Work machine and operation support system

Abstract

Provided is technology capable of ensuring safety when a conversation takes place between an operator of a work machine and a person in the vicinity of the work machine. A work machine 100 according to an embodiment of the present disclosure comprises a lower traveling body 1, an upper revolving body 3 which is mounted on the lower traveling body 1 so as to be capable of revolving, a driver's cab 10 which is mounted on the upper revolving body 3 and in which an operator rides, an acquiring device (for example, a talk button KS, an internal sound collecting device M2, etc.) which acquires information relating to the state of conversation between the operator and a person in the vicinity of the work machine 100, and a controller 30 into which an output of the acquiring device is input, wherein the controller 30 restricts the operation of the work machine 100 when the operator in the driver's cab 10 is speaking to a person in the vicinity of the work machine 100.

Description

Work machines, operation support systems

[0001] The present disclosure relates to work machines and the like.

[0002] Conventionally, communication between a work machine operator and people around the work machine (for example, workers, work site supervisors or managers, etc.) has sometimes been achieved through conversation (see, for example, Patent Document 1).

[0003] Publication No. 2013-47427

[0004] Incidentally, when a conversation takes place between the operator of a work machine and people around the work machine, it is desirable to ensure the safety of the work machine and its surroundings.

[0005] In view of the above-mentioned problems, an object of the present invention is to provide a technology that can ensure safety when a conversation takes place between an operator of a work machine and people around the work machine.

[0006] In order to achieve the above object, in one embodiment of the present disclosure, a work machine is provided, comprising: a lower running body; an upper rotating body mounted on the lower running body so as to be freely rotatable; a cab mounted on the upper rotating body and in which an operator of the work machine sits; a first acquisition device that acquires information regarding the status of speech from the operator to people around the work machine; and a control device to which output from the first acquisition device is input, wherein the control device restricts the operation of the work machine when the operator is speaking to people around the work machine.

[0007] In another embodiment of the present disclosure, there is provided a work machine comprising: a lower running body; an upper rotating body mounted on the lower running body so as to be freely rotatable; a cab mounted on the upper rotating body and in which an operator of the work machine sits; a sound collection device that collects sounds from inside the cab; a sound output device provided outside the cab and that outputs sounds; and a control device that controls a function of outputting the sounds collected by the sound collection device from the sound output device, wherein the control device restricts the function when the operator is operating the work machine.

[0008] Furthermore, in yet another embodiment of the present disclosure, there is provided an operation assistance system that allows conversation between an operator of a work machine having a lower running body and an upper rotating body that is rotatably mounted on the lower running body and people around the work machine, the operation assistance system comprising: a first acquisition device that acquires information regarding the status of speech from the operator to people around the work machine; and a control device to which the output of the first acquisition device is input, wherein the control device restricts the operation of the work machine when the operator is speaking to people around the work machine.

[0009] Furthermore, in yet another embodiment of the present disclosure, there is provided an operation assistance system for a work machine having a lower running body and an upper rotating body mounted on the lower running body so as to be freely rotatable, the operation assistance system comprising: a sound collection device that collects sounds from inside a cab where an operator of the work machine is located; a sound output device that outputs sounds around the work machine; and a control device that controls a function of outputting the sounds collected by the sound collection device from the sound output device, wherein the control device restricts the function when the operator is operating the work machine.

[0010] According to the above-described embodiment, safety can be ensured when a conversation takes place between the operator of a work machine and people around the work machine.

[0011] 1 is a side view showing an example of the configuration of a work machine. FIG. 2 is a top view showing an example of the configuration of a work machine. FIG. 3 is a diagram showing an example of the configuration of an external sound collection device and an information transmission device. FIG. 4 is a block diagram showing an example of the configuration of a work machine. FIG. 5 is a top view showing an example of the interior of the cab of a work machine. FIG. 6 is a perspective view illustrating an example of a function (conversation function) that enables a conversation between a work machine in which an operator is riding and a person (worker) in the vicinity thereof. FIG. 7 is a flowchart schematically showing a first example of conversation support processing. FIG. 8 is a diagram showing an example of a method of restricting the operation of an actuator. FIG. 9 is a flowchart schematically showing a second example of conversation support processing. FIG. 10 is a flowchart schematically showing a third example of conversation support processing. FIG. 11 is a flowchart schematically showing a fourth example of conversation support processing. FIG. 12 is a time chart showing an example of a control method related to operation restriction when operation restriction is initiated during operation of an actuator. FIG. 13 is a diagram showing an example of a screen of a display device when operation restriction of an actuator is being performed. FIG. 14 is a flowchart schematically showing an example of processing to disable the speech function. FIG. 15 is a diagram showing another example of the configuration of a work machine. FIG. 16 is a diagram showing another example of the interior of the cab of a work machine. Fig. 1 is a diagram showing yet another example of the interior of a cab of a work machine. Fig. 2 is a diagram showing, in outline, an example of the configuration of an operation assistance system for a work machine. Fig. 3 is a flowchart showing, in outline, an example of processing related to the speech function of a work machine. Fig. 4 is a diagram showing, in outline, another example of the configuration of an operation assistance system for a work machine. Fig. 5 is a diagram showing an overview of an example of an operation assistance system.

[0012] Hereinafter, embodiments of the present disclosure will be described with reference to the drawings. The embodiments described below are examples and do not limit the invention. Not all features and combinations thereof in the embodiments of the present disclosure are necessarily essential to the invention. In addition, identical or corresponding components in each drawing are designated by identical or corresponding reference numerals, and redundant description may be omitted.

[0013] The work machine 100 according to the embodiment of the present disclosure is a shovel. The work machine 100 may be a machine other than a shovel, such as a crane, an asphalt finisher, or a forklift. In the illustrated example, the shovel as the work machine 100 is an excavator equipped with a bucket 6 as an end attachment, but the work machine 100 may also be an applied machine such as a forestry machine equipped with an end attachment other than the bucket 6.

[0014] [Outline of an example of the configuration of a work machine] An overview of an example of the configuration of a work machine 100 will be described with reference to Figures 1 to 3. Figure 1 is a side view showing an example of the configuration of the work machine 100. Figure 2 is a top view showing an example of the configuration of the work machine 100. Figure 3 is a diagram showing an example of the configuration of an external sound collection device M1 and an information transmission device G1. Specifically, Figure 3 is a perspective view of a left microphone M1L and a left light bar G1L attached to a housing having a substantially rectangular parallelepiped shape.

[0015] +X in Fig. 1 represents one direction of the X axis that constitutes a three-dimensional Cartesian coordinate system, and -X represents the other direction of the X axis. In Fig. 2, +Y represents one direction of the Y axis that constitutes a three-dimensional Cartesian coordinate system, and -Y represents the other direction of the Y axis. In Fig. 1, +Z represents one direction of the Z axis that constitutes a three-dimensional Cartesian coordinate system, and -Z represents the other direction of the Z axis. In Fig. 1, the +X side of the work machine 100 corresponds to the front side of the work machine 100, and the -X side of the work machine 100 corresponds to the rear side of the work machine 100. Furthermore, the +Y side of the work machine 100 corresponds to the left side of the work machine 100, and the -Y side of the work machine 100 corresponds to the right side of the work machine 100. Furthermore, the +Z side of the work machine 100 corresponds to the top side of the work machine 100, and the -Z side of the work machine 100 corresponds to the bottom side of the work machine 100. The same applies to the other figures.

[0016] Also, the following description referring to Figure 3 relates to the combination of the left microphone M1L and the left light bar G1L, but it also applies to the combination of the front microphone M1F and the front light bar G1F, the combination of the right microphone M1R and the right light bar G1R, and the combination of the rear microphone M1B and the rear light bar G1B.

[0017] The work machine 100 includes a lower traveling body 1, an upper rotating body 3 that is mounted on the lower traveling body 1 so as to be rotatable via a rotating mechanism 2, an attachment AT for performing various tasks, and a cab 10. The cab 10 is also called a cabin or a cab. The front side of the work machine 100 (upper rotating body 3) corresponds to the side of the upper rotating body 3 to which the attachment AT is attached when the work machine 100 is viewed from directly above along the rotation axis of the upper rotating body 3. Furthermore, the left, right, and rear sides of the work machine 100 (upper rotating body 3) correspond to the left, right, and rear sides, respectively, as seen from the perspective of an operator seated in the driver's seat in the cab 10. The operator is also called an operator.

[0018] The undercarriage 1 includes, for example, a pair of left and right crawlers 1C. Specifically, the crawlers 1C include a left crawler 1CL and a right crawler 1CR. The left crawler 1CL is driven by a left traveling hydraulic motor 2ML, and the right crawler 1CR is driven by a right traveling hydraulic motor 2MR. The left traveling hydraulic motor 2ML is a traveling drive unit that drives the left crawler 1CL as a driven part, and can rotate the left crawler 1CL. The right traveling hydraulic motor 2MR is a traveling drive unit that drives the right crawler 1CR as a driven part, and can rotate the right crawler 1CR. The traveling drive units may be electric motors.

[0019] The upper rotating body 3 rotates relative to the undercarriage 1 when the rotating mechanism 2 is driven by the hydraulic swing motor 2A. The hydraulic swing motor 2A is a swing drive unit that drives the upper rotating body 3 as a driven unit, and can change the orientation of the upper rotating body 3. The swing drive unit may be an electric motor.

[0020] A boom 4 is rotatably attached to the center of the front of the upper rotating body 3, an arm 5 is rotatably attached to the tip of the boom 4, and a bucket 6 is rotatably attached to the tip of the arm 5. In the illustrated example, the boom 4, arm 5, and bucket 6 constitute an excavation attachment, which is an example of an attachment AT. The boom 4, arm 5, and bucket 6 are driven by a boom cylinder 7, an arm cylinder 8, and a bucket cylinder 9, respectively.

[0021] The bucket 6 is an example of a work tool (end attachment). The bucket 6 is used, for example, for excavation work. Instead of the bucket 6, another work tool may be attached to the end of the arm 5 depending on the work content, etc. The other work tool may be, for example, another type of bucket, such as a large bucket, a slope bucket, or a dredging bucket. The other work tool may also be a type of work tool other than a bucket, such as an agitator, a breaker, a grapple, or a lifting magnet.

[0022] The swing hydraulic motor 2A, the left traveling hydraulic motor 2ML, the right traveling hydraulic motor 2MR, the boom cylinder 7, the arm cylinder 8, and the bucket cylinder 9 are hydraulic actuators driven by hydraulic oil discharged from a hydraulic pump.

[0023] It should be noted that in the work machine 100, all or some of the driven parts, such as the lower traveling body 1, upper rotating body 3, boom 4, arm 5, and bucket 6, may be electrically driven. In other words, the work machine 100 may be a hybrid work machine, an electric work machine, or the like, in which all or some of the driven parts are driven by electric actuators. Hereinafter, when there is no need to distinguish between hydraulic actuators and electric actuators, they will simply be referred to as "actuators."

[0024] Additionally, the work machine 100 is equipped with an information transmission device G1, an external sound collection device M1, an imaging device S6, and an external sound output device SP1.

[0025] The imaging device S6 is provided on the upper rotating body 3 or the cab 10, and captures images of the periphery of the work machine 100 to obtain image information showing the periphery of the work machine 100. In the illustrated example, the imaging device S6 includes a front camera S6F, a left camera S6L, a right camera S6R, and a rear camera S6B.

[0026] The front camera S6F is a camera that captures images in front of the work machine 100, and is attached to the outside of the cab 10, such as on the roof of the cab 10 or on the side of the boom 4. The left camera S6L is a camera that captures images to the left of the work machine 100, the right camera S6R is a camera that captures images to the right of the work machine 100, and the rear camera S6B is a camera that captures images to the rear of the work machine 100. Specifically, the front camera S6F, left camera S6L, right camera S6R, and rear camera S6B are all monocular wide-angle cameras equipped with an imaging element such as a CCD (Charge Coupled Device) or a CMOS (Complementary Metal Oxide Semiconductor), and output the captured images to the display device D1. Information about the images captured by the imaging device S6 is taken into the controller 30.

[0027] The front camera S6F may be mounted inside the cab 10, for example, on the ceiling of the cab 10.

[0028] In the illustrated example, the front camera S6F is attached to the roof of the driver's cab 10, the left camera S6L is attached to the left end of the upper surface of the upper rotating body 3, the right camera S6R is attached to the right end of the upper surface of the upper rotating body 3, and the rear camera S6B is attached to the rear end of the upper surface of the upper rotating body 3.

[0029] The imaging device S6 may constitute an object detection device that detects objects around the work machine 100. Examples of objects include people, animals, vehicles, construction machinery, buildings, and holes. The object detection device may be configured to distinguish between people and non-human objects when detecting them. In other words, the object detection device may be configured to function as a person detection device. The object detection device may be configured as a device other than a camera. For example, the object detection device may be a LiDAR (Light Detection and Ranging). LiDAR is a device that can measure the distance between the LiDAR (laser source) and a point cloud of, for example, one million or more points within a monitoring range. The object detection device may also be another device that can measure the distance to an object, such as a stereo camera, a range imaging camera, or a millimeter-wave radar. When a millimeter-wave radar or the like is used as the object detection device, the object detection device may emit multiple signals (such as laser light) toward the object and receive the reflected signals to derive the distance and direction of the object. Alternatively, the object detection device may be a combination of two or more types of devices. For example, the object detection device may be a combination of an imaging device and LiDAR, a combination of an imaging device and millimeter-wave radar, or a combination of an imaging device and a stereo camera.

[0030] The external sound collection device M1 is a device that collects external sounds and is also called a microphone or a microphone. In the illustrated example, the external sound collection device M1 is provided on the upper rotating body 3 or the cab 10, and converts sounds (air vibrations) generated around the work machine 100 into mechanical vibrations, which are then converted into electrical signals. Specifically, the external sound collection device M1 is configured to be able to pick up voices uttered by workers around the work machine 100, and includes a front microphone M1F, a left microphone M1L, a right microphone M1R, and a rear microphone M1B.

[0031] The front microphone M1F is a microphone that collects sounds generated in front of the work machine 100, and is attached to the outside of the cab 10, such as on the roof of the cab 10 or on the side of the boom 4. The front microphone M1F may also be attached to the inside of the cab 10, for example, on the ceiling of the cab 10. The left microphone M1L is a microphone that collects sounds generated to the left of the work machine 100, the right microphone M1R is a microphone that collects sounds generated to the right of the work machine 100, and the rear microphone M1B is a microphone that collects sounds generated behind the work machine 100. The electrical signals generated by the front microphone M1F, left microphone M1L, right microphone M1R, and rear microphone M1B are taken into the controller 30.

[0032] In the illustrated example, the front microphone M1F is attached to the roof of the cab 10, the left microphone M1L is attached to the left end of the upper surface of the upper rotating body 3, the right microphone M1R is attached to the right end of the upper surface of the upper rotating body 3, and the rear microphone M1B is attached to the rear end of the upper surface of the upper rotating body 3. In this manner, the four external sound collection devices M1 (the front microphone M1F, the left microphone M1L, the right microphone M1R, and the rear microphone M1B) are provided at different positions on the upper rotating body 3. Therefore, the controller 30 can detect the direction of a sound source based on differences in the sounds collected by each of the four external sound collection devices M1 (e.g., differences in volume). Furthermore, when an array microphone is used as the external sound collection device M1, the direction of a sound source can be detected based on, for example, a phase shift or differences in volume.

[0033] In the illustrated example, the four external sound collection devices M1 and the four image capture devices S6 are arranged to correspond to each other. Specifically, the front microphone M1F is arranged adjacent to the front camera S6F, the left microphone M1L is arranged adjacent to the left camera S6L, the right microphone M1R is arranged adjacent to the right camera S6R, and the rear microphone M1B is arranged adjacent to the rear camera S6B.

[0034] The external sound output device SP1 is a device that outputs sound toward the periphery of the work machine 100. In the illustrated example, the external sound output device SP1 is an omnidirectional speaker that is configured to output sound uniformly in all directions. However, the external sound output device SP1 may also be a directional speaker that outputs sound toward a specific direction, such as the front.

[0035] The information transmission device G1 is a device for communicating the status of the work machine 100 to someone outside the work machine 100. In the illustrated example, the information transmission device G1 is provided on the upper rotating body 3 or the operator's cab 10, and is configured to be able to communicate the status of the work machine 100 to an operator present around the work machine 100. Specifically, the information transmission device G1 is a light-emitting device, and includes a front light bar G1F, a left light bar G1L, a right light bar G1R, and a rear light bar G1B.

[0036] The front light bar G1F is a light-emitting device that can visually convey information to operators and the like in front of the work machine 100, and is attached to the outside of the cab 10, such as on the roof of the cab 10 or on the side of the boom 4. The front light bar G1F may also be attached to the inside of the cab 10, for example, on the ceiling of the cab 10. The left light bar G1L is a light-emitting device that can visually convey information to operators and the like on the left side of the work machine 100, the right light bar G1R is a light-emitting device that can visually convey information to operators and the like on the right side of the work machine 100, and the rear light bar G1B is a light-emitting device that can visually convey information to operators and the like in the rear of the work machine 100. The front light bar G1F, left light bar G1L, right light bar G1R, and rear light bar G1B each emit light in response to an electrical signal from the controller 30. In the illustrated example, the light-emitting devices are LED lights, but they may also be other light-emitting devices, such as halogen lamps. Furthermore, the light emitting device is of a multicolor emission type, but may be of a monochromatic emission type.

[0037] In the illustrated example, the front light bar G1F is attached to the roof of the operator's cab 10, the left light bar G1L is attached to the left end of the upper surface of the upper rotating body 3, the right light bar G1R is attached to the right end of the upper surface of the upper rotating body 3, and the rear light bar G1B is attached to the rear end of the upper surface of the upper rotating body 3. In this way, the four information transmission devices G1 (front light bar G1F, left light bar G1L, right light bar G1R, and rear light bar G1B) are provided in different positions on the upper rotating body 3. Therefore, the controller 30 can communicate the status of the work machine 100 to operators and the like who are respectively located in front, left, right, and rear of the work machine 100 by separately operating each of the four information transmission devices G1.

[0038] In the illustrated example, the four information transmission devices G1 and the four external sound collection devices M1 are arranged to correspond to one another. Specifically, the front light bar G1F is arranged adjacent to the front microphone M1F, the left light bar G1L is arranged adjacent to the left microphone M1L, the right light bar G1R is arranged adjacent to the right microphone M1R, and the rear light bar G1B is arranged adjacent to the rear microphone M1B.

[0039] As shown in Figure 3, the left microphone M1L and left light bar G1L are arranged on the left side of the approximately rectangular parallelepiped housing so as to face to the left of the work machine 100. With this arrangement, the left microphone M1L can efficiently collect sounds generated to the left of the work machine 100, and the left light bar G1L can efficiently communicate the status of the work machine 100 to an operator on the left of the work machine 100. For example, the left microphone M1L can pick up the voice uttered by an operator on the left of the work machine 100, and the left light bar G1L can notify the operator that the left microphone M1L has picked up the operator's voice by emitting light in a predetermined color. In this case, an operator on the left of the work machine 100 who speaks into the left microphone M1L can confirm that their voice has reached the left microphone M1L (i.e., the operator of the work machine 100) by looking at the left light bar G1L emitting light in a predetermined color.

[0040] The information transmission device G1 may be provided at the upper part of each of the four side surfaces of the cab 10 (see FIG. 6 ). For example, the information transmission device G1 may be configured so that a front light bar G1F is attached to the upper part of the front surface of the cab 10, a left light bar G1L is attached to the upper part of the left surface of the cab 10, a right light bar G1R is attached to the upper part of the right surface of the cab 10, and a rear light bar G1B is attached to the upper part of the rear surface of the cab 10. Furthermore, the information transmission device G1 may be a single rotating light such as a Nico Torch attached to the upper surface of the cab 10, or may be a display device such as a liquid crystal display or an organic EL display.

