Construction machine and control system for construction machine

Abstract

The invention provides a construction machine and a control system of the construction machine, which can improve silence. A construction machine according to one embodiment of the present invention is provided with: a lower traveling body; an upper rotating body rotatably mounted on the lower traveling body; the cab is arranged on the upper revolving body; an outer sound collection device disposed on the outer side of the cab; an inner sound output device disposed on the inner side of the cab; and a control device that restricts the sound collected by the outer sound collection device from being output from the inner sound output device on the basis of the detection result of an object present in the periphery of the construction machine.

Description

Technical Field

[0001] This application claims the benefit of priority based on Japanese Patent Application No. 2024-037498, filed on March 11, 2024. The entire contents of this Japanese patent application are incorporated herein by reference.

[0002] The present invention relates to a construction machine and a control system of the construction machine. Background Art

[0003] Conventionally, construction machines are sometimes equipped with a sound collecting device for collecting sounds around the construction machine and a speaker for outputting the collected sounds to the operator's seat of the construction machine, thereby enabling the operator to recognize the surrounding conditions of the construction machine through the sounds.

[0004] Patent Document 1: Japanese Patent Application Laid-Open No. 2013-047427

[0005] However, when objects existing around the construction machine generate noise such as operating sounds, the operating sounds are output to the driver's seat, which may reduce the quietness near the driver's seat. Summary of the Invention

[0006] One embodiment of the present invention improves quietness by limiting sound output.

[0007] A construction machine involved in one embodiment of the present invention comprises: a lower traveling body; an upper rotating body, which is rotatably mounted on the lower traveling body; a cab, which is arranged on the upper rotating body; an outer sound collecting device, which is arranged on the outer side of the cab; an inner sound output device, which is arranged on the inner side of the cab; and a control device, which limits the sound collected by the outer sound collecting device to be output from the inner sound output device based on the detection result of an object existing in the periphery of the construction machine.

[0008] Effects of the Invention

[0009] According to one embodiment of the present invention, quietness is improved by limiting sound output. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 It is a side view of the construction machine according to the embodiment of the present invention.

[0011] Figure 2 yes Figure 1 A top view of the construction machine is shown.

[0012] Figure 3 Is installed on Figure 1 The diagram shows an example of the structure of an external sound collecting device and an information transmitting device of a construction machine.

[0013] Figure 4 It roughly indicates Figure 1 A diagram showing an example of the structure of a construction machine.

[0014] Figure 5 yes Figure 1 A top view of the interior of the operator's cab of a construction machine is shown.

[0015] Figure 6 This is a perspective view of the construction machine on which the operator is riding and the workers around it.

[0016] Figure 7 It is an explanatory diagram illustrating the sound restriction in the construction machine according to the first embodiment.

[0017] Figure 8 This is a flowchart showing a processing procedure for limiting the output of sound based on the operating sound emitted by the object in the controller of the first embodiment.

[0018] Figure 9 It is an explanatory diagram illustrating control between the construction machine according to the second embodiment and other construction machines.

[0019] Figure 10 This is a timing chart showing control performed between the construction machine according to the second embodiment and other construction machines.

[0020] Figure 11 This is a timing chart showing control performed between the construction machine according to the third embodiment and other construction machines.

[0021] Figure 12 It is a plan view of another structural example of the construction machine involved in the fourth embodiment.

[0022] Figure 13 This is a schematic diagram showing a configuration example of an operating system according to the fifth embodiment.

[0023] In the figure: 100-construction machinery, 1-lower walking body, 2-rotating mechanism, 3-upper rotating body, 4-boom, 5-arm, 6-bucket, S6-camera device, G1-information transmission device, M1-external sound collection device, M2, M2C, M2E-internal sound collection device, SP1-external sound output device, SP2, SP2C, SP2E-internal sound output device, SW-switch, KS-speak button, DL1-external volume control panel (external volume adjustment knob), DL2-internal volume control panel (internal volume adjustment knob), T1, T2-communication device, 30-controller, 301-acquisition unit, 302-operation receiving unit, 303-output control unit, 304-detection unit, 305-judgment unit, 306-notification unit, RC-remote operation room, 40-remote controller, 200-management device. DETAILED DESCRIPTION

[0024] The following describes embodiments of the present invention with reference to the accompanying drawings. The embodiments described below are examples and do not limit the invention. Not all features or combinations of features in the embodiments of the present invention are necessarily essential features of the invention. In addition, in the various drawings, identical or corresponding structures may be marked with identical or corresponding symbols, and repeated descriptions may be omitted.

[0025] The construction machine 100 according to the embodiment of the present invention is a shovel. The construction machine 100 may also be a machine other than a shovel, such as a crane, asphalt roller, or forklift. Furthermore, in the illustrated example, the shovel serving as the construction machine 100 is an excavator equipped with a bucket 6 as an end attachment. However, the construction machine 100 may also be an application machine such as a forestry machine equipped with an end attachment other than a bucket 6.

[0026] (First embodiment)

[0027] First, refer to Figure 1 and Figure 2 , an overview of the construction machine 100 is described. Figure 1 is a side view of the construction machine 100. Figure 2 It is a top view of the construction machine 100 .

[0028] Figure 1 The +X in the figure represents one direction of the X-axis constituting the three-dimensional rectangular coordinate system, and the -X represents the other direction of the X-axis. Figure 2 The +Y in the figure represents one direction of the Y axis constituting the three-dimensional rectangular coordinate system, and the -Y represents the other direction of the Y axis. Figure 1 In the equation, +Z represents one direction of the Z axis of the three-dimensional rectangular coordinate system, and -Z represents the other direction of the Z axis. Figure 1In the figure, the +X side of the construction machine 100 corresponds to the front side of the construction machine 100, and the -X side of the construction machine 100 corresponds to the rear side of the construction machine 100. Furthermore, the +Y side of the construction machine 100 corresponds to the left side of the construction machine 100, and the -Y side of the construction machine 100 corresponds to the right side of the construction machine 100. Furthermore, the +Z side of the construction machine 100 corresponds to the top side of the construction machine 100, and the -Z side of the construction machine 100 corresponds to the bottom side of the construction machine 100. The same applies to the other figures.

[0029] The construction machine 100 includes: a lower traveling body 1; an upper rotating body 3, which is mounted on the lower traveling body 1 and rotatably rotates via a rotating mechanism 2; an attachment AT for performing various operations; and a cab 10. The cab 10 is also called a driver's cabin or operator's room. The front side of the construction 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 construction 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 construction machine 100 (upper rotating body 3) correspond to the left, right, and rear sides, respectively, when viewed from the operator's seat in the cab 10.

[0030] The lower traveling body 1 includes, for example, a pair of left and right crawler tracks 1C. Specifically, the crawler tracks 1C include a left crawler track 1CL and a right crawler track 1CR. The left crawler track 1CL is driven by a left traveling hydraulic motor 2ML, and the right crawler track 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 track 1CL, which is a driven unit, and is capable of rotating the left crawler track 1CL. The right traveling hydraulic motor 2MR is a traveling drive unit that drives the right crawler track 1CR, which is a driven unit, and is capable of rotating the right crawler track 1CR. Alternatively, the traveling drive unit may be an electric motor.

[0031] The upper slewing body 3 is driven by a slewing mechanism 2 driven by a slewing hydraulic motor 2A, thereby slewing relative to the lower traveling body 1. The slewing hydraulic motor 2A is a slewing drive unit that drives the upper slewing body 3, which is a driven unit, and can change the direction of the upper slewing body 3. Alternatively, the slewing drive unit may be an electric motor.

[0032] A boom 4 is rotatably mounted at the front center of the upper slewing body 3. An arm 5 is rotatably mounted to the front end of the boom 4, and a bucket 6 is rotatably mounted to the front end 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.

[0033] Bucket 6 is an example of a work tool (end attachment). Bucket 6 is used, for example, for excavation operations. Depending on the type of work, other work tools can be attached to the tip of arm 5 in place of bucket 6. These other work tools can include large buckets, slope buckets, dredging buckets, and other types of buckets. Furthermore, other work tools can include mixers, crushers, grapple hooks, lifting magnets, and other types of work tools other than buckets.

[0034] The swing hydraulic motor 2A, the left travel hydraulic motor 2ML, the right travel 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.

[0035] Alternatively, the construction machine 100 may electrically drive all or part of its driven parts, such as the lower traveling body 1, upper swing body 3, boom 4, arm 5, and bucket 6. In other words, the construction machine 100 may be a hybrid excavator or electric excavator, in which all or part of its driven parts are driven by electric actuators.

[0036] Furthermore, the construction machine 100 is equipped with an information transmission device G1 , an external sound collecting device M1 , an imaging device S6 , and an external sound output device SP1 .

[0037] The camera S6 is installed on the upper swing body 3 or the cab 10 to capture the surroundings of the construction machine 100 and obtain image information showing the surroundings of the construction machine 100. In the illustrated example, the camera S6 includes a front camera S6F, a left camera S6L, a right camera S6R, and a rear camera S6B.

[0038] The front camera S6F is a camera that captures the front of the construction machine 100 and is mounted on the exterior of the cab 10, such as the roof of the cab 10 or the side of the boom 4. Alternatively, the front camera S6F can be mounted on the ceiling of the cab 10, i.e., inside the cab 10. The left camera S6L captures the left side of the construction machine 100, the right camera S6R captures the right side of the construction machine 100, and the rear camera S6B captures the rear of the construction machine 100. Specifically, the front camera S6F, the left camera S6L, the right camera S6R, and the rear camera S6B are all monocular wide-angle cameras equipped with imaging elements such as CCDs or CMOS sensors, and they output captured images to the display device D1. Furthermore, information captured by the camera device S6 is input into the controller 30.

[0039] In the example shown in the figure, the front camera S6F is installed on the roof of the cab 10, the left camera S6L is installed on the left end of the upper surface of the upper rotating body 3, the right camera S6R is installed on the right end of the upper surface of the upper rotating body 3, and the rear camera S6B is installed on the rear end of the upper surface of the upper rotating body 3.

[0040] The camera S6 can constitute an object detection device that detects objects present in the vicinity of the construction machine 100. The object detection device can also be composed of devices other than cameras. For example, the object detection device can be a LiDAR (laser radar). LiDAR is, for example, a device that can measure the distance between a point group of more than 1 million points present in the monitoring range and the LiDAR (laser source). In addition, the object detection device can also be other devices that can measure the distance to the object, such as a stereo camera, a range image camera, or a millimeter wave radar. In the case of using a millimeter wave radar or the like as the object detection device, the object detection device can derive the distance and direction of the object by emitting multiple signals (lasers, etc.) toward the object and receiving their reflected signals. Alternatively, the object detection device can also be a combination of two or more devices. For example, the object detection device can be a combination of a camera and a LiDAR, a combination of a camera and a millimeter wave radar, or a combination of a camera and a stereo camera.

[0041] The external sound collection device M1 is a device that collects external sounds and is also called a microphone. In the illustrated example, the external sound collection device M1 is installed on the upper rotating body 3 or the cab 10. It converts the sounds (air vibrations) generated around the construction machine 100 into mechanical vibrations, and then converts these mechanical vibrations into electrical signals. Specifically, the external sound collection device M1 includes a front microphone M1F, a left microphone M1L, a right microphone M1R, and a rear microphone M1B.

