Work machine and system of work machine

Abstract

The present application relates to a work machine and a system of a work machine, the work machine including: a lower traveling body; an upper rotating body rotatably mounted to the lower traveling body; a cab provided to the upper rotating body; an internal sound output device disposed inside the cab; and a control device that corrects a sound collected by an external sound collecting device disposed outside the cab based on a characteristic amount of the sound and outputs the sound from the internal sound output device.

Description

Technical Field

[0001] This invention relates to a work machine and a system for the work machine. Background Technology

[0002] Previously, there was a known type of work machinery equipped with a loudspeaker that outputs sound to the surroundings. For example, Patent Document 1 describes an alarm sound generating device for construction machinery, which includes: a noise level detection mechanism for detecting the noise level of the surroundings; and an output level control mechanism for controlling the output level of the alarm sound based on the noise level detected by the noise level detection mechanism.

[0003] Existing technical documents Patent documents Patent Document 1: Japanese Patent Application Publication No. 9-110377 Summary of the Invention

[0004] The technical problem to be solved by the invention Continuously listening to sounds collected around the operating machinery is a significant burden for the operator. However, Patent Document 1 does not disclose a structure for correcting sounds played inside the cab.

[0005] One aspect of the present invention aims to provide a work machine that can reduce the burden on the operator.

[0006] means for solving technical problems According to one aspect of the present invention, a working machine comprises: a lower traveling body; an upper rotating body rotatably mounted on the lower traveling body; a driver's cab disposed on the upper rotating body; an internal sound output device disposed inside the driver's cab; and a control device that corrects the sound based on the characteristic quantity of the sound collected by an external sound collecting device disposed outside the driver's cab and outputs the sound from the internal sound output device.

[0007] Invention Effects According to one aspect of the invention, sound collected outside the cab is corrected and output to the interior of the cab, thereby reducing the burden on the operator inside the cab. Attached Figure Description

[0008] Figure 1 This is a side view of the operating machinery involved in the implementation method.

[0009] Figure 2 This is a top view of the operating machinery involved in the implementation method.

[0010] Figure 3 This indicates that it is installed at Figure 1 A diagram illustrating the structure of an external sound collection device and information transmission device for a work machine.

[0011] Figure 4 This is a diagram that schematically illustrates an example of the structure of the operating machinery involved in the implementation method.

[0012] Figure 5 This is a top view of the interior of the cab of the operating machinery involved in the implementation method.

[0013] Figure 6 This is a conceptual diagram representing a two-way dialogue between the operator of the work machinery involved in the implementation method and the workers around the work machinery.

[0014] Figure 7 This is a block diagram illustrating an example of a controller involved in an implementation method.

[0015] Figure 8 This is a diagram illustrating a display example of a display device according to an embodiment.

[0016] Figure 9 This is a flowchart illustrating an example of the sound correction processing involved in the implementation method.

[0017] Figure 10 This is a top view of a work machine, representing another structural example of the work machine involved in the embodiment.

[0018] Figure 11 This is a schematic diagram illustrating a structural example of the operating system of the machine involved in the implementation method.

[0019] Figure 12 This is a schematic diagram illustrating another structural example of the operating system of the machine involved in the implementation method.

[0020] Figure 13 This is a schematic diagram illustrating the communication between the work machinery and the communication terminal involved in the implementation method. Detailed Implementation

[0021] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. The embodiments described below are illustrative and do not limit the invention. All features and combinations thereof in the embodiments of the present invention are not necessarily the essential content of the invention. Furthermore, in the accompanying drawings, the same or corresponding structures are labeled with the same or corresponding symbols, and sometimes repeated descriptions are omitted.

[0022] The work machinery 100 involved in the embodiments of the present invention is an excavator. The work machinery 100 may also be machinery other than an excavator, such as a crane, asphalt roller, or forklift. Furthermore, in the example shown in the figure, the excavator as the work machinery 100 is an excavator equipped with a bucket 6 as an end attachment, but it may also be application machinery such as forestry machinery equipped with end attachments other than the bucket 6.

[0023] [Overview of Operating Machinery] First, refer to Figure 1 and Figure 2 The general overview of the operating machinery 100 is described below. Figure 1 This is a side view of the operating machinery 100. Figure 2 This is a top view of the operating machinery 100.

[0024] The work machine 100 includes a lower traveling body 1, an upper rotating body 3 rotatably mounted on the lower traveling body 1 via a rotating mechanism 2, auxiliary devices AT for performing various operations, and a cab 10. When viewing the work machine 100 (upper rotating body 3) from directly above along the axis of rotation of the upper rotating body 3, the front of the work machine 100 (upper rotating body 3) corresponds to the direction in which the auxiliary devices AT extend relative to the upper rotating body 3. Furthermore, the left and right sides of the work machine 100 (upper rotating body 3) correspond to the left and right sides when viewed from the operator's seat inside the cab 10.

[0025] The lower traveling body 1 includes, for example, a pair of tracks 1C, left and right. Specifically, the tracks 1C include a left track 1CL and a right track 1CR. The left track 1CL is driven by a left travel hydraulic motor 2ML, and the right track 1CR is driven by a right travel hydraulic motor 2MR. The left travel hydraulic motor 2ML is a travel drive unit that drives the left track 1CL, which is the driven part, and is capable of rotating the left track 1CL. The right travel hydraulic motor 2MR is a travel drive unit that drives the right track 1CR, which is the driven part, and is capable of rotating the right track 1CR. Alternatively, the travel drive unit can be an electric motor.

[0026] Driven by a rotary hydraulic motor 2A, the upper rotating body 3 rotates relative to the lower traveling body 1 via the rotary mechanism 2. The rotary hydraulic motor 2A is a rotary drive unit that drives the upper rotating body 3, which is the driven part, and can change the orientation of the upper rotating body 3. Alternatively, the rotary drive unit can also be an electric motor.

[0027] At the front center of the upper rotating body 3, the boom 4 is rotatably mounted. At the end of the boom 4, the stick 5 is rotatably mounted, and at the end of the stick 5, the bucket 6 is rotatably mounted. In the example shown, the boom 4, stick 5, and bucket 6 constitute an excavation auxiliary device as an example of an auxiliary device AT. The boom 4, stick 5, and bucket 6 are driven by the boom cylinder 7, stick cylinder 8, and bucket cylinder 9, respectively.

[0028] Bucket 6 is an example of a working tool (end attachment). Bucket 6 is used, for example, for excavation operations. Depending on the task at hand, other working tools may be installed at the end of the boom 5 to replace bucket 6. These other working tools may include, for example, large buckets, slope buckets, dredging buckets, and other types of buckets. Furthermore, these other working tools may be types of working tools other than buckets, such as mixers, crushers, grab buckets, or lifting electromagnets.

[0029] The slewing hydraulic motor 2A, the left travel hydraulic motor 2ML, the right travel hydraulic motor 2MR, the boom cylinder 7, the stick cylinder 8, and the bucket cylinder 9 are hydraulic actuators driven by working oil discharged from the hydraulic pump.

[0030] Furthermore, all or part of the driven parts of the working machine 100, such as the lower traveling body 1, upper slewing body 3, boom 4, stick 5, and bucket 6, can also be electrically driven. That is, the working machine 100 can be a hybrid excavator or an electric excavator, etc., in which all or part of the driven parts are driven by electric actuators.