[0041] The controller 30 is an example of a control device, and is configured, for example, by a computer including a CPU (Central Processing Unit), a volatile storage device, a non-volatile storage device, and various input / output interfaces. The controller 30 then realizes various functions, for example, by reading a program from the non-volatile storage device, loading it into the volatile storage device, and having the CPU execute the program. In the illustrated example, the controller 30 is configured to realize various functions and control the work machine 100. The various functions include, for example, a machine guidance function that guides the operator in manually operating the work machine 100. The various functions may also include a contact avoidance function that automatically or autonomously operates or stops the work machine 100 to avoid contact between the work machine 100 and an object that is present within a monitoring range around the work machine 100.

[0042] Note that some of the functions of the controller 30 may be realized by another controller. In other words, the functions of the controller 30 may be shared by a plurality of controllers. Furthermore, some of the functions of the controller 30 may be realized by a control device external to the work machine 100 (for example, the management device 200 described below).

[0043] The boom angle sensor S1 detects the boom angle, which is the rotation angle of the boom 4 relative to the upper rotating body 3. The arm angle sensor S2 detects the arm angle, which is the rotation angle of the arm 5 relative to the boom 4. The bucket angle sensor S3 detects the bucket angle, which is the rotation angle of the bucket 6 relative to the arm 5.

[0044] Each of the boom angle sensor S1, arm angle sensor S2, and bucket angle sensor S3 may be, for example, a rotary encoder, an acceleration sensor, a six-axis sensor, an IMU (Inertial Measurement Unit), a potentiometer using a variable resistor, a cylinder stroke sensor that detects the stroke amount of a hydraulic cylinder, etc.

[0045] The detection signal corresponding to the boom angle from the boom angle sensor S1, the detection signal corresponding to the arm angle from the arm angle sensor S2, and the detection signal corresponding to the bucket angle from the bucket angle sensor S3 are input to the controller 30.

[0046] The machine body tilt sensor S4 detects the tilt state of the machine body (undercarriage 1 or upper rotating body 3) with respect to the horizontal plane. The machine body tilt sensor S4 is attached to, for example, the upper rotating body 3, and detects the tilt angle of the work machine 100 (i.e., the upper rotating body 3) around two axes in the front-to-rear and left-to-right directions. The machine body tilt sensor S4 may be, for example, an acceleration sensor, a six-axis sensor, an IMU, or the like. A detection signal corresponding to the tilt angle detected by the machine body tilt sensor S4 is input to the controller 30.

[0047] The rotation sensor S5 outputs information related to the rotation of the upper rotating body 3. The rotation sensor S5 detects, for example, the rotation angular velocity of the upper rotating body 3 relative to the lower traveling body 1. The rotation sensor S5 may also detect the rotation angle. The rotation sensor S5 may be, for example, a gyro sensor, a resolver, or a rotary encoder. A detection signal corresponding to the rotation angle or rotation angular velocity of the upper rotating body 3 detected by the rotation sensor S5 is input to the controller 30.

[0048] The positioning device PS measures the position of the upper rotating body 3. The positioning device PS is, for example, a Global Navigation Satellite System (GNSS) compass, and detects the position and orientation of the upper rotating body 3. A detection signal corresponding to the position and orientation of the upper rotating body 3 is input to the controller 30. The function of detecting the orientation of the upper rotating body 3 may be realized by a direction sensor attached to the upper rotating body 3.

[0049] The operator's cab 10 is a compartment space in which an operator rides, and is provided on the front left side of the upper rotating body 3. However, when the work machine 100 is remotely controlled or when the work machine 100 operates in a fully automatic manner, the operator's cab 10 may be omitted.

[0050] The communication device T1 communicates with an external device via a communication network including a mobile communication network, a satellite communication network, the Internet, etc. The communication device T1 is, for example, a mobile communication module compatible with a mobile communication standard such as LTE (Long Term Evolution), 4G (4th Generation), or 5G (5th Generation), a communication module compatible with a short-range wireless communication standard such as Wi-Fi (registered trademark) or Bluetooth (registered trademark), or a satellite communication module for connecting to a satellite communication network.

[0051] The work machine 100 operates actuators in response to operations by an operator seated in the cab 10 to drive driven parts such as the lower traveling body 1, upper rotating body 3, boom 4, arm 5, and bucket 6.

[0052] Alternatively, the work machine 100 may be configured so that it can be remotely operated from outside the work machine 100. When the work machine 100 is remotely operated, the inside of the cab 10 may be unmanned.

[0053] Furthermore, the construction machine 100 may automatically operate the actuators regardless of the operation performed by the operator. This allows the construction machine 100 to realize a function for automatically operating at least some of the driven parts, such as the lower traveling body 1, upper rotating body 3, boom 4, arm 5, and bucket 6, i.e., a so-called "machine control function."

[0054] [Details of an Example of the Configuration of a Work Machine] An example of the configuration of a work machine 100 will be described in detail with reference to FIGS. 4 to 6 in addition to FIGS. 1 to 3.

[0055] Fig. 4 is a block diagram showing an example of the configuration of a work machine 100. In Fig. 4, the mechanical power transmission system, hydraulic oil lines, pilot lines, and electrical control systems are indicated by double lines, thick solid lines, thick dashed lines, and dotted lines, respectively. Fig. 5 is a top view showing an example of the interior of the cab 10. Fig. 6 is a perspective view explaining an example of a function (conversation function) that enables a conversation between the work machine 100 in which the operator OP is riding and a person (worker WK) nearby. Specifically, Fig. 6 shows how the voice of the operator OP is collected by the internal sound collection device M2 and output from the external sound output device SP1, and how the voice of the worker WK is collected by the external sound collection device M1 and output from the internal sound output device SP2.

[0056] The drive system of the work machine 100 includes an engine 11, a regulator 13, a main pump 14, and a control valve unit 17. The hydraulic drive system of the work machine 100 also includes hydraulic actuators such as a swing hydraulic motor 2A, a left traveling hydraulic motor 2ML, a right traveling hydraulic motor 2MR, a boom cylinder 7, an arm cylinder 8, and a bucket cylinder 9.

[0057] The engine 11 is an example of a power source for the work machine 100, and is mounted, for example, on the rear of the upper rotating body 3. The power source for the work machine 100 may be a combination of a power source such as a battery or a fuel cell and an electric motor. Specifically, the engine 11 rotates at a constant speed at a preset target rotation speed under direct or indirect control by the controller 30, and drives the main pump 14 and the pilot pump 15. The engine 11 is, for example, a diesel engine that uses light oil as fuel. The engine 11 may also be a gasoline engine, a hydrogen engine, or the like.

[0058] The regulator 13 controls the discharge amount of the main pump 14. For example, the regulator 13 controls the discharge amount of the main pump 14 by adjusting the angle (tilting angle) of the swash plate of the main pump 14 in response to a control command from the controller 30.

[0059] The main pump 14 is mounted on the rear of the upper rotating body 3, similar to the engine 11, and supplies hydraulic oil to the control valve unit 17 through a hydraulic oil line. In the illustrated example, the main pump 14 is a variable displacement hydraulic pump.

[0060] The control valve unit 17 is one of the hydraulic control devices that controls the hydraulic system of the work machine 100. In the illustrated example, the control valve unit 17 includes control valves 171 to 176. The control valve unit 17 is configured to selectively supply hydraulic oil discharged by the main pump 14 to one or more hydraulic actuators via the control valves 171 to 176. The control valves 171 to 176 control the flow rate of hydraulic oil flowing from the main pump 14 to the hydraulic actuators, and the flow rate of hydraulic oil flowing from the hydraulic actuators to a hydraulic oil tank. The hydraulic actuators include a boom cylinder 7, an arm cylinder 8, a bucket cylinder 9, a left traveling hydraulic motor 2ML, a right traveling hydraulic motor 2MR, and a swing hydraulic motor 2A. Specifically, the control valve 171 corresponds to the left traveling hydraulic motor 2ML, the control valve 172 corresponds to the right traveling hydraulic motor 2MR, and the control valve 173 corresponds to the swing hydraulic motor 2A. Furthermore, the control valve 174 corresponds to the bucket cylinder 9 , the control valve 175 corresponds to the boom cylinder 7 , and the control valve 176 corresponds to the arm cylinder 8 .

[0061] The pilot pump 15 is an example of a pilot pressure generating device, and is configured to supply hydraulic oil to hydraulic control devices via a pilot line. In the illustrated example, the pilot pump 15 is a fixed displacement hydraulic pump. However, the pilot pressure generating device may be realized by the main pump 14. That is, the main pump 14 may have a function of supplying hydraulic oil to various hydraulic control devices via pilot lines, in addition to a function of supplying hydraulic oil to the control valve unit 17 via a hydraulic oil line. In this case, the pilot pump 15 may be omitted.

[0062] The discharge pressure sensor 28 is configured to detect the discharge pressure of the main pump 14. In the illustrated example, the discharge pressure sensor 28 outputs the detected value to the controller 30.

[0063] The operating device 26 is a device used by an operator to operate the actuator. The operating device 26 includes, for example, an operating lever and an operating pedal. As described above, the actuator may be a hydraulic actuator or an electric actuator.

[0064] The operation sensor 29 is configured to detect the operation content of the operator using the operating device 26. In this embodiment, the operation sensor 29 detects the operation direction and operation amount of the operating device 26 corresponding to each actuator and outputs the detected value to the controller 30. In the illustrated example, the controller 30 can control the opening area of ​​the valve 31 in accordance with the output of the operation sensor 29. The controller 30 then supplies the hydraulic oil discharged from the pilot pump 15 to the pilot ports of the corresponding control valves in the control valve unit 17. The pressure of the hydraulic oil supplied to each pilot port (pilot pressure) is, in principle, a pressure corresponding to the operation direction and operation amount of the operating device 26 corresponding to each hydraulic actuator. In this way, the operating device 26 is configured to supply the hydraulic oil discharged from the pilot pump 15 to the pilot ports of the corresponding control valves in the control valve unit 17.

[0065] The valve 31, which functions as a machine control control valve, is disposed in a pipe connecting the pilot pump 15 and the pilot port of the control valve in the control valve unit 17, and is configured to be able to change the flow path area of ​​that pipe. In the illustrated example, the valve 31 is a solenoid valve that operates in response to a control command (hereinafter referred to as an "operation command") output by the controller 30. Therefore, the controller 30 can use the valve 31 to adjust the pilot pressure acting on the pilot port of the control valve, regardless of the operation of the operating device 26 by the operator.

[0066] With this configuration, the controller 30 can operate the hydraulic actuator corresponding to a specific operating device 26 even when no operation is being performed on that specific operating device 26.

[0067] As shown in FIG. 4 , the control system of the work machine 100 includes a controller 30, a display device D1, an input device D2, a horn button HS, a talk button KS, an external sound collection device M1, an internal sound collection device M2, an external sound output device SP1, an internal sound output device SP2, an external volume dial DL1, an internal volume dial DL2, a switch SW, and a communication device T1.

[0068] The controller 30 is configured to output a control command to the regulator 13 as necessary, thereby changing the discharge rate of the main pump 14. The controller 30 may also be configured to perform control related to a machine guidance function that guides (guidances) the operator in manually operating the work machine 100 via the operation device 26. The controller 30 may also be configured to perform control related to a machine control function that automatically assists the operator in manually operating the work machine 100 via the operation device 26. Some of the functions of the controller 30 may be realized by another controller (control device). That is, the functions of the controller 30 may be realized in a distributed manner by a plurality of controllers. For example, the machine guidance function and the machine control function may be realized by dedicated controllers (control devices).

[0069] The interior of the cab 10 will now be described with reference to Figure 5. The work machine 100 is equipped with a driver's seat 50, an operating device 26, a display device D1, and the like, which are arranged inside the cab 10. A door for getting in and out is provided on the left side of the driver's seat 50. The operator can enter the cab 10 by opening the door for getting in and out.

[0070] The driver's seat 50 is located in the center of the driver's cab 10 when viewed from above. The driver's seat 50 includes a seat portion 51 on which the operator sits and a backrest 52. The driver's seat 50 is a reclining seat, and the tilt angle of the backrest 52 is adjustable. A left armrest 53L is located on the left side of the driver's seat 50, and a right armrest 53R is located on the right side. The left armrest 53L and the right armrest 53R are rotatably supported by the backrest 52.

[0071] A left console 54L is disposed on the left side of the driver's seat 50, and a right console 54R is disposed on the right side. The left console 54L and the right console 54R extend in the front-rear direction. The driver's seat 50 is slidable in the front-rear direction. The driver's seat 50 may be configured to be slidable in the front-rear direction together with the left console 54L and the right console 54R.

[0072] The left armrest 53L is disposed on the left console 54L. The right armrest 53R is disposed on the right console 54R. The left armrest 53L is disposed so as to cover a portion of the left console 54L in a top view. The right armrest 53R is disposed so as to cover a portion of the right console 54R in a top view.

[0073] The operating device 26 includes a left operating lever 26L, a right operating lever 26R, a left traveling pedal 26PL, a right traveling pedal 26PR, a left traveling lever 26DL, and a right traveling lever 26DR. The left operating lever 26L is provided in front of the left console 54L. Similarly, the right operating lever 26R is provided in front of the right console 54R. An operator seated in the driver's seat 50 can operate the left operating lever 26L while holding the left operating lever 26L with his left hand, and can operate the right operating lever 26R while holding the right operating lever 26R with his right hand. The operator seated in the driver's seat 50 can operate the left operating lever 26L with his left hand to drive the arm cylinder 8 and the swing hydraulic motor 2A. The operator seated in the driver's seat 50 can also operate the right operating lever 26R with his right hand to drive the boom cylinder 7 and the bucket cylinder 9. The bases of the left operating lever 26L and the right operating lever 26R are covered with lever boots 27, respectively.

[0074] The left travel pedal 26PL and the right travel pedal 26PR are disposed on the floor in front of the driver's seat 50. An operator seated in the driver's seat 50 can operate the left travel pedal 26PL with his left foot to drive the left travel hydraulic motor 2ML. Also, an operator seated in the driver's seat 50 can operate the right travel pedal 26PR with his right foot to drive the right travel hydraulic motor 2MR.

[0075] The left travel lever 26DL and the right travel lever 26DR are located between the left travel pedal 26PL and the right travel pedal 26PR in a top view. The left travel lever 26DL and the right travel lever 26DR extend upward from the floor in front of the driver's seat 50. An operator seated in the driver's seat 50 can drive the left travel hydraulic motor 2ML by gripping and operating the left travel lever 26DL with his left hand, similar to operating the left travel pedal 26PL. Furthermore, an operator seated in the driver's seat 50 can drive the right travel hydraulic motor 2MR by gripping and operating the right travel lever 26DR with his right hand, similar to operating the right travel pedal 26PR. Furthermore, the left travel lever 26DL and the right travel lever 26DR are positioned so that the operator can simultaneously operate the left travel lever 26DL and the right travel lever 26DR with one hand.

[0076] The display device D1 is provided in a location that is easily visible to the operator seated in the cab 10, and displays various information images under the control of the controller 30. In the illustrated example, the display device D1 is located on the front right side of the driver's seat 50, and is connected to the controller 30 via a dedicated line. The display device D1 displays various types of image information. The display device D1 includes a display screen that displays information such as the working conditions or operating state of the work machine 100. The operator seated in the driver's seat 50 can perform work using the work machine 100 while checking the various types of information displayed on the display device D1. The display device D1 may be provided with an input device D2.

[0077] The input device D2 is provided within reach of the operator seated in the driver's seat 50, accepts various operational inputs by the operator, and outputs signals corresponding to the operational inputs to the controller 30. The input device D2 includes a touch panel mounted on the display of the display device D1 that displays various information images, a knob switch provided at the tip of one or more lever portions of a plurality of operating levers included in the operating device 26, or a button switch, lever, toggle switch, rotary dial, or the like provided around the display device D1. A signal corresponding to the content of the operation on the input device D2 is taken into the controller 30.

[0078] A gate bar 55 is attached to the front surface of the front end of the left console 54L. The gate bar 55 operates in conjunction with the operation of a gate lock lever GL provided on the left console 54L. The gate bar 55 is attached to a frame inside the left console 54L so that it can be raised and lowered around an axis at the top end that extends in the left-right direction.

[0079] The gate lock lever GL is a mechanical input operation unit for switching between a state in which the work machine 100 can be operated by the operating device 26 (operable state) and a state in which the work machine 100 cannot be operated by the operating device 26 (inoperable state). In the illustrated example, the gate lock lever GL is configured so that the operator can switch between a first operating position that realizes the inoperable state and a second operating position that realizes the operable state. The controller 30 switches between the operable state and the inoperable state depending on the operating state of the gate lock lever GL. In the illustrated example, the controller 30 switches between the operable state and the inoperable state of the work machine 100 by electrically switching between a connected state and a disconnected state of the pilot line depending on the operating state of the gate lock lever GL.

[0080] When the gate lock lever GL is in the second operating position, the gate bar 55 is raised forward (passing prohibited state) so as to prevent an operator from passing through the boarding / exiting door, as shown in Fig. 5. On the other hand, when the gate lock lever GL is in the first operating position, the gate bar 55 is housed inside the left console 54L (passing permitted state) so as not to prevent an operator from passing through the boarding / exiting door.

[0081] With this configuration, the operator cannot operate the work machine 100 unless he or she sets the gate lock lever GL to the second operating position and puts the gate bar 55 in a passage-prohibited state. Therefore, this configuration can prevent the work machine 100 from moving unintentionally, even if the operator inadvertently touches the operating device 26 when getting on or off the machine. Therefore, this configuration can improve the safety of the work machine 100.

[0082] Furthermore, the work machine 100 may be configured so that it can accept a predetermined operation to start the engine 11 only when the gate lock lever GL is in the second operating position and the gate bar 55 is in a pass-prohibiting state. In other words, the work machine 100 may be configured so that it cannot start the engine 11 when the gate lock lever GL is in the first operating position and the gate bar 55 is in a pass-permitting state.

[0083] A switch SW is installed on the right console 54R. A window console 56 is installed to the right of the right console 54R. The window console 56 extends over the entire length of the driver's cab 10 in the fore-and-aft direction and is arranged parallel to the right console 54R. A display device D1 is installed in front of the window console 56. An external volume dial DL1, an internal volume dial DL2, an internal sound collector M2, a radio tuner, etc. are installed on the window console 56. The radio tuner, etc. may be installed on the left console 54L or the right console 54R.

[0084] The internal sound collection device M2 is a device that collects sounds generated inside the cab 10. In the illustrated example, the internal sound collection device M2 is an indoor microphone that is configured to be able to pick up the voice of the operator inside the cab 10.

[0085] The horn button HS is a button that is operated by the operator of the work machine 100 to sound the horn. In the illustrated example, the horn button HS is a knob switch provided at the tip of the left operating lever 26L.

[0086] The speech button KS is a button that the operator of the work machine 100 operates when he or she wants to speak to a worker around the work machine 100. In the illustrated example, the speech button KS is a knob switch provided at the tip of the right operating lever 26R.

[0087] The internal sound output device SP2 is a device that outputs sound to an operator in the cab 10 and is provided in the cab 10. The internal sound output device SP2 converts an electrical signal input from the controller 30 into physical sound (air vibration) and outputs the sound. The internal sound output device SP2 may be provided in any position, for example, near the display device D1, near the input device D2, or near the boarding / exiting door of the cab 10. In the illustrated example, the internal sound output device SP2 includes a left interior speaker SP2L attached to the upper left corner of the rear wall of the cab 10 and a right interior speaker SP2R attached to the upper right corner of the rear wall of the cab 10. The internal sound output device SP2 may be headphones or earphones worn by the operator. In this case, the headphones or earphones are connected to the controller 30 so as to be able to communicate with the controller 30 via, for example, Bluetooth (registered trademark) or the like.

[0088] The external volume dial DL1 is configured to adjust the volume of the sound output by the external sound output device SP1. The volume of the sound output by each external sound output device SP1 may be additionally configured to be adjustable using a device other than the external volume dial DL1, such as a touch panel attached to the display device D1.

[0089] The external volume dial DL1 may be configured to be infinitely rotatable in both the clockwise and counterclockwise directions, in order to accommodate a case where volume adjustment using the external volume dial DL1 and volume adjustment using a device other than the external volume dial DL1 are used in combination.