[0042] The front microphone M1F collects sounds generated in front of the construction machine 100 and is mounted on the exterior of the cab 10, such as the roof of the cab 10 or the side of the boom 4. Alternatively, the front microphone M1F may be mounted on the ceiling of the cab 10, i.e., inside the cab 10. The left microphone M1L collects sounds generated on the left side of the construction machine 100, the right microphone M1R collects sounds generated on the right side of the construction machine 100, and the rear microphone M1B collects sounds generated behind the construction machine 100. The electrical signals generated by the front microphone M1F, the left microphone M1L, the right microphone M1R, and the rear microphone M1B are input into the controller 30.

[0043] In the example shown in the figure, the front microphone M1F is installed on the roof of the cab 10, the left microphone M1L is installed on the left end of the upper surface of the upper rotating body 3, the right microphone M1R is installed on the right end of the upper surface of the upper rotating body 3, and the rear microphone M1B is installed on the rear end of the upper surface of the upper rotating body 3. In this way, the four external sound collecting devices M1 (front microphone M1F, left microphone M1L, right microphone M1R and rear microphone M1B) are arranged at different positions of the upper rotating body 3. Therefore, the controller 30 can detect the direction of the sound source based on the difference in the sounds collected by the four external sound collecting devices M1 (for example, the difference in volume). In addition, when an array microphone is used as the external sound collecting device M1, for example, the direction of the sound source can be detected based on the phase deviation or the difference in volume.

[0044] In the illustrated example, four external sound collection devices M1 are positioned corresponding to four camera devices S6. Specifically, front microphone M1F is positioned adjacent to front camera S6F, left microphone M1L is positioned adjacent to left camera S6L, right microphone M1R is positioned adjacent to right camera S6R, and rear microphone M1B is positioned adjacent to rear camera S6B.

[0045] The external sound output device SP1 is a device that outputs sound toward the surroundings of the construction machine 100. In the illustrated example, the external sound output device SP1 is an omnidirectional speaker 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.

[0046] The information transmission device G1 is used to notify the outside of the construction machine 100 of the construction machine's 100 status. In the illustrated example, the information transmission device G1 is mounted on the upper slewing structure 3 or the cab 10 and is configured to communicate the status of the construction machine 100 to workers located around the construction machine 100. Specifically, the information transmission device G1 is a light-emitting device comprising a front light bar G1F, a left light bar G1L, a right light bar G1R, and a rear light bar G1B.

[0047] The front light bar G1F is a light-emitting device that visually transmits information to a worker or other person located in front of the construction machine 100. It is mounted on the exterior of the cab 10, such as on the roof of the cab 10 or on the side of the boom 4. Alternatively, the front light bar G1F can be mounted inside the cab 10, such as on the ceiling of the cab 10. The left light bar G1L is a light-emitting device that visually transmits information to a worker or other person located on the left side of the construction machine 100. The right light bar G1R is a light-emitting device that visually transmits information to a worker or other person located on the right side of the construction machine 100. The rear light bar G1B is a light-emitting device that visually transmits information to a worker or other person located behind the construction 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 lamps, but other light-emitting devices such as halogen lamps may also be used. Furthermore, the light emitting device is a multi-color light emitting type, but may also be a single-color light emitting type.

[0048] In the illustrated example, the front light bar G1F is mounted on the roof of the cab 10, the left light bar G1L is mounted on the left end of the upper surface of the upper revolving body 3, the right light bar G1R is mounted on the right end of the upper surface of the upper revolving body 3, and the rear light bar G1B is mounted on the rear end of the upper surface of the upper revolving body 3. Thus, the four information transmission devices G1 (front light bar G1F, left light bar G1L, right light bar G1R, and rear light bar G1B) are installed at different locations on the upper revolving body 3. Therefore, by activating each of the four information transmission devices G1, the controller 30 can convey the status of the construction machine 100 to workers and others located in front, to the left, to the right, and to the rear of the construction machine 100.

[0049] In the illustrated example, the four information transmission devices G1 are each positioned corresponding to one of the four external sound collection devices M1. Specifically, the front light bar G1F is positioned adjacent to the front microphone M1F, the left light bar G1L is positioned adjacent to the left microphone M1L, the right light bar G1R is positioned adjacent to the right microphone M1R, and the rear light bar G1B is positioned adjacent to the rear microphone M1B.

[0050] Figure 3 1 is a diagram showing a configuration example of an external sound collecting device M1 and an information transmitting device G1 mounted on a construction machine 100. Specifically, Figure 3 This is a perspective view of the left microphone M1L and the left light bar G1L mounted on a substantially rectangular parallelepiped frame. Figure 3 The following description relates to the combination of left microphone M1L and left light bar G1L, but is also applicable to the combination of front microphone M1F and front light bar G1F, the combination of right microphone M1R and right light bar G1R, and the combination of rear microphone M1B and rear light bar G1B.

[0051] like Figure 3 As shown, the left microphone M1L and the left light bar G1L are positioned on the left side of the substantially rectangular parallelepiped housing, facing the left side of the construction machine 100. This arrangement allows the left microphone M1L to efficiently collect sounds generated on the left side of the construction machine 100, and the left light bar G1L to efficiently communicate the status of the construction machine 100 to a worker located on the left side of the construction machine 100. For example, the left microphone M1L can capture the voice of a worker located on the left side of the construction machine 100, and the left light bar G1L can illuminate a predetermined color to communicate to the worker that the left microphone M1L has captured the worker's voice. In this case, the worker located on the left side of the construction machine 100 speaking into the left microphone M1L can confirm that their voice has reached the left microphone M1L (i.e., the operator of the construction machine 100) by observing the left light bar G1L illuminated in the predetermined color.

[0052] The information transmission device G1 can also be installed on the upper part of each of the four sides of the cab 10 (see Figure 6 For example, the information transmission device G1 may be configured such that a front light bar G1F is mounted on the upper portion of the front surface of the cab 10, a left light bar G1L is mounted on the upper portion of the left surface of the cab 10, a right light bar G1R is mounted on the upper portion of the right surface of the cab 10, and a rear light bar G1B is mounted on the upper portion of the rear surface of the cab 10. Furthermore, the information transmission device G1 may be a rotating light such as a Nico Torch mounted on the upper surface of the cab 10, or a display device such as a liquid crystal display or an organic EL display.

[0053] The controller 30 is an example of a control device, and is composed of, for example, a computer including a CPU, a volatile storage device, a non-volatile storage device, and various input and output interfaces. Furthermore, the controller 30 implements various functions by, for example, reading a program from a non-volatile storage device and loading it into a volatile storage device for execution by the CPU. In the illustrated example, the controller 30 is configured to implement various functions so as to be able to control the construction machine 100. The various functions include, for example, an equipment guidance function for guiding (instructing) the operator in manual operation of the construction machine 100. The various functions may include a contact avoidance function for causing the construction machine 100 to automatically or autonomously move or stop in order to avoid contact between the construction machine 100 and an object within the monitoring range around the construction machine 100.

[0054] The boom angle sensor S1 detects the boom angle, which is the rotation angle of the boom 4 relative to the upper swing 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.

[0055] 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), or a potential difference sensor using a variable resistor, a cylinder stroke sensor for detecting the stroke of a hydraulic cylinder, etc.

[0056] A detection signal corresponding to the boom angle detected by the boom angle sensor S1 , a detection signal corresponding to the arm angle detected by the arm angle sensor S2 , and a detection signal corresponding to the bucket angle detected by the bucket angle sensor S3 are input to the controller 30 .

[0057] The body tilt sensor S4 detects the tilt of the body (lower traveling unit 1 or upper rotating unit 3) relative to the horizontal plane. The body tilt sensor S4 is mounted, for example, on the upper rotating unit 3 and detects the tilt angle of the construction machine 100 (i.e., the upper rotating unit 3) about two axes: the fore-aft and the lateral. The body tilt sensor S4 can be, for example, an accelerometer, a six-axis sensor, or an IMU. A detection signal corresponding to the tilt angle detected by the body tilt sensor S4 is input into the controller 30.

[0058] The rotation sensor S5 outputs information related to the rotation of the upper rotating body 3. For example, the rotation sensor S5 detects the angular velocity of the upper rotating body 3 relative to the lower traveling body 1. The rotation sensor S5 can also detect the rotation angle. For example, the rotation sensor S5 can be a gyroscope, a resolver, or a rotary encoder. A detection signal corresponding to the rotation angle or angular velocity of the upper rotating body 3 detected by the rotation sensor S5 is input into the controller 30.

[0059] The positioning device PS measures the position of the upper rotating body 3. The positioning device PS, for example, is a GNSS (Global Navigation Satellite System) compass, which detects the position and orientation of the upper rotating body 3. Detection signals corresponding to the position and orientation of the upper rotating body 3 are input to the controller 30. The function of detecting the orientation of the upper rotating body 3 can also be achieved by an orientation sensor installed on the upper rotating body 3.

[0060] The cab 10 is a compartmentalized space where the operator sits, and is provided on the front left side of the upper swing body 3. However, the cab 10 may be omitted when the construction machine 100 is remotely operated or when the construction machine 100 operates under fully automated driving.

[0061] The communication device T1 communicates with external devices via a communication network, such as a mobile communication network, a satellite communication network, or the Internet. Examples of the communication device T1 include a mobile communication module compatible with mobile communication standards such as LTE (Long Term Evolution), 4G (4th Generation), or 5G (5th Generation), a communication module compatible with short-range wireless communication standards such as Wi-Fi (registered trademark) or Bluetooth (registered trademark), or a satellite communication module for connecting to a satellite communication network.

[0062] The construction machine 100 operates actuators in response to operations by an operator riding in the cab 10 , thereby driving driven parts such as the lower traveling body 1 , the upper swing body 3 , the boom 4 , the arm 5 , and the bucket 6 .

[0063] Alternatively, the construction machine 100 may be configured to be remotely controlled from outside the construction machine 100. When the construction machine 100 is remotely controlled, the interior of the cab 10 may be unmanned.

[0064] Furthermore, the construction machine 100 can also automatically operate the actuators regardless of the operator's operation. This allows the construction machine 100 to automatically operate at least a portion of its driven components, such as the lower traveling unit 1, upper swing unit 3, boom 4, arm 5, and bucket 6—a so-called "equipment control function."

[0065] Figure 4 1 is a diagram schematically showing an example of the structure of the construction machine 100. Figure 4 In the figure, the mechanical power transmission system, the working oil pipeline, the pilot pipeline and the electrical control system are respectively shown by double lines, thick solid lines, thick dashed lines and dotted lines.

[0066] The drive system of the construction machine 100 includes an engine 11, a regulator 13, a main pump 14, and a control valve unit 17. Furthermore, the hydraulic drive system of the construction machine 100 includes hydraulic actuators such as a swing hydraulic motor 2A, a left travel hydraulic motor 2ML, a right travel hydraulic motor 2MR, a boom cylinder 7, an arm cylinder 8, and a bucket cylinder 9.