[0031] Furthermore, the machine 100 is equipped with an information transmission device G1, an external sound collection device M1, a camera device S6, and an external sound output device SP1.

[0032] The camera device S6 is installed on the upper rotating body 3 or the cab 10 to capture images of the periphery of the operating machinery 100 and acquire image information representing the periphery of the operating machinery 100. In the example shown in the figure, the camera device S6 includes a front camera S6F, a left camera S6L, a right camera S6R, and a rear camera S6B.

[0033] The front camera S6F is a camera that captures images of the front of the operating machinery 100, and is mounted on the exterior of the cab 10, such as on the roof of the cab 10 or the side of the boom 4. Alternatively, the front camera S6F can also be mounted on the roof of the cab 10, i.e., inside the cab 10. The left camera S6L captures images of the left side of the operating machinery 100, the right camera S6R captures images of the right side of the operating machinery 100, and the rear camera S6B captures images of the rear of the operating machinery 100. Specifically, the front camera S6F, left camera S6L, right camera S6R, and rear camera S6B are all single-lens wide-angle cameras equipped with imaging elements such as CCD or CMOS, and output the captured images to the display device D1. Furthermore, the information from the images captured by the camera device S6 is input to the controller 30.

[0034] In the example shown, the front camera S6F is mounted on the roof of the cab 10, the left camera S6L is mounted on the left end of the upper surface of the upper rotating body 3, the right camera S6R is mounted on the right end of the upper surface of the upper rotating body 3, and the rear camera S6B is mounted on the rear end of the upper surface of the upper rotating body 3.

[0035] The camera device S6 can constitute an object detection device for detecting objects located around the operating machinery 100. The object detection device can be composed of devices other than a camera. For example, the object detection device can also be a LiDAR (Light Detection and Ranging) system. A LiDAR is, for example, a device capable of measuring the distance between a point cloud of more than one million points within the monitoring range and a LiDAR (laser source). Furthermore, the object detection device can also be other devices capable of measuring the distance to an object, such as a stereo camera, a distance imaging camera, or millimeter-wave radar. When using millimeter-wave radar or the like as an object detection device, the object detection device can deduce the distance and direction of the object by sending multiple signals (lasers, etc.) to the object and receiving its 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.

[0036] The external sound collecting device M1 is a device for collecting external sound, also known as a microphone. In the example shown, the external sound collecting device M1 is located on the upper rotating body 3 or the cab 10, and converts the sound (air vibration) generated around the operating machinery 100 into mechanical vibration, and then converts the mechanical vibration into an electrical signal. Specifically, the external sound collecting device M1 includes a front microphone M1F, a left microphone M1L, a right microphone M1R, and a rear microphone M1B.

[0037] The front microphone M1F collects sound generated in front of the working machine 100 and is installed on the exterior of the cab 10, such as on the roof of the cab 10 or the side of the boom 4. Alternatively, the front microphone M1F can be installed in the ceiling of the cab 10, i.e., inside the cab 10. The left microphone M1L collects sound generated to the left of the working machine 100, the right microphone M1R collects sound generated to the right of the working machine 100, and the rear microphone M1B collects sound generated to the rear of the working machine 100. Furthermore, the electrical signals generated by the front microphone M1F, left microphone M1L, right microphone M1R, and rear microphone M1B are input to the controller 30.

[0038] In the example shown, the front microphone M1F is mounted on the roof of the cab 10, the left microphone M1L is mounted on the left end of the upper surface of the upper rotating body 3, the right microphone M1R is mounted on the right end of the upper surface of the upper rotating body 3, and the rear microphone M1B is mounted on the rear end of the upper surface of the upper rotating body 3. Thus, the four external sound collecting devices M1 (front microphone M1F, left microphone M1L, right microphone M1R, and rear microphone M1B) are positioned at different locations on the upper rotating body 3. Therefore, the controller 30 can detect the direction of the sound source based on the differences (e.g., volume differences) in the sounds collected by the four external sound collecting devices M1. Furthermore, when using an array microphone as the external sound collecting device M1, the direction of the sound source can be detected based on, for example, phase deviation or volume differences.

[0039] In the example diagram, each of the four external sound collection devices M1 is configured to correspond to each of the four camera devices S6. Specifically, the front microphone M1F is configured to be adjacent to the front camera S6F, the left microphone M1L is configured to be adjacent to the left camera S6L, the right microphone M1R is configured to be adjacent to the right camera S6R, and the rear microphone M1B is configured to be adjacent to the rear camera S6B.

[0040] The external sound output device SP1 is a device that outputs sound towards the surroundings of the machine 100. In the example shown, the external sound output device SP1 is an omnidirectional loudspeaker configured to output sound uniformly in all directions. However, the external sound output device SP1 can also be a directional loudspeaker that outputs sound forward.

[0041] The information transmission device G1 is used to notify the outside of the working machine 100 of its status. In the example shown, the information transmission device G1 is installed on the upper rotating body 3 or the cab 10, and is configured to transmit information about the status of the working machine 100 to the operators located around the working machine 100. Specifically, the information transmission device G1 includes a front light bar G1F, a left light bar G1L, a right light bar G1R, and a rear light bar G1B.

[0042] The front light bar G1F is a light-emitting device that visually conveys information to workers and other personnel located in front of the operating machinery 100. It is installed on the exterior of the cab 10, such as on the roof of the cab 10 or the side of the boom 4. Alternatively, the front light bar G1F can be installed, for example, in the ceiling of the cab 10, i.e., inside the cab 10. The left light bar G1L is a light-emitting device that visually conveys information to workers and other personnel located to the left of the operating machinery 100; the right light bar G1R is a light-emitting device that visually conveys information to workers and other personnel located to the right of the operating machinery 100; and the rear light bar G1B is a light-emitting device that visually conveys information to workers and other personnel located behind the operating machinery 100. Furthermore, the front light bar G1F, left light bar G1L, right light bar G1R, and rear light bar G1B each emit light according to an electrical signal from the controller 30. In the example shown, the light-emitting device is an LED light, but it can also be other light-emitting devices such as halogen lamps. Furthermore, the light-emitting device can be multi-color emitting, but it can also be single-color emitting.

[0043] In the example shown, 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 rotating body 3, the right light bar G1R is mounted on the right end of the upper surface of the upper rotating body 3, and the rear light bar G1B is mounted on the rear end of the upper surface of the upper rotating 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 positioned at different locations on the upper rotating body 3. Therefore, by individually activating the four information transmission devices G1, the controller 30 can transmit information about the status of the working machine 100 to personnel located in front of, to the left of, to the right of, and behind the working machine 100.

[0044] In the example diagram, the four information transmission devices G1 are configured to correspond to the four external sound collection devices M1. Specifically, the front light bar G1F is configured to be adjacent to the front microphone M1F, the left light bar G1L is configured to be adjacent to the left microphone M1L, the right light bar G1R is configured to be adjacent to the right microphone M1R, and the rear light bar G1B is configured to be adjacent to the rear microphone M1B.

[0045] Figure 3 This diagram illustrates a structural example of an external sound-collecting device M1 and an information transmission device G1 installed on a work machine 100. Specifically, Figure 3 This is a perspective view of the left microphone M1L and left LED strip G1L, mounted in a roughly cuboid-shaped housing. Also, see reference... Figure 3 The following description pertains to the combination of the left microphone M1L and the left light bar G1L, but also applies to the combination of the front microphone M1F and the front light bar G1F, the right microphone M1R and the right light bar G1R, and the rear microphone M1B and the rear light bar G1B.

