a valve device that drives and controls each operating device of the work machine, and a controller that receives a recognition result from the voice recognition means and outputs a valve switching signal to the corresponding valve device. It is intended for the voice control device of the constructed work machine.
[0012]
The voice control device according to the present invention is provided with a display unit for displaying character information on the portable operation device, and the display unit recognizes the recognition result recognized by the voice recognition means. For this reason, the operator can visually confirm the recognition result of the voice recognition means by looking at the display unit of the portable operation device.
[0013]
Further, the portable operating device is provided with a manual operation type confirmation command means, and the confirmation command means is configured to output a drive speed command signal for commanding the drive speed of the work implement. The voice recognition means confirms the recognition result when the recognition speed is inputted from the confirmation command means after displaying the recognition result on the display section, and outputs the drive speed command signal together with the confirmed recognition result to the controller. It is configured to do. For this reason, if the operator manually confirms the recognition result displayed on the display unit and performs manual operation by an amount corresponding to the speed at which the confirmation command unit is desired to be driven, the voice recognition unit performs a driving speed command from the confirmation command unit. When the signal is received, the recognition result is confirmed, and a driving speed command signal is output to the controller together with the confirmed recognition result. Therefore, the controller that receives this signal outputs a valve switching signal corresponding to the driving speed command signal to the valve device corresponding to the recognition result. To remotely control the work machine. Accordingly, the driving speed can be commanded at the same time as the recognition result is confirmed, so that a quick operation is possible and the operability is improved.
[0014]
[0015]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, preferred embodiments of the present invention will be described with reference to FIGS. 1 and 2. Reference numeral 11 denotes a portable operating device, which is composed of a small and lightweight casing 11a that can be operated with one hand like a mobile phone. The portable operating device 11 includes a voice microphone 12 that collects an operation command voice of an operator on an upper portion of a casing 11a, a liquid crystal display 13 that can display character information, a power switch 14, a horn switch 15, and a display switch. A switch 16 and a manually operated accelerator dial 17 for outputting a drive speed command signal are respectively attached.
[0016]
In addition, a transmitter / receiver 18 is attached in the housing 11a, and an audio signal, a drive speed command signal, a display signal to the liquid crystal display 13, and the like described later with the transmitter / receiver 19 on the work machine main body side, etc. Are sent and received respectively.
[0017]
The operation command voice of the operator collected by the voice microphone 12 is transmitted from the transmitter / receiver 18 to the transmitter / receiver 19 on the work machine main body side and input to the voice recognition means 20. In the voice recognition means 20, as described in the conventional example, the input operation command voice of the operator is compared with the voice data of the operation command word group registered in advance by the voice of the operator himself, and the degree of difference is the highest. Speech recognition is performed using a specific speaker recognition method that outputs operation command words having low values as recognition results (recognition candidates). In addition to the above specific speaker recognition method, the speech recognition means recognizes an unspecified speaker recognition method that recognizes the speech of an unspecified number of people without registering the operator's own voice data in advance. It is also possible to do. Further, as a method for collecting the voice of the operator, in addition to using a voice microphone that directly collects the aerial propagation sound (voice) uttered by the operator, a bone that detects vibration propagating through the skull by the voice of the operator is used. It is also possible to use a sound conducting microphone. In the latter case, the operator's voice can be collected without being affected by noise even in a site where noise is intense, and a high recognition rate can be secured.
[0018]
In addition to the operation command word, the voice recognition means 20 includes a command word “Bisoku” in the slow drive mode for driving the work machine at a slow speed, a command release word “Bisoku Kaijo” in the slow drive mode, Height limit mode command word “Takasaseigen” that restricts driving outside the specified height range, height limit mode command release word “Takasaseigen Kaijo”, and work equipment is driven outside the specified work radius Each of the work mode command words such as the command word “HANKEI SEIGEN” in the work radius restriction mode for restricting the above and the command release word “HANKEI SEIGEN KAJIO” in the work radius restriction mode are configured to be recognizable. Further, the voice recognition means 20 is configured to be able to recognize a disapproval word “clear” which instructs to clear the recognition candidate command word and return to the voice recognition standby state when the recognition result is incorrect.