[0090] The internal volume dial DL2 is configured to adjust the volume of the sound output by the internal sound output device SP2. The volume of the sound output by each internal sound output device SP2 may be configured to be adjustable using a device other than the internal volume dial DL2, such as a touch panel attached to the display device D1.

[0091] The internal volume dial DL2 may be configured to be infinitely rotatable in both the clockwise and counterclockwise directions, in order to accommodate a case where volume adjustment using the internal volume dial DL2 and volume adjustment using a device other than the internal volume dial DL2 are used in combination.

[0092] The switch SW is used to switch whether or not to operate the sound output function that outputs the sound collected by the external sound collection device M1 from the internal sound output device SP2.

[0093] For example, when the switch SW is on, the sound collected by the external sound collection device M1 is output from the internal sound output device SP2, and when the switch SW is off, the output of the sound collected by the external sound collection device M1 from the internal sound output device SP2 is stopped (muted).

[0094] For example, the sound output function can support conversation between the operator OP and people around the work machine 100 by outputting from the internal sound output device SP2 the speech of people around the work machine 100 that is included in the sound collected by the external sound collection device M1. In other words, the switch SW is an example of an operating tool for switching the operating state of the conversation function. In the illustrated example, the switch SW is provided on the top surface of the right console 54R. However, the switch SW may be one of the input devices D2, may be realized by a touch panel provided on the display device D1, or may be a knob switch.

[0095] The conversation function is a function for realizing conversation between the operator OP of the work machine 100 and people such as a worker WK who are around the work machine 100, as shown in Fig. 6. Specifically, the conversation function is realized by a first sound collection device capable of collecting the speech content of the operator of the work machine 100, a first sound output device capable of delivering sound to the operator of the work machine 100, a second sound collection device capable of collecting sound around the work machine, and a second sound output device capable of outputting sound around the work machine 100. In this example, the operator of the work machine 100 is the operator OP of the cab 10, the first sound collection device M2, the first sound output device SP2, the second sound collection device M1, and the second sound output device SP1.

[0096] In the work machine 100 shown in Figure 6, an information transmission device G1 is provided at the top of each of the four side surfaces of the cab 10. A front light bar G1F provided at the top of the front of the cab 10 emits green light, and a left light bar G1L provided at the top of the left surface of the cab 10 emits white light. In Figure 6, the front light bar G1F emitting green light has a dot pattern attached. When a worker WK sees the front light bar G1F emitting green light, he or she can recognize that his or her voice is being detected by the front microphone M1F. Note that, for clarity, other devices such as the imaging device S6 are not shown in Figure 6.

[0097] The operating state of the conversation function includes an ON state (the state shown in FIG. 6 ) in which conversation between the operator OP and the worker WK is possible, and an OFF state in which conversation between the operator OP and the worker WK is not possible. However, the operating state of the conversation function may additionally include at least one of an audible state (with respect to the operator OP) in which the operator OP can hear the voice of the worker WK but the worker WK cannot hear the voice of the operator OP, and a speechable state (with respect to the operator OP) in which the worker WK can hear the voice of the operator OP but the operator OP cannot hear the voice of the worker WK.

[0098] Specifically, when the switch SW is operated to switch the operation state of the conversation function to the ON state, the external sound collection device M1, the external sound output device SP1, the internal sound collection device M2, and the internal sound output device SP2 become available. Conversely, when the switch SW is operated to switch the operation state of the conversation function to the OFF state, the external sound collection device M1, the external sound output device SP1, the internal sound collection device M2, and the internal sound output device SP2 become unavailable. Furthermore, when the switch SW is operated to switch the operation state of the conversation function to the audible state, the external sound collection device M1 and the internal sound output device SP2 become available. Furthermore, when the switch SW is operated to switch the operation state of the conversation function to the speech-enabled state, the external sound output device SP1 and the internal sound collection device M2 become available. In the illustrated example, the operator OP can use the external sound output device SP1 to talk to the worker WK by pressing the speech button KS and speaking when the internal sound collection device M2 is available. For example, the conversation function allows both the operator OP and the worker WK to speak simultaneously, with the operator OP's speech being output from the external sound output device SP1 and the worker WK's speech being output from the internal sound output device SP2. In this case, as described above, the external sound collection device M1, the external sound output device SP1, the internal sound collection device M2, and the internal sound output device SP2 are available. Furthermore, the conversation function may be selectively executable in either the speech-enabled state or the listening-enabled state. In this case, when the operator OP's speech, which is collected by the internal sound collection device M2, is output from the external sound output device SP1, the external sound collection device M1 and the internal sound output device SP2 are unavailable, and when the worker WK's speech, which is collected by the external sound collection device M1, is output from the internal sound output device SP2, the internal sound collection device M2 and the external sound output device SP1 are unavailable. For example, a conversation between the operator OP and the worker WK is realized by alternately repeating the speech enable state and the listening enable state.

[0099] Furthermore, when the internal sound collection device M2 is available, the controller 30 may apply known voice recognition processing or natural language processing based on the output (sound collection data) of the internal sound collection device M2 to automatically recognize the operator OP's speech to the worker WK. Then, when the controller 30 recognizes the operator OP's speech to the worker WK, the controller 30 causes the external sound output device SP1 to output the operator OP's voice collected by the internal sound collection device M2. This allows the operator OP to talk to the worker WK using the external sound output device SP1 simply by starting to speak when the operator OP wants to speak.

[0100] For example, the controller 30 recognizes voice from the output of the internal sound collection device M2 and uses a machine learning-based classifier that inputs the recognized voice data or data representing the characteristics of the recognized voice data to identify whether the recognized voice corresponds to the operator OP's speech to the worker WK. The data representing the characteristics of the recognized voice data is, for example, frequency spectrum data or sentence data obtained by natural language processing. The classifier is, for example, primarily composed of a deep neural network (DNN). The classifier is obtained by supervised learning of a base learning model based on a teacher data set. Alternatively, the classifier may be obtained by additional learning or relearning of an already trained model based on the teacher data set. In this case, for example, a backpropagation algorithm is applied based on the output error with respect to the teacher data, thereby optimizing the classifier as a trained model. The trained model corresponding to the classifier is, for example, distributed from a predetermined external device (e.g., the management device 200 described below) and installed in the controller 30. The classifier may be, for example, a support vector machine (SVM).

[0101] [First Example of Conversation Assistance Processing] With reference to Figures 7 and 8, a first example of control processing (hereinafter, for convenience, referred to as "conversation assistance processing") relating to assistance in speaking from the operator inside the cab 10 of the work machine 100 to people around the work machine 100 using the conversation function described above will be described.

[0102] Fig. 7 is a flowchart illustrating a first example of a conversation support process. Fig. 8 is a diagram illustrating an example of a method for restricting the operation of an actuator. Fig. 9 is a diagram illustrating another example of a method for restricting the operation of an actuator.

[0103] The flowchart of FIG. 7 is repeatedly executed at predetermined control intervals, for example, when the operation state of the conversation function is in the ON state or in the speech-enabled state.

[0104] FIG. 8 shows the relationship between the amount of operation of the operating device 26 and the operation command output from the controller 30, including a graph 801 for normal operation when no actuator operation restrictions are imposed, and graphs 802 and 803 for first and second examples when the actuator operation is restricted.

[0105] FIG. 9 includes a graph 901 showing the operation speed of the actuator in a normal state where no operation restriction is imposed on the actuator, and a graph 902 showing the operation restriction on the actuator.

[0106] As shown in Fig. 7 , in step S102, the controller 30 acquires information (determination information) for determining whether the operator inside the cab 10 is speaking to people around the work machine 100. The determination information includes, for example, the output of the speech button KS. The determination information may also include the output of the internal sound collection device M2. An interior camera capable of capturing images of the interior of the cab 10, including the operator, may also be provided inside the cab 10, and in this case, the determination information may include the output of the interior camera (i.e., image data of the captured image).

[0107] When the process of step S102 is completed, the controller 30 proceeds to step S104.

[0108] In step S104, the controller 30 determines whether or not the operator inside the cab 10 is speaking to people around the work machine 100, based on the determination information acquired in step S102.

[0109] For example, when the speech button KS is pressed, the controller 30 determines that an operator inside the cab 10 is speaking to people around the work machine 100, and when the speech button KS is not pressed, the controller 30 determines that no such speech is being made.

[0110] Furthermore, the controller 30 may apply known voice recognition processing or natural language processing as described above based on the output of the internal sound collection device M2 to automatically recognize utterances made by the operator inside the cab 10 to people around the work machine 100 (for example, the worker WK). When voice is recognized from the internal sound collection device M2 and the voice corresponds to an utterance from the operator to people around the work machine 100, the controller 30 may determine that the operator inside the cab 10 is speaking to people around the work machine 100. On the other hand, in other cases, the controller 30 may determine that the operator inside the cab 10 is not speaking to people around the work machine 100.

[0111] Furthermore, the controller 30 may determine whether an operator shown in the image data is speaking to a person around the work machine 100 by applying known image recognition processing or a machine learning-based classifier based on image data from an indoor camera. For example, the controller 30 uses a machine learning-based classifier that receives image data of a person (operator) recognized by image recognition processing or data representing the features of the image data as input and identifies whether the recognized person is speaking to a person around the work machine 100. This allows the controller 30 to use the classifier to comprehensively evaluate, for example, the facial expressions and behavior (e.g., gestures, etc.) of the person in the image and determine whether the operator is speaking to a person around the work machine 100. The data representing the features of the image data of the recognized person is, for example, data on local features of the image data. The classifier is configured, for example, mainly with a deep neural network (DNN). The classifier is obtained by supervised learning of a base learning model based on a teacher dataset. The classifier may also be obtained by additional learning or re-learning of an already learned model based on a teacher dataset. In this case, for example, a backpropagation algorithm is applied based on the output error with respect to the training data, thereby optimizing the classifier as a trained model. The trained model corresponding to the classifier is distributed, for example, from a predetermined external device (for example, the management device 200 described below) and installed inside the controller 30. The classifier may also be, for example, a support vector machine (SVM) or the like.

[0112] Furthermore, the controller 30 may be configured to recognize people around the work machine 100 using known image recognition processing based on the output (image data) of the imaging device S6. Then, if the controller 30 does not recognize a person within a predetermined range based on the work machine 100, it may determine that the operator inside the cab 10 has not spoken to anyone around the work machine 100. This is because it can be determined that there is no person around the work machine 100 with whom the operator inside the cab 10 can have a conversation.

[0113] If the operator inside the cab 10 is speaking to people around the work machine 100, the controller 30 proceeds to step S106, and if the operator inside the cab 10 is not speaking to people around the work machine 100, the controller 30 proceeds to step S112.

[0114] In step S106, the controller 30 determines whether or not operation restrictions have been imposed on the actuators that drive the work machine 100 by the previous or earlier processing of the flowchart (specifically, the processing of step S108 described below). The actuators that drive the work machine 100 are, for example, the left traveling hydraulic motor 2ML, the right traveling hydraulic motor 2MR, the swing hydraulic motor 2A, the boom cylinder 7, the arm cylinder 8, and the bucket cylinder 9. If operation restrictions have not been imposed on the actuators, the controller 30 proceeds to step S108, and if operation restrictions have been imposed on the actuators, the controller 30 maintains that state and ends the processing of the current flowchart.

[0115] In step S108, controller 30 limits the operation of the actuator.

[0116] As a result, when the operator is speaking to people around the work machine 100, the controller 30 can restrict the operation of the actuators, ensuring the safety of the work machine 100 and the area around the work machine 100. In this case, the actuators that are the subject of the operation restriction may be all of the actuators used to drive the work machine 100, or may be just a portion of those actuators.

[0117] For example, the controller 30 stops an actuator regardless of the operation state of the actuator, thereby enabling the controller 30 to stop an actuator that is in operation or to maintain an actuator that is stopped in a stopped state.

[0118] 8, the controller 30 outputs an operation command of zero regardless of the amount of operation of the actuator in the operating device 26 (see graph 803 in the figure). Also, the controller 30 may switch the gate lock valve provided in the pilot line from a connected state to a disconnected state and maintain that state regardless of the operating state of the gate lock lever GL.

[0119] Furthermore, the controller 30 decelerates the movement of the actuator in response to the amount of operation of the operating device 26 to a certain degree of speed.

[0120] 8, for example, the controller 30 limits the operation command of the actuator to a certain threshold value TH1 or less (see graph 802 in the figure), which is lower than the upper limit UL1 in the normal state (see graph 801 in the figure). As a result, the controller 30 can reduce the operating speed of the driven part for the same operation amount of the operation device 26 compared to normal state (i.e., when not limited) in the range of the operation amount of the operation device 26 (specifically, the range of a relatively large operation amount) in which the operation command is equal to or greater than the threshold value TH1.

[0121] Furthermore, the controller 30 may limit the rotational speed of the engine 11 to a lower rotational speed (for example, a low idle rotational speed) than that when the work machine 100 is working, regardless of the setting state of the rotational speed of the engine 11. This allows the controller 30 to limit the operating speed of the actuator to a level TH2 or lower (see graph 902 in the figure) that is lower than the upper limit UL2 in normal operation (see graph 901 in the figure). Furthermore, the controller 30 can limit the rate of increase in the operating speed in response to an increase in the operation amount of the operating device 26 more gradually than in normal operation.

[0122] The rotation speed of the engine 11 during the operation restriction is a predetermined rotation speed, such as a low idle rotation speed, or may be set by the operator OP or the like using the input device D2.

[0123] The controller 30 may also reduce the flow rate of the main pump 14 below normal levels. This allows the controller 30 to limit the operating speed of the actuator to a level lower than normal, similar to when limiting the rotational speed of the engine 11. Furthermore, by reducing the flow rate of the main pump 14 to a constant non-zero level, the controller 30 can limit the rate of increase in the operating speed in response to an increase in the operation amount of the operating device 26 to a rate lower than normal, similar to when limiting the rotational speed of the engine 11.

[0124] When the process of step S108 is completed, the controller 30 proceeds to step S110.

[0125] In step S110, controller 30 starts notifying that the operation of the actuator is being restricted.

[0126] This allows the operator inside the cab 10 to recognize that the operation of the actuator is being restricted. The notification that the operation of the actuator is being restricted is made, for example, visually through the display device D1 (see, for example, FIG. 14 described later). The notification that the operation of the actuator is being restricted may also be made through a predetermined light such as an indicator lamp. The notification that the operation of the actuator is being restricted may also be made auditorily through the internal sound output device SP2 or the like, instead of or in addition to a visual notification. The controller 30 may also notify the operator inside the cab 10 that the operation of the actuator is being restricted, in addition to notifying the operator inside the cab 10 of the reason why the operation of the actuator is being restricted. That is, the controller 30 may notify the operator inside the cab 10 that the operation of the actuator is being restricted, as a safety support function when the operator inside the cab 10 is speaking to people around the work machine 100.

[0127] When the process of step S110 is completed, the controller 30 ends the process of this flowchart.

[0128] On the other hand, in step S112, the controller 30 determines whether or not the previous or an earlier processing of the flowchart (specifically, the processing of step S108) has imposed an operation restriction on the actuator that drives the work machine 100. If an operation restriction on the actuator has been imposed, the controller 30 proceeds to step S114, and if an operation restriction on the actuator has not been imposed, the controller 30 ends the current processing of the flowchart.

[0129] In step S114, the controller 30 releases the operation restriction on the actuator that was being executed in the previous or previous processing of the flowchart (specifically, the processing of step S108).

[0130] 8, the controller 30 restores the relationship between the operation amount of the operating device 26 and the operation command output to the valve 31 from the state of graph 802 or graph 803 to the state of graph 801. At this time, the controller 30 restores the actuator operation from a state in which the operation is restricted to a state in which the operation is not restricted, for example, by gradually relaxing the degree of restriction on the actuator operation and making the change relatively gradual.

[0131] Also, for example, when the controller 30 realizes the actuator operation restriction by reducing the rotation speed of the engine 11 to a speed lower than that during normal operation, the controller 30 releases the operation restriction by restoring the rotation speed of the engine 11 to the original rotation speed.

[0132] When the process of step S114 is completed, the controller 30 proceeds to step S116.

[0133] In step S116, the controller 30 ends the notification that the actuator operation is being restricted, which was started by the previous or earlier processing of this flowchart (specifically, the processing of step S110). Furthermore, the controller 30 may end the notification that the actuator operation is being restricted and may also issue a notification that the actuator operation restriction has been lifted.

[0134] When the process of step S116 is completed, the controller 30 ends the process of this flowchart.

[0135] In this way, in this example, the controller 30 restricts the operation of the work machine 100 when the operator inside the cab 10 is speaking to people around the work machine 100 .

[0136] For example, if the operator inside the cab 10 is using the conversation function to speak to people around the work machine 100, there is a possibility that the operator will lose concentration on operating the actuator. Furthermore, if the speech button KS is provided as a knob switch on an operation lever included in the operation device 26, there is a possibility that when the speech button KS as a knob switch is pressed, the operation lever may also be moved by mistake.

[0137] In contrast to this, in this example, when the operator inside the cab 10 is speaking to people around the work machine 100, the controller 30 can restrict the operation of the work machine 100 even if the work machine 100 is operated erroneously. Therefore, the controller 30 can ensure safety when a conversation takes place between the operator inside the cab 10 and people around the work machine 100.

[0138] [Second Example of Conversation Support Processing] A second example of the conversation support processing will be described with reference to FIG.

[0139] FIG. 9 is a flowchart schematically illustrating a second example of the conversation support process.

[0140] This example differs from the first example (FIG. 7) in that the process of step S113 is added.

[0141] As shown in FIG. 9, the processes in steps S102 to S112 are the same as steps S102 to S112 in FIG. 7, and therefore a description thereof will be omitted.

[0142] In step S112, if the operation of the actuator is restricted, the controller 30 proceeds to step S113, and if the operation of the actuator is not restricted, the controller 30 ends the processing of this flowchart.

[0143] In step S113, controller 30 determines whether or not an actuator subject to operation restriction is being operated, based on the output of operation sensor 29. If an actuator subject to operation restriction is not being operated, controller 30 proceeds to step S114, and if an actuator subject to operation restriction is being operated, controller 30 ends the processing of this flowchart.

[0144] The processes in steps S114 and S116 are the same as those in steps S114 and S116 in FIG. 7, and therefore will not be described here.

[0145] Thus, in this example, the controller 30 releases the restriction on the operation of the actuator when the operator inside the cab 10 is not speaking to people around the work machine 100 and the actuator is not being operated. This allows the controller 30 to continue restricting the operation of the actuator until the operation of the actuator is completed (for example, until the operation lever included in the operation device 26 returns to the neutral position), even when the operator inside the cab 10 has finished speaking to people around the work machine 100. Therefore, the controller 30 can prevent a situation in which the operation speed of the actuator increases due to the release of the restriction on the operation of the actuator while the actuator is being operated, causing the operator to feel uncomfortable.

[0146] [Third Example of Conversation Support Processing] A third example of the conversation support processing will be described with reference to FIG.

[0147] FIG. 10 is a flowchart schematically illustrating a third example of the conversation support process.

[0148] This example differs from the first example (FIG. 7) in that the process of step S105 is added.

[0149] As shown in FIG. 10, the processes in steps S102 and S104 are the same as those in steps S102 and S104 in FIG. 7, and therefore a description thereof will be omitted.

[0150] In step S104, if the operator inside the cab 10 is speaking to people around the work machine 100, the controller 30 proceeds to step S106, and if no such speech is being made, the controller 30 proceeds to step S105.

[0151] In step S105 , the controller 30 determines whether or not there is a possibility that the operator inside the cab 10 will speak to people around the work machine 100 .

[0152] For example, when a person around the work machine 100 is speaking to the operator inside the cab 10, the controller 30 determines that there is a possibility that the operator inside the cab 10 will speak to a person around the work machine 100. This is because there is a possibility that the operator inside the cab 10 will speak to the person around the work machine 100 in response to the speech from the person around the work machine 100.