[0046] like Figure 3 As shown, the left microphone M1L and the left light bar G1L are arranged on the left side of the generally cuboid-shaped housing, facing the left side of the machine 100. This arrangement allows the left microphone M1L to effectively collect sound generated to the left of the machine 100, and the left light bar G1L to effectively transmit the status of the machine 100 to the operator located to the left of the machine 100. For example, the left microphone M1L can capture the sound emitted by the operator located to the left of the machine 100, and the left light bar G1L, by emitting light in a designated color, can convey the information that the left microphone M1L has captured the operator's sound to the operator. At this time, the operator located to the left of the machine 100, speaking towards the left microphone M1L, can confirm that their voice has reached the left microphone M1L (i.e., the operator of the machine 100) by observing the left light bar G1L emitting light in the designated color.

[0047] The information transmission device G1 can be installed on the upper part of each of the four sides of the cab 10. For example, the information transmission device G1 can be configured such that the front light bar G1F is installed on the upper part of the front surface of the cab 10, the left light bar G1L is installed on the upper part of the left surface of the cab 10, the right light bar G1R is installed on the upper part of the right surface of the cab 10, and the rear light bar G1B is installed on the upper part of the rear surface of the cab 10. Furthermore, the information transmission device G1 can also be a rotating light such as a NICO TORCH installed on the upper surface of the cab 10, or it can be a display device such as an LCD display or an OLED display.

[0048] The controller 30 is an example of a control device, such as a computer comprising a CPU, volatile memory, non-volatile memory, and various input / output interfaces. Furthermore, the controller 30, for example, reads a program from non-volatile memory and loads it into volatile memory, then executes it via the CPU to perform various functions. In the example shown, the controller 30 is configured to perform various functions to control the machine 100. These functions include, for example, a machine guidance function that guides the operator to manually operate the machine 100. Other functions may include a contact avoidance function that automatically or autonomously causes the machine 100 to move or stop in order to prevent contact between the machine 100 and objects within its monitoring range.

[0049] The boom angle sensor S1 detects the boom angle, which is the rotation angle of the boom 4 relative to the upper rotating body 3. The stick angle sensor S2 detects the stick angle, which is the rotation angle of the stick 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 stick 5.

[0050] The boom angle sensor S1, stick angle sensor S2, and bucket angle sensor S3 can be, for example, a rotary encoder, an accelerometer, a six-axis sensor, an IMU (Inertial Measurement Unit), etc., or they can be potentiometers using variable resistors, cylinder stroke sensors that detect the stroke of hydraulic cylinders, etc.

[0051] The detection signals corresponding to the boom angle obtained by the boom angle sensor S1, the detection signals corresponding to the stick angle obtained by the stick angle sensor S2, and the detection signals corresponding to the bucket angle obtained by the bucket angle sensor S3 are input to the controller 30.

[0052] The tilt sensor S4 is used to detect the tilt state of the machine body (lower traveling body 1 or upper rotating body 3) relative to the horizontal plane. The tilt sensor S4 is, for example, mounted on the upper rotating body 3, and detects the tilt angle of the working machine 100 (i.e., the upper rotating body 3) about two axes in the forward and backward directions and the left and right directions. The tilt sensor S4 can be, for example, an accelerometer, a six-axis sensor, or an IMU. The detection signal corresponding to the tilt angle obtained by the tilt sensor S4 is input to the controller 30.

[0053] 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. The rotation sensor S5 can be, for example, a gyroscope sensor, a rotary transformer, or a rotary encoder. The detection signal corresponding to the rotation angle or angular velocity of the upper rotating body 3 detected by the rotation sensor S5 is input to the controller 30.

[0054] The positioning device PS is used to measure the position of the upper rotating body 3. The positioning device PS is, for example, a GNSS (Global Navigation Satellite System) compass, and detects the position and orientation of the upper rotating body 3. The detection signal corresponding to the position and orientation of the upper rotating body 3 is input to the controller 30. The function of detecting the orientation of the upper rotating body 3 can be realized by an azimuth sensor installed on the upper rotating body 3.

[0055] The cab 10 is the operator's cab, located on the front left side of the upper rotating body 3. However, the cab 10 may be omitted when the machine is operated remotely or when the machine is operating in fully automatic mode.

[0056] The communication device T1 communicates with external devices through a communication network, including a mobile communication network, a satellite communication network, or the Internet. The communication device T1 may be, for example, a mobile communication module compatible with mobile communication standards such as LTE (Long Term Evolution), 4G (4th Generation), and 5G (5th Generation), or a satellite communication module for connecting to a satellite communication network.

[0057] The operating machine 100 drives the actuators according to the operation of the operator sitting in the cab 10, thereby driving the driven parts such as the lower traveling body 1, the upper rotating body 3, the boom 4, the stick 5, and the bucket 6.

[0058] Alternatively, the work machinery 100 can be configured to be remotely operated from outside the work machinery 100. In the case of remote operation of the work machinery 100, the interior of the cab 10 can be unmanned.

[0059] Furthermore, the operating machine 100 can also automatically operate the actuators regardless of the operator's actions. Thus, the operating machine 100 achieves the function of automatically operating at least a portion of the driven parts, such as the lower traveling body 1, the upper rotating body 3, the boom 4, the stick 5, and the bucket 6, which is the so-called "machine control function".

[0060] Figure 4 This is a diagram that roughly represents an example of the structure of the operating machinery 100. Figure 4 In the diagram, the mechanical power transmission system, working oil pipeline, pilot line, and electrical control system are represented by double lines, thick solid lines, thick dashed lines, and dashed lines, respectively.

[0061] The drive system of the work machinery 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 work machinery 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, a stick cylinder 8, and a bucket cylinder 9.

[0062] Engine 11 is one example of the power source for the work machinery 100, and it may be mounted, for example, at the rear of the upper rotating body 3. Alternatively, the power source for the work machinery 100 may be a combination of a battery or fuel cell power source and an electric motor. Specifically, under the direct or indirect control of the controller 30, engine 11 rotates at a constant speed at a preset target speed, thereby driving the main pump 14 and the pilot pump 15. Engine 11 may be, for example, a diesel engine that uses diesel fuel. Alternatively, engine 11 may be a gasoline engine or a hydrogen engine, etc.

[0063] The regulator 13 controls the output of the main pump 14. For example, the regulator 13 adjusts the angle (deflection angle) of the swashplate of the main pump 14 according to the control command from the controller 30, thereby controlling the output of the main pump 14.

[0064] The main pump 14 is mounted at the rear of the upper rotating body 3, for example, similar to the engine 11, and supplies working oil to the control valve unit 17 via a working oil line. In the example shown, the main pump 14 is a variable capacity hydraulic pump.

[0065] Control valve unit 17 is a hydraulic control device for controlling the hydraulic system of the operating machinery 100. In the example shown, control valve unit 17 includes control valves 171 to 176. Control valve unit 17 is configured to selectively supply working oil discharged from main pump 14 to one or more hydraulic actuators via control valves 171 to 176. Control valves 171 to 176 control the flow rate of working oil from main pump 14 to hydraulic actuators and the flow rate of working oil from hydraulic actuators to working oil reservoirs. The hydraulic actuators include boom cylinder 7, stick cylinder 8, bucket cylinder 9, left travel hydraulic motor 2ML, right travel hydraulic motor 2MR, and swing hydraulic motor 2A. Specifically, control valve 171 corresponds to swing hydraulic motor 2A, control valve 172 corresponds to right travel hydraulic motor 2MR, and control valve 173 corresponds to left travel hydraulic motor 2ML. Furthermore, control valve 174 corresponds to bucket cylinder 9, control valve 175 corresponds to boom cylinder 7, and control valve 176 corresponds to stick cylinder 8.