[0019]
As shown in FIG. 1, the liquid crystal display 13 displays the recognition results recognized by the voice recognition means 20 (for example, “hook up” corresponding to “hook age”, “hook lowering” corresponding to “hook hook”), etc. A recognition result display unit 13a is provided. The recognition result display unit 13a is configured to receive the recognition result recognized by the voice recognition means 20 via the transceivers 19 and 18 and display it as character information on the display unit 13a. In addition to the recognition result display unit 13a, the liquid crystal display 13 includes a battery display unit 13b that displays the remaining capacity of the battery, a radio wave intensity display unit 13c that displays the intensity of the radio wave, and an operation information calculation unit 23 that will be described later. An operation-related information display unit 13d that displays operation-related information such as the calculated load factor and rated load of the work implement, and a slow-speed mode display unit 13e that displays the slow-speed drive mode are provided. Of these displays, the operation-related information display unit 13d displays the rated load calculated by the operation information calculation means 23 when the work machine is in the no-load state (shown in FIG. 2a), and displays the load factor when in the load state (see FIG. 2). 1), automatic switching display is possible. In addition to the automatic switching display, the display on the operation-related information display unit 13d is configured such that display information can be switched by manually operating the display switching switch 16. In this embodiment, the display changeover by the display changeover switch 16 is a form in which the load factor is displayed on the recognition result display section 13a and the rated load is displayed on the operation related information display section 13d (shown in FIG. 2b), or the actual load is recognized. It is configured to be switchable to a form (shown in FIG. 2c) which is displayed on the result display unit 13a and the rated load is displayed on the operation related information display unit 13d. The display switching by the display switch 16 may be configured to switch the display using voice recognition. Further, when the height restriction mode and the work radius restriction mode are set, the operation related information display unit 13d displays each mode (shown in FIG. 2d). The recognition result display unit 13a of the liquid crystal display 13 constitutes a display unit in claim 1 of the present application.
[0020]
The accelerator dial 17 is connected to a potentiometer (not shown), and is configured such that the drive speed command signal gradually increases when the operation ring 17a is operated to the right side and gradually decreases when the operation ring 17a is operated to the left side. The driving speed command signal from the accelerator dial 17 is A / D converted and then input to the voice recognition means 20 via the transceivers 18 and 19. The speech recognition means 20 uses the drive speed command signal as a confirmation command signal for confirming the speech recognition result, and confirms the speech recognition result of the recognition candidate. The voice recognition means 20 outputs a drive speed command signal to the controller 21 together with the confirmed recognition result. In this embodiment, the accelerator dial 17 is configured to output a driving speed command signal of an analog signal using a potentiometer, but directly outputs a driving speed command signal of a digital signal using a jog dial or the like. It may be configured.
[0021]
The accelerator dial 17 is configured to output a drive speed command signal as a continuous signal in this embodiment, but outputs only a confirmation command signal as an on / off signal using a pushbutton switch or the like. (Embodiment corresponding to claim 1). In that case, it may be configured to instruct the driving speed of the work machine using voice recognition. The accelerator dial 17 constitutes a manual operation type confirmation command means in claim 1 of the present application.
[0022]
Reference numeral 21 denotes a controller, which receives a voice recognition result and a driving speed command signal from the voice recognition means 20 and applies a valve corresponding to the driving speed command signal to the valve device 22 corresponding to the voice recognition result, as in the conventional controller. A switching signal is output to drive the actuator 27 of the work machine.
[0023]
23 is an operation information calculation means that receives the detection values from the load detector 24, the boom angle detector 25, the boom length detector 26, and the like attached to the work implement, and is a load factor that is operation related information of the work implement. It calculates the load, the rated load, the actual load, etc., and constantly monitors the work implement to prevent it from being overloaded, and outputs the calculation result to the operation information display section 13d of the liquid crystal display 13 via the transceivers 19 and 18. Thus, the operation information is displayed on the display unit 13d.
[0024]
The voice control device for a work machine according to the present invention is configured to remotely operate the work machine in the following procedure. That is, for example, in order to perform the hoisting operation of the winch device of the working machine, first, the operator speaks “hook age”, which is a hoisting operation command word of the winch device, toward the voice microphone 12 of the portable operating device 11. The operation command voice is collected by the voice microphone 12 and input to the voice recognition means 20 via the transceivers 18 and 19. In the voice recognition means 20, the voice data of the operation command word group corresponding to each operation device registered in advance by the operator's own voice (eg, “hook age” for winding winch, The operation command word (in this case, the hoisting operation command word) with the lowest degree of difference compared to “hook sage” for lowering operation, “Migakusenkai” for right turning operation, “hidarisenkai” for left turning operation, etc.) “Hook Age”) is used as a recognition candidate, and is output to the liquid crystal display 13 of the portable operating device 11 via the transceivers 19 and 18. Receiving this, the liquid crystal display 13 displays the recognition candidate “hook up” characters on the recognition result display unit 13a.