[0153] In this case, for example, the controller 30 performs known voice recognition processing based on the output of the external sound collection device M1, and when a human voice is recognized from the sound collection data, it determines that an utterance is being made from a person around the work machine 100 to the operator inside the cab 10. Furthermore, when the controller 30 recognizes a human voice from the sound collection data based on the output of the external sound collection device M1, it may determine whether or not the voice corresponds to a conversation. Then, if the recognized voice corresponds to a conversation, the controller 30 may determine that an utterance is being made from a person around the work machine 100 to the operator, and in other cases, it may determine that an utterance is not being made from a person around the work machine 100 to the operator.

[0154] For example, the controller 30 may perform frequency analysis of the recognized voice data and determine, based on the characteristics of the frequency spectrum and using a predetermined criterion, whether the recognized voice corresponds to a conversation. The controller 30 may also perform known natural language processing (e.g., morphological analysis) on the recognized voice data and determine, based on a predetermined criterion, whether a sentence obtained by the natural language processing and corresponding to the recognized voice corresponds to a conversation. The controller 30 may also use a machine learning-based classifier that receives the recognized voice data or data representing the characteristics of the recognized voice data as input and identifies whether the recognized voice corresponds to a conversation. The data representing the characteristics of the recognized voice data may be, for example, frequency spectrum data or sentence data obtained by natural language processing. The classifier may be primarily composed of, for example, a deep neural network (DNN). The classifier may be obtained by supervised learning of a base learning model based on a training dataset. The classifier may also be obtained by additional learning or re-learning of an already trained model based on a training dataset. In this case, for example, a backpropagation algorithm is applied based on the output error with respect to the training data, thereby optimizing the classifier as a trained model. The trained model corresponding to the classifier is distributed, for example, from a predetermined external device (for example, the management device 200 described below) and installed inside the controller 30. The classifier may also be, for example, a support vector machine (SVM) or the like.

[0155] Furthermore, the controller 30 may be configured to recognize people around the work machine 100 using known image recognition processing based on image data from the imaging device S6. Then, when the controller 30 recognizes a person within a predetermined range based on the work machine 100 and the recognized person is speaking towards the work machine 100, it may determine that the person around the work machine 100 is speaking to the operator inside the cab 10.

[0156] For example, when a person recognized by image recognition processing is speaking while standing facing the work machine 100, the controller 30 determines that the person is speaking toward the work machine 100. Furthermore, when a person recognized by image recognition processing is speaking while moving toward the work machine 100, the controller 30 may determine that the person is speaking toward the work machine 100.

[0157] Furthermore, the controller 30 may recognize a predetermined gesture of the person based on image data of the person recognized by image recognition processing. Then, when the recognized person is speaking while making a predetermined gesture, the controller 30 may determine that a person around the work machine 100 is speaking to the operator. The predetermined gesture is a gesture for communicating with the operator inside the cab 10.

[0158] The controller 30 may also use a machine learning-based classifier that receives image data of a person recognized by image recognition processing or data representing the features of the image data as input and identifies whether the recognized person is speaking to the operator inside the cab 10. This allows the controller 30 to use the classifier to comprehensively evaluate, for example, the facial expressions and behavior (e.g., gestures, etc.) of the person in the image and determine whether a person around the work machine 100 is speaking to the operator inside the cab 10. The data representing the features of the image data of the recognized person is, for example, data on local features of the image data. The classifier is configured, for example, mainly with a deep neural network (DNN). The classifier is obtained by subjecting a base learning model to supervised learning based on a teacher data set. The classifier may also be obtained by additional learning or relearning of an already trained model based on the teacher data set. In this case, for example, a backpropagation algorithm is applied based on the output error with respect to the teacher data, thereby optimizing the classifier as a trained model. The trained model corresponding to the classifier is, for example, distributed from a predetermined external device (for example, a management device 200 described below) and installed inside the controller 30. The classifier may also be, for example, a support vector machine (SVM) or the like.

[0159] Furthermore, if the conversation continues after the operator inside the cab 10 has finished speaking to the people around the work machine 100, the controller 30 may determine that there is a possibility that the operator inside the cab 10 will speak to the people around the work machine 100. A case where a conversation is continuing includes, for example, a case where a person around the work machine 100 starts speaking to the operator inside the cab 10 within a predetermined time after the operator inside the cab 10 has finished speaking to the people around the work machine 100, and that speech is continuing. A case where a conversation is continuing may also include a case where a predetermined time has passed since the operator inside the cab 10 finished speaking to the people around the work machine 100, after which the person around the work machine 100 has finished speaking to the person around the work machine 100, and that speech is continuing.

[0160] Furthermore, the controller 30 may apply known image recognition processing based on the output (image data) of the indoor camera to predict the behavior of the operator inside the cab 10. Then, based on the prediction result, the controller 30 may determine whether or not there is a possibility that the operator inside the cab 10 will speak to people around the work machine 100.

[0161] For example, the controller 30 recognizes the operator from the output (image data) of an interior camera, and recognizes the operator's behavior from the image data of the recognized operator. Then, if the recognized behavior corresponds to a predetermined pre-behavior, the controller 30 determines that there is a possibility that the operator inside the cab 10 will speak to people around the work machine 100. The predetermined pre-behavior is defined in advance as a behavior that is likely to be performed immediately before the operator inside the cab 10 starts speaking to people around the work machine 100. An example of the predetermined pre-behavior is a behavior such as looking for people around the work machine 100 through a window of the cab 10. The predetermined pre-behavior may also include a predetermined gesture that is performed before the operator inside the cab 10 speaks to people around the work machine 100. Furthermore, if the recognized series of actions in time series corresponds to a pattern of a predetermined pre-behavior, the controller 30 may determine that there is a possibility that the operator inside the cab 10 will speak to people around the work machine 100. The predetermined pre-action pattern is defined in advance as a series of actions that the operator inside the cab 10 is likely to perform immediately before starting to speak to people around the work machine 100. The series of actions is a combination of two or more different actions, and the combination may have a fixed time order. Furthermore, the controller 30 may use a machine learning-based classifier that uses image data of the operator recognized by image recognition processing or data representing the features of the image data as input to identify whether the recognized operator is likely to engage in conversation. This allows the controller 30 to use the classifier to comprehensively evaluate, for example, the facial expressions and behavior (e.g., gestures, etc.) of the person in the image and determine whether the operator is likely to speak to people around the work machine 100. The data representing the features of the image data of the recognized operator is, for example, data on local features of the image data. The classifier is configured, for example, mainly with a deep neural network (DNN). The classifier is obtained by supervised learning of a base learning model based on a teacher dataset. The classifier may also be obtained by additional learning or relearning of an already learned model based on the teacher dataset.In this case, for example, a backpropagation algorithm is applied based on the output error with respect to the training data, thereby optimizing the classifier as a trained model. The trained model corresponding to the classifier is distributed, for example, from a predetermined external device (for example, the management device 200 described below) and installed inside the controller 30. The classifier may also be, for example, a support vector machine (SVM) or the like.

[0162] If there is a possibility that the operator inside the cab 10 will speak to people around the work machine 100, the controller 30 proceeds to step S106, and if there is no such possibility, the controller 30 proceeds to step S112.

[0163] The processing in steps S106 to S116 is the same as in the first example described above, and therefore a description thereof will be omitted.

[0164] In this way, in this example, the controller 30 restricts the operation of the work machine 100 when there is a possibility that the operator inside the cab 10 will speak to people around the work machine 100. This allows the controller 30 to restrict the operation of the work machine 100 in advance when the operator inside the cab 10 starts to speak. Therefore, the controller 30 can more appropriately ensure the safety of the work machine 100 and its surroundings.

[0165] Furthermore, in this example, even if the operator inside the cab 10 has not spoken to people around the work machine 100, the controller 30 can continue restricting the operation of the work machine 100 if there is a possibility of such speech. This allows the controller 30 to prevent, for example, a situation in which actuator operation restrictions and their release are repeated in a situation in which a conversation continues between the operator inside the cab 10 and people around the work machine 100. Therefore, the controller 30 can prevent, for example, a situation in which notifications that actuator operation restrictions are being imposed are repeatedly started and released, causing annoyance to the operator inside the cab 10. Furthermore, the controller 30 can prevent an increase in the processing load caused by the repeated start and release of actuator operation restrictions.

[0166] [Fourth Example of Conversation Support Processing] A fourth example of the conversation support processing will be described with reference to FIG.

[0167] FIG. 11 is a flowchart schematically illustrating a fourth example of the conversation support process.

[0168] This example differs from the first example (FIG. 7) in that the process of step S107 is added.

[0169] As shown in FIG. 11, the processes in steps S102 to S106 are the same as steps S102 to S106 in FIG. 7, and therefore a description thereof will be omitted.

[0170] In step S106, if the operation of the actuator that drives the work machine 100 is being restricted, the controller 30 proceeds to step S107, and if the operation of the actuator is not being restricted, the controller 30 proceeds to step S108.

[0171] In step S107, the controller 30 determines whether or not the state is such that the work machine 100 is to be operated. A state in which the work machine 100 is to be operated includes a state in which the work machine 100 is currently being operated, as well as a state in which there is a possibility that the work machine 100 will be operated.

[0172] For example, the controller 30 determines whether or not the operating device 26 is being operated for an actuator that is subject to operation restriction, based on the output of the operation sensor 29. Then, when the operating device 26 for an actuator that is subject to operation restriction is being operated, the controller 30 determines that the work machine 100 is in a state where it can be operated, and when it is not being operated, the controller 30 determines that the work machine 100 is not in a state where it can be operated. Furthermore, the controller 30 may determine that the work machine 100 is not in a state where it can be operated for an actuator that is subject to operation restriction if the duration of the state in which the operating device 26 is not being operated exceeds a predetermined threshold, and may determine that the work machine 100 is in a state where it can be operated in any other cases. Furthermore, the controller 30 may determine whether the gate lock lever GL is in the first operating position or the second operating position based on the output of a limit switch that detects the operating state of the gate lock lever GL. Then, when the gate lock lever GL is in the second operating position, the controller 30 may determine that the work machine 100 is in a state where it can be operated, and when it is in the first operating position, the controller 30 may determine that the work machine 100 is not in a state where it can be operated.

[0173] If the work machine 100 is not in a state where it can be operated, the controller 30 proceeds to step S114, and if the work machine 100 is in a state where it can be operated, the controller 30 ends the processing of this flowchart.

[0174] The processing in steps S108 to S116 is the same as steps S108 to S116 in FIG. 7, and therefore a description thereof will be omitted.

[0175] As described above, in this example, when an operational restriction on the work machine 100 is being imposed, the controller 30 releases the operational restriction on the work machine 100 when the work machine 100 is not in a state to be operated, even if the operator speaks to people around the work machine 100. For example, the operator can cause the operational restriction on the work machine 100 to be released before the conversation with the worker around the work machine 100 ends by indicating that he or she has no intention of operating the work machine 100. Therefore, the work machine 100 can immediately return to work in accordance with the operator's operation after the conversation between the operator and the person around the work machine 100 has ended. This makes it possible to more appropriately achieve both ensuring the safety of the work machine 100 and its surroundings and improving the work efficiency of the work machine 100.

[0176] [Another Example of Conversation Support Processing] Another example of the conversation support processing will be described.

[0177] The first to fourth examples of the conversation support process described above may be modified or changed as appropriate.

[0178] For example, the second to fourth examples of the conversation assistance process described above may be combined as appropriate. For example, at least one of step S105 of the third example (FIG. 10) and step S107 of the fourth example (FIG. 11) may be added to the second example (FIG. 9).

[0179] [Example of Control Method for Restricting Actuator Operation] With reference to FIG. 13, an example of a control method for restricting actuator operation will be described.

[0180] Fig. 13 is a time chart showing an example of a control method for restricting operation when the restriction is initiated during operation of an actuator. Fig. 13 includes Fig. 13A showing a time chart of the determination result as to whether or not the operator OP inside the cab 10 is speaking to people around the work machine 100, and Fig. 13B showing a time chart of an operation command for the actuator.

[0181] 13A, before time t1, the controller 30 determines that the operator OP inside the cab 10 is not speaking to people around the work machine 100 (no speech). Therefore, as shown in FIG. 13B, the operation command is at a relatively high level corresponding to the operation content of the operating device 26.

[0182] At time t1, the controller 30 determines that the operator OP inside the cab 10 is speaking to people around the work machine 100 (utterance has occurred), and the state of determination that utterance has occurred continues between time t1 and time t2. Therefore, the controller 30 restricts the operation of the actuator in response to the determination that utterance has occurred.

[0183] In this example, as shown in Figure 13B, when starting to limit the operation of the actuator, the controller 30 lowers the operation command to a relatively low level corresponding to the operation limit so that the change in the operation command is relatively gradual and continuous (i.e., smooth). In this way, the controller 30 can prevent the actuator from suddenly decelerating when limiting the operation of the actuator starts, which could cause the operation of the work machine 100 to become unstable or make the operator OP feel uncomfortable.

[0184] At time t2, the controller 30 determines that no speech is being made, and continues to determine that no speech is being made after time t2. Therefore, in response to the determination that no speech is being made, the controller 30 releases the operation restriction on the actuator.

[0185] 13B , when the operation restriction on the actuator is released, the controller 30 increases the operation command to a level corresponding to the operation content of the operation device 26 so that the change in the operation command is relatively gradual and continuous (i.e., smooth). In this way, the controller 30 can prevent the actuator from suddenly accelerating when the operation restriction on the actuator begins, which could cause the operation of the work machine 100 to become unstable or make the operator OP feel uncomfortable.

[0186] In this example, the operation restriction of the actuator corresponds to the case of graph 802 in FIG. 8, but similar control is also performed when stopping the actuator as in the case of graph 803 in FIG.

[0187] In this way, in this example, the controller 30 can suppress abrupt changes in the operating speed of the actuator when restricting the operation of the actuator is started and released. As a result, the controller 30 can further improve the safety of the work machine 100 when restricting the operation of the actuator is started and released, and can also suppress discomfort felt by the operator OP.

[0188] [Another Example of a Control Method for Restricting the Operation of an Actuator] Another example of a control method for restricting the operation of an actuator will be described.

[0189] Control similar to the example described above (FIG. 13) may also be performed when restricting the operation of the actuator by reducing the rotation speed of the prime mover (engine 11) to a speed lower than that during normal operation, or by reducing the flow rate of the main pump 14 to a level lower than that during normal operation.

[0190] Specifically, for example, when the actuator operation restriction starts, the controller 30 reduces the rotation speed of the prime mover to a level corresponding to the operation restriction so that the change in the rotation speed of the prime mover is relatively gradual and continuous. Also, when the actuator operation restriction starts, the controller 30 reduces the flow rate of the main pump 14 to a level corresponding to the operation restriction so that the change in the flow rate of the main pump 14 is relatively gradual and continuous.

[0191] Similarly, for example, when the operational restriction on the actuator is released, the controller 30 increases the rotation speed of the prime mover to a predetermined level so that the change in the rotation speed of the prime mover is relatively gradual and continuous. Furthermore, when the operational restriction on the actuator is released, the controller 30 increases the flow rate of the main pump 14 to a predetermined level so that the change in the flow rate of the main pump 14 is relatively gradual and continuous. The predetermined level is, for example, the level before the operational restriction was initiated. Furthermore, the predetermined level is a preset level that is higher than the level corresponding to the operational restriction. The preset level may be fixed, or may be manually set by a user such as an operator OP.

[0192] This makes it possible to obtain the same effects and advantages as in the first example described above.

[0193] [Specific Example of Display Screen of Display Device] A specific example of the display screen of the display device D1 when the operation of the actuator is restricted will be described with reference to FIG.

[0194] FIG. 14 is a diagram showing an example of the display screen (display screen 85) of the display device D1 when the operation of the actuator is restricted.

[0195] A display control unit built into the display device D1 generates a display screen 85 based on the image information input from the imaging device S6 and various information received from the controller 30. The information received from the controller 30 includes the turning angle, information indicating the area in which a person is captured in the image information, position information of people present in the vicinity of the work machine (information indicating the direction and distance of the detected person), and detection results of various sensors. Alternatively, the display screen 85 may be generated by the controller 30, and the display control unit may simply display the display screen 85 received from the controller 30 in the display area.

[0196] In accordance with control from the display control unit, the display device D1 displays a display screen 85 including a date and time display area 42a, a driving mode display area 42b, an attachment display area 42c, a fuel efficiency display area 42d, an engine control status display area 42e, an engine operating time display area, a coolant temperature display area 42g, a remaining fuel amount display area 42h, an RPM level display area 42i, a urea water remaining amount display area 42j, a hydraulic oil temperature display area 42k, an operation restriction display area 42l, a work machine status display area 421, a first image display area 422, and a second image display area 423. The display screen 85 may include other display areas.

[0197] The travel mode display area 42b, the attachment display area 42c, the engine control status display area 42e, and the rotation speed level display area 42i are areas that display setting status information, which is information related to the setting status of the work machine 100. The fuel efficiency display area 42d, the engine operating time display area, the coolant temperature display area 42g, the remaining fuel amount display area 42h, the remaining urea water amount display area 42j, and the hydraulic oil temperature display area 42k are areas that display operating status information, which is information that represents the operating status of the work machine 100 based on the detection results of various sensors.

[0198] The date and time display area 42a is an area that displays the current date and time. The driving mode display area 42b is an area that displays the current driving mode. The attachment display area 42c is an area that displays an image representing the currently attached attachment. The fuel efficiency display area 42d is an area that displays fuel efficiency information calculated by the controller 30. The fuel efficiency display area 42d includes an average fuel efficiency display area 42d1 that displays the lifetime average fuel efficiency or the section average fuel efficiency, and an instantaneous fuel efficiency display area 42d2 that displays the instantaneous fuel efficiency.

[0199] The engine control status display area 42e is an area that displays the control status of the engine 11. The engine operating time display area is an area that displays the cumulative operating time of the engine 11. The coolant temperature display area 42g is an area that displays the current temperature state of the engine coolant. The remaining fuel amount display area 42h is an area that displays the remaining amount of fuel stored in the fuel tank.

[0200] The rotation speed level display area 42i is an area that displays, in an image, the current rotation speed level of the prime mover (engine 11), which is set using a dial (not shown) inside the cab 10. A number indicating the selected level is displayed in the rotation speed level display area 42i. The number "1" displayed in the rotation speed level display area 42i indicates that the selected rotation speed level is the "first level." The number "n" displayed in the rotation speed level display area 42i indicates that the selected rotation speed level is the "nth level." "n" is a natural number. When the operator rotates the dial, the number displayed in the rotation speed level display area 42i changes.

[0201] The urea water remaining amount display area 42j is an area that displays the remaining amount of urea water stored in the urea water tank using an image. The hydraulic oil temperature display area 42k is an area that displays the temperature of the hydraulic oil in the hydraulic oil tank.

[0202] The operation restriction display area 42l is an area that displays an image indicating that operation restrictions are being imposed on the actuators of the work machine 100. If operation restrictions are not being imposed on the work machine 100, nothing is displayed in the operation restriction display area 42l, and if operation restrictions are being imposed on the work machine 100, the image (icon) shown in FIG. 14 is displayed. This allows the operator inside the cab 10 to understand that operation restrictions are being imposed on the work machine 100. Furthermore, when an operation is performed to select an icon in the operation restriction display area 42l with a cursor or the like, or when an operation to confirm that selection is performed, via the input device D2 or the like, the display control unit may cause a pop-up display in the vicinity of the icon indicating the content of the operation restriction and the reason why the operation restriction is being imposed. Furthermore, when an operation restriction on an actuator of the work machine 100 is released, an image or text information indicating that the operation restriction on the actuator has been released may be displayed in the operation restriction display area 42l.

[0203] The work machine status display area 421 is an area that displays information that indicates the positional relationship between the work machine 100 and a person detected in the vicinity of the work machine 100 .

[0204] The work machine status display area 421 is a display area that displays, at a predetermined scale, real space with the work machine 100 at its center. A work machine icon 421b indicating the presence of the work machine 100 is placed in the center of the work machine status display area 421.