[0066] Pilot pump 15 is an example of a pilot pressure generating device, configured to supply working oil to hydraulic control equipment via pilot lines. In the example shown, pilot pump 15 is a fixed-capacity hydraulic pump. However, the pilot pressure generating device can also be implemented using main pump 14. That is, in addition to supplying working oil to control valve unit 17 via working oil lines, main pump 14 can also supply working oil to various hydraulic control devices via pilot lines. In this case, pilot pump 15 can be omitted.

[0067] The discharge pressure sensor 28 is configured to detect the discharge pressure of the main pump 14. In the illustrated example, the discharge pressure sensor 28 outputs the detected value to the controller 30.

[0068] Operating device 26 is a device used by an operator to operate the actuator. Operating device 26 may include, for example, a lever and an operating pedal. The actuator may be a hydraulic actuator or an electric actuator.

[0069] The operation sensor 29 is configured to detect the operation performed by the operator using the operation device 26. In this embodiment, the operation sensor 29 detects the operation direction and operation amount of the operation device 26 corresponding to each actuator, and outputs the detected values ​​to the controller 30. In the example shown, the controller 30 can control the opening area of ​​the proportional valve 31 based on the output of the operation sensor 29. Furthermore, the controller 30 supplies working oil discharged from the pilot pump 15 to the pilot port of the corresponding control valve in the control valve unit 17. The pressure of the working oil supplied to each pilot port (pilot pressure) is, in principle, the pressure corresponding to the operation direction and operation amount of the operation device 26 corresponding to each hydraulic actuator. Thus, the operation device 26 is configured to supply working oil discharged from the pilot pump 15 to the pilot port of the corresponding control valve in the control valve unit 17.

[0070] The proportional valve 31, which functions as a control valve for machine control, is configured to be located in a pipeline connecting the pilot pump 15 to the pilot port of the control valve within the control valve unit 17, and the flow area of ​​this pipeline can be varied. In the illustrated example, the proportional valve 31 operates according 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, independent of operator actions on the operating device 26.

[0071] According to this structure, the controller 30 can activate the hydraulic actuator corresponding to the specific operating device 26 even when the specific operating device 26 is not operated.

[0072] The control system of the operating machinery 100 includes a controller 30, a display device D1, an input device D2, a horn button HS, a voice button KS, an external sound collection device M1, an internal sound collection device M2, an external sound output device SP1, an internal sound output device SP2, an external volume knob DL1, an internal volume knob DL2, a switch SW, and a communication device T1, etc.

[0073] The controller 30 is configured to output control commands to the regulator 13 as needed to change the discharge volume of the main pump 14.

[0074] Furthermore, the controller 30 may be configured, for example, to perform machine guidance functions that guide (instruct) the operator to manually operate the machine 100 via the operating device 26. Also, the controller 30 may be configured, for example, to perform machine control functions that automatically support the operator to manually operate the machine 100 via the operating device 26.

[0075] Furthermore, some of the functions of controller 30 can also be implemented by other controllers (control devices). That is, the functions of controller 30 can also be implemented in a distributed manner by multiple controllers. For example, machine guidance functions and machine control functions can also be implemented by dedicated controllers (control devices).

[0076] Here, for reference Figure 5 The interior of the driver's cab 10 will be described. Figure 5 This is a top view of the interior of the cab 10. The operating machinery 100 includes a driver's seat 50, operating devices 26, and a display device D1, all located inside the cab 10. A passenger / landing door is located on the left side of the driver's seat 50. The operator can open the passenger / landing door to enter the interior of the cab 10.

[0077] Viewed from above, the driver's seat 50 is positioned in the center of the cab 10. The driver's seat 50 includes a seat 51 for the operator and a backrest 52. The driver's seat 50 is an adjustable seat, and the reclining angle of the backrest 52 is adjustable. A left armrest 53L is located on the left side of the driver's seat 50, and a right armrest 53R is located on the right side. The left armrest 53L and right armrest 53R are rotatably supported by the backrest 52.

[0078] A left control panel 54L is located on the left side of the driver's seat 50, and a right control panel 54R is located on the right side. The left control panel 54L and the right control panel 54R extend in the longitudinal direction. The driver's seat 50 is capable of sliding in the longitudinal direction. The driver's seat 50 may be a structure capable of sliding together with the left control panel 54L and the right control panel 54R in the longitudinal direction.

[0079] The left armrest 53L is mounted on the left control panel 54L. The right armrest 53R is mounted on the right control panel 54R. From a top-down view, the left armrest 53L is positioned to cover a portion of the left control panel 54L. From a top-down view, the right armrest 53R is positioned to cover a portion of the right control panel 54R.

[0080] 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.

[0081] The left control lever 26L is located at the front of the left control panel 54L. Similarly, the right control lever 26R is located at the front of the right control panel 54R. The operator sitting in the driver's seat 50 can operate the left control lever 26L with their left hand and the right control lever 26R with their right hand. The operator sitting in the driver's seat 50 can use their left hand to operate the left control lever 26L to drive the boom cylinder 8 and the swing hydraulic motor 2A. Furthermore, the operator sitting in the driver's seat 50 can use their right hand to operate the right control lever 26R to drive the boom cylinder 7 and the bucket cylinder 9. In addition, the base of each of the left control lever 26L and the right control lever 26R is covered by a lever cover 27.

[0082] The left travel pedal 26PL and the right travel pedal 26PR are positioned on the ground in front of the driver's seat 50. The operator, seated in the driver's seat 50, can drive the left travel hydraulic motor 2ML by operating the left travel pedal 26PL with their left foot. Furthermore, the operator, seated in the driver's seat 50, can drive the right travel hydraulic motor 2MR by operating the right travel pedal 26PR with their right foot.

[0083] The left travel lever 26DL and right travel lever 26DR are positioned between the left travel pedal 26PL and the right travel pedal 26PR when viewed from above. The left travel lever 26DL and right travel lever 26DR extend upwards from the ground in front of the driver's seat 50. The operator, seated in the driver's seat 50, can operate the left travel hydraulic motor 2ML by holding the left travel lever 26DL with their left hand, in the same way as operating the left travel pedal 26PL. Similarly, the operator, seated in the driver's seat 50, can operate the right travel hydraulic motor 2MR by holding the right travel lever 26DR with their right hand, in the same way as operating the right travel pedal 26PR. Furthermore, the left travel lever 26DL and right travel lever 26DR are configured such that the operator can operate both levers simultaneously with one hand.

[0084] Display device D1 is located on the right front of the operator's seat 50. Display device D1 displays various image information. Display device D1 includes a display screen that displays information such as the operating conditions or operational status of the machine 100. The operator sitting in the operator's seat 50 can perform operations based on the machine 100 while checking the various information displayed on display device D1. An input device D2 may also be provided in display device D1.