[0067] The engine 11 is an example of a power source for the construction machine 100 and is, for example, mounted on the rear portion of the upper slewing body 3. Alternatively, the power source for the construction machine 100 may be a combination of a power source such as a battery or fuel cell and an electric motor. Specifically, under the direct or indirect control of the controller 30, the engine 11 rotates constantly at a predetermined target speed to drive the main pump 14 and the pilot pump 15. For example, the engine 11 is a diesel engine that uses diesel as fuel. Alternatively, the engine 11 may be a gasoline engine or a hydrogen engine.

[0068] The regulator 13 controls the discharge volume of the main pump 14. For example, the regulator 13 adjusts the angle (deflection angle) of the swash plate of the main pump 14 in accordance with a control command from the controller 30, thereby controlling the discharge volume of the main pump 14.

[0069] The main pump 14 is mounted, for example, at the rear of the upper slewing structure 3, similarly to the engine 11, and supplies hydraulic oil through a hydraulic oil line to the control valve unit 17. In the illustrated example, the main pump 14 is a variable displacement hydraulic pump.

[0070] The control valve unit 17 is one of the hydraulic control devices that controls the hydraulic system in the construction 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 from 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 from the main pump 14 to the hydraulic actuators and the flow rate of hydraulic oil from the hydraulic actuators to the hydraulic oil tank. The hydraulic actuators include the boom cylinder 7, the arm cylinder 8, the bucket cylinder 9, the left travel hydraulic motor 2ML, the right travel hydraulic motor 2MR, and the swing hydraulic motor 2A. Specifically, control valve 171 corresponds to the left travel hydraulic motor 2ML, control valve 172 to the right travel hydraulic motor 2MR, and control valve 173 to the swing hydraulic motor 2A. Furthermore, control valve 174 corresponds to the bucket cylinder 9, control valve 175 to the boom cylinder 7, and control valve 176 to the arm cylinder 8.

[0071] The pilot pump 15 is an example of a pilot pressure generating device, configured to supply hydraulic oil to the 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 can also be implemented by the main pump 14. That is, in addition to supplying hydraulic oil to the control valve unit 17 via the hydraulic oil line, the main pump 14 can also supply hydraulic oil to various hydraulic control devices via the pilot line. In this case, the pilot pump 15 can be omitted.

[0072] The discharge pressure sensor 28 is configured to detect the discharge pressure of the main pump 14. In the example shown in the figure, the discharge pressure sensor 28 outputs the detected value to the controller 30.

[0073] The operating device 26 is a device for the operator to operate the actuator. The operating device 26 includes, for example, an operating lever and an operating pedal. The actuator can be a hydraulic actuator or an electric actuator.

[0074] The operation sensor 29 is configured to detect the operation content of the operator using the operating device 26. In the present 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 is capable of controlling the opening area of ​​the proportional valve 31 based on the output of the operation sensor 29. In addition, the controller 30 supplies the working oil discharged by the pilot pump 15 to the pilot port of the corresponding control valve in the control valve unit 17. In principle, the pressure of the working oil (pilot pressure) supplied to each pilot port is a pressure that matches 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 be able to supply the working oil discharged by the pilot pump 15 to the pilot port of the corresponding control valve in the control valve unit 17.

[0075] The proportional valve 31, which functions as a control valve for controlling the equipment, is arranged in a conduit connecting the pilot pump 15 and the pilot port of the control valve within the control valve unit 17, and is capable of changing the flow area of ​​this conduit. In the illustrated example, the proportional valve 31 operates in response to control commands output by the controller 30. Therefore, the controller 30 can adjust the pilot pressure acting on the pilot port of the control valve via the proportional valve 31, regardless of the operator's operation of the operating device 26.

[0076] With this configuration, even when no operation is performed on a specific operating device 26 , the controller 30 can operate the hydraulic actuator corresponding to the specific operating device 26 .

[0077] And, as Figure 4 As shown, the control system of the construction machine 100 includes a controller 30, a display device D1, an input device D2, a speech button KS, an external sound collection device (an example of an external sound collection device) M1, an internal sound collection device (an example of an internal sound collection device) M2, an external sound output device (an example of an external sound output device) SP1, an internal sound output device (an example of an internal sound output device) SP2, an external volume control panel DL1, an internal volume control panel DL2, a switch SW, a storage device 35 and a communication device T1, etc.

[0078] The controller 30 is configured to output a control command to the regulator 13 as needed to change the discharge rate of the main pump 14 .

[0079] Furthermore, the controller 30 may be configured to, for example, perform control related to a device guidance function that guides (instructs) an operator in manual operation of the construction machine 100 via the operating device 26. Furthermore, the controller 30 may be configured to, for example, perform control related to a device control function that automatically supports an operator in manual operation of the construction machine 100 via the operating device 26.

[0080] Furthermore, some of the functions of controller 30 may be implemented by other controllers (control devices). In other words, the functions of controller 30 may be implemented in a distributed manner across multiple controllers. For example, the device guidance function and the device control function may be implemented by a dedicated controller (control device).

[0081] Here, reference Figure 5 , the interior of the cab 10 will be described. Figure 5 This is a top view of the interior of the cab 10. The construction machine 100 includes a driver's seat 50, an operating device 26, a display device D1, and the like, all located within the cab 10. A door for entry and exit is provided on the left side of the driver's seat 50. The operator can open the door to enter the cab 10.

[0082] The driver's seat 50 is located in the center of the cab 10 when viewed from above. The driver's seat 50 includes a seat portion 51 for the operator and a backrest 52. The driver's seat 50 is a reclining seat, and the angle of inclination 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 and right armrests 53L and 53R are rotatably supported by the backrest 52.

[0083] 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-to-back direction. The driver's seat 50 can slide in the front-to-back direction. The driver's seat 50 can also be configured to slide in the front-to-back direction together with the left console 54L and the right console 54R.

[0084] The left armrest 53L is arranged on the left console 54L. The right armrest 53R is arranged on the right console 54R. The left armrest 53L is arranged to cover a portion of the left console 54L in a plan view. The right armrest 53R is arranged to cover a portion of the right console 54R in a plan view.

[0085] The operating device 26 includes a left operating lever 26L, a right operating lever 26R, a left travel pedal 26PL, a right travel pedal 26PR, a left travel lever 26DL, and a right travel lever 26DR.

[0086] The left operating lever 26L is provided at the front of the left console 54L. Similarly, the right operating lever 26R is provided at the front of the right console 54R. The operator sitting 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 sitting in the driver's seat 50 can operate the left operating lever 26L with his left hand to drive the boom cylinder 8 and the rotary hydraulic motor 2A. Furthermore, the operator sitting in the driver's seat 50 can operate the right operating lever 26R with his right hand to drive the boom cylinder 7 and the bucket cylinder 9. In addition, the base of each of the left operating lever 26L and the right operating lever 26R is covered by a rod cover 27.

[0087] The left and right travel pedals 26PL and 26PR are located on the floor in front of the operator's seat 50. An operator seated in the operator's seat 50 can operate the left travel pedal 26PL with their left foot to drive the left travel hydraulic motor 2ML. Furthermore, an operator seated in the operator's seat 50 can operate the right travel pedal 26PR with their right foot to drive the right travel hydraulic motor 2MR.

[0088] The left travel rod 26DL and the right travel rod 26DR are arranged between the left travel pedal 26PL and the right travel pedal 26PR in a plan view. The left travel rod 26DL and the right travel rod 26DR extend upward from the floor surface in front of the driver's seat 50. The operator sitting in the driver's seat 50 can drive the left travel hydraulic motor 2ML in the same manner as the operation via the left travel pedal 26PL by holding the left travel rod 26DL with his left hand. In addition, the operator sitting in the driver's seat 50 can drive the right travel hydraulic motor 2MR in the same manner as the operation via the right travel pedal 26PR by holding the right travel rod 26DR with his right hand. In addition, the left travel rod 26DL and the right travel rod 26DR are arranged so that the operator can operate the left travel rod 26DL and the right travel rod 26DR simultaneously with one hand.

[0089] The display device D1 is provided at a position that is easily visually recognized by 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 arranged in front of the 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 image information. The display device D1 includes a display screen that displays information such as the working conditions or operation status of the construction machine 100. The operator seated in the driver's seat 50 can perform operations based on the construction machine 100 while confirming the various information displayed on the display device D1. The display device D1 may also be provided with an input device D2.

[0090] Input device D2 is located within reach of the operator seated in driver's seat 50. It receives various operational inputs from the operator and outputs signals corresponding to the operational inputs to controller 30. Input device D2 includes a touch panel mounted on the display of display device D1, which displays various information images; a rotary switch located at the tip of one or more of the multiple operating levers included in operating device 26; or a push button switch, lever, toggle switch, or rotary control dial located around display device D1. Signals corresponding to the content of operations performed on input device D2 are input to controller 30.

[0091] A gate lever 55 is attached to the front surface of the front end of the left console 54L. The gate lever 55 operates in conjunction with the operation of the door lock lever GL provided on the left console 54L. The gate lever 55 is attached to a frame inside the left console 54L so that it can be tilted about a left-right axis located at its upper end.

[0092] The door lock lever GL is a mechanical input operating portion for switching a state in which the construction machine 100 can be operated by the operating device 26 (operable state) and a state in which the construction machine 100 cannot be operated by the operating device 26 (inoperable state). In the illustrated example, the door lock lever GL is configured so that the operator can switch between a first operating position for realizing an inoperable state and a second operating position for realizing an operable state. The controller 30 switches the operable state and the inoperable state according to the operating state of the door lock lever GL. In the illustrated example, the controller 30 electrically switches the connected state and the non-connected state of the pilot line according to the operating state of the door lock lever GL, thereby switching the operable state and the inoperable state of the construction machine 100.

[0093] Furthermore, when the door lock lever GL is located at the second operating position, Figure 5 As shown, the gate lever 55 is in a forward-facing upright position (pass-through prohibition position) to prevent the operator from passing through the entry and exit door. On the other hand, when the door lock lever GL is in the first operating position, the gate lever 55 is housed inside the left console 54L (pass-through permitting position) to prevent the operator from passing through the entry and exit door.

[0094] This structure prevents the operator from operating the construction machine 100 unless the operator sets the door lock lever GL to the second operating position, placing the gate lever 55 in the no-pass state. Therefore, even if the operator accidentally touches the operating device 26 while getting on or off the vehicle, this structure prevents the construction machine 100 from unintentionally moving. Consequently, this structure improves the safety of the construction machine 100.

[0095] Furthermore, the construction machine 100 may be configured to accept a predetermined operation for starting the engine 11 only when the door lock lever GL is in the second operating position and the gate lever 55 is in the passage-prohibiting state. In other words, the construction machine 100 may be configured to be unable to start the engine 11 when the door lock lever GL is in the first operating position and the gate lever 55 is in the passage-permitting state.

[0096] The right console 54R is provided with a switch SW. A window console 56 is provided to the right side of the right console 54R. The window console 56 extends across the total length of the cab 10 in the front-to-rear direction and is arranged parallel to the right console 54R. A display device D1 is provided in front of the window console 56. The window console 56 is provided with an external volume control dial DL1, an internal volume control dial DL2, an internal sound collection device M2, a radio tuner, and the like. The radio tuner and the like may also be provided on the left console 54L or the right console 54R.