[0205] In addition to a work machine icon 421b representing the work machine 100, the work machine status display area 421 simultaneously displays an icon indicating the direction in which the work machine 100 can travel (direction display icon 421a in the example of FIG. 14 ) and icons representing people detected around the work machine 100 (human detection icons 421e, 421f, 421g in the example of FIG. 14 ). The area of ​​the work machine status display area 421 other than the work machine icon 421b, direction display icon 421a, and human detection icons 421e, 421f, 421g (in other words, the background) may be an area represented in a single color (for example, black).

[0206] The work machine icon 421b is an icon that combines an image showing the upper rotating body 3 and an image showing the lower running body 1 in accordance with the positional relationship between the upper rotating body 3 and the lower running body 1 based on the rotation angle.

[0207] The direction display icon 421a is triangular in shape and indicates the direction in which the work machine 100 will travel when the travel lever is tilted forward. Note that this embodiment shows only one example of an icon that indicates the direction in which the work machine 100 will travel when the travel lever is tilted forward, and any shape may be used as long as it indicates the direction in which the work machine 100 can travel.

[0208] The person detection icons 421e, 421f, 421g are icons that represent people detected from image information captured by the imaging device S6. Specifically, the person detection icons 421e, 421f, 421g are arranged based on the position information of people received from the controller 30. For example, the person detection icons 421e, 421f, 421g are arranged at positions obtained by multiplying the direction and distance to the detected person, with the work machine 100 as the reference, by a predetermined scale factor.

[0209] In this way, the positional relationship between the work machine icon 421b and the person detection icons 421e, 421f, 421g corresponds to the positional relationship between the work machine 100 and the people present around the work machine 100 in real space.

[0210] In this example, the work machine status display area 421 displays an icon indicating the work machine 100 (for example, work machine icon 421b), an icon indicating the direction in which the work machine 100 can travel (for example, direction display icon 421a), and icons indicating people detected around the work machine 100 (for example, person detection icons 421e, 421f, 421g). In other words, the work machine status display area 421 is suppressed from displaying objects other than people that are present around the work machine.

[0211] In other words, by referring to the work machine state display area 421, the operator can recognize the current status of the work machine 100, the direction in which it can proceed, and its positional relationship with people present around the work machine 100.

[0212] Furthermore, by referring to the work machine status display area 421, the operator can infer how the positional relationship between the work machine 100 and people present in the vicinity will change when the work machine 100 is moved. Furthermore, because the display of objects other than the work machine and people is suppressed in the work machine status display area 421, it is possible to prevent the operator from being drawn to other objects and forgetting the presence of people. Therefore, improved safety can be achieved.

[0213] Furthermore, the work machine state display area 421 displays a first circular area 421c and a second circular area 421d that are determined according to the distance from the work machine 100, with the work machine 100 as the reference point.

[0214] The first circular area 421c and the second circular area 421d shown in FIG. 14 are represented as circles that allow the operator to recognize the relative distance from the work machine 100, using the work machine icon 421b as a reference.

[0215] The first circular area 421c is information indicating the range in which the attachment AT of the work machine 100 currently swings, based on the detection results of the boom angle sensor S1, the arm angle sensor S2, and the bucket angle sensor S3.

[0216] The second circular area 421d is information indicating the range in which the attachment AT can turn when the attachment AT is extended to its maximum extent in the horizontal direction.

[0217] In this example, the display device D1 displays a first circular area 421c and a second circular area 421d. That is, the positional relationship between the person and the attachment AT can be recognized based on the positional relationship between the first circular area 421c, the second circular area 421d, and the person detection icons 421e, 421f, and 421g. This makes it easier for the operator to operate the attachment AT in a way that prevents the person from coming into contact with it, thereby improving safety.

[0218] Furthermore, the display control unit changes the display mode of the person detection icons 421e, 421f, and 421g depending on whether they are included in the first circular area 421c and the second circular area 421d.

[0219] For example, a person detection icon 421e that exists within the first circular area 421c is displayed in red, for example. A person detection icon 421f that exists outside the first circular area 421c but within the second circular area 421d is displayed in yellow, for example. A person detection icon 421g that exists outside the second circular area 421d is displayed in blue, for example. The display control unit changes the display mode depending on whether the person is included in the first circular area 421c or the second circular area 421d; in other words, it changes the color of the person detection icon depending on the distance from the work machine 100. In this way, by displaying a person detection icon whose color changes depending on the distance, the display device D1 can alert the operator to the distance between the work machine 100 and a person. This makes it possible to achieve improved safety.

[0220] In this example, the color of the person detection icon is an example and is not limited to this color. For example, the person detection icon may be displayed in grayscale. Furthermore, the color change of the person detection icon in this embodiment is an example of a display mode and is not limited to this color change. For example, the blinking cycle of the person detection icon may be changed, or the contrast or brightness may be changed depending on whether the person detection icon is included in the first circular area 421c or the second circular area 421d.

[0221] 14 illustrates an example in which one person detection icon is displayed in each of the first circular region 421c, the second circular region 421d outside the first circular region 421c, and the second circular region 421d. However, multiple person detection icons may be displayed in each region depending on the person detection results. Furthermore, when multiple person detection icons exist in each region, the multiple person detection icons present in one region may be displayed in a distinguishable manner.

[0222] For example, when multiple people detection icons exist in each area, each person detection icon may be assigned a unique number and displayed. Furthermore, the shape of each person detection icon may be displayed so that it changes. This display also allows people present in each area to be uniquely recognized. Therefore, even when multiple people are present, the operator can operate the work machine 100 after recognizing each person, thereby achieving improved safety.

[0223] By referring to the work machine state display area 421, the operator can recognize how the positional relationship between the attachment AT of the work machine 100 and people present in the vicinity changes when the work machine 100 is turned, thereby achieving improved safety.

[0224] In this example, an example of displaying the first circular area 421c and the second circular area 421d will be described, but this is not limited to an example of displaying the first circular area 421c and the second circular area 421d, and either the first circular area 421c or the second circular area 421d may be used.

[0225] Furthermore, the work machine status display area 421 is not limited to a method of displaying a circular area indicating the range in which the attachment AT rotates in order to allow the operator to recognize the distance between the work machine 100 and the person, but may instead display, for example, a circular area indicating a predetermined distance (for example, 4 m) with the work machine 100 at its center.

[0226] In addition, the work machine status display area 421 may display an overhead image generated based on the output (captured image) of the imaging device S6, instead of at least a part of the display content of FIG. 14, or in addition to the display content of FIG. 14.

[0227] The display device D1 displays a work machine status display area 421, as well as image information captured by the imaging device S6. By checking the image information along with the work machine status display area 421, the operator can recognize the specific situation around the work machine 100. This makes it possible to achieve improved safety.

[0228] 14, the first image display area 422 and the second image display area 423 are areas that display image information captured by the imaging device S6. A right-hand image is displayed in the first image display area 422. A rearward image is displayed in the second image display area 423. The right-hand image is an image that shows the space to the right of the work machine 100, and includes an image 422c of the right end of the top surface of the upper rotating body 3. The right-hand image is a real-view image generated by the display control unit, and is generated based on an image acquired by the right camera S6R. The rearward image is an image that shows the space behind the work machine 100, and includes an image 423c of the counterweight. The rearward image is a real-view image generated by the display control unit, and is generated based on an image acquired by the rear camera S6B.

[0229] The first image display area 422 is displayed to the right of the work machine status display area 421. The second image display area 423 is displayed below the work machine status display area 421. In this embodiment, the top of the display device D1 corresponds to the front of the upper rotating body 3. In other words, the second image display area 423 is displayed at a position corresponding to the rear of the work machine status display area 421. In other words, the display device D1 displays image information captured by the imaging device S6 in the direction captured by the imaging device S6, based on the work machine status display area 421. In this embodiment, image information captured in the direction captured is displayed based on the work machine status display area 421, so that when the operator refers to the image information, they can intuitively recognize in which direction the image information represents the situation. This makes it possible to achieve improved safety.

[0230] Note that this embodiment shows an example of the arrangement of image information, and is not limited to this arrangement. For example, the first image display area 422 and the second image display area 423 may be arranged regardless of the image capturing direction.

[0231] When the controller 30 detects a person in at least one of the right image and the rear image, the controller 30 transmits information indicating the area in which the person is detected to the display control unit.

[0232] Then, based on the received information, the display control unit superimposes a frame showing information indicating the area in which the person is detected on the right image and the rear image in which the person is detected.

[0233] As a result, a frame 422 b is displayed on the right image in the first image display area 422 , and a frame 423 b is displayed on the rear image in the second image display area 423 .

[0234] The display control unit matches the color of the frame 422b of the right image in the first image display area 422 with the color of the person detection icon 421e, and also matches the color of the frame 423b of the rear image in the second image display area 423 with the color of the person detection icon 421f.

[0235] In other words, the display device D1 displays a frame indicating a detected person in the right image and the rear image, and also displays a correspondence between the person indicated by the frame and the person detection icon in a manner that allows the person to be recognized. This allows the operator to recognize the status of the person indicated in the work machine status display area 421 by referring to the right image and the rear image. Therefore, the operator can operate the work machine 100 while taking into consideration the status of people present around the work machine 100. This can thereby achieve improved safety. Note that this embodiment has described an example in which the color of the frame matches the color of the person detection icon as an example of a display that allows the correspondence to be recognized. However, this embodiment shows only an example of a display that allows the correspondence to be recognized, and is not limited to a method in which the color of the frame matches the color of the person detection icon. For example, the correspondence may be recognized from the blinking cycle of the frame and the person detection icon.

[0236] As described above, the color of the human detection icon changes depending on the distance from the work machine 100. The human detection icon in the work machine status display area 421 and the color of the frame displayed on the right image and rear image are made to match. Therefore, the display device D1 displays the frame in different colors on the right image and rear image based on the distance between the work machine 100 and the person. In this embodiment, the color of the frame displayed on the right image and rear image changes depending on the distance from the work machine 100, so the operator can recognize the distance from the work machine 100 by referring to the color of the frame. Therefore, the operator can perform operations according to the distance, thereby achieving improved safety.

[0237] In this way, in this example, the display control unit displays the display screen 85 on the display device D1, allowing the operator to understand the situation around the work machine 100.

[0238] Furthermore, in this example, an operation restriction display area 42l is provided on the display screen 85. This allows the operator to immediately recognize that operation restrictions are being imposed on the work machine 100 while operating the work machine 100 and checking the display screen 85 to understand the situation around the work machine 100.

[0239] 15 , an example of the process of disabling the speech function, which is the function of the operator inside the cab 10 to speak to people around the work machine 100 (hereinafter simply referred to as the "speech function"), will be described. In the following, this example will be described under the assumption that the execution of each of the above-mentioned conversation support function and the speech function disabling process can be switched by input from the operator via the input device D2 or the like, and that only one of the processes can be set to be executed.

[0240] Note that disabling the speech function means that when the conversation function is on or speech is enabled, the internal sound collection device M2 and the external sound output device SP1 cannot be used.

[0241] FIG. 15 is a flowchart illustrating an example of a process for disabling the speech function.

[0242] The flowchart of FIG. 15 is repeatedly executed at predetermined control intervals, for example, when the above-described conversation assistance process is set to not be executed and the speech function disabling process is set to be executed.

[0243] 15, in step S202, the controller 30 determines whether the operation state of the conversation function is in the ON state or the speech-enabled state. If the operation state of the conversation function is in the ON state or the speech-enabled state, the controller 30 proceeds to step S204; otherwise, the controller 30 ends the processing of this flowchart.

[0244] In step S204, controller 30 determines whether or not an actuator is being operated, based on the output of operation sensor 29. The actuators targeted in this step may be all or some of the actuators that drive work machine 100. If the targeted actuator is being operated, controller 30 proceeds to step S206, and if the targeted actuator is not being operated, controller 30 proceeds to step S212.

[0245] In step S206, the controller 30 determines whether the speech function has been disabled by the previous or an earlier process of the flowchart (specifically, the process of step S208 described below). If the speech function has not been disabled, the controller 30 proceeds to step S208. If the speech function has been disabled, the controller 30 maintains the disabled state and ends the process of the current flowchart.

[0246] In step S208, the controller 30 disables the speech function.

[0247] When the process of step S208 is completed, the controller 30 proceeds to step S210.

[0248] In step S210, controller 30 starts notifying that the speech function is disabled.

[0249] This allows the operator inside the cab 10 to recognize that the speech function has been disabled. The notification that the speech function has been disabled is made visually, for example, through the display device D1. The notification that the speech function has been disabled may also be made through a predetermined light such as an indicator lamp. The notification that the speech function has been disabled may also be made auditorily, through the internal sound output device SP2 or the like, instead of or in addition to a visual notification. The controller 30 may also notify the operator inside the cab 10 of the reason why the speech function has been disabled, in addition to notifying the operator that the speech function has been disabled. That is, the controller 30 may notify the operator inside the cab 10 that the speech function has been disabled as a safety support function when the actuator is being operated.

[0250] When the process of step S210 is completed, the controller 30 ends the process of this flowchart.

[0251] On the other hand, in step S212, the controller 30 determines whether the speech function has been disabled by the previous or an earlier process of the flowchart (specifically, the process of step S208). If the speech function has been disabled, the controller 30 proceeds to step S214. If the speech function has not been disabled, the controller 30 maintains that state and ends the process of the current flowchart.

[0252] In step S214, the controller 30 cancels the disabling of the speech function, that is, the controller 30 enables the speech function.

[0253] When the process of step S214 is completed, the controller 30 proceeds to step S216.

[0254] In step S216, the controller 30 ends the notification that the speech function has been disabled, which was started by the previous or an earlier process of the flowchart (specifically, the process of step S210). Furthermore, the controller 30 may end the notification that the speech function has been disabled and may also notify the user that the disabling of the speech function has been released.

[0255] When the process of step S216 is completed, the controller 30 ends the process of this flowchart.

[0256] For example, if the operator OP inside the cab 10 is speaking to people around the work machine 100 using the speech function, the operator may lose concentration on operating the actuator.

[0257] In contrast, in this example, the controller 30 restricts and disables the speech function when an actuator that drives the work machine 100 is being operated. As a result, for example, an operator inside the cab 10 cannot use the speech function unless the operation of the target actuator is finished. Therefore, it is possible to prevent the operator inside the cab 10 from speaking to people around the work machine 100 while the target actuator is being operated. Therefore, the controller 30 can ensure safety when a conversation takes place between the operator inside the cab 10 and people around the work machine 100.

[0258] [Another Example of Processing for Disabling Speech Function] Another example of processing for disabling the speech function will be described.

[0259] The example of the speech function disabling process described above (FIG. 15) may be modified or changed as appropriate.

[0260] For example, in one example of the above-described process of disabling the speech function, the speech function may be disabled when the amount of operation of the operating device 26 for the target actuator (e.g., the tilt amount of the operating lever) is equal to or greater than a predetermined threshold (>0). In this case, in step S204, the controller 30 determines whether the amount of operation of the operating device 26 for the target actuator is equal to or greater than the predetermined threshold. If the amount of operation of the operating device 26 for the target actuator is equal to or greater than the predetermined threshold, the controller 30 proceeds to step S206, and if the amount of operation is not equal to or greater than the predetermined threshold, the controller 30 proceeds to step S212.

[0261] [Another Example of the Construction Machine Configuration] Another example of the configuration of the construction machine 100 will be described with reference to FIG.

[0262] Figure 16 is a top view showing another example of the configuration of the work machine 100. The work machine 100 shown in Figure 16 differs from the work machine 100 shown in Figures 1 and 2 in that the external sound output device SP1 is made up of four speakers (front speaker SP1F, left speaker SP1L, right speaker SP1R, and rear speaker SP1B). In the work machine 100 shown in Figures 1 and 2, the external sound output device SP1 is made up of a single omnidirectional speaker provided above the cab 10.

[0263] With this configuration, the work machine 100 shown in FIG. 16 can output sound toward the worker WK in front of the work machine 100 without outputting sound toward the workers WK to the left, right, and rear of the work machine 100, for example, by turning on the front speaker SP1F (a state in which sound can be output) and turning off the left speaker SP1L, the right speaker SP1R, and the rear speaker SP1B (a state in which sound cannot be output).

[0264] 16, a front camera S6F and a front microphone M1F are provided adjacent to the front speaker SP1F, and a front light bar G1F is provided on the housing of the front microphone M1F. A left camera S6L and a left microphone M1L are provided adjacent to the left speaker SP1L, and a left light bar G1L is provided on the housing of the left microphone M1L. A right camera S6R and a right microphone M1R are provided adjacent to the right speaker SP1R, and a right light bar G1R is provided on the housing of the right microphone M1R. A rear camera S6B and a rear microphone M1B are provided adjacent to the rear speaker SP1B, and a rear light bar G1B is provided on the housing of the rear microphone M1B.

[0265] With this configuration, the work machine 100 can turn on the light bar corresponding to the speaker that is turned on (in a state where it can emit light), and turn off the light bar corresponding to the speaker that is turned off (in a state where it cannot emit light).

[0266] The external sound output device SP1 may be configured with one or more parametric speakers. A parametric speaker is a speaker that uses ultrasonic waves and can selectively transmit sound to people within a specific narrow range. A parametric speaker can transmit sound toward any position.

[0267] 16 , the controller 30 may detect a worker WK around the work machine 100 based on images captured by the imaging device S6, and identify the position of the worker WK. Furthermore, if there are multiple workers WK around the work machine 100, the controller 30 may distinguish between a conversation target (a worker WK who is speaking) and a non-conversation target (a worker WK who is not speaking) based on the output of the four external sound collection devices M1. Furthermore, the controller 30 may distinguish between a conversation target (a worker WK facing the work machine 100) and a non-conversation target (a worker WK who is not facing the work machine 100) based on images captured by the imaging device S6. The controller 30 may then turn on the speaker and light bar facing the worker WK. For example, if there is a worker WK (speaking) behind the work machine 100, the controller 30 may turn on the rear speaker SP1B while keeping the front speaker SP1F, left speaker SP1L, and right speaker SP1R off. In this case, the controller 30 may turn on the rear light bar G1B while keeping the front light bar G1F, left light bar G1L, and right light bar G1R off. Note that this type of function may be implemented in the work machine 100 shown in Figures 1 to 5.

[0268] With this configuration, the controller 30 can output sound in the direction where the worker WK is present, without outputting sound in the direction where the worker WK is not present, so the worker WK can easily recognize whether he or she is considered a conversation target or non-target.

[0269] [Another Example of Arrangement of First Sound Collection Equipment and First Sound Output Equipment] Another example of the arrangement of the first sound collection equipment and the first sound output equipment will be described with reference to Fig. 17. Specifically, another example of the arrangement of the internal sound collection device M2 and the internal sound output device SP2 will be described.

[0270] Fig. 17 is a diagram showing another example of the interior of the cab 10 of the work machine 100. Specifically, Fig. 17 depicts an area including the window console 56 provided on the right side of the cab 10.

[0271] A display device D1 is connected to the window-side console 56. As a first example, the internal sound collection device M2 is provided in an area 1201 inside the display device D1. As a second example, the internal sound collection device M2 is provided in an area 1202 inside the display device D1, and a hole for collecting sound is provided on the back side of the display device D1. Providing the internal sound collection device M2 inside the display device D1, such as in area 1201 or area 1202, makes implementation easier.

[0272] Furthermore, as a third example, there is a mode in which the internal sound collection device M2 is provided in the region 1203 below the display device D1. The arrangement example below the display device D1 is not limited to the region 1203, and it may also be provided at an air outlet of an air conditioning device.

[0273] Furthermore, the internal sound collector M2 may be provided somewhere other than inside or around the display device D1. As a fourth example, the internal sound collector M2 may be provided in an area 1204 of the window-side console 56. For example, the internal sound collector M2 may be built in and exposed to the area 1204.

[0274] Furthermore, a console panel 1210 may be provided for adjusting the air conditioning, radio tuner, and sound output function. The console panel 1210 is provided with buttons for adjusting the air conditioning function, buttons for using the radio tuner, and buttons for using the sound output function.