[0085] The input device D2 is located within the operator's reach from their seat position inside the cab 10. It accepts various operational inputs from the operator and outputs signals corresponding to these inputs to the controller 30. The input device D2 includes a touchscreen mounted on the display of the display device D1, which displays various information images; a rotary switch located at the front end of one or more levers included in the operating device 26; or a push-button switch, lever, toggle switch, or rotary knob located around the display device D1. Signals corresponding to the operations performed on the input device D2 are input to the controller 30.

[0086] A door lever 55 is mounted on the front surface of the front end of the left control panel 54L. The door lever 55 operates in conjunction with the door lock lever GL located on the left control panel 54L. The door lever 55 is mounted undulatingly on the frame inside the left control panel 54L with the left-right axis at its upper end as its center.

[0087] The door lock lever GL is a mechanical input operation unit used to switch between a state where the machine 100 can be operated via the operating device 26 (operable state) and a state where the machine 100 cannot be operated via the operating device 26 (inoperable state). In the example shown, the door lock lever GL is configured such that the operator can switch between a first operating position that achieves the inoperable state and a second operating position that achieves the operable state. The controller 30 switches between the operable state and the inoperable state based on the operating state of the door lock lever GL. In the example shown, the controller 30 electrically switches the connection and disconnection of the pilot circuit based on the operating state of the door lock lever GL, thereby switching between the operable state and the inoperable state of the machine 100.

[0088] Furthermore, when the door lock lever GL is in the second operating position, such as Figure 5 As shown, the door arm 55 is in a forward-facing upright position (prohibited passage state) to prevent the operator from passing through the passenger / alighting door. On the other hand, when the door lock arm GL is in the first operating position, the door arm 55 is housed inside the left control panel 54L (permitted passage state) to avoid obstructing the operator from passing through the passenger / alighting door.

[0089] With this structure, the operator cannot operate the work machinery 100 unless the door lock lever GL is set to the second operating position, thus placing the door lever 55 in a prohibited state. Therefore, this structure can prevent the work machinery 100 from moving accidentally even if the operator inadvertently touches the operating device 26 when getting on or off the vehicle. Thus, this structure improves the safety of the work machinery 100.

[0090] Furthermore, the work equipment 100 can be configured to accept the prescribed operation for starting the engine 11 only when the door lock lever GL is in the second operating position and the door lever 55 is in the prohibited passage state. That is, the work equipment 100 can be configured such that the engine 11 cannot be started when the door lock lever GL is in the first operating position and the door lever 55 is in the permitted passage state.

[0091] A switch SW is provided on the right control panel 54R. A window-side control panel 56 is provided on the right side of the right control panel 54R. The window-side control panel 56 extends along the entire length of the cab 10 in the longitudinal direction and is parallel to the right control panel 54R. A display device D1 is provided at the front of the window-side control panel 56. An external volume knob DL1, an internal volume knob DL2, and an internal sound collection device M2 are provided on the window-side control panel 56.

[0092] Furthermore, a radio tuner 57 and the like are installed on the window-side control panel 56. The radio tuner 57 and the like can be installed on the control panel 54L or the control panel 54R.

[0093] A switch is provided on the radio tuner 57. Pressing and rotating the switch allows for on / off control of the radio and volume adjustment. Furthermore, operation of the radio tuner 57 is not limited to the physical switch; it can also be performed using a touchscreen on the display device D1 (input device D2). For example, the controller 30 can control the radio tuner 57's on / off state and volume adjustment by receiving touchscreen input. The radio tuner 57's volume can be adjusted independently of or simultaneously with the volume of external voice input (the voice of the operator inside the vehicle).

[0094] The internal sound collector M2 is a device for collecting sound generated inside the cab 10. In the example shown, the internal sound collector M2 is an indoor microphone configured to pick up the sound emitted by the operator inside the cab 10.

[0095] The horn button HS is a button operated by the operator of the work machinery 100 when the horn is sounded. In the example shown in the figure, the horn button HS is a rotary switch located at the front end of the left operating lever 26L.

[0096] The speaking button KS is a button operated by the operator of the working machine 100 when speaking to workers around the working machine 100. In the example shown in the figure, the speaking button KS is a rotary switch located at the front end of the right operating lever 26R.

[0097] The internal sound output device SP2 is a device that outputs sound to the operator inside the cab 10, and is installed inside the cab 10. Furthermore, the internal sound output device SP2 converts the electrical signals input from the controller 30 into physical sound (air vibrations) and outputs it. The internal sound output device SP2 can be installed in any location, for example, near the display device D1, near the input device D2, or near the door of the cab 10. In the example shown, the internal sound output device SP2 includes a left interior speaker SP2L installed in the upper left corner of the rear wall of the cab 10 and a right interior speaker SP2R installed in the upper right corner of the rear wall of the cab 10. Additionally, the internal sound output device SP2 can be a headset or in-ear headset worn by the operator. In this case, the headset or in-ear headset can be connected via, for example, Bluetooth (registered trademark), to communicate with the controller 30.

[0098] The external volume knob DL1 is configured to adjust the volume of the sound output from the external sound output device SP1. Furthermore, the volume of the sound output from the external sound output device SP1 can also be adjusted using a device other than the external volume knob DL1, such as a touch screen installed on the display device D1.

[0099] The external volume knob DL1 can also be configured to rotate infinitely in both clockwise and counterclockwise directions. This is to accommodate both volume adjustments using the external volume knob DL1 and volume adjustments using other devices besides the external volume knob DL1.

[0100] The internal volume knob DL2 is configured to adjust the volume of the sound output by the internal sound output device SP2. Furthermore, it can also be configured so that the volume of the sound output by the internal sound output device SP2 can be adjusted using a device other than the internal volume knob DL2, such as a touchscreen additionally installed on the display device D1.

[0101] The internal volume knob DL2 can also be configured to rotate infinitely in both clockwise and counterclockwise directions. This is to accommodate both volume adjustments using the internal volume knob DL2 and volume adjustments using other devices besides the internal volume knob DL2.

[0102] The switch SW is used to toggle whether the sound output function is activated, which allows the sound collected by the external sound collector M1 to be output from the internal sound output device SP2. In the example shown, the switch SW is located on the upper surface of the right control panel 54R. However, the switch SW can be one of the input devices D2, or it can be implemented by a touch screen located on the display device D1, or it can be a rotary switch.

[0103] For example, when switch SW is on, the sound collected by external sound collector M1 is output from internal sound output device SP2; when switch SW is off, the sound collected by external sound collector M1 is stopped (mute) from being output from internal sound output device SP2.

[0104] The sound output function involved in this embodiment is the function of outputting the sound collected by the external sound collecting device M1 from the internal sound output device SP2. In this embodiment, the controller 30 acquires a sound signal representing the sound collected by the external sound collecting device M1 and outputs sound based on the sound signal from the internal sound output device SP2, thereby realizing this function. Through this function, the operator can hear the sounds around the working machine 100, and therefore can hear the conversations of people around the working machine 100. The operator can communicate with people around the working machine 100. In addition, the sound output function involved in this embodiment is not limited to the function of outputting the sound collected by the external sound collecting device M1 from the internal sound output device SP2, as long as it is a function related to sound output for conversation.

[0105] [Two-way dialogue with the operating machinery] In the past, in addition to opening the door to talk directly, another method for facilitating two-way communication between operators and people around the machinery was to use a terminal with an internal communication system (also known as an intercom device) between the people having the two-way conversation.