[0097] The interior sound collecting device M2 is a device that collects sounds generated in the cab 10. In the illustrated example, the interior sound collecting device M2 is an indoor microphone configured to capture sounds produced by an operator in the cab 10.

[0098] The horn button HS is a button operated when the operator of the construction machine 100 sounds the horn. In the illustrated example, the horn button HS is a rotary switch provided at the front end of the left operating lever 26L.

[0099] The talk button KS is a button operated by the operator of the construction machine 100 when the operator of the construction machine 100 speaks to workers around the construction machine 100. In the illustrated example, the talk button KS is a rotary switch provided at the end of the right operating lever 26R.

[0100] The internal sound output device SP2 is a device that outputs sound to the operator in the cab 10 and is installed in the cab 10. The internal sound output device SP2 converts the electrical signal input from the controller 30 into physical sound (air vibration) and outputs it. The internal sound output device SP2 can be installed in any position, for example, near the display device D1, near the input device D2, or near the door for getting on and off the cab 10. In the example shown in the figure, the internal sound output device SP2 includes a left indoor speaker SP2L installed in the upper left corner of the rear wall of the cab 10 and a right indoor speaker SP2R installed in the upper right corner of the rear wall of the cab 10. Alternatively, the internal sound output device SP2 can be a headset or earphones worn by the operator. In this case, the headset or earphones are connected to the controller 30 via Bluetooth (registered trademark) to enable communication.

[0101] The external volume control 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 also be configured to be adjustable by a device other than the external volume control dial DL1, such as a touch panel attached to the display device D1.

[0102] The external volume control dial DL1 can be configured to be infinitely rotatable in both clockwise and counterclockwise directions. This is to accommodate simultaneous use of volume adjustment using the external volume control dial DL1 and volume adjustment using a device other than the external volume control dial DL1.

[0103] The internal volume control 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 also be configured to be adjustable by a device other than the internal volume control dial DL2, such as a touch panel mounted on the display device D1.

[0104] The internal volume control dial DL2 can be configured to be infinitely rotatable in both clockwise and counterclockwise directions. This is to accommodate simultaneous use of volume adjustment using the internal volume control dial DL2 and volume adjustment using a device other than the internal volume control dial DL2.

[0105] The storage device 35 is, for example, located within the cab 10 and stores various information under the control of the controller 30. The storage device 35 is, for example, a non-volatile storage medium such as a semiconductor memory. The storage device 35 stores information for suppressing sound output from the internal sound output device SP2. The storage device 35 can, for example, store data related to a target construction surface acquired via the communication device T1 or set via the input device D2. This target construction surface can be set (saved) by the operator of the construction machine 100 or by a construction manager or the like.

[0106] The switch SW is an example of an operating tool for switching the operating state of the dialogue function. In the illustrated example, the switch SW is provided on the upper surface of the right console 54R. However, the switch SW may also be one of the input devices D2, a touch panel provided on the display device D1, or a rotary switch.

[0107] The dialogue function is used to implement Figure 6 The function shown is a conversation function between the operator OP of the construction machine 100 and the workers WK located around the construction machine 100 . Figure 6 It is a perspective view of the construction machine 100 on which the operator OP is riding and the worker WK positioned in front of the left side of the construction machine 100 . Figure 6The figure shows a situation where the voice of the operator OP is collected by the internal sound collecting device M2 and then output from the external sound output device SP1, and the voice of the worker WK is collected by the external sound collecting device M1 and then output from the internal sound output device SP2. Figure 6 In the construction machine 100 shown, the information transmission device G1 is installed on the upper part of each of the four side surfaces of the cab 10. In addition, the front light bar G1F installed on the upper part of the front surface of the cab 10 emits green light, and the left light bar G1L installed on the upper part of the left surface of the cab 10 emits white light. Figure 6 In FIG, a dot pattern is marked on the front light bar G1F emitting green light. The operator WK who observes the front light bar G1F emitting green light can recognize that his voice has been detected by the front microphone M1F. Figure 6 For the sake of clarity, illustrations of other devices such as the camera S6 are omitted.

[0108] The action states of the dialogue function include the open state ( Figure 6 The operator OP and the worker WK can have an on state (shown in the figure) and an off state (shown in the figure). The on state enables a conversation between the operator OP and the worker WK, while the off state disables a conversation between the operator OP and the worker WK. However, the operational states of the conversation function may additionally include at least one of a listenable state (related to the operator OP) in which the operator OP can hear the worker WK's voice but the worker WK cannot hear the operator OP's voice, and a speakable state in which the worker WK can hear the operator OP's voice but the operator OP cannot hear the worker WK's voice.

[0109] Specifically, if the switch SW is operated to switch the operation state of the dialogue 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, if the switch SW is operated to switch the operation state of the dialogue 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, if the switch SW is operated to switch the operation state of the dialogue function to the audible state, the external sound collection device M1 and the internal sound output device SP2 become available. Furthermore, if the switch SW is operated to switch the operation state of the dialogue function to the speaking state, the external sound output device SP1 and the internal sound collection device M2 become available. In the illustrated example, the operator OP speaks by pressing the speak button KS when the internal sound collection device M2 is in the available state, and is able to speak to the operator WK using the external sound output device SP1.

[0110] Furthermore, in this embodiment, under the control of the controller 30, the internal sound output device SP2 located inside the cab 10 outputs the sound collected by the external sound collection device M1, while the external sound output device SP1 located outside the cab 10 outputs the sound collected by the internal sound collection device M2. Furthermore, the controller 30 can switch between sound output from the internal sound output device SP2 and sound output from the external sound output device SP1 in response to an operator's operation, thereby enabling two-way communication. The controller 30 in this embodiment switches sound output in response to an operator's operation, thereby suppressing simultaneous sound output from both the internal sound output device SP2 and the external sound output device SP1, thereby suppressing the occurrence of whistling, etc. Furthermore, in this embodiment, the switching control method is not limited; output from the internal sound output device SP2 located inside the cab 10 and output from the external sound output device SP1 located outside the cab 10 may also be performed simultaneously.

[0111] [Restricting the output of collected sounds from external sound output devices of construction machinery]

[0112] Other construction machines are often operating near the construction machine 100. Each of these machines produces various operating sounds, including engine sounds. Therefore, while the internal sound output device SP2 located inside the cab 10 of the construction machine 100 is outputting sounds collected by the external sound collection device M1, the operating sounds of the other construction machines are output inside the cab 10.

[0113] The volume output by the internal sound output device SP2 of the construction machine 100 will be described. Figure 7 1 and 2 are explanatory diagrams illustrating the sound restriction in the construction machine 100 according to the present embodiment.

[0114] exist Figure 7 In the example shown, the construction machine 100 and another construction machine 100A are present at the work site. Since the sound of the engine 11 of the other construction machine 100A (an example of an operating sound) is louder, it is considered that the sound of the engine 11 of the other construction machine 100A has reached the right microphone M1R of the construction machine 100.

[0115] The construction machine 100 also emits the sound of the engine 11 , but the controller 30 of the construction machine 100 can cancel the sound of the engine 11 of the construction machine 100 (by itself, that is, by itself) through a noise cancellation function.

[0116] When the controller 30 outputs the sound collected by the right microphone M1R from the interior sound output device SP2 installed inside the cab 10, the sound of the engine 11 of the other construction machine 100A may resonate within the cab 10. In this situation, for example, if the worker WK speaks to the construction machine 100, the controller 30 will output the sound collected by the front microphone M1F from the interior sound output device SP2 installed inside the cab 10. However, the worker WK's voice may be drowned out by the sound of the engine 11 of the other construction machine 100A. In this case, the operator may have difficulty understanding what the worker WK is saying.

[0117] Therefore, the controller 30 according to the present embodiment restricts the sound collected by the external sound collecting device M1 from being output from the internal sound output device SP2 based on the detection result of an object (for example, another construction machine 100A) existing around the construction machine 100. Figure 7 In the illustrated example, the controller 30 detects that the other construction machine 100A is on the right side and therefore stops the internal sound output device SP2 from outputting the sound collected by the right microphone M1R, which is positioned to the right of the center of the construction machine 100. This control by the controller 30 limits the sound of the engine 11 of the other construction machine 100A output to the cab 10, making it easier for the operator to understand what the worker WK is saying.

[0118] [Functional structure of the controller]

[0119] Return to Figure 4 The controller 30 includes an acquisition unit 301, an operation acceptance unit 302, an output control unit 303, a detection unit 304, a determination unit 305, and a notification unit 306.

[0120] The acquisition unit 301 acquires detection results from various sensors installed on the construction machine 100. The acquisition unit 301 acquires sound signals representing sounds generated around the construction machine 100 from the external sound collection device M1. Furthermore, the acquisition unit 301 acquires sound signals representing sounds, including those uttered by the operator seated in the operator's seat, from the internal sound collection device M2.

[0121] The acquisition unit 301 acquires image information indicating an imaging result from the imaging device S6 and acquires position information (including position and direction) of the construction machine 100 from the positioning device PS.

[0122] Furthermore, the acquisition unit 301 acquires (receives) information from an object surrounding the construction machine 100 (e.g., an external construction machine 100A) or a management device managing the work site via the communication device T1. For example, the acquisition unit 301 acquires position information of an object surrounding the construction machine 100 from an object (e.g., an external construction machine 100A) or a management device managing the work site.

[0123] Furthermore, the acquisition unit 301 performs a noise cancellation function on the sound represented by the sound signal acquired from the external sound collection device M1 or the internal sound collection device M2. Noise cancellation can use a well-known method, for example, by superimposing a sound with a phase opposite to that of the noise component to remove the noise component. Furthermore, the acquisition unit 301 can perform a human voice frequency band emphasis processing on the sound represented by the sound signal acquired from the external sound collection device M1 or the internal sound collection device M2. By performing the noise cancellation function by the acquisition unit 301, when the output control unit 303 outputs a sound based on the sound signal, it is easy to understand what is being said.

[0124] The operation accepting unit 302 accepts an operation from the operator via one or more of the input device D2, the speech button KS, and the switch SW. For example, the operation accepting unit 302 accepts an operation to determine whether the speech button KS has been pressed.

[0125] As another example, the operation accepting unit 302 accepts an operation of turning on or off the switch SW. The controller 30 activates the sound output function when the switch SW is turned on, and stops the sound output function when the switch SW is turned off.

[0126] The output control unit 303 controls the output of sound based on the sound signal acquired from the external sound collecting device M1 or the internal sound collecting device M2 from the internal sound output device SP2 or the external sound output device SP1 .

[0127] When receiving the operation of turning on the switch SW, the output control unit 303 controls the internal sound output device SP2 to output sound based on the sound signal acquired from the external sound collecting device M1 .

[0128] Furthermore, when the operation of the OFF switch SW is received, the output control unit 303 stops the control of outputting the sound based on the sound signal acquired from the external sound collecting device M1 from the internal sound output device SP2.

[0129] The output control unit 303 according to the present embodiment controls the output of sound based on the sound signal acquired from the internal sound collecting device M2 from the external sound output device SP1 while the operation accepting unit 302 accepts the pressing of the utterance button KS.