[0275] For example, the buttons for adjusting the air conditioning function include an A / C switch 1211A, an inside / outside air selector switch 1211B, a mode (air outlet) selector switch 1211C, a temperature adjustment volume 1211D, and an air volume adjustment volume 1211E.

[0276] The A / C switch 1211A is a switch for switching the air conditioning function on and off. The inside / outside air selector switch 1211B is a switch for switching between inside air circulation and outside air introduction. The mode (air outlet) selector switch 1211C is a switch for switching the air outlet from which air is output. The temperature adjustment volume 1211D is a volume for adjusting the temperature. The air volume adjustment volume 1211E is a volume for adjusting the air volume.

[0277] Furthermore, as buttons for using a radio tuner or the like, a connection destination switching button 1212A, a left selection button 1212B, and a right selection button 1212C are provided.

[0278] The connection destination switching button 1212A is a switch for switching between connection destinations such as radio and Bluetooth audio. The left selection button 1212B and the right selection button 1212C are buttons for selecting a broadcasting station in the case of radio, and for selecting an album or track in the case of Bluetooth audio, etc. The internal volume dial DL2 is used to adjust the volume when using the radio tuner or Bluetooth audio.

[0279] An internal volume dial DL2, an external volume dial DL1, a switch SW, and the internal volume dial DL2 are provided as buttons for communicating with the outside. As a fifth example, there is a mode in which an internal sound collector M2 is provided in a partial region 1214 of the third region 1213. The partial region 1214 in which the internal sound collector M2 is provided has a hole for passing sound, making it easy for the internal sound collector M2 to collect the operator's voice through the hole. By positioning the internal sound collector M2 with the hole near the external volume dial DL1, it becomes easy for the operator to recognize the presence of the internal sound collector M2. In other words, when speaking to people in the vicinity of the work machine 100, the operator can communicate higher quality voice to people in the vicinity of the work machine 100 by speaking toward the partial region 1214.

[0280] Furthermore, in the case where the internal sound collection device M2 is provided in the area 1204 shown in the fourth example, and in the case where the internal sound collection device M2 is provided in a partial area 1214 of the third area 1213 shown in the fifth example, the internal sound collection device M2 is provided in a position relatively close to the driver's seat 50. Therefore, the internal sound collection device M2 can collect the voice of an operator who is nearby through the hole, thereby achieving improved sound quality. For example, when the controller 30 removes noise from the operator's voice, the noise can be easily removed. Therefore, the controller 30 can output clear sound from the external sound output device SP1 to people who are around the work machine 100.

[0281] The internal volume dial DL2 not only adjusts the volume output from the internal sound output device SP2, but also functions as a push button switch. Depending on whether the internal volume dial DL2 according to this embodiment is pressed, the sound output can be muted or not.

[0282] The switch SW is a button for turning on and off the sound output function when pressed. The specific function of the switch SW is as described above, and therefore a description thereof will be omitted.

[0283] When the controller 30 of the work machine 100 receives a signal from the switch SW indicating that the switch has been pressed while the sound output function is in the OFF state, the controller 30 turns on the sound output function.

[0284] The external volume dial DL1 adjusts the volume of the sound output from the external sound output device SP1, and also functions as a push button switch. Depending on whether the external volume dial DL1 according to this embodiment is pressed, it is possible to switch whether or not to speak to the worker around the work machine 100. In other words, the external volume dial DL1 functions as a talk button KS.

[0285] In other words, when the controller 30 of the work machine 100 receives a signal indicating that the external volume dial DL1 (speak button KS) has been pressed, it is possible to control the output of the sound collected by the internal sound collection device M2 (including the voice emitted by the operator OP) from the external sound output device SP1.

[0286] Furthermore, when the sound output function is on and the controller 30 of the work machine 100 receives a signal indicating that the internal volume dial DL2 has been pressed, the controller 30 mutes the sound that is output. This causes the controller 30 to stop controlling the output from the internal sound output device SP2 of the sound collected by the external sound collection device M1 (including the sound emitted by the worker WK present around the work machine 100).

[0287] The above does not limit the conditions under which the sound output function is available, and may be determined appropriately depending on the embodiment.

[0288] For example, the controller 30 of the work machine 100 can switch the sound output function on and off in response to a signal from the switch SW only when the engine 11 of the work machine 100 is running, and can also switch whether or not to speak to the worker in response to a signal from the talk button KS (of the external volume dial DL1). Thus, when the engine 11 of the work machine 100 is running, the controller 30 can control the output of sound collected by the external sound collection device M1 from the internal sound output device SP2, and can control the output of sound collected by the internal sound collection device M2 from the external sound output device SP1. Then, when the engine 11 is not running, the controller 30 suppresses output control of sound collected by the external sound collection device M1 from the internal sound output device SP2, and suppresses output control of sound collected by the internal sound collection device M2 from the external sound output device SP1. In this embodiment, two-way conversation is possible when the engine 11 of the work machine 100 is running. Therefore, while the operator is working with the work machine 100, he or she can improve work efficiency by communicating with people in the vicinity of the work machine 100. Furthermore, by the controller 30 limiting the use of the sound output function to a state in which the engine 11 of the work machine 100 is operating, power consumption can be reduced.

[0289] As another example, the controller 30 of the work machine 100 can switch the sound output function on and off in response to a signal from the switch SW only when the work machine 100 is in the key-on state (including a state when the engine 11 of the work machine 100 is running), and can also switch whether or not to speak to the worker in response to a signal from the talk button KS (on the external volume dial DL1). In other words, in the work machine 100, when power is being supplied to peripheral devices (e.g., air conditioners, radio tuners, etc.) provided on the work machine 100, the sound output function can be turned on and the controller 30 can also speak to the worker. Therefore, in the key-on state when power is being supplied to peripheral devices (e.g., air conditioners, radio tuners, etc.) provided on the work machine 100, the controller 30 can control the output of sound collected by the external sound collection device M1 from the internal sound output device SP2, and can also control the output of sound collected by the internal sound collection device M2 from the external sound output device SP1. Then, in the key-off state, the controller 30 suppresses output control from the internal sound output device SP2 of sound collected by the external sound collection device M1, and also suppresses output control from the external sound output device SP1 of sound collected by the internal sound collection device M2. In this embodiment, two-way conversation is possible when the work machine 100 is in the key-on state. Therefore, when the work machine 100 is not performing work, for example, even during pre-work meetings, the operator can easily communicate with people present in the vicinity of the work machine 100, thereby achieving improved work efficiency.

[0290] As yet another example, the controller 30 of the work machine 100 may be configured to switch the sound output function on and off in response to a signal from the switch SW and to switch whether or not to speak to the operator in response to a signal from the talk button KS (of the external volume dial DL1) only when the gate lock lever GL of the work machine 100 is in the second operating position and the gate bar 55 is in a pass-prohibited state. Furthermore, the controller 30 of the work machine 100 may be configured to switch the sound output function on and off in response to a signal from the switch SW and to switch whether or not to speak to the operator in response to a signal from the talk button KS (of the external volume dial DL1) when the gate lock lever GL of the work machine 100 is in the first operating position and the gate bar 55 is in a pass-allowed state.

[0291] As yet another example, there is a technique in which the controller 30 of the work machine 100 can switch the sound output function on and off in response to a signal from the internal volume dial DL2, even when the work machine 100 is in a key-off state, in other words, when the engine 11 is not running and power is not being supplied to peripheral devices, etc., provided on the work machine 100. In other words, regardless of whether the key is on or off, the controller 30 can control the output of sound collected by the external sound collection device M1 from the internal sound output device SP2, and can also control the output of sound collected by the internal sound collection device M2 from the external sound output device SP1. In this embodiment, the work machine 100 enables two-way conversation at any timing. This can prevent situations where the operator is speaking but those around him / her cannot hear, facilitating communication.

[0292] 17 may be provided on the surface 26R1 on the vehicle rear side of the upper end of the right operating lever 26R. A switch panel 1250 including a switch 1251 is provided on the right console 54R. The switch 1251 is provided for switching the output characteristics of the work machine 100 and for controlling the rotation speed of the engine 11. When the switch 1251 is pressed, the output characteristics are switched, and when the switch 1251 is rotated, the target rotation speed of the engine 11 is changed. On the switch panel 1250, for example, buttons to which functions that are frequently used while the work machine 100 is being operated are arranged. Therefore, the operator OP can execute frequently used functions while the work machine 100 is being operated simply by pressing a button arranged on the switch panel 1250.

[0293] [Still Another Example of Arrangement of First Sound Collection Equipment and First Sound Output Equipment] Still another example of the arrangement of the first sound collection equipment and the first sound output equipment will be described with reference to Fig. 18. Specifically, still another example of the arrangement structure of the internal sound collection device M2 and the internal sound output device SP2 will be described.

[0294] Fig. 18 is a diagram showing yet another example of the interior of the cab 10 of the work machine 100. Specifically, Fig. 18 shows an example in which an internal sound collection device M2 and an internal sound output device SP2 are arranged around the driver's seat 50.

[0295] As a first example of the arrangement of the internal sound collector M2, there is a mode in which a flexible microphone 1301 is attached to the right window glass WR as the internal sound collector M2.

[0296] As a second example of the arrangement of the internal sound collector M2, there is an aspect in which a flexible microphone 1302 is arranged as the internal sound collector M2 in the backrest 52 of the driver's seat 50.

[0297] As a third example of the arrangement of the internal sound collector M2, there is an aspect in which a flexible microphone 1303 is arranged as the internal sound collector M2 near the left pillar PL.

[0298] The connection between each of the flexible microphones 1301 to 1303 and the controller 30 may be wireless communication or may be connection by signal line. When the flexible microphones 1301 to 1303 are used, the position of the flexible microphones 1301 to 1303 can be freely adjusted when the operator speaks. The flexible microphones 1301 to 1303 can be brought close to the operator's mouth, which improves the quality of the sound collected.

[0299] In the example shown in Figure 18, the internal sound output device SP2 is provided in a headrest 52A located at the top of the backrest 52, with a left speaker SP2L1 provided on the left side of the operator, and a right speaker SP2R1 provided on the right side of the headrest 52A with respect to the operator.

[0300] [Still Another Example of Arrangement of First Sound Collection Equipment] Still another example of arrangement of the first sound collection equipment will be described with reference to Fig. 19. Specifically, still another example of arrangement of the internal sound collection device M2 will be described.

[0301] Figure 19 is a diagram showing yet another example of the interior of the cab 10 of the work machine 100. Specifically, Figure 19 is a diagram showing an example of the left side of the cab 10 from the inside. In the example shown in Figure 19, a door DO through which the operator gets on is provided in the cab 10. Furthermore, a left pillar PL is provided near the door DO through which the operator gets on. The left pillar PL near the door DO is close to the operator, and therefore it is easy to collect high-quality audio.

[0302] Therefore, in this example, the internal sound collector M2 is provided in region 1401 of the left pillar PL. The internal sound collector M2 is stored, for example, inside a bracket 1411 provided on the left pillar PL. A hole is formed in the bracket 1411, so the internal sound collector M2 can collect the operator's voice through the hole. When the operator looks towards the left pillar PL, he or she can see the internal sound collector M2 stored in the bracket 1411. Therefore, when the operator uses the sound output function to speak to people around the work machine 100, he or she can recognize which direction to speak in. Furthermore, when stored inside the bracket 1411, the internal sound collector M2 does not protrude from the left pillar PL, as compared to flexible types, etc., and therefore obstruction of the operator's field of vision can be reduced.

[0303] 19 shows an example in which a general internal sound collector M2 is provided inside a bracket 1411 in an area 1401 of the left pillar PL. However, Fig. 19 does not limit the location where the general internal sound collector M2 is provided to the left pillar PL. For example, a bracket may be provided on the right window glass WR, and the internal sound collector M2 may be provided inside the bracket.

[0304] [Further Examples of Internal Sound Collection Device and Internal Sound Output Device] Further examples of the internal sound collection device M2 and the internal sound output device SP2 will be described.

[0305] The above-described embodiment is not limited to the aspect in which the internal sound collection device M2 is provided in advance inside the cab 10. For example, a mobile communication terminal (e.g., a smartphone) owned by the operator may be used as the internal sound collection device M2.

[0306] Similarly, the above-described embodiment is not limited to a mode in which the internal sound output device SP2 is provided in advance inside the cab 10. For example, a mobile communication terminal (e.g., a smartphone) owned by the operator may be used as the internal sound output device SP2. In other words, the controller 30 according to the present embodiment may transmit a sound signal to the mobile communication terminal as control for output from a sound output device provided inside the cab 10.

[0307] The connection between the controller 30 and the mobile communication terminal owned by the operator may be wireless communication or may be wired connection such as a cable.

[0308] Furthermore, as yet another example of the internal sound output device SP2, a separately installed wireless communication (e.g., Bluetooth) speaker may be used. For example, if the internal sound output device SP2 is not provided inside the cab 10, the operator can bring a wireless communication speaker into the cab 10 and connect the wireless communication speaker to the controller 30, thereby achieving the same function as described above. Furthermore, even if the internal sound output device SP2 is provided inside the cab 10, the operator may bring a wireless communication speaker into the cab 10. In this case, by connecting the wireless communication speaker brought by the operator to the controller 30, it is possible to hear sounds collected from around the work machine 100 with higher sound quality than with the internal sound output device SP2 that is provided in advance inside the cab 10.

[0309] Furthermore, in the above-described embodiment, the arrangement of the internal sound output device SP2 is not limited to the arrangement shown in Fig. 5 or the arrangement shown in Fig. 18, and various arrangements are possible. Furthermore, the number of internal sound output devices SP2 provided in the driver's cab 10 is not limited to two, and may be one or three or more. For example, the internal sound output device SP2 may be provided on each of the front, rear, left, and right sides of the driver's seat 50.

[0310] Similarly, when separate wireless communication speakers are used, one or more wireless communication speakers may be arranged in the cab 10. For example, the separate wireless communication speakers may be arranged on each of the left and right sides, or on each of the front, rear, left and right sides.

[0311] In the above-described embodiment, the internal sound collection device M2 may be an analog microphone or a digital microphone. Furthermore, the internal sound collection device M2 may be a monaural microphone, a stereo microphone, or a multi-microphone.

[0312] In the above-described embodiment, the internal sound output device SP2 may use an analog speaker or a digital speaker.

[0313] [Another Example of Arrangement of Second Sound Collection Equipment and Second Sound Output Equipment] Another example of arrangement of the external sound collection device and the external sound output device will be described with reference to FIG. 20 .

[0314] Although an example has been described above in which the external sound collection device M1 and the external sound output device SP1 are provided on the upper revolving body 3, the above-described embodiment is not limited to a mode in which the second sound collection equipment and the second sound output equipment are provided on the work machine (for example, the upper revolving body 3). In this example, a case in which the second sound collection equipment and the second sound output equipment are provided in a position away from the work machine 100 will be described.

[0315] FIG. 20 is a diagram that schematically shows an example of the configuration of an operation support system SYS1 of a work machine 100A.

[0316] As shown in FIG. 20 , the operation support system SYS1 includes a work machine 100A, an installed microphone 1501, an installed speaker 1502, an autonomous mobile robot 1503, and a drone 1504.

[0317] The work machine 100A may have the same configuration as the work machine 100 shown in Figure 1 or 16, or may have a configuration in which any one or more of the external sound collection device M1 and the external sound output device SP1 have been removed from the work machine 100. In other words, this example describes a case in which two-way conversation can be achieved even with a work machine 100A that is not provided with any one or more of the external sound collection device M1 and the external sound output device SP1.

[0318] The installed microphone 1501 is a sound collection device provided at the work site, and can be connected to the work machine 100A via wireless communication or wired communication. The installed microphone 1501 transmits a sound signal indicating the collected sound to the work machine 100.

[0319] The installed speaker 1502 is a sound output device provided at the work site, and is connectable by wireless communication or wired connection to the work machine 100. The installed speaker 1502 outputs a sound indicated by a sound signal received from the work machine 100A.

[0320] The autonomous mobile robot 1503 is provided with a sound collection device 1503A and a sound output device 1503B, and is capable of connecting to the work machine 100 via wireless communication or wired communication. The autonomous mobile robot 1503 transmits a sound signal indicating the sound collected by the sound collection device 1503A to the work machine 100A. The autonomous mobile robot 1503 also outputs the sound indicated by the sound signal received from the work machine 100 from the sound output device 1503B.

[0321] The autonomous mobile robot 1503 is capable of moving within the area of ​​the work site. This embodiment does not limit the manner in which the autonomous mobile robot 1503 moves. For example, if the autonomous mobile robot 1503 is equipped with a camera (not shown), the autonomous mobile robot 1503 may identify the location of the work machine 100A based on image information captured by the camera, and may move to follow the work machine 100A when the work machine 100A moves. The autonomous mobile robot 1503 may also follow the work machine 100A so that the signal strength in communication with the work machine 100A is equal to or greater than a predetermined threshold. Furthermore, the autonomous mobile robot 1503 may identify the location of a worker based on image information captured by the camera, and move to a position where it can collect the worker's voice.

[0322] The drone 1504 is provided with a sound collection device 1504A and a sound output device 1504B, and is connectable to the work machine 100A by wireless communication or wired communication. The drone 1504 transmits a sound signal indicating the sound collected by the sound collection device 1504A to the work machine 100A. The drone 1504 also outputs the sound indicated by the sound signal received from the work machine 100A from the sound output device 1504B.

[0323] The drone 1504 is provided so that it can fly within the work site area. This embodiment does not limit the movement mode of the drone 1504, and the drone 1504 may move by following the work machine 100A in the same way as the autonomous mobile robot 1503, or may move to a position where it can collect the voice of the worker. Because the drone 1504 is flying, it can move regardless of the terrain or obstacles at the work site.

[0324] The number of each of the installed microphone 1501, the installed speaker 1502, the autonomous mobile robot 1503, and the drone 1504 installed at the work site may be one or more.

[0325] The work machine 100A is equipped with a controller 30, similar to the work machine 100. The controller 30 uses a communication device T1 to enable transmission and reception of information between the installed microphone 1501, the installed speaker 1502, the autonomous mobile robot 1503, and the drone 1504.

[0326] In other words, the controller 30 according to this embodiment controls the transmission of a sound signal indicating the sound collected by the internal sound collection device M2 via the communication device T1 to a sound output device located at a distance from the work machine 100A, and controls the output of the sound indicated in the sound signal received via the communication device from the sound collection device located at a distance from the work machine 100A from the internal sound output device SP2.

[0327] For example, the controller 30 transmits a sound signal indicating the sound collected by the internal sound collection device M2 to at least one of the installed speaker 1502, the autonomous mobile robot 1503, and the drone 1504.

[0328] As another example, the controller 30 receives a sound signal from at least one of the installed microphone 1501, the autonomous mobile robot 1503, and the drone 1504, and outputs the sound indicated by the received sound signal from the internal sound output device SP2.

[0329] The sound collection device and sound output device installed at the work site are not limited to the above-mentioned aspects. For example, there is a method in which a monitoring device that monitors the work site is equipped with a sound collection device and a sound output device in addition to a space recognition device (e.g., an imaging device).

[0330] Incidentally, if the work site is large, multiple installed microphones 1501, installed speakers 1502, autonomous mobile robots 1503, and drones 1504 will be installed. Furthermore, the number of work machines 100A present at the work site will also increase. In this case, if all of the installed speakers 1502, autonomous mobile robots 1503, and drones 1504 present at the work site output audio based on sound signals received from the work machine 100A, it will be difficult for people at the work site to recognize which work machine 100A the audio is coming from.

[0331] Therefore, the work machine 100A according to this example is capable of establishing communication and realizing two-way conversation with at least one of the installed microphone 1501, installed speaker 1502, autonomous mobile robot 1503, and drone 1504 present at the work site only when predetermined conditions are met. In this embodiment, for example, communication is established with each of the installed microphone 1501, installed speaker 1502, autonomous mobile robot 1503, and drone 1504 that is determined to be within a predetermined distance from the work machine 100A, to realize two-way conversation.