[0106] When using walkie-talkies, operators and personnel working around the machinery need to wear additional equipment (the walkie-talkie terminal) that is not normally needed for the operation. This increases fatigue as operators and personnel work while wearing the terminal. Furthermore, besides discomfort caused by sweat wetting the terminal, there is also the possibility that sweat may cause the terminal to malfunction.

[0107] Furthermore, the use of intercom equipment also presents the following problems: communication is limited to specific individuals holding the terminal, preparation is burdensome at the work site, and channel switching is cumbersome.

[0108] Therefore, the work machine 100 according to this embodiment has a structure for enabling two-way dialogue between the work machine 100 and people (e.g., workers WK) around the work machine 100. Figure 6 This is a concept diagram representing a two-way dialogue between the operator (OP) riding on the work equipment 100 and the workers (WK) surrounding the work equipment 100. Figure 6 The example shown illustrates the situation where the operator WK is located to the left front of the machine 100, but the position of the operator WK in a two-way dialogue is not limited.

[0109] In the work machinery 100, an internal sound collection device M2 is installed inside the cab 10, and an external sound output device SP1 is installed outside the cab 10. Thus, the controller 30 of the work machinery 100 acquires sound signals collected by the internal sound collection device M2, representing sounds including the voice of the operator OP, and controls the output of sound signals from the external sound output device SP1 located outside the cab 10. Therefore, the operator OP of the work machinery 100 can speak to workers WK around the work machinery 100. In the example shown, the operator OP can speak by pressing and holding the talk button KS while the internal sound collection device M2 is available, thereby speaking to workers WK using the external sound output device SP1.

[0110] Furthermore, in the work machinery 100, an external sound collection device M1 (including a front microphone M1F) is installed on the outside of the cab 10, and an internal sound output device SP2 is installed on the inside of the cab 10. Thus, the controller 30 of the work machinery 100 acquires sound signals collected by the external sound collection device M1, representing sounds including the voices of workers WK around the work machinery 100, and performs control by outputting sound based on these sound signals from the internal sound output device SP2. Therefore, workers WK around the work machinery 100 can speak to the operator OP of the work machinery 100.

[0111] Thus, the work machine 100 according to this embodiment includes an external sound collecting device M1 and an external sound output device SP1 disposed outside the cab 10, and an internal sound collecting device M2 and an internal sound output device SP2 disposed inside the cab 10. The controller 30 controls the output of sound collected by the external sound collecting device M1 from the internal sound output device SP2, and controls the output of sound collected by the internal sound collecting device M2 from the external sound output device SP1. The sound collected by the external sound collecting device M1 may include the voice of the workers WK around the work machine 100. The sound collected by the internal sound collecting device M2 may include the voice of the operator OP. That is, the work machine 100 has the function of transmitting their respective voices to each other's areas through sound collecting and emitting devices respectively disposed outside the work machine 100 and in the area where the operator OP is located. Therefore, two-way dialogue between the operator OP and the workers WK around the work machine 100 is possible, thereby facilitating communication and improving convenience.

[0112] The controller 30 switches between controlling the output of sound collected by the external sound collector M1 from the internal sound output device SP2 and controlling the output of sound collected by the internal sound collector M2 from the external sound output device SP1, depending on whether the speaking button KS is pressed (an example of a predefined operation). Through this control, the operator OP can communicate with workers WK around the machine 100 at the desired time and suppress howling and other noises.

[0113] [Functional Structure of the Controller] refer to Figure 7 The structure of the controller 30 for controlling two-way dialogue is described below. Figure 7 This is a block diagram illustrating an example of a controller 30. The controller 30 includes an acquisition unit 301, a detection unit 302, a noise removal unit 303, a feature extraction unit 304, a correction unit 305, an operation receiving unit 306, an output control unit 307, and a display control unit 308.

[0114] The acquisition unit 301 acquires detection results from various sensors installed on the machine tool 100. For example, the acquisition unit 301 acquires sound signals representing sounds generated around the machine tool 100 from the external sound collector M1. Furthermore, the acquisition unit 301 acquires sound signals representing voices, including those of the operator sitting in the operator's seat, from the internal sound collector M2. Additionally, the acquisition unit 301 acquires image information representing the imaging results from the imaging device S6.

[0115] The detection unit 302 performs human detection processing on the people around the work machinery 100 based on the image information acquired by the acquisition unit 301 from the camera device S6. The method for human detection processing is not limited to known methods; any method can be used. For example, a judgment can be made as to whether the feature quantity extracted from the image information is similar to a human feature quantity by a predetermined value or higher. Furthermore, for example, human detection sensors can be installed that use the camera spaces of each of the cameras S6F, S6L, S6R, and S6B as the monitoring space, and human detection sensors can be used to detect people around the work machinery 100. The human detection sensor is a sensor that distinguishes and detects people from objects other than humans; for example, it is a sensor that detects energy changes within the corresponding monitoring space, including pyroelectric infrared sensors, calorimeter-type infrared sensors, and motion detection sensors utilizing the output signals of infrared cameras, etc.

[0116] Furthermore, the detection unit 302 detects the operating mode of the work machinery 100 based on the outputs of various sensors. The detection unit 302 can detect the state of the mode switching switch used to set the operating mode. In this embodiment, the operating mode includes a crane mode.

[0117] The noise removal unit 303 performs enhancement processing on the human voice frequency band of the sound signal acquired by the acquisition unit 301 from the external sound collecting device M1, and performs reduction processing on frequency bands other than the human voice frequency band. These processes can be performed using known methods, such as noise cancellation processing or using a bandpass filter to suppress frequency bands other than the human voice frequency band. Specifically, the noise removal unit 303 performs noise cancellation processing based on the sound signals from the multiple external sound collecting devices M1, suppressing the sound generated from the working machinery 100 such as the engine 11. Thus, the noise removal unit 303 removes noise from the sound signal collected by the external sound collecting devices M1.

[0118] The feature extraction unit 304 extracts feature quantities from the sound signal from which noise has been removed by the noise removal unit 303. The feature extraction unit 304 can extract feature quantities of the entire sound signal, feature quantities of a predetermined frequency band contained in the sound signal, and one or more feature quantities obtained by comparing multiple sound signals. For example, feature quantities of the entire sound signal can include the overall volume of the sound signal and variations in the overall volume of the sound signal. For example, feature quantities of a predetermined frequency band can include the volume of residual noise, the volume of a predetermined target sound, the presence or absence of speech, and the presence or absence of high-frequency sounds. Feature quantities obtained by comparing sound signals can include, for example, whether a loudspeaker is used. Furthermore, the feature extraction unit 304 can calculate an discomfort index as a feature quantity based on variations in the overall volume of the sound signal or the presence or absence of high-frequency sounds.

[0119] Volume can be calculated using well-known methods, such as quantifying the amplitude of the sound signal. The volume of residual noise can be calculated from the sound signal whose frequency bands have been suppressed using a bandpass filter or similar method. The volume of the target sound can be calculated from the sound signal whose frequency bands have been extracted using a bandpass filter or similar method.

[0120] The presence of speech can be determined using known methods, such as extracting the frequency band of human voice from the sound signal using a bandpass filter, and then determining whether the volume of the extracted sound signal is above a specified threshold. Furthermore, speech refers to all sounds, including those produced by humans.