[0130] Specifically, the output control unit 303 switches between outputting the sound collected by the external sound collection device M1 from the internal sound output device SP2 and outputting the sound collected by the internal sound collection device M2 from the external sound output device SP1, depending on whether the speak button (an example of the first operation) KS has been pressed. This control allows the operator to speak to people around the construction machine (e.g., worker WK) at a desired time while suppressing the generation of whistling sounds, etc.

[0131] In this manner, the output control unit 303 of this embodiment can control the sound collected by the external sound collection device M1 to be output from the internal sound output device SP2, and can also control the sound collected by the internal sound collection device M2 to be output from the external sound output device SP1. This enables a two-way conversation between the operator in the cab 10 and people around the construction machine 100. This allows for collaborative work, thereby improving operational efficiency.

[0132] The detection unit 304 detects objects existing around the construction machine 100. The detection unit 304 involved in this embodiment detects the object emitting the operation sound based on the sound signal obtained by the acquisition unit 301 from the external sound collection device M1. The method for detecting the object emitting the operation sound can be any method, whether or not it is a publicly known method. For example, as a method for detecting the object emitting the operation sound, a learned model can be used.

[0133] For example, the learned model is constructed with a neural network as the center. The neural network of the learned model can use a so-called deep neural network having one or more intermediate layers (hidden layers) between the input layer and the output layer. The neural network specifies a weighting parameter representing the strength of the connection with the lower layer for each of the multiple neurons constituting each intermediate layer. In addition, the neural network is constructed in such a way that the neurons of each layer output the sum of the values ​​obtained by multiplying the weighting parameters specified for each neuron in the upper layer by the input values ​​of the multiple neurons from the upper layer to the neurons of the lower layer through a threshold function.

[0134] Furthermore, the results of machine learning (specifically, deep learning) on ​​the learned model can optimize the weighting parameters of the neural network.

[0135] The training data used for machine learning of the learned model includes, for example, a sound signal and information indicating whether an object emitting the sound is present. By using this training data for machine learning, the learned model outputs information indicating whether an object emitting the sound is present when the sound signal is input. Furthermore, the training data may also include information identifying the object emitting the sound. In this case, if an object emitting the sound is present, the learned model outputs information identifying the object. This enables controller 30 to perform control appropriate to the object.

[0136] The operating sound (predetermined sound) included in the sound signal can be an operating sound emitted by the object. The operating sound emitted by the object can be steady-state noise or non-steady-state noise. In the case of a construction machine, for example, the operating sound can be the engine sound of the construction machine, the impact sound at the end of the stroke, the sound of hydraulic operation, or the sound produced when a relief valve is opened.

[0137] Furthermore, the object can be any object that makes an operating sound, such as an excavator, a crane, an asphalt roller, a forklift, a dump truck, or other construction machinery. Furthermore, the object can be other objects besides construction machinery, such as a compressor that makes an operating sound.

[0138] In addition, the method of detecting an object emitting an action sound is not limited to the method using a learned model. For example, the action sound corresponding to the feature quantity extracted from the sound signal can be determined, and the type of the object emitting the action sound can be detected.

[0139] The detection unit 304 according to this embodiment inputs the sound signals acquired from the four external sound collecting devices M1 into the learned model, and receives information indicating whether an object emitting an operation sound exists in the sound signal from the learned model.

[0140] The detection unit 304 then determines the direction of the object emitting the operation sound based on the magnitude of the operation sound included in the sound signals received from each of the four external sound collection devices M1. For example, if the sound signal from the right microphone M1R contains the loudest sound among the four sound signals received from the external sound collection devices M1, the detection unit 304 determines that the object is located to the right of the construction machine 100.

[0141] Furthermore, this embodiment does not limit the object detection method to methods using sound signals. For example, the detection unit 304 may combine the sound signal with image information captured by the camera S6 to detect the presence of an object emitting an operating sound and the direction of the object. In this case, the direction of the object can be specifically determined.

[0142] By using the image information captured by the camera S6, it is possible to distinguish whether the sound collected by the external sound collection device M1 is the sound of an object or the sound of the construction machine 100 reflected off a wall, etc. In other words, if the sound is generated by the construction machine 100, the noise cancellation function of the acquisition unit 301 can remove the sound. If no object is detected based on the image information captured by the camera S6, in other words, if the sound collected by the external sound collection device M1 is identified as the sound of the construction machine 100 reflected off a wall, etc., the acquisition unit 301 applies the noise cancellation function to the sound collected by the external sound collection device M1, and the output control unit 303 outputs the noise-canceled sound from the internal sound output device SP2. This allows the operator to hear sounds indicating the surrounding conditions of the construction machine 100 even when the sound collected by the external sound collection device M1 includes operating sounds, which can be removed by the noise cancellation function and output from the internal sound output device SP2. Therefore, even if the steady-state noise of the construction machine 100 is reflected off a wall, etc., the operator can still hear sounds indicating the surrounding conditions of the construction machine 100.

[0143] Furthermore, as a method for detecting an object, the detection unit 304 may also combine the sound signal and the position information of the construction machine 100 and the object to detect whether there is an object that emits an action sound and the direction and distance in which the object exists. In this case, the direction and distance in which the object exists can be specifically determined. Furthermore, as a method for detecting an object, there is also the following method: the detection unit 304 combines the sound signal and the detection result of the object by the object detection device (for example, LiDAR) included in the camera device S6 to detect whether there is an object that emits an action sound and the direction and distance in which the object exists. For example, the detection unit 304 infers that the object existing in the direction and distance detected by the object detection device is the object that emits the action sound.

[0144] Furthermore, the detection unit 304 may detect the direction in which the object is located based on image information captured by the camera S6 , position information of the construction machine 100 and the object, or detection results of the object by an object detection device (eg, LiDAR).

[0145] That is, as a detection method for detecting the direction in which the object exists, the detection unit 304 detects the object based on any one or more of the sound signals obtained from the plurality of external sound collecting devices M1, the image information captured by the camera device S6, the position information, and the detection result of the object detection device. In the present embodiment, by determining the direction in which the object exists, the external sound collecting device M1 that is the object of limiting the sound output to the cab 10 can be identified. Therefore, it is possible to distinguish between the external sound collecting device M1 that is allowed to output sound from the internal sound output device SP2 and the external sound collecting device M1 that should limit the output of sound. The controller 30 controls the output of sound based on the identification result, thereby being able to identify the surrounding conditions through sound while maintaining the quietness in the cab 10.

[0146] Based on the detection results of the detection unit 304, the determination unit 305 determines whether the sound collected by the four external sound collection devices M1 is being output from the internal sound output device SP 2. In this embodiment, when the detection unit 304 detects an object emitting an operating sound, the determination unit 305 determines whether the volume of the sound signal from the external sound collection device M1 located in the direction of the object is greater than or equal to a predetermined threshold. The predetermined threshold varies depending on the embodiment, and therefore its description is omitted.

[0147] The determination unit 305 of this embodiment determines whether the volume of sound collected from the direction of the object emitting the action sound is above a predetermined threshold. In other words, even if the volume of sound emitted from a direction where no object exists is above the predetermined threshold, the controller 30 of this embodiment does not impose sound restrictions. Thus, even if the sound is above the predetermined threshold, the operator can still hear it as long as it is not a sound emitted by the object (for example, an action sound), thereby being able to identify unusual sounds or the sound of other people talking in the surrounding area.

[0148] Furthermore, the output control unit 303 suppresses the output of the sound collected from the external sound collecting device M1 disposed in the direction determined by the determination unit 305 to be equal to or greater than a predetermined threshold value from the internal sound output device SP2 .

[0149] In this way, the output control unit 303 involved in this embodiment limits the output from the internal sound output device SP2 according to whether the sound collected by the external sound collection device M1 includes an action sound (an example of a specified sound) emitted from the object. In this embodiment, an example of limiting the output when the volume of the sound including the action sound is above the specified threshold is described, but the method is not limited to limiting the output when the volume is above the specified threshold. For example, the output from the internal sound output device SP2 may be limited when it is determined that the sound includes an action sound (an example of a specified sound). The above-mentioned control performed by the output control unit 303 does not limit, for example, the sound emitted by the operator WK1, so the operator can recognize what the operator WK1 said.

[0150] Furthermore, the output control unit 303 of this embodiment restricts the sound collected by the external sound collecting devices M1 located in the direction of the object emitting the operation sound from being output from the internal sound output device SP2. Specifically, the sound collected by the external sound collecting devices M1 located in directions other than the direction of the object emitting the operation sound is output from the internal sound output device SP2. This allows the operator to hear sounds emitted from the vicinity of the construction machine 100 in directions other than the direction of the object (for example, the voice of a person located in a direction other than the direction of the object), thereby enabling the operator to recognize the surrounding conditions of the construction machine 100.

[0151] In this embodiment, the internal sound output device SP2 stops outputting sounds collected from all external sound collection devices M1 that are determined to have a sound level exceeding a predetermined threshold. Therefore, for example, if the controller 30 determines that the operating sound from other construction machines located to the left and right of the construction machine 100 exceeds a predetermined threshold, the controller 30 stops outputting the sounds collected from the left microphone M1L and the right microphone M1R from the internal sound output device SP2.

[0152] The notification unit 306 performs notification based on sound restriction. The notification method may be any method, for example, a notification sound may be output from the internal sound output device SP2 in the cab 10, or a pop-up display may be displayed on the display device D1. Specifically, the notification unit 306 performs notification related to sound restriction based on the determination result of the determination unit 305. For example, when the determination unit 305 determines that the volume collected by the right microphone M1R is above a predetermined threshold, the notification unit 306 will display the content of stopping the output of the sound collected from the right microphone M1R on the display device D1. In the present embodiment, the notification is performed by the notification unit 306, and the operator can recognize the status of the sound output from the internal sound output device SP2. Therefore, in the present embodiment, the operator can operate the construction machine 100 in consideration of the status, thereby achieving improved safety.

[0153] Furthermore, this embodiment is not limited to the method in which the notification unit 306 displays on the display device D1 a message indicating that the output of the sound collected by the right microphone M1R is to be stopped when the determination unit 305 determines that the volume collected by the right microphone M1R is above a predetermined threshold. For example, another method is as follows: when the determination unit 305 determines that the volume collected by any external sound collection device M1 is above a predetermined threshold, the notification unit 306 displays on the display device D1 a confirmation screen for confirming whether the output of the sound collected by the external sound collection device M1 can be stopped. Then, when the operation reception unit 302 receives an operation indicating that the output can be stopped, the output control unit 303 stops the output of the sound collected by the external sound collection device M1.

[0154] As a variation, there is also the following method: when the detection unit 304 estimates the position of the object emitting the action sound, the notification unit 306 pops up a message indicating that the output of the action sound of the object has been stopped. For example, when the display device D1 displays image information captured by the camera device S6, the detection unit 304 estimates the position of the object emitting the action sound based on the position information, image information, or the detection results of the object detection device. The notification unit 306 then determines the position of the object appearing in the image information based on the position of the object detected by the detection unit 304, and displays a bubble or the like to indicate the object appearing in the image information. The bubble may contain a message indicating that the output of the sound has been stopped due to the action sound of the object.