[0332] Any method, including well-known methods, may be used to determine whether the work machine 100A is within a predetermined range. For example, if a device is shown in image information captured by the imaging device S6, the distance to the device may be determined from the size and position of the device. In this case, it is also possible to attach a sticker or the like bearing a two-dimensional code to the device. The controller 30 can recognize information about the device shown in the image information (for example, device-specific information, connection destination address information, etc.) from the two-dimensional code shown in the image information.

[0333] Another example is a method in which the controller 30 of the work machine 100A pre-stores the position information of the installed microphone 1501 and the installed speaker 1502. Then, the controller 30 determines whether the installed microphone 1501 and the installed speaker 1502 are present within a predetermined range based on the positions measured by the positioning device PS. Furthermore, there is a method in which the installed microphone 1501, the installed speaker 1502, the autonomous mobile robot 1503, and the drone 1504 each periodically transmit position information to the work machine 100A.

[0334] Furthermore, this example does not limit the condition for realizing at least one of sound output and sound collection to being within a predetermined distance. For example, if there are multiple work machines 100A, the closest of the multiple work machines 100A may establish communication with a device for realizing a sound output function (e.g., the installed microphone 1501, the installed speaker 1502, the autonomous mobile robot 1503, or the drone 1504) to realize at least one of sound output and sound collection. Furthermore, a priority may be set for each of the multiple work machines 100A. Then, the device for realizing a sound output function (e.g., the installed microphone 1501, the installed speaker 1502, the autonomous mobile robot 1503, or the drone 1504) may establish communication with the work machine 100A with the highest priority among the multiple work machines 100A to realize at least one of sound output and sound collection.

[0335] [Processing Related to Speech Function] An example of processing related to the speech function of the work machine 100A in the operation support system SYS1 will be described with reference to Fig. 21. Specifically, a specific example of processing for realizing two-way conversation between the operator of the work machine 100A and people such as workers at the work site in the operation support system SYS1 will be described.

[0336] Fig. 21 is a flowchart that shows an outline of one example of processing related to the speech function of the work machine 100 A. Specifically, Fig. 21 is a flowchart that shows a specific example of processing for establishing a state in which a sound signal indicating sound collected by the internal sound collection device M2 of the work machine 100 A can be transmitted to an external device by the controller 30 of the work machine 100 A.

[0337] The process for establishing a state in which sound signals can be received from an external device under the control of the controller 30 is also similar to that shown in FIG. 21, and therefore will not be described here.

[0338] The controller 30 receives information indicating the detection result from a detection unit provided on the work machine 100A (S2601). The information indicating the detection result is, for example, image information captured by the imaging device S6. Furthermore, the information may be different from the image information captured by the imaging device S6, as long as it is information that can detect sound output devices present around the work machine 100A.

[0339] The controller 30 determines whether or not there is any equipment equipped with a sound output device around the work machine 100A based on the received information (S2602). If it is determined that there is no equipment equipped with a sound output device (S2602: NO), the controller 30 repeats the processing from S2601 again.

[0340] On the other hand, if the controller 30 determines based on the received information that a device equipped with a sound output device exists (S2602: YES), it determines whether the device exists within the predetermined range (S2603).If it determines that the device does not exist within the predetermined range (S2603: NO), it repeats the process from S2601.

[0341] On the other hand, if the controller 30 determines that an apparatus equipped with a sound output device is present within the specified range (S2603: YES), the controller 30 uses the communication device T1 to establish communication with the apparatus determined to be present within the specified range (S2604).

[0342] Thereafter, the controller 30 transmits a sound signal indicating the sound collected by the internal sound collection device M2 of the work machine 100A to the device with which communication has been established (S2605).

[0343] In this way, by performing the above-described processing, the controller 30 can cause sound to be output from equipment present within a predetermined range of the work machine 100A. Furthermore, by performing a procedure similar to the above-described processing, the controller 30 can receive a sound signal from an external device present within a predetermined range of the work machine 100A, and output the sound indicated by the received sound signal from the internal sound output device SP2. Therefore, the controller 30 can realize a two-way conversation function between the operator of the work machine 100A and people such as workers at the work site, via various devices present at the work site (for example, at least one of the installed microphone 1501, installed speaker 1502, autonomous mobile robot 1503, and drone 1504).

[0344] [Still Another Example of Arrangement of Second Sound Collection Equipment and Second Sound Output Equipment] With reference to FIG. 22, still another example of arrangement of the second sound collection equipment and the second sound output equipment will be described.

[0345] The targets for transmitting and receiving sound signals to and from the work machine 100A are not limited to the installed microphone 1501, installed speaker 1502, autonomous mobile robot 1503, and drone 1504 shown in Fig. 20. For example, the work machine 100A may transmit and receive sound signals to and from a communication terminal owned by a person. That is, in this example, a case will be described in which a communication terminal owned by a person is used as the second sound collection equipment and the second sound output equipment.

[0346] Fig. 22 is a diagram that schematically shows another example of the configuration of the operation support system SYS1 for the work machine 100A. Specifically, Fig. 22 is a diagram that schematically shows communication that takes place between the work machine 100A and a communication terminal in the operation support system SYS1.

[0347] As shown in FIG. 22, the operation support system SYS1 includes a work machine 100A and four communication terminals 1701 to 1704.

[0348] Work machine 100A is connected to each of communication terminals 1701 to 1704 so as to be able to communicate with them.

[0349] For example, the work machine 100A allows the output of sounds collected by each of the four communication terminals 1701 to 1704 to be controlled from the internal sound output device SP2, and also allows the output of sounds collected by the internal sound collection device M2 to be controlled from each of the four communication terminals 1701 to 1704.

[0350] For example, as shown in Fig. 22, the communication terminal 1701 is a terminal device owned by a site supervisor who manages and supervises a work site. The operator of the work machine 100A can realize two-way conversation with the site supervisor by sending and receiving sound signals between the work machine 100A and the communication terminal 1701. Therefore, the operator of the work machine 100A can recognize the work policy of the site supervisor or the situation at the work site.

[0351] For example, as shown in Figure 22, the communication terminal 1702 is a terminal device owned by an operator who operates another work machine 100B that is present at the work site. Sending and receiving sound signals between the work machine 100A and the communication terminal 1702 enables two-way conversation between the operators of the work machine 100A and the other work machine 100B. This enables cooperative work between the work machine 100A and the other work machine 100B. Furthermore, the operator operating the work machine 100A can ask questions, educate or instruct the operator operating the other work machine 100B regarding the operation of the work machine.

[0352] 22 , the communication terminal 1703 is a terminal device owned by the driver of a dump truck 1713 working at a work site. By transmitting and receiving sound signals between the work machine 100A and the communication terminal 1703, two-way conversation between the work machine 100A and the driver driving the dump truck 1713 is possible.

[0353] For example, as shown in Fig. 22, the communication terminal 1704 is a terminal owned by a worker working at a work site. By transmitting and receiving sound signals between the work machine 100A and the communication terminal 1704, two-way conversation between the operator of the work machine 100A and the worker is possible. This enables cooperative work between the work machine 100A and the worker.

[0354] In this example, an example has been described in which a sound signal is transmitted to equipment having a sound output device located away from the work machine 100A, as control by the controller 30 to output from a sound output device provided outside the cab. In this embodiment, even if the work machine 100A is not provided with an external sound output device SP1 and an external sound collection device M1, two-way conversation can be realized between the operator on board the work machine 100A and a person located outside the work machine 100A.

[0355] Furthermore, in this example, a sound collection device and a sound output device are used that are located away from the work machine 100A, so compared to using the external sound output device SP1 and external sound collection device M1 provided on the work machine 100A, the effects of noise and the like are suppressed when transmitting sound to people outside and collecting the sound of people outside, making it easier to have two-way conversations.

[0356] In this example, a case where an operator is on board the work machine 100A has been described, but the present invention is not limited to a case where an operator is on board the work machine 100A, and even when a remote operator RO, described below, operates the work machine 100A from a remote control room RC, two-way conversation may be realized using a sound output device and a sound collection device provided in a position away from the work machine 100A, as shown in this example. In other words, it is sufficient that a function is provided whereby the sound collection device and sound output device provided in each of the area where the operator operating the work machine is present and the area outside the work machine can transmit sounds between the two areas.

[0357] [Configuration Related to Remote Control of Work Machine] With reference to FIG. 23, an example of a configuration related to remote control of the work machine 100 will be described.

[0358] FIG. 23 is a schematic diagram showing an example of the configuration of the operation support system SYS.

[0359] As shown in FIG. 23, the operation support system SYS includes a work machine 100, a remote control room RC, and a management center MC.

[0360] Note that detailed configuration of the work machine 100 is omitted from Figure 23. This is because the work machine 100 shown in Figure 15 has the same configuration as the work machine 100 shown in Figure 1 or Figure 23. Furthermore, the work machine 100 may be replaced with the work machine 100A described above.

[0361] The work machine 100, remote control room RC, and management center MC are connected to one another so that they can send and receive data via a communication network NW. Alternatively, the work machine 100, remote control room RC, and management center MC may be connected to one another so that they can send and receive data directly to one another without going through the communication network NW. In the illustrated example, the work machine 100 transmits information about the work site to the remote control room RC. This allows the remote operator RO in the remote control room RC to understand the situation at the work site based on the information from the work machine 100.

[0362] The work machine 100 is provided with a sensor that can three-dimensionally recognize the position and shape of objects present at the work site. For example, the work machine 100 is provided with a spatial recognition device. Therefore, the work machine 100 can transmit the results of three-dimensionally measuring the work site to the remote control room RC.

[0363] The spatial recognition device is a device for recognizing the space around the work machine 100. In the illustrated example, the spatial recognition device is a LiDAR. The LiDAR measures the distance between the LiDAR and each of one million or more points within the monitoring range, for example. The spatial recognition device may be any device that can measure the distance to an object. For example, the spatial recognition device may be a stereo camera, or may be a combination of the image capture device S6 and a ranging device such as millimeter-wave radar.

[0364] The operation support system SYS may include one or more work machines 100. When the system includes multiple work machines 100, the remote operator RO of a specific work machine 100 can obtain information about the work site obtained by that specific work machine 100, as well as information about the work site obtained by one or more other work machines 100.

[0365] The remote control room RC is equipped with a communication device T2, a remote controller 40, an operation device 42, an operation sensor 43, a display device D1E, an internal sound collection device M2E, and an internal sound output device SP2E. The remote control room RC also is equipped with an operation seat DS where a remote operator RO who remotely operates the work machine 100 sits.

[0366] The communication device T2 is configured to be able to communicate with the communication device T1 attached to the work machine 100.

[0367] The remote controller 40 is a computing device that executes various calculations. In this embodiment, the remote controller 40 is configured as a microcomputer including a CPU and memory. The various functions of the remote controller 40 are realized by the CPU executing programs stored in the memory.

[0368] The display device D1E is a device capable of displaying various types of information. The display device D1E displays images based on information transmitted from the work machine 100 so that the remote operator RO in the remote control room RC can visually recognize the area around the work machine 100. In the illustrated example, the display device D1E is a liquid crystal display that displays images captured by an imaging device S6 mounted on the work machine 100.

[0369] The display device D1E may be a display or projector that realizes naked-eye stereoscopic vision, or may be VR (Virtual Reality) goggles or the like.

[0370] The internal sound output device SP2E is a device capable of outputting various types of sound information. The internal sound output device SP2E outputs sound based on information transmitted from the work machine 100 so that the remote operator RO in the remote control room RC can hear sounds generated at the work site. The internal sound output device SP2E may be configured, for example, to output sound captured by an external sound collection device M1 attached to the outside of the cab 10, or may be configured to output sound captured by an internal sound collection device M2 attached to the inside of the cab 10. In this case, the internal sound collection device M2 may be provided at a position corresponding to the ear position of the operator seated in the cab 10. The internal sound output device SP2E may be a stationary device such as a speaker, or may be a wearable device such as earphones or headphones. The speaker may be a monaural speaker, a stereo speaker, or a surround speaker. The speaker may also be an omnidirectional speaker or a directional speaker. The wearable device may have a noise cancelling function, a spatial audio function (stereophonic sound function), or a bone conduction function.

[0371] The operation device 42 is provided with an operation sensor 43 for detecting the operation content of the operation device 42. The operation sensor 43 is, for example, an inclination sensor that detects the tilt angle of the operation lever, or an angle sensor that detects the swing angle of the operation lever about the swing axis. The operation sensor 43 may be configured with other sensors such as a pressure sensor, a current sensor, a voltage sensor, or a distance sensor. The operation sensor 43 outputs information related to the detected operation content of the operation device 42 to the remote controller 40. The remote controller 40 generates an operation signal based on the received information and transmits the generated operation signal to the work machine 100. The operation sensor 43 may be configured to generate the operation signal itself. In this case, the operation sensor 43 may output the operation signal to the communication device T2 without passing through the remote controller 40. With this configuration, the remote operator RO can remotely operate the work machine 100 from the remote control room RC.

[0372] In this example, the above configuration realizes a conversation function between the remote operator RO inside the remote control room RC and people around the work machine 100 (hereinafter, for convenience, referred to as the "remote conversation function").

[0373] For example, the remote control room RC is provided with operating tools having the same functions as the switch SW and the speech button KS provided in the driver's cab 10 .

[0374] Furthermore, with regard to the remote conversation function, the same conversation support processing and speech function disabling processing as described above may be executed. In this case, in the above-described conversation support processing and speech function disabling processing, the "operator," "cab 10," "operation device 26," "internal sound collection device M2," and "internal sound output device SP2" are respectively read as the "remote operator RO," "remote control room RC," "operation device 42," "internal sound collection device M2E," and "internal sound output device SP2E." In this case, some or all of the processing included in the conversation support processing and speech function disabling processing may be executed by the remote controller 40 in cooperation with the controller 30.

[0375] The management center MC is a facility where various devices are installed to manage the work machine 100 at the work site or the remote operation of the work machine 100 by the remote operator RO in the remote control room RC. In the illustrated example, the management center MC is installed in a location away from both the work site of the work machine 100 and the remote control room RC. A management device 200, an internal sound collection device M2C, and an internal sound output device SP2C are installed in the management center MC.

[0376] The management device 200 is, for example, a server device. The server device may be a so-called on-premise server or cloud server, or may be an edge server. The management device 200 may also be a terminal device. The terminal device may be a stationary terminal device or a portable terminal device (for example, a laptop computer, a tablet, a smartphone, or the like).

[0377] With this configuration, a manager at the management center MC can, for example, use a sound collection device (external sound collection device M1 or internal sound collection device M2) attached to the work machine 100 and an internal sound output device SP2C to listen to sounds emitted at the work site. The manager at the management center MC can also, for example, use an internal sound collection device M2E and internal sound output device SP2C provided in the remote control room RC to listen to sounds emitted in the remote control room RC. The manager at the management center MC can, for example, use the internal sound collection device M2C and an external sound output device SP1 attached to the work machine 100 to communicate the voices he or she makes to a worker WK who is around the work machine 100. The manager at the management center MC can, for example, use the internal sound collection device M2C and an internal sound output device SP2 attached to the work machine 100 to communicate the voices he or she makes to an operator OP of the work machine 100. In addition, an administrator at the management center MC can, for example, use an internal sound collection device M2C and an internal sound output device SP2E provided in the remote control room RC to transmit the voice he or she makes to the remote operator RO in the remote control room RC.

[0378] In this example, the same conversation support processing and speech function disablement processing as described above may be executed for the conversation function between the manager of the management center MC and the operator inside the cab 10 of the work machine 100. In this case, in the above-mentioned conversation support processing and speech function disablement processing, "people around the work machine 100," "external sound collection device M1," and "external sound output device SP1" are replaced with "manager of the management center MC," "internal sound collection device M2C," and "internal sound output device SP2C," respectively. In this case, part or all of the conversation support processing may be executed by the management device 200 in cooperation with the controller 30. Similarly, in this example, the same conversation support processing and speech function disablement processing as described above may be executed for the conversation function between the manager of the management center MC and the remote operator RO inside the remote operation room RC. In this case, in the above-mentioned conversation support processing and speech function disabling processing, the "operator," "cab 10," "operation device 26," "internal sound collection device M2," "internal sound output device SP2," "people around the work machine 100," "external sound collection device M1," and "external sound output device SP1" are respectively replaced with "remote operator RO," "remote control room RC," "operation device 42," "internal sound collection device M2E," "internal sound output device SP2E," "administrator of management center MC," "internal sound collection device M2C," and "internal sound output device SP2C." Furthermore, in this case, the conversation support processing and speech function disabling processing may be executed by at least one of the remote controller 40 and the management device 200 in cooperation with the controller 30.

[0379] [Summary of Configuration for Realizing Conversation Function] The configuration for realizing the conversation function will be summarized.

[0380] Various embodiments are possible for the internal sound collection device (first sound collection equipment), external sound collection device (second sound collection equipment), internal sound output device (first sound output equipment), and external sound output device (second sound output equipment) shown in the above-described embodiments.

[0381] For example, internal sound collectors provided in positions capable of acquiring sounds uttered by the operator include internal sound collectors M2, M2C, and M2E. Internal sound collectors provided near the operator's mouth capable of acquiring sounds uttered by the operator include internal sound collectors M2, M2C, and M2E. Internal sound collectors provided in the direction the operator faces when the operator wishes to communicate include internal sound collectors M2, M2C, and M2E. In these cases, internal sound collector M2 may include internal sound collectors M2 provided in regions 1201 to 1204, internal sound collector M2 provided in partial region 1214, flexible microphones 1301 to 1303 as internal sound collector M2, internal sound collector M2 provided in region 1401, etc.

[0382] For example, an external sound collection device provided at a position where it can acquire sounds generated at a work site where a work machine is working includes an external sound collection device M1 (specifically, a front microphone M1F, a right microphone M1R, a left microphone M1L, and a rear microphone M1B), an installed microphone 1501, a sound collection device 1503A, and a sound collection device 1504A. For example, an external sound collection device provided at a position where it can acquire sounds made by people present at a work site where a work machine is working includes an external sound collection device M1 (a front microphone M1F, a right microphone M1R, a left microphone M1L, and a rear microphone M1B), an installed microphone 1501, a sound collection device 1503A, and a sound collection device 1504A. The external sound collection device, which is installed in a position where it can acquire the voice uttered by a worker who wants to work in cooperation with the work machine 100, includes an external sound collection device M1 (front microphone M1F, right microphone M1R, left microphone M1L, rear microphone M1B), an installed microphone 1501, a sound collection device 1503A, and a sound collection device 1504A.

[0383] For example, the internal sound output devices provided at positions where the operator can hear the output sounds include internal sound output devices SP2 (specifically, right interior speaker SP2R, left interior speaker SP2L, right speaker SP2R1, left speaker SP2L1), SP2C, and SP2E. Also, the internal sound output devices provided near each of the operator's ears so that the operator can hear the output sounds include internal sound output devices SP2 (specifically, right interior speaker SP2R, left interior speaker SP2L, right speaker SP2R1, left speaker SP2L1), SP2C, and SP2E.

[0384] For example, external sound output devices provided in positions where people present at a work site where a work machine is working can hear the sound emitted by the work machine operator include external sound output device SP1, installed speaker 1502, sound output device 1503B, and sound output device 1504B. External sound output devices provided in positions where workers who wish to work in cooperation with a work machine can hear the sound emitted by the work machine operator include external sound output device SP1, installed speaker 1502, sound output device 1503B, and sound output device 1504B.

[0385] Other Embodiments Other embodiments will be described.

[0386] The above-described embodiment may be modified or changed as appropriate.

[0387] For example, in the above-described embodiment, only one of the conversation assistance process and the speech function disabling process may be executed.

[0388] Furthermore, in the above-described embodiment, the conversation assistance process and the speech function disabling process may be executed in parallel. In this case, the execution of the conversation assistance process and the speech function disabling process are cooperatively controlled so that only one of the operation restriction of the work machine 100 by the conversation assistance process and the disabling of the speech function by the speech function disabling process is executed. For example, if an operation restriction of the work machine 100 is initiated in a state where neither the operation restriction of the work machine 100 nor the disabling of the speech function is being implemented, the execution of the speech function disabling process is temporarily stopped until the operation restriction of the work machine 100 is released. Similarly, if disabling of the speech function is initiated in a state where neither the operation restriction of the work machine 100 nor the disabling of the speech function is being implemented, the execution of the conversation assistance process is temporarily stopped until the disabling of the speech function is released.