[0121] Whether an amplifier is used can be determined, for example, by the volume difference between the sound signals collected by two of the four external sound collection devices M1 (front microphone M1F, left microphone M1L, right microphone M1R, and rear microphone M1B). The two external sound collection devices M1 can be in any combination, such as a combination of the front microphone M1F and the rear microphone M1B.

[0122] The four external sound collectors M1 installed around the front, rear, left, and right of the work machinery 100 are spaced several meters apart. When a person speaking in a natural voice near the work machinery 100, the sound reaches the external sound collector M1 located closer to the front from the person's perspective, but not the external sound collector M1 located further inward. Therefore, the volume difference between the sound collected by the external sound collector M1 located closer to the front and the sound collected by the external sound collector M1 located further inward increases. On the other hand, when a person speaking through a megaphone near the work machinery 100, the sound reaches the external sound collector M1 located further inward from the person's perspective. Therefore, the volume difference between the sound collected by the external sound collector M1 located closer to the front and the sound collected by the external sound collector M1 located further inward decreases. Therefore, it is possible to determine whether to use a megaphone based on whether the volume difference between the two sound signals collected by two external sound collectors M1 is above a predetermined threshold.

[0123] Furthermore, whether a loudspeaker is used can be determined, for example, by comparing the sound signal collected by the external sound collector M1 with the sound signal collected by the internal sound collector M2. For instance, if there are common features in the sound signals collected by the external sound collector M1 and the internal sound collector M2, it can be determined that a loudspeaker is used. As an example, the common feature could be similarities in the temporal variation of the speech frequency band. When people around the machine 100 speak using a loudspeaker, sometimes that sound is also collected by the internal sound collector M2. Therefore, if the sound signals collected by the external sound collector M1 and the internal sound collector M2 contain common features, it can be determined that a loudspeaker is used.

[0124] The discomfort index is an indicator of the degree of discomfort felt by humans. For example, the discomfort index can be the volume of high-frequency sounds in a sound signal. People often feel uncomfortable when they hear a lot of high-frequency sounds. Another example is the rate of change of volume. Humans often feel uncomfortable when the volume changes drastically in a short period of time. Yet another example is the number of volume changes per unit of time. Humans often feel uncomfortable when repeatedly switching between audible and inaudible states in a short period of time. The discomfort index is not limited to these; any index that is as close to the state of human discomfort as possible can be used.

[0125] The feature extraction unit 304 can calculate the volume of various target sounds. The feature extraction unit 304 can calculate various discomfort indices.

[0126] The correction unit 305 corrects the sound signal collected by the external sound collecting device M1 based on the feature values ​​extracted by the feature extraction unit 304. Although the noise reduction unit 303 reduces the noise in the sound collected by the external sound collecting device M1, some noise remains due to the limitations of the noise reduction process. If the sound collected by the external sound collecting device M1 is continuously output from the internal sound output device SP2 for two-way communication, the operator will continuously hear noise, thus increasing the physical and mental burden. By outputting sound from the internal sound output device SP2 at an appropriate time or volume based on the feature values ​​of the sound collected by the external sound collecting device M1, the total amount of noise heard by the operator can be reduced, thus reducing the operator's burden.

[0127] For example, the correction unit 305 can correct the sound signal based on the overall characteristic values ​​of the sound signal. The overall characteristic values ​​of the sound signal can be extracted with less computation, thus enabling high-speed sound signal correction. Furthermore, for example, the correction unit 305 can correct the sound signal based on the characteristic values ​​of a specified frequency band contained within the sound signal. Depending on the type of sound desired for the purpose of correction, the sound signal can be corrected flexibly. Furthermore, for example, the correction unit 305 can correct the sound signal based on characteristic values ​​obtained by comparing multiple sound signals. By comparing different sound signals, more complex sound signals can be analyzed, thus enabling sound signal correction under more complex conditions.

[0128] For example, the correction unit 305 corrects the volume of the sound signal based on the overall volume of the sound signal. If the overall volume of the sound signal is above a predetermined threshold, the correction unit 305 can set the volume of the sound signal to zero.

[0129] If the volume of the sound collected by the external sound collector M1 is high, the operator can hear the voice even if the internal sound output device SP2 does not output external sounds. In this case, if the output of the internal sound output device SP2 is stopped, the operator can hear the voice even more clearly.

[0130] For example, the correction unit 305 corrects the volume of the sound signal based on whether the sound signal contains speech. If the sound signal does not contain speech, the correction unit 305 can reduce the volume of the sound signal. If the sound signal contains speech, the correction unit 305 can either increase the volume of the sound signal or not correct the sound signal.

[0131] When the sound signal includes speech, there is a high probability that workers around the machine 100 will speak to the operator, so by playing it at a high volume, the operator can reliably hear the speech. On the other hand, when the sound signal does not include speech, the operator hears fewer external sounds, thus reducing the burden on the operator.

[0132] For example, the correction unit 305 corrects the volume of the target sound contained in the sound signal based on the volume of the target sound. The target sound is a sound contained in a specified frequency band. The target sound may be, for example, residual noise or noise typically generated at the work site. Examples of noise include, for example, the engine sound of the work machinery, including the work machinery 100, or the impact sound generated during work.

[0133] The desired sounds for an operator vary depending on the task at hand. For example, increasing the volume of work-related sounds and decreasing the volume of other sounds makes it easier for the operator to hear work-related sounds, thus reducing the operator's workload.

[0134] The calibration unit 305 can determine whether to set a target sound as a calibration target based on its type. Whether a target sound is set as a calibration target can be determined by the operator. The operator's actions can be performed on the screen displayed on the display device D1.

[0135] The sounds an operator wants to hear can vary depending on the work situation. For example, while the operator may want to hear sounds relevant to the current task, other sounds might interfere, so sometimes it's desirable to reduce those sounds. Because the work content changes according to the construction progress, the sounds the operator wants to hear differ at different times. If the operator can set in real-time whether to set each type of target sound as a correction target, the cab 10 can be designed as an environment conducive to the operator's work.

[0136] For example, the calibration unit 305 adjusts the volume of the sound signal depending on whether a loudspeaker is used. When a loudspeaker is used, the calibration unit 305 can reduce the volume of the sound signal. If a loudspeaker is used by someone near the machine 100, the operator can hear the speech even if the internal sound output device SP2 does not output external sounds. In this case, reducing the volume of the internal sound output device SP2 makes it easier for the operator to hear the speech clearly.

[0137] For example, the correction unit 305 corrects the volume of the sound signal based on the discomfort index. The correction unit 305 can correct the volume of the sound signal based on changes in volume. In cases containing high-frequency sounds, the correction unit 305 can reduce the volume of the sound signal. The higher the discomfort index, the lower the volume of the sound signal that the correction unit 305 can reduce. When the discomfort index is above a predetermined threshold, the correction unit 305 can reduce the volume of the sound signal. By reducing the volume of sounds that cause discomfort to the operator, the operator's workload can be reduced.

[0138] For example, the calibration unit 305 adjusts the volume of the sound signal based on whether the detection unit 302 detects a person. If a person is detected, the calibration unit 305 can increase the volume of the sound signal. If no person is detected, the calibration unit 305 can decrease the volume of the sound signal.

[0139] When there are workers around the machine 100, the likelihood of the workers talking to the operator increases. If the volume is increased when a person is detected around the machine 100, it can prevent the operator from missing the workers' speech.