[0155] Next, the processing steps executed by the controller 30 according to the present embodiment will be described. Figure 8 This is a flowchart showing a processing procedure for limiting the output of sound according to the operation sound emitted by the object in the controller 30 of the present embodiment.

[0156] The acquisition unit 301 acquires sound signals representing sounds generated around the construction machine 100 from each of the four external sound collecting devices M1 ( S1801 ).

[0157] The detection unit 304 receives information indicating whether there is an object emitting an operation sound by inputting the sound signals acquired from the four external sound collecting devices M1 into the learned model ( S1802 ).

[0158] The detection unit 304 detects whether there is an object emitting an operation sound based on the received information (S1803). If the existence of the object is not detected (S1803: No), the process ends.

[0159] On the other hand, if the detection unit 304 detects the presence of an object (S1803: Yes), the determination unit 305 determines whether the volume of sound collected from the direction of the object is greater than or equal to a predetermined threshold based on the acquired sound signal (S1804). If it is determined that the volume is not greater than or equal to the predetermined threshold (S1804: No), the process ends.

[0160] On the other hand, when the determination unit 305 determines that the sound is above the predetermined threshold (S1804: Yes), the output control unit 303 stops outputting the sound collected from the external sound collecting device M1 arranged in the direction of the object from the internal sound output device SP2 (S1805).

[0161] Then, the notification unit 306 displays on the display device D1 that the output of the sound collected from the external sound collecting device M1 disposed in the direction where the object is located has been stopped ( S1806 ).

[0162] In this embodiment, the quietness in the cab 10 can be improved by stopping the output of the sound collected by the external sound collecting device M1 disposed in the direction of the object emitting the operating sound from the internal sound output device SP2 through the above-described processing steps.

[0163] (Variation 1 of the First Embodiment)

[0164] The above embodiment describes an example in which the construction machine 100 is equipped with four external sound collecting devices M1. However, the above embodiment does not limit the number of external sound collecting devices M1 installed in the construction machine 100. In this modification, the construction machine 100 is equipped with one external sound collecting device M1.

[0165] The detection unit 304 and determination unit 305 of this variation perform the same processing as in the aforementioned embodiment. Then, when the determination unit 305 determines that the volume collected from the direction of the object is above a predetermined threshold, the output control unit 303 stops outputting the sound collected by the external sound collection device M1 from the internal sound output device SP2. In this variation, when there is an object emitting operating sound near the construction machine 100, the quietness within the cab 10 can be improved by stopping outputting the sound collected by the external sound collection device M1 (in other words, the sound collected from the vicinity of the construction machine 100) from the internal sound output device SP2. Specifically, if there is only one external sound collection device M1, stopping output from the internal sound output device SP2 prevents the operator from hearing the sounds generated near the construction machine 100. However, if the operating sound of the object near the construction machine 100 is loud, even if the sound collected from the vicinity of the construction machine 100 is output from the internal sound output device SP2, the sound will be masked by the operating sound and the operator will be unable to hear other sounds. Therefore, in this modification, the quietness in the cab 10 is improved by stopping the output from the interior sound output device SP2.

[0166] (Variation 2 of the First Embodiment)

[0167] As an example of limiting sound output, the controller 30 in the above embodiment described an example of stopping sound output. However, the above embodiment does not limit sound output to stopping sound output. In this variation, an example of adjusting the noise cancellation function instead of stopping sound output is described.

[0168] In the detection unit 304 and the determination unit 305 of this variant, the same processing as in the above-mentioned embodiment is performed. When the determination unit 305 determines that the volume collected from the direction where the object exists is above a predetermined threshold value, the determination unit 305 controls the acquisition unit 301 as follows: the gain of the noise elimination function for the sound collected from the external sound collection device M1 arranged in the direction where the object exists is increased compared to before the determination that it is above the predetermined threshold value (in other words, before the object is detected). That is, the acquisition unit 301 removes the steady-state noise included in the sound collected from the external sound collection device M1 arranged in the direction where the object exists. Therefore, the controller 30 of this variant can achieve an improvement in the quietness in the cab 10.

[0169] (Second embodiment)

[0170] In the above embodiment, an example was described in which, when an object emitting an operating sound is present, the output of sound collected by the external sound collection device M1, which is positioned in the direction of the object, is restricted. After this control, if a worker is located in the direction of the object, the worker's voice becomes difficult to hear. Therefore, in this embodiment, a structure is described in which the worker's voice can be heard.

[0171] Figure 9 : is an explanatory diagram illustrating the control between the construction machine 100 according to this embodiment and another construction machine 100B. Figure 9 In the example shown, the construction machine 100 and another construction machine 100B are present at the work site. The other construction machine 100B is assumed to have the same structure as the construction machine 100.

[0172] Since the sound of the engine 11 of the other construction machine 100B is loud, it is considered that the sound of the engine 11 of the other construction machine 100B has reached the right microphone M1R of the construction machine 100 .

[0173] The controller 30 according to the present embodiment stops outputting the sound collected by the right microphone M1R disposed in the direction where the other construction machine 100B is located from the internal sound output device SP2 based on the detection result of the other construction machine 100B.

[0174] On the other hand, since the sound of the engine 11 of the construction machine 100 is low, it is assumed that the sound does not reach the left microphone M1L of the other construction machine 100B, or that the sound that reaches it is below a predetermined threshold. Therefore, the controller 30 of the other construction machine 100B continues to output the sound collected by the left microphone M1L through the internal sound output device SP2.

[0175] In this situation, it is assumed that a worker WK2 present between the construction machine 100 and another construction machine 100B utters a sound.

[0176] At this time, since the controller 30 of the construction machine 100 has stopped outputting the sound collected by the right microphone M1R from the internal sound output device SP2 , the output of the worker's voice into the cab 10 is suppressed.

[0177] On the other hand, since the controller 30 of the other construction machine 100B outputs the sound collected by the left microphone M1L from the internal sound output device SP2, the operator of the other construction machine 100B can hear the voice of the worker WK2.

[0178] Furthermore, in this embodiment, the controller 30 of the other construction machine 100B transmits a sound signal representing the sound collected by the left microphone M1L to the construction machine 100 via the communication device T1. Any method can be used for communication between the other construction machine 100B and the construction machine 100, such as Wi-Fi (registered trademark) or Bluetooth (registered trademark).

[0179] The acquisition unit 301 of the controller 30 of the construction machine 100 then receives the acquired sound signal from the object via the communication device T1. The output control unit 303 controls the internal sound output device SP2 to output the sound represented by the received sound signal. This allows the operator of the construction machine 100 to hear the voice of the worker WK2.

[0180] Next, the control performed between the construction machine 100 according to this embodiment and another construction machine 100B will be described. Figure 10 This is a timing chart showing control performed between the construction machine 100 according to this embodiment and another construction machine 100B.

[0181] The acquisition unit 301 of the construction machine 100 acquires sound signals representing sounds generated around the construction machine 100 from each of the four external sound collecting devices M1 ( S2001 ).

[0182] The detection unit 304 detects another construction machine (an example of an object) 100B that emits an operating sound based on the sound signal (S2002). In this embodiment, similar to the above embodiment, a method using a learned model is used, and the description thereof is omitted.

[0183] The determination unit 305 determines whether the volume of sound collected from the direction where the other construction machine 100B is located is equal to or greater than a predetermined threshold value based on the acquired sound signal (S2003). In this sequence diagram, it is determined that the collected volume of sound is equal to or greater than the predetermined threshold value.

[0184] Then, the output control unit 303 stops outputting the sound collected by the external sound collecting device M1 located in the direction of the other construction machine 100B from the internal sound output device SP2 (S2004). Furthermore, similarly to the above-described embodiment, the notification unit 306 displays on the display device D1 that the output of the sound collected by the external sound collecting device M1 located in the direction of the object has been stopped.

[0185] The controller 30 of the other construction machine 100B acquires a sound signal from the external sound collecting device M1 disposed in the direction where the construction machine 100 is located ( S2011 ).

[0186] In this timing diagram, the operating sound of the construction machine 100 is considered low. Therefore, the controller 30 of the other construction machine 100B continues to output, through its internal sound output device SP2, the sound collected by the external sound collection device M1 located in the direction of the construction machine 100. Furthermore, the controller 30 of the other construction machine 100B can also recognize, based on information transmitted from the construction machine 100, that it has stopped outputting, through its internal sound output device SP2, the sound collected by the external sound collection device M1 located in the direction of the other construction machine 100B.

[0187] The controller 30 of the other construction machine 100B transmits the sound signal acquired from the external sound collecting device M1 disposed in the direction where the construction machine 100 is located to the construction machine 100 via the communication device T1 ( S2012 ).

[0188] The output control unit 303 outputs the sound represented by the sound signal received from the other construction machine 100B from the internal sound output device SP2 ( S2005 ).

[0189] By performing the above-described control, the construction machine 100 according to this embodiment can limit the output of the sound from the external sound collection device M1 in the direction of the other construction machine 100B, while still being able to output the voice of the worker WK1 in the direction of the other construction machine 100B. This achieves both improved quietness in the cab 10 and the ability to recognize spoken content.

[0190] (Third embodiment)

[0191] In the above embodiment, an example of limiting the output of sound collected by the external sound collection device M1, located in the direction of the other construction machinery, when an object, such as another construction machine, emits steady-state noise, such as operating sound, has been described. However, the above embodiment is not limited to stopping the output of the steady-state noise from the internal sound output device SP2 when the object emits steady-state noise. Therefore, in the third embodiment, a case of limiting the output of non-steady-state noise, such as impact sound, generated by the structure of the object will be described.

[0192] The following describes non-stationary noise. For example, in the construction machine 100 or another construction machine 100B, if the bucket 6 is moved in a direction that further opens the bucket 6, the bucket cylinder 9 reaches the end of its stroke, generating an impact sound. Whether this impact sound is generated can be determined based on the bucket 6 opening status (i.e., the operation signal for opening the bucket 6 or the current position and speed of the bucket 6 (bucket angle, bucket angular velocity)).

[0193] As another example, consider a situation where the attachment AT is raised on the construction machine 100 or another construction machine 100B. In this situation, if the boom 4 is lowered and then suddenly stopped, the rear portion of the construction machine or other construction machine becomes suspended and then falls. During this fall, the crawler tracks 1C of the construction machine 100 or another construction machine 100B contact the ground, producing an impact sound. Whether this impact sound occurs can be determined based on the current position of the boom 4, the operation of the boom 4 (i.e., the operating signal that causes the boom 4 to move), or the condition of the boom 4 (boom angle, boom angular velocity).

[0194] In this manner, the determination unit 305 of the controller 30 of the construction machine 100 identifies the current operating status of the object and, based on this operating status, determines whether non-stationary noise will be generated. Furthermore, if the determination unit 305 determines that non-stationary noise will be generated, the output control unit 303 restricts the output of the sound collected by the external sound collection device M1, which is positioned in the direction of the object, from the internal sound output device SP2.