[0389] [Operation] The operation of the work machine and operation assistance system according to this embodiment will be described.

[0390] In a first aspect of this embodiment, the work machine includes a lower traveling body, an upper rotating body, a cab, a first acquisition device, and a control device. The work machine is, for example, the work machine 100, 100A described above. The lower traveling body is, for example, the lower traveling body 1 described above. The upper rotating body is, for example, the upper rotating body 3 described above. The cab is, for example, the cab 10 described above. The first acquisition device is, for example, the internal sound collection device M2, the speech button KS, the external sound collection device M1, the image capture device S6, etc. The control device is, for example, the controller 30 described above. Specifically, the upper rotating body is rotatably mounted on the lower traveling body. The cab is mounted on the upper rotating body and houses an operator of the work machine. The first acquisition device acquires information regarding the status of speech from the operator to people around the work machine. The control device receives output from the first acquisition device. The control device then restricts the operation of the work machine when the operator is speaking to people around the work machine.

[0391] This allows the control device to restrict the operation of the work machine when the operator inside the cab is speaking to people around the work machine. Therefore, even if a situation arises in which the operator's concentration on operating the work machine decreases when speaking to people around the work machine, for example, the control device can ensure the safety of the work machine and its surroundings by restricting the operation of the work machine.

[0392] Furthermore, in a second aspect of this embodiment, based on the first aspect described above, limiting the operation of the work machine may include at least one of slowing down the operation of the work machine in response to operation by the operator, and stopping the operation of the work machine or maintaining the stopped state of operation of the work machine regardless of operation by the operator.

[0393] This allows the control device to limit the operation of the work machine.

[0394] Furthermore, in a third aspect of this embodiment, assuming the first or second aspect described above, the control device may release the restriction on the operation of the work machine when the information acquired by the first acquisition device transitions from a state indicating that the operator is speaking to people around the work machine to a state indicating that no speech is being made.

[0395] This allows the control device to release the restriction on the operation of the work machine when the operator inside the cab stops speaking to people around the work machine.

[0396] In a fourth aspect of this embodiment, based on the third aspect described above, the first acquisition device may be a predetermined operation input device provided inside the cab, and the control device may restrict the operation of the work machine when the predetermined operation input device is operated, and may release the restriction on the operation of the work machine when the predetermined operation input device transitions from an operated state to an unoperated state. Alternatively, the first acquisition device may acquire information about objects around the work machine, and the control device may release the restriction on the operation of the work machine when a state in which a person is detected within a predetermined range around the work machine transitions from a state in which a person is not detected based on the information from the first acquisition device. Alternatively, the first acquisition device may be a sound collection device that collects sounds inside the cab, and the control device may restrict the operation of the work machine when a human voice is recognized based on the output of the internal sound collection device, and release the restriction on the operation of the work machine when a human voice is no longer recognized based on the output of the internal sound collection device. The internal sound collection device is, for example, the internal sound collection device M2 described above.

[0397] This allows the control device to release the restriction on the operation of the work machine when the operator inside the cab stops speaking to people around the work machine.

[0398] In a fifth aspect of the present embodiment, based on any one of the first to fourth aspects described above, the work machine may be equipped with a second acquisition device that acquires information about the operation state of the work machine. The second acquisition device is, for example, the above-mentioned operation sensor 29 or a limit switch that detects the operation state of the gate lock lever GL. The control device may then release restrictions on the operation of the work machine when the information acquired by the second acquisition device does not indicate a state in which the work machine is to be operated.

[0399] This allows the control device to release restrictions on the operation of the work machine when the operator inside the cab is not in a state to operate the work machine.As a result, the control device can smoothly start operation of the work machine even in a situation where, for example, the operator inside the cab finishes speaking to people around the work machine and then starts operating the work machine immediately.As a result, the control device can more appropriately achieve both ensuring the safety of the work machine and its surroundings and improving the work efficiency of the work machine.

[0400] In a sixth aspect of this embodiment, based on the fifth aspect described above, the second acquisition device may acquire information indicating the operation state of an actuator that drives the work machine, and the control device may release the restriction on the operation of the work machine when the information acquired by the second acquisition device indicates that the actuator is not being operated. The second acquisition device may be, for example, the operation sensor 29 described above. The actuators may be, for example, the left traveling hydraulic motor 2ML, the right traveling hydraulic motor 2MR, the swing hydraulic motor 2A, the boom cylinder 7, the arm cylinder 8, and the bucket cylinder 9 described above. Alternatively, the second acquisition device may acquire information indicating the state of a gate lock lever, and the control device may release the restriction on the operation of the work machine when the information acquired by the second acquisition device indicates that the gate lock lever is locked. The second acquisition device may be, for example, a limit switch that detects the operation state of the gate lock lever GL described above. The locked state of the gate lock lever may be, for example, a state in which the gate lock lever GL described above is in the first operating position.

[0401] This allows the work machine to release restrictions on its operation when the work machine is not in a state where it can be operated by an operator inside the cab.

[0402] Furthermore, in a seventh aspect of this embodiment, assuming any one of the first to sixth aspects described above, the control device may continue to restrict the operation of the work machine even if the operator no longer speaks to people around the work machine, if people around the work machine are speaking to the operator in response to the operator's speech.

[0403] This allows the control device to continue restricting the operation of the work machine in accordance with the continuation of the conversation, for example, when the operator continues to have a conversation with someone around the work machine. As a result, the control device can ensure the safety of the work machine and its surroundings even in situations where the operator's concentration on operating the work machine decreases due to the continuation of the conversation.

[0404] Furthermore, in an eighth aspect of this embodiment, assuming any one of the first to seventh aspects described above, the control device may restrict the operation of the work machine when there is a possibility that the operator will speak to people around the work machine.

[0405] This allows the control device to restrict the operation of the work machine in advance when there is a possibility that the operator will speak to people around the work machine, thereby enabling the control device to more appropriately ensure the safety of the work machine and its surroundings.

[0406] Furthermore, in a ninth aspect of this embodiment, assuming the eighth aspect described above, when there is a possibility that the operator will speak to a person around the work machine, this may also include a case where a person around the work machine is speaking to the operator.

[0407] This allows the control device to restrict the operation of the work machine when there is a possibility that the operator will speak to people around the work machine in response to speech from people around the work machine to the operator inside the cab, thereby ensuring the safety of the work machine and its surroundings.

[0408] Furthermore, in a tenth aspect of this embodiment, based on any one of the first to ninth aspects described above, the work machine may be equipped with an internal sound collection device and an external sound output device. The internal sound collection device is, for example, the internal sound collection device M2 described above. The external sound output device is, for example, the external sound output device SP1 described above. Specifically, the internal sound collection device may collect sound inside the cab. The external sound output device may be provided outside the cab and output sound collected by the internal sound collection device toward the periphery of the work machine.

[0409] This allows the work machine to use the external sound output device to deliver the voice of the person in the driver's seat to people around the work machine at an appropriate volume, thereby supporting speech-based communication between the operator in the driver's cab and people around the work machine.

[0410] In an eleventh aspect of the present embodiment, based on the tenth aspect described above, the external sound output device may output sound collected by the internal sound collection device toward the periphery of the work machine when a predetermined operation input device provided inside the cab is operated. The predetermined operation input device is, for example, the above-mentioned talk button KS.

[0411] This allows the operator inside the cab to deliver the content of his or her speech to people around the work machine at a time that suits the operator's own preference for conversation.

[0412] Furthermore, in a twelfth aspect of this embodiment, assuming the tenth or eleventh aspect described above, the function of outputting the sound collected by the internal sound collection device from the external sound output device toward the area around the work machine may be disabled when the work machine is being operated.

[0413] This makes it possible for the work machine to disable the function that enables the operator in the driver's seat to speak to people around the work machine while the work machine is being operated, thereby ensuring the safety of the work machine itself and its surroundings.

[0414] In a thirteenth aspect of the present embodiment, based on any one of the first to twelfth aspects described above, the work machine may be provided with a notification device. The notification device is, for example, the display device D1 or internal sound output device SP2 described above. Specifically, the notification device may be provided inside the cab, and when the operation of the work machine is restricted by the control device, the notification device may notify the operator to that effect.

[0415] This allows the work machine to notify the operator inside the cab when its own operation is restricted.

[0416] Furthermore, in a fourteenth aspect of this embodiment, assuming any one of the first to thirteenth aspects described above, the control device may continue to restrict the operation of the work machine while the work machine is being operated, even if the operator no longer speaks to people around the work machine, until the operation is completed.

[0417] This allows the control device to prevent situations where, for example, an operational restriction is released while a work machine is being operated, causing the speed of operation of the driven parts of the work machine to increase and causing discomfort to the operator.

[0418] In a fifteenth aspect of this embodiment, the work machine includes a lower traveling body, an upper revolving body, a cab, a sound collection device, a sound output device, and a control device. The work machine is, for example, the work machine 100, 100A described above. The lower traveling body is, for example, the lower traveling body 1 described above. The upper revolving body is, for example, the upper revolving body 3 described above. The cab is, for example, the cab 10 described above. The sound collection device is, for example, the internal sound collection device M2 described above. The sound output device is, for example, the external sound output device SP1 described above, installed speaker 1502, sound output device 1503B, sound output device 1504B, communication terminals 1701 to 1704, etc. The control device is, for example, the controller 30 described above. Specifically, the upper revolving body is mounted on the lower traveling body so as to be able to rotate freely. The cab is mounted on the upper revolving body, and an operator of the work machine sits inside. The sound collection device collects sound from inside the cab. The sound output device is provided outside the cab and outputs sound. The control device controls a function that causes the sound collected by the sound collection device to be output from the sound output device. The control device restricts the function when the operator is operating a work machine.

[0419] This allows the control device to limit the speech function that allows the operator in the cab to speak to people around the work machine while the operator is operating the work machine.As a result, the control device can avoid a situation in which the operator's ability to concentrate on operating the work machine decreases due to speaking to people around the work machine, for example.As a result, the control device can ensure the safety of the work machine and its surroundings.

[0420] In a sixteenth aspect of this embodiment, an operation assistance system enables conversation between an operator of a work machine having a lower traveling body and an upper rotating body rotatably mounted on the lower traveling body and people around the work machine. The operation assistance system is, for example, the operation assistance system SYS or SYS1 described above. Specifically, the operation assistance system may include a first acquisition device that acquires information regarding the status of speech from the operator to people around the work machine, and a control device to which the output of the first acquisition device is input. The first acquisition device is, for example, the internal sound collection device M2 or M2E described above, the speech button KS, the speech button provided in the remote control room RC, the external sound collection device M1, the installed speaker 1502, the sound output device 1503B, the sound output device 1504B, the communication terminals 1701 to 1704, the image capture device S6, etc. The control device is, for example, the controller 30 or the remote controller 40 described above. The control device then restricts the operation of the work machine when the operator is speaking to people around the work machine.

[0421] This allows the operation assistance system to restrict the operation of the work machine when the operator remotely operating the work machine is speaking to people around the work machine. Therefore, the control device can restrict the operation of the work machine even if a situation arises in which the operator's concentration on operating the work machine decreases when speaking to people around the work machine, for example. Therefore, the control device can ensure the safety of the work machine and its surroundings.

[0422] Furthermore, with regard to the operation assistance system, on the premise of the above-mentioned sixteenth aspect, aspects similar to the second to fourteenth aspects for the work machine can be realized.

[0423] As a result, the operation assistance system achieves the same effects and advantages as the second to fourteenth aspects described above.

[0424] In a seventeenth aspect of this embodiment, an operation assistance system assists in the operation of a work machine having a lower traveling body and an upper rotating body rotatably mounted on the lower traveling body. The operation assistance system is, for example, the operation assistance system SYS or SYS1 described above. Specifically, the operation assistance system may include a sound collection device that collects sound from inside a cab where an operator of the work machine is located, a sound output device that outputs sound around the work machine, and a control device that controls the function of outputting the sound collected by the sound collection device from the sound output device. The sound collection device is, for example, the internal sound collection devices M2 and M2E described above. The sound output device is, for example, the external sound output device SP1, the installed speaker 1502, the sound output device 1503B, the sound output device 1504B, the communication terminals 1701 to 1704, etc. described above. The control device is, for example, the controller 30 or the remote controller 40 described above. The control device then restricts the function when the operator is operating the work machine.

[0425] As a result, the operation assistance system can limit the speech function that allows the operator in the cab to speak to people around the work machine while the operator is operating the work machine.As a result, the operation assistance system can avoid a situation in which the operator's concentration on operating the work machine decreases due to speaking to people around the work machine, for example.As a result, the control device can ensure the safety of the work machine and its surroundings.

[0426] The preferred embodiments of the present disclosure have been described above. However, the invention according to the present disclosure is not limited to the above-described embodiments. Various modifications, substitutions, etc. may be applied to the above-described embodiments without departing from the scope of the invention according to the present disclosure. Furthermore, each of the features described with reference to the above-described embodiments may be combined as appropriate unless technically inconsistent.

[0427] Finally, this application claims priority based on Japanese Patent Application No. 2024-037497, filed on March 11, 2024, the entire contents of which are incorporated herein by reference.

[0428] DESCRIPTION OF SYMBOLS 1 Lower traveling body 2 Swing mechanism 2A Swing hydraulic motor 2ML Left traveling hydraulic motor 2MR Right traveling hydraulic motor 3 Upper rotating body 4 Boom 5 Arm 6 Bucket 7 Boom cylinder 8 Arm cylinder 9 Bucket cylinder 10 Cab 11 Engine 26 Operation device 26DL Left traveling lever 26DR Right traveling lever 26L Left operation lever 26PL Left traveling pedal 26PR Right traveling pedal 26R Right operation lever 29 Operation sensor 30 Controller 31 Valve 40 Remote controller 42 Operation device 43 Operation sensor 100 Work machine 200 Management device 1301 Flexible microphone 1302 Flexible microphone 1303 Flexible microphone 1501 Installed microphone 1502 Installed speaker 1503 Autonomous mobile robot 1503A Sound collection device 1503B Sound output device 1504 Drone 1504A Sound collection device 1504B Sound output device 1701 Communication terminal 1702 Communication terminal 1703 Communication terminal 1704 Communication terminal AT Attachment D1 Display device D1E Display device D2 Input device DL1 External volume dial DL2 Internal volume dial DS Operation seat G1 Information transmission device G1B Rear light bar G1F Front light bar G1L Left light bar G1R Right light bar KS Speech button M1 External sound collection device M1B Rear microphone M1F Front microphone M1L Left microphone M1R Right microphone M2 Internal sound collection device M2C Internal sound collection device M2E Internal sound collection device MC Management center NW Communication network OP Operator RC Remote control room RO Remote operator S6 Imaging device S6B Rear camera S6F Front camera S6L Left camera S6R Right camera SP1 External sound output device SP1B Rear speaker SP1F Front speaker SP1L Left speaker SP1R Right speaker SP2 Internal sound output device SP2C Internal sound output device SP2E Internal sound output device SP2L Left interior speaker SP2R Right interior speaker SW Switch SYS, SYS1 Operation support system T1 Communication device T2 Communication device WK Worker

Claims

1. A work machine comprising: a lower running body; an upper rotating body mounted on the lower running body so as to be able to rotate freely; a driver's cab mounted on the upper rotating body and in which an operator of the work machine sits; a first acquisition device that acquires information regarding the status of speech from the operator to people around the work machine; and a control device to which the output of the first acquisition device is input, wherein the control device restricts the operation of the work machine when the operator is speaking to people around the work machine.

2. A work machine as described in claim 1, wherein limiting the operation of the work machine includes at least one of slowing down the operation of the work machine in response to operation by the operator, and stopping the operation of the work machine or maintaining a stopped state of operation of the work machine regardless of operation by the operator.

3. A work machine as described in claim 1 or 2, wherein the control device releases restrictions on the operation of the work machine when the information acquired by the first acquisition device transitions from a state indicating that the operator is speaking to people around the work machine to a state indicating that no speech is being made.

4. The work machine according to claim 3, wherein the first acquisition device is a specified operation input device provided inside the cab, and the control device restricts the operation of the work machine when the specified operation input device is operated, and releases the restriction on the operation of the work machine when the specified operation input device transitions from an operated state to an unoperated state; the first acquisition device acquires information about objects around the work machine, and the control device releases the restriction on the operation of the work machine when, based on the information from the first acquisition device, a state in which a person is detected within a specified range around the work machine transitions from a state in which a person is not detected; or the first acquisition device is an internal sound collection device that collects sounds inside the cab, and the control device restricts the operation of the work machine when a human voice is recognized based on the output of the internal sound collection device, and releases the restriction on the operation of the work machine when a human voice is no longer recognized based on the output of the internal sound collection device.

5. A work machine as claimed in claim 1 or 2, further comprising a second acquisition device that acquires information relating to the operating state of the work machine, and wherein the control device releases restrictions on the operation of the work machine when the information acquired by the second acquisition device does not indicate a state in which the work machine is to be operated.

6. A work machine as described in claim 5, wherein the second acquisition device acquires information representing the operating state of an actuator that drives the work machine, and the control device releases restrictions on the operation of the work machine when the information acquired by the second acquisition device indicates that the actuator is not being operated, or the second acquisition device acquires information representing the state of a gate lock lever, and the control device releases restrictions on the operation of the work machine when the information acquired by the second acquisition device indicates that the gate lock lever is locked.

7. A work machine as claimed in claim 1 or 2, wherein the control device continues to restrict the operation of the work machine even when the operator has stopped speaking to people around the work machine, if people around the work machine are speaking to the operator in response to the operator's speech.

8. A work machine according to claim 1 or 2, wherein the control device restricts the operation of the work machine when there is a possibility that the operator will speak to people around the work machine.

9. A work machine according to claim 8, wherein cases in which the operator may speak to a person around the work machine include cases in which a person around the work machine speaks to the operator.

10. A work machine as claimed in claim 1 or 2, comprising: an internal sound collection device that collects sounds inside the cab; and an external sound output device that is provided outside the cab and outputs the sounds collected by the internal sound collection device towards the periphery of the work machine.

11. A work machine as described in claim 10, wherein the external sound output device outputs the sound collected by the internal sound collection device toward the periphery of the work machine when a predetermined operation input device provided inside the operator's cab is operated.

12. A work machine according to claim 10, wherein the function of outputting the sound collected by the internal sound collection device from the external sound output device toward the surroundings of the work machine is disabled when the work machine is being operated.

13. A work machine according to claim 1 or 2, further comprising a notification device provided inside the cab that notifies the operator when the operation of the work machine is restricted by the control device.

14. A work machine as claimed in claim 1 or 2, wherein the control device continues to restrict the operation of the work machine when the work machine is being operated, even if the operator has stopped speaking to people around the work machine, until the operation is completed.

15. A work machine comprising: a lower running body; an upper rotating body mounted on the lower running body so as to be able to rotate freely; a cab mounted on the upper rotating body and in which an operator of the work machine sits; a sound collection device that collects sounds from inside the cab; a sound output device that is provided outside the cab and outputs sounds; and a control device that controls a function of outputting the sounds collected by the sound collection device from the sound output device, wherein the control device restricts the function when the operator is operating the work machine.

16. An operation assistance system that allows conversation between an operator of a work machine having a lower running body and an upper rotating body that is rotatably mounted on the lower running body and people around the work machine, the operation assistance system comprising: a first acquisition device that acquires information regarding the status of speech from the operator to people around the work machine; and a control device to which the output of the first acquisition device is input, wherein the control device restricts the operation of the work machine when the operator is speaking to people around the work machine.

17. An operation assistance system for a work machine having a lower running body and an upper rotating body mounted on the lower running body so as to be able to rotate freely, comprising: a sound collection device that collects sounds from inside the cab where the operator of the work machine is located; a sound output device that outputs sounds around the work machine; and a control device that controls the function of outputting the sounds collected by the sound collection device from the sound output device, wherein the control device restricts the function when the operator is operating the work machine.

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