[0140] For example, the calibration unit 305 adjusts the volume of the sound signal according to the operating mode of the machine 100. When operating in crane mode, the calibration unit 305 can increase the volume of the sound signal. When operating in other operating modes, the calibration unit 305 can decrease the volume of the sound signal.

[0141] The detection unit 302 detects people based on image information acquired from the camera device S6, therefore sometimes it cannot detect people in blind spots of the camera device S6. On the other hand, the current work content can be determined based on the operation mode, and it can be judged whether there is a high probability that there are people around the work machinery 100. For example, in crane mode, during hoisting operations, there is a high probability that workers are located around the work machinery 100. If the volume of the sound signal is increased when operating in crane mode, it can prevent the operator from missing the workers' speech.

[0142] The operation receiving unit 306 receives operations from the operator via one or more of the input device D2, the call button KS, and the switch SW. For example, the operation receiving unit 306 receives an operation to determine whether the call button KS has been pressed.

[0143] The output control unit 307 controls the output of sound based on an audio signal from either the internal audio output device SP2 or the external audio output device SP1. For example, the output control unit 307 controls the output of sound based on an audio signal acquired from the external audio collector M1 from the internal audio output device SP2. Furthermore, for example, the output control unit 307 controls the output of sound based on an audio signal acquired from the internal audio collector M2 from the external audio output device SP1.

[0144] When the correction unit 305 corrects the sound signal obtained from the external sound collection device M1, the output control unit 307 outputs sound based on the corrected sound signal from the external sound output device SP1.

[0145] When the microphone button KS is pressed, the output control unit 307 controls the output of sound from the external sound output device SP1 based on the sound signal acquired from the internal sound collector M2. While the microphone button KS is continuously pressed, the output control unit 307 controls the output of sound from the external sound output device SP1 based on the sound signal acquired from the internal sound collector M2. When the microphone button KS is released, the output control unit 307 stops controlling the output of sound from the external sound output device SP1 based on the sound signal acquired from the internal sound collector M2, and instead controls the output of sound from the internal sound output device SP2 based on the sound signal acquired from the external sound collector M1.

[0146] Through this control, the operator of the work machinery 100 can speak with people around the work machinery 100 at a desired time. Furthermore, through this control, the operator of the work machinery 100 can hear sounds around the work machinery 100 even when they do not need to speak with people around the work machinery 100.

[0147] Furthermore, the prescribed operation for switching the aforementioned output control is not limited to whether the speaking button KS is continuously pressed. For example, the output control can be switched each time the prescribed button is pressed, or it can be switched based on the image captured by the camera device installed in the cab 10, depending on whether the operator moves their gaze towards the display device D1, or it can be switched based on the operation of the touch screen included in the input device D2. Thus, any switching of the output control corresponding to the prescribed operation is acceptable.

[0148] The output control unit 307 controls the output of sound collected by the external sound collector M1 from the external sound output device SP1 whenever it receives the press of the speaking button KS or the operation of turning off the switch SW. Through this control, as long as the operator does not intentionally operate, the sound collected by the external sound collector M1 is output from the external sound output device SP1, so that the operator can identify the situation around the working machine 100.

[0149] When outputting sound from the internal sound output device SP2 or the external sound output device SP1, the output control unit 307 performs noise cancellation. Known methods can be used for noise cancellation; for example, noise components can be removed by superimposing noise components with inversely phased sounds. Furthermore, the output control unit 307 can enhance the output sound in the human voice frequency band. By performing noise cancellation through the output control unit 307, it is easier to identify what is being said.

[0150] The output control unit 307 controls the output of any one of the sounds, alarms, and horns collected by the internal sound collection device M2 from the external sound output device SP1. When multiple sounds are output from the external sound output device SP1, the output control unit 307 controls the output of any one of the sounds, alarms, and horns collected by the internal sound collection device M2 from the external sound output device SP1 based on priority.

[0151] The display control unit 308 controls the display of the display device D1.

[0152] [Example of a display device] Figure 8 This is a diagram illustrating a display example of display device D1. The display device D1 of the work machinery 100 has an image display unit 142. In the image display unit 142, under control from the display control unit 308, a display screen 185 is displayed, including a date and time display area 142a, a driving mode display area 142b, an auxiliary device display area 142c, a fuel consumption display area 142d, an engine control status display area 142e, an engine running time display area, a coolant temperature display area 142g, a fuel balance display area 142h, a speed level display area 142i, a urea water balance display area 142j, an oil temperature display area 142k, an excavator status display area 421, a first image display area 422, a second image display area 423, and a calibration target setting area 424.

[0153] The driving mode display area 142b, auxiliary device display area 142c, engine control status display area 142e, and speed level display area 142i are areas for displaying setting status information, which is related to the setting status of the working machinery 100. The fuel consumption display area 142d, engine running time display area, coolant temperature display area 142g, fuel balance display area 142h, urea / water balance display area 142j, and working oil temperature display area 142k are areas that display information indicating the operating status of the working machinery 100, i.e., operating status information, based on the detection results of various sensors.

[0154] The date and time display area 142a displays the current date and time. The driving mode display area 142b displays the current driving mode. The accessory display area 142c displays an image representing the currently installed accessory. The fuel consumption display area 142d displays fuel consumption information calculated by the controller 30. The fuel consumption display area 142d includes an average fuel consumption display area 142d1 that displays the average fuel consumption over the entire lifespan or the average fuel consumption over a certain period, and an instantaneous fuel consumption display area 142d2 that displays the instantaneous fuel consumption.

[0155] The engine control status display area 142e displays the control status of the engine 11. The engine running time display area displays the cumulative running time of the engine 11. The coolant temperature display area 142g displays the current temperature of the engine coolant. The fuel level display area 142h displays the remaining fuel level in the fuel tank.

[0156] The engine speed level display area 142i is an area that graphically displays the current speed level of the engine 11 as set by the knob. The selected speed level is indicated by a number displayed in the speed speed level display area 142i. A "1" displayed in the speed speed level display area 142i indicates that the selected speed level is "Level 1". The number "n" displayed in the speed speed level display area 142i indicates that the selected speed level is "Level n". "n" is a natural number. The number displayed in the speed speed level display area 142i changes when the operator rotates the knob.

[0157] The urea solution level display area 142j is an area that uses an image to display the remaining level of urea solution stored in the urea solution tank. The working oil temperature display area 142k is an area that displays the temperature of the working oil in the working oil tank.

[0158] The excavator status display area 421 is an area that displays information indicating the positional relationship between the working machine 100 and the people detected around the working machine 100.

[0159] The excavator status display area 421 is set as a display area that represents the actual space centered on the working machine 100 at a prescribed scale. An excavator icon 421b indicating the presence of the working machine 100 is arranged in the center of the excavator status display area 421.

[0160] In the excavator status display area 421, in addition to the excavator icon 421b representing the working machinery 100, a direction display icon 421a indicating the working machinery 100's travel direction and person detection icons 421e, 421f, and 421g representing people detected around the working machinery 100 are also displayed. The area outside the excavator icon 421b, direction display icon 421a, and person detection icons 421e, 421f, and 421g (in other words, the background) in the excavator status display area 421 can also be, for example, an area represented in a single color (e.g., black).

[0161] The excavator icon 421b is set as an icon that combines an image of the upper rotating body 3 and an image of the lower traveling body 1 based on the positional relationship between the upper rotating body 3 and the lower traveling body 1 according to the rotation angle.

[0162] The direction display icon 421