[0195] The controller 30 of this embodiment can also perform control in combination with the control of the above-mentioned embodiment. For example, consider the following situation: the controller 30 determines through the control of the above-mentioned embodiment that the sound collected from the external sound collection device M1 arranged in the direction where the object is present is less than a predetermined threshold value, and therefore outputs the sound collected from the external sound collection device M1 from the internal sound output device SP2. In this situation, if the determination unit 305 determines that non-steady-state noise will be generated due to the object, the output control unit 303 limits the output of the sound collected from the external sound collection device M1 arranged in the direction where the object is present from the internal sound output device SP2.

[0196] In this embodiment, an object (e.g., another construction machine 100B) transmits operating information indicating its status to the construction machine 100. In this embodiment, the operating information is an operation signal from the object (e.g., another construction machine 100B). Furthermore, this embodiment is not limited to operation signals; for example, the operating information may also include boom angle, boom angular velocity, bucket angle, bucket angular velocity, or other information that can identify the current status of the object.

[0197] The controller 30 of the construction machine 100 then determines whether or not the object will generate non-stationary noise based on the received operation information. The determination of whether or not non-stationary noise will generate can use a learned model.

[0198] The training data used for machine learning of the learned model includes, for example, operating information and information indicating the current operating status of the object represented by the operating information. By using this training data for machine learning, the learned model outputs information indicating the current operating status of the object when fed with the operating information. This allows the determination unit 305 to determine the current operating status of the object.

[0199] The determination unit 305 then determines whether the object generates non-stationary noise based on the information indicating the object's current operating state received from the learned model. For example, the determination unit 305 determines whether the bucket cylinder 9 of the object generates an impact sound due to reaching the stroke end under the current operating state.

[0200] Then, when the determination unit 305 determines that the object will generate non-stationary noise, the output control unit 303 restricts the output of the sound collected by the external sound collecting device M1 arranged in the direction where the object is located from the internal sound output device SP2 .

[0201] In this manner, the controller 30 according to the present embodiment receives information indicating the operating state of the object from the object, and restricts the sound collected by the external sound collecting device M1 from being output from the internal sound output device SP2 based on the operating information.

[0202] As a modified example, there is also the following method: when the detection unit 304 estimates the position of an object around the construction machine 100, when the determination unit 305 determines that non-steady-state noise will be generated due to the object, the notification unit 306 pops up a message to the effect that non-steady-state noise will be generated due to the object and therefore the output of the sound will be stopped. For example, when the display device D1 displays image information captured by the camera device S6, the detection unit 304 estimates the position of the object that will generate non-steady-state noise based on the position information, image information, or the detection result of the object detection device. Then, the notification unit 306 determines the position of the object appearing in the image information based on the position of the object detected by the detection unit 304, and displays the object appearing in the image information using a bubble box or the like. The bubble box contains, for example, a message to the effect that non-steady-state noise is estimated to be generated due to the object and therefore the output of the sound has been stopped.

[0203] Next, the control performed between the construction machine 100 according to this embodiment and another construction machine 100B will be described. Figure 11 100B is a timing chart showing control performed between the construction machine 100 according to this embodiment and another construction machine 100B.

[0204] The acquisition unit 301 of the other construction machine 100B acquires operation information (for example, an operation signal) that can identify the current operation status of the other construction machine 100B ( S2111 ).

[0205] The output control unit 303 of the other construction machine 100B transmits the acquired operation information to the construction machine 100 via the communication device T1 ( S2112 ).

[0206] The determination unit 305 of the construction machine 100 determines the current operating status of the other construction machine 100B based on the received operating information (S2101). Next, the determination unit 305 determines whether the other construction machine 100B will generate sound (non-stationary noise) based on the operating status (S2102). In this timing diagram, it is determined that sound (non-stationary noise) will be generated.

[0207] Then, the output control unit 303 stops outputting the sound collected by the external sound collecting device M1 located in the direction of the other construction machine 100B from the internal sound output device SP2 (S2103). Furthermore, similarly to the above-described embodiment, the notification unit 306 displays on the display device D1 that the output of the sound collected by the external sound collecting device M1 located in the direction of the object has been stopped.

[0208] The acquisition unit 301 of the construction machine 100 acquires operating information (for example, an operation signal) that can identify the current operating status of the construction machine 100 ( S2104 ).

[0209] The output control unit 303 of the construction machine 100 transmits the acquired operation information to the other construction machine 100B via the communication device T1 ( S2105 ).

[0210] The determination unit 305 of the other construction machine 100B determines the current operating status of the construction machine 100 based on the received operating information (S2113). Next, the determination unit 305 determines whether the construction machine 100 is generating non-stationary noise based on the operating status (S2114). In this timing chart, it is determined that non-stationary noise is generating.

[0211] Then, the output control unit 303 of the other construction machine 100B stops outputting the sound collected by the external sound collection device M1 located in the direction of the construction machine 100 from the internal sound output device SP2 (S2115). Furthermore, similarly to the above-described embodiment, the notification unit 306 displays on the display device D1 that the output of the sound collected by the external sound collection device M1 located in the direction of the object has been stopped.

[0212] In this embodiment, when an object generates non-stationary noise, the sound collected by the external sound collection device M1, which is located in the direction of the object, can be stopped from being output from the internal sound output device SP2. Therefore, even when non-stationary noise is generated, the quietness of the cab 10 can be improved.

[0213] (Modification of the third embodiment)

[0214] In the above embodiment, the output of non-stationary noise, such as impact sound generated by the structure of an object, is limited based on received operational information. However, the above embodiment is not limited to the method of limiting the output of non-stationary noise based on operational information. In a modified example, a case where information other than operational information is used to limit the output of non-stationary noise is described. In this modified example, image information captured by the imaging device S6 or detection results of an object detection device are used as an example.

[0215] The determination unit 305 of the construction machine 100 according to the modified example determines the current operating status of an object located near the construction machine 100 based on image information captured by the imaging device S6 or detection results from the object detection device. Based on this operating status, the determination unit 305 determines whether the object will generate non-stationary noise. The determination method for determining the operating status of each object and the generation of non-stationary noise can be performed using known methods, such as a learned model.

[0216] When it is determined that the object will generate non-stationary noise, the output control unit 303 stops outputting, from the internal sound output device SP2 , the sound collected from the external sound collecting device M1 disposed in the direction where the object is located.

[0217] (Fourth embodiment)

[0218] Next, refer to Figure 12 , another structural example of the construction machine 100 involved in the fourth embodiment is described. Figure 12 It is a plan view of another structural example of the construction machine 100 according to the fourth embodiment.

[0219] Figure 12 The construction machine 100 shown is Figure 1 The difference of the construction machine 100 shown is that the external sound output device SP1 is composed of four speakers (front speaker SP1F, left speaker SP1L, right speaker SP1R and rear speaker SP1B). Figure 1 In the illustrated construction machine 100 , the external sound output device SP 1 is constituted by a single omnidirectional speaker installed in the cab 10 .

[0220] Through this structure, such as Figure 12 The construction machine 100 shown, for example, can output sound toward the worker WK located in front of the construction machine 100 by turning on the front speaker SP1F (setting it to a state capable of outputting sound) and turning off the left speaker SP1L, the right speaker SP1R and the rear speaker SP1B (setting them to a state unable to output sound), but does not output sound toward the worker WK located on the left, right and rear of the construction machine 100.

[0221] And, in Figure 12 In the example shown, a front camera S6F and a front microphone M1F are positioned adjacent to the front speaker SP1F, with a front light bar G1F mounted on the housing of the front microphone M1F. Furthermore, a left camera S6L and a left microphone M1L are positioned adjacent to the left speaker SP1L, with a left light bar G1L mounted on the housing of the left microphone M1L. Furthermore, a right camera S6R and a right microphone M1R are positioned adjacent to the right speaker SP1R, with a right light bar G1R mounted on the housing of the right microphone M1R. Furthermore, a rear camera S6B and a rear microphone M1B are positioned adjacent to the rear speaker SP1B, with a rear light bar G1B mounted on the housing of the rear microphone M1B.

[0222] With this configuration, the construction machine 100 can turn on the light bar corresponding to the turned-on speaker (set it to a state where it can emit light), and turn off the light bar corresponding to the turned-off speaker (set it to a state where it cannot emit light).

[0223] Alternatively, the external sound output device SP1 may be composed of one or more parametric speakers. A parametric speaker utilizes ultrasonic waves and can selectively transmit sound to people within a specific, narrow range. A parametric speaker can transmit sound to any location.

[0224] exist Figure 12In the construction machine 100 shown, the controller 30 can also detect the worker WK located around the construction machine 100 based on the image captured by the camera device S6 and determine the position of the worker WK. In addition, when there are multiple workers WK around the construction machine 100, the controller 30 can distinguish the conversation partner (the worker WK who made the sound) and the non-contact person (the worker WK who did not make the sound) based on the output of the four external sound collection devices M1. In addition, the controller 30 can also distinguish the conversation partner (the worker WK facing the construction machine 100) and the non-contact person (the worker WK who did not face the construction machine 100) based on the image captured by the camera device S6. In addition, the controller 30 can also turn on the speaker and light bar facing the worker WK. For example, when the worker WK (who made the sound) is located behind the construction machine 100, the controller 30 can keep the front speaker SP1F, the left speaker SP1L, and the right speaker SP1R turned off, and turn on the rear speaker SP1B. At this time, the controller 30 can keep the front light bar G1F, the left light bar G1L and the right light bar G1R off, and turn on the rear light bar G1B. Figures 1 to 5 The construction machine 100 is shown as being implemented.

[0225] With this configuration, the controller 30 can output sound toward the direction where the worker WK is present, but not toward the direction where the worker WK is not present. Therefore, the worker WK can easily recognize whether he or she is being treated as a conversation partner or a non-conversation partner.

[0226] (Fifth embodiment)

[0227] In the fifth embodiment, a case where an operator performs remote control of the construction machine 100 will be described.

[0228] Next, refer to Figure 13 , a configuration example of an operating system (an example of a control system) SYS according to a fifth embodiment will be described. Figure 13 1 is a schematic diagram showing an example of the structure of the operating system SYS. Figure 13 As shown, the operating system SYS includes a construction machine 100, a remote operation room RC and a management center MC. Figure 13 In FIG, the detailed structure of the construction machine 100 is omitted. This is because Figure 13 The construction machine 100 shown is Figure 1 or Figure 12 The illustrated construction machines 100 have the same structure.

[0229] The construction machine 100, the remote operation room RC, and the management center MC are interconnected so that data can be transmitted and received via the communication network NW. Alternatively, the construction machine 100, the remote operation room RC, and the management center MC can be connected so that data can be transmitted and received directly between them, without going through the communication network NW. In the illustrated example, the construction machine 100 transmits information related to the work site to the remote operation room RC. This allows the remote operator RO in the remote operation room RC to understand the status of the work site based on the information received from the construction machine 100.

[0230] For example, the construction machine 100 transmits image information captured by the imaging device S6 and a sound signal representing the sound collected by the external sound collecting device M1 to the remote operation room RC.

[0231] The construction machine 100 is equipped with sensors that can three-dimensionally identify the position and shape of objects at the work site. For example, the construction machine 100 is equipped with a space recognition device. Therefore, the construction machine 100 can transmit the results of three-dimensional measurement of the work site to the remote control room RC.