[0025]
Next, the operator checks whether or not the recognition result “hook raising” displayed on the recognition result display unit 13a matches the operation command. If they match, the voice recognition is accurately performed. The accelerator dial 17 is operated by an operation amount corresponding to the driving speed. As a result, a driving speed command signal is output from the accelerator dial 17, and the command signal is input to the voice recognition means 20 via the transceivers 18 and 19. Upon receiving this drive speed command signal, the voice recognition means 20 determines the recognition candidate “hook age” and outputs the drive speed command signal from the accelerator dial 17 together with the determined operation command signal “winding operation of the winch device”. Output to the controller 21. In response to this, the controller 21 outputs a valve switching signal corresponding to the drive speed command signal to the valve device 22 that drives the winch device to wind up, so that the valve device 22 is driven to wind up and drive the actuator 27 for driving the winch device. It has become.
[0026]
On the other hand, if the display content displayed on the recognition result display unit 13a of the liquid crystal display 13 does not match the operation command, the operator may say “clear” of the disapproval word. “Clear” of the repudiation word is input to the voice recognition means 20, and when the voice recognition means 20 recognizes it as a repudiation word, the recognition candidate “hook age” is determined to be erroneous recognition and The recognition candidate is cleared, and the voice recognition standby state for accepting the input of a new operation command voice is returned.
[0027]
In addition, the lowering operation of the winch device and other operation devices (for example, the left turn and the right turn of the turning device) can be remotely operated in the same procedure as described above.
[0028]
In addition, the operator can remotely control the work implement while confirming the operation related information of the work implement displayed on the operation information display unit 13d during the operation, and can prevent the work implement from being overturned. It can be done. Further, by operating the display changeover switch 16, necessary operation related information can be displayed.
[0029]
【The invention's effect】
The voice control device of the working machine of the present invention displays the recognition result of the voice recognition means on the display unit, and the operator confirms the recognition result displayed on the display unit and then drives the confirmation command unit at a desired speed. If the corresponding amount is manually operated, the voice recognition means receives the drive speed command signal from the confirmation command means and confirms the recognition result, and outputs the drive speed command signal to the controller together with the confirmed recognition result. The received controller outputs a valve switching signal corresponding to the drive speed command signal to the valve device corresponding to the recognition result to remotely operate the work machine. Accordingly, the driving speed can be commanded at the same time as the recognition result is confirmed, so that a quick operation is possible and the operability is improved.
[Brief description of the drawings]
FIG. 1 is an explanatory diagram of a voice control device of a working machine according to the present invention.
FIG. 2 is a display explanatory diagram of the liquid crystal display 13 of the portable operating device of the present invention, where (a) shows a state where “hook down” is recognized without load, and (b) shows a load factor and a rated load. (C) is a display example in which the actual load and the rated load are displayed, and (d) is a display example in a state in which the height restriction mode and the working radius restriction mode are set simultaneously.
FIG. 3 is an explanatory diagram of a voice control device of a conventional working machine.
[Explanation of symbols]
11; portable operation device, 11a; housing, 12; voice microphone, 13; liquid crystal display (display unit), 13a; recognition result display unit, 13b; battery display unit, 13c; radio wave intensity display unit, 13d; Information display section, 13e; Slow mode display section, 14; Power switch, 15; Horn switch, 16; Display switch, 17; Accel dial (determination command means), 18, 19; Transceiver, 20; Voice recognition means, 23; Operation information calculation means, 21; Controller, 22; Valve device, 24; Load detector, 25; Boom angle detector, 26; Boom length detector,

Claims (1)

A voice microphone provided in the portable operating device and a voice to be output after recognizing an operation command word corresponding to each operating device of the work implement from a voice of an operator collected by the voice microphone and determining the recognition result A voice control device for a work machine comprising a recognition means, a valve device for driving and controlling each operating device of the work machine, and a controller that receives a recognition result from the voice recognition means and outputs a valve switching signal to the corresponding valve device In
The portable operation device is provided with a display unit for displaying character information and a manual operation type confirmation command means, and the confirmation command means is configured to output a drive speed command signal for commanding the drive speed of the work implement, The recognition result recognized by the voice recognition unit is displayed on the display unit as characters, and the voice recognition unit receives the command signal from the confirmation command unit after the recognition result is displayed on the display unit and determines the recognition result. A voice control device for a working machine, characterized in that a drive speed command signal is output to the controller together with the recognized result.

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