[0232] The space recognition device is a device for identifying the space surrounding the construction machine 100. In the illustrated example, the space recognition device is a LiDAR. The LiDAR, for example, measures the distance between each of the one million or more points within the monitoring range and the LiDAR. Furthermore, any space recognition device capable of measuring the distance to an object may be used. For example, the space recognition device may be a stereo camera or a combination of an imaging device S6 and a distance measuring device such as a millimeter-wave radar.

[0233] The operating system SYS may include one or more construction machines 100. In the case of multiple construction machines 100, the remote operator RO of a specific construction machine 100 can obtain information related to the work site obtained by the specific construction machine 100, and can also obtain information related to the work site obtained by one or more other construction machines 100.

[0234] The remote operation room RC is equipped with a communication device T2, a remote controller 40, an operating device 42, an operating sensor 43, a display device D1E, an internal sound collecting device M2E, and an internal sound output device SP2E. The remote operation room RC is also equipped with an operator seat DS where a remote operator RO who remotely operates the construction machine 100 sits.

[0235] The communication device T2 is configured to be able to communicate with the communication device T1 mounted on the construction machine 100 .

[0236] The remote controller 40 is a computing device that performs various operations. In this embodiment, the remote controller 40 is composed of a microcomputer including a CPU and a memory. Furthermore, the various functions of the remote controller 40 are realized by the CPU executing a program stored in the memory.

[0237] The display device D1E is a device capable of displaying various information. The display device D1E displays images based on information transmitted from the construction machine 100, allowing the remote operator RO in the remote control room RC to visually identify the surroundings of the construction machine 100. In the illustrated example, the display device D1E is a liquid crystal display that displays images captured by the camera S6 mounted on the construction machine 100. Alternatively, the display device D1E may be a display or projector that enables naked-eye stereoscopic vision, or may be VR glasses, for example.

[0238] The internal sound collecting device M2E is a device that collects sounds generated in the remote operation room RC. In the illustrated example, the internal sound collecting device M2E is an indoor microphone configured to capture sounds uttered by the remote operator RO in the remote operation room RC.

[0239] The internal sound output device SP2E is a device capable of outputting various sound information. The internal sound output device SP2E outputs sound based on information transmitted from the construction machine 100 so that the remote operator RO in the remote operation room RC can hear the sound produced at the work site. The internal sound output device SP2E can be configured to output sound captured by an external sound collection device M1 installed on the outside of the cab 10, or it can be configured to output sound captured by an internal sound collection device M2 installed on the inside of the cab 10. In this case, the internal sound collection device M2 can be located at a position corresponding to the ear position of the operator sitting in the driver's seat 50 in the cab 10. The internal sound output device SP2E can be a set-type device such as a speaker, or a wearable device such as earplugs or headphones. The speaker can be a monaural speaker, a stereo speaker, or a surround sound speaker. Furthermore, the speaker can be an omnidirectional speaker or a directional speaker. The wearable device can have a noise cancellation function, a spatial audio function (stereo function), or a bone conduction function.

[0240] The operating device 42 is provided with an operating sensor 43 for detecting the operation content of the operating device 42. The operating sensor 43 is, for example, a tilt sensor for detecting the tilt angle of the operating lever or an angle sensor for detecting the swing angle of the operating lever around the swing axis. The operating sensor 43 may also be composed of other sensors such as a pressure sensor, a current sensor, a voltage sensor or a distance sensor. The operating sensor 43 outputs information related to the detected operation content of the operating device 42 to the remote controller 40. The remote controller 40 generates an operation signal based on the received information and sends the generated operation signal to the construction machine 100. It can also be configured so that the operating sensor 43 generates an operation signal. In this case, the operating sensor 43 may output the operation signal to the communication device T2 without passing through the remote controller 40. With this structure, the remote operator RO can remotely operate the construction machine 100 from the remote operation room RC.

[0241] Similar to the controller 30 of the first to third embodiments, the remote controller 40 includes an acquisition unit 301 , an operation acceptance unit 302 , an output control unit 303 , a detection unit 304 , a determination unit 305 , and a notification unit 306 .

[0242] The acquisition unit 301 of the remote controller 40 acquires a sound signal representing the sound collected by the external sound collection device M1 from the construction machine 100 via the communication device T2. The acquisition unit 301 also acquires a sound signal representing the sound collected by the internal sound collection device M2E in the remote control room RC.

[0243] The output control unit 303 of the remote controller 40 can control the output of sound from the internal sound output device SP2E of the remote operation room RC via the communication device T2 based on the sound signal acquired from the external sound collecting device M1 by the acquisition unit 301. This allows the remote operator RO to hear the voices of people around the construction machine 100.

[0244] The output control unit 303 of the remote controller 40 can control, via the communication device T2, the output of sound from the external sound output device SP1 of the construction machine 100 based on the sound signal acquired from the internal sound collecting device M2E of the remote operation room RC by the acquisition unit 301. This allows people around the construction machine 100 to hear the voice of the remote operator RO.

[0245] The operation accepting unit 302 , the output control unit 303 , the detecting unit 304 , the determining unit 305 , and the notifying unit 306 of the remote controller 40 perform the same control as that of the controller 30 of the above-described embodiment.

[0246] The remote controller 40 , by having the above-described configuration, can implement the same control as that of the controller 30 of the above-described embodiment.

[0247] That is, the remote controller 40 restricts the sound collected by the external sound collecting device M1 from being output from the internal sound output device SP2 based on the detection result of the object existing around the construction machine 100 .

[0248] The management center MC is a facility equipped with various devices for managing the construction machines 100 at the work site and the remote operation of the construction machines 100 by the remote operators RO in the remote operation room RC. In the illustrated example, the management center MC is located at a location separate from the work site of the construction machines 100 and the remote operation room RC. Furthermore, the management center MC is equipped with a management device 200, an internal sound collection device M2C, and an internal sound output device SP2C.

[0249] The management device 200 is an example of a control device, such as a server computer (so-called cloud server) or an edge server. Typically, the management device 200 is a fixed terminal device, but it can also be a portable terminal device (such as a laptop computer, tablet computer, or smartphone).

[0250] The management device 200 performs the same control as the remote controller 40. Thus, when the internal sound output device SP2C outputs sounds collected around the construction machine 100, the internal sound output device SP2C suppresses the output of sounds collected by the external sound collecting device M1 according to the operation of the construction machine 100.

[0251] Through this structure, the manager at the management center MC can, for example, hear the sound emitted at the work site by using the sound collecting device (external sound collecting device M1 or internal sound collecting device M2) and the internal sound output device SP2C installed on the construction machine 100. Furthermore, the manager at the management center MC can, for example, hear the sound emitted in the remote operation room RC by using the internal sound collecting device M2E and the internal sound output device SP2C installed in the remote operation room RC. Furthermore, the manager at the management center MC can, for example, convey the sound emitted by himself to the worker WK located around the construction machine 100 by using the internal sound collecting device M2C and the external sound output device SP1 installed on the construction machine 100. Furthermore, the manager at the management center MC can, for example, convey the sound emitted by himself to the operator OP of the construction machine 100 by using the internal sound collecting device M2C and the internal sound output device SP2 installed on the construction machine 100. Furthermore, the manager in the management center MC can transmit the sound he or she utters to the remote operator RO in the remote operation room RC using, for example, the internal sound collecting device M2C and the internal sound output device SP2E installed in the remote operation room RC.

[0252] <Function>

[0253] In the above embodiment, the sound collected by the external sound collecting device M1 is restricted from being output from the internal sound output device SP2 based on the detection result of an object present in the vicinity of the construction machine 100. By restricting the output of the sound generated by the object from the internal sound output device SP2 based on the detection result of the object, the quietness near the driver's seat is improved.

[0254] Furthermore, when multiple external sound collecting devices M1 are provided, the controller 30 limits the sound collected by the external sound collecting device M1 provided in the direction where the object exists among the multiple external sound collecting devices M1 to be output from the internal sound output device SP2, and outputs the sound collected by other external sound collecting devices M1 from the internal sound output device SP2. Therefore, the operator of the construction machine 100 can hear the speech of people existing around the construction machine 100 without being masked by the sound generated by the object.

[0255] The preferred embodiments and variations of the present invention have been described above. However, the present invention is not limited to the above-described embodiments. Various modifications and substitutions may be applied to the above-described embodiments without departing from the scope of the present invention. Furthermore, the various features described with reference to the above-described embodiments may be appropriately combined as long as no technical contradiction arises.

Claims

1. A construction machine comprising: Lower walking body; An upper rotating body is mounted on the lower traveling body in a freely rotatable manner; A cab, arranged on the upper rotating body; an outer sound collecting device, disposed on the outer side of the cab; an inner sound output device, disposed on the inner side of the cab; and The control device restricts the sound collected by the outer sound collecting device from being output from the inner sound output device based on a detection result of an object existing around the construction machine.

2. The construction machine according to claim 1, wherein: The control device limits the output from the inner sound output device according to whether the sounds collected by the outer sound collecting device include a predetermined sound emitted from the object.

3. The construction machine according to claim 1, wherein: The outer sound collecting device is provided with a plurality of The control device restricts the sound collected by the outer sound collecting device, which is provided in the direction where the object is located, from being output from the inner sound output device.

4. The construction machine according to claim 3, wherein: The control device detects the direction of the object based on any one or more of the sounds collected by the multiple external sound collecting devices, the position information of the object and the construction machinery, the image information captured by the camera device installed in the construction machinery, and the detection results of the object by the object detection device installed in the construction machinery.

5. The construction machine according to claim 1, further comprising: an inner sound collecting device, disposed on the inner side of the cab; and An external sound output device is arranged outside the cab, The control device can control the sound collected by the outside sound collecting device to be output from the inside sound output device, and can control the sound collected by the inside sound collecting device to be output from the outside sound output device.

6. The construction machine according to claim 5, wherein: The control device switches between control of outputting the sound collected by the inside sound collecting device from the outside sound output device and control of limiting output of the sound collected by the outside sound collecting device from the inside sound output device in accordance with a first operation.

7. The construction machine according to claim 1, wherein: As a method of limiting the sound output from the inside sound output device, the control device stops the sound output from the inside sound output device or increases the gain of a noise cancellation function for the sound output from the inside sound output device compared to before the object is detected.

8. The construction machine according to claim 1, wherein: The control device receives operation information indicating an operation state of the object from the object, and restricts the sound collected by the outer sound collecting device from being output from the inner sound output device based on the operation information.

9. The construction machine according to claim 1, wherein: The control device receives a sound signal acquired by the object from the object, and outputs a sound represented by the sound signal from the inner sound output device.

10. The construction machine according to claim 1, wherein: The control device performs notification based on the sound output limitation.

11. A control system for a construction machine, comprising: A construction machine comprising a lower traveling body, an upper rotating body rotatably mounted on the lower traveling body, a cab provided on the upper rotating body, and an outer sound collecting device arranged outside the cab; a sound output device, provided around an operator's seat for operating the construction machine; and The control device restricts the sound collected by the outer sound collecting device from being output from the sound output device based on a detection result of an object existing around the construction machine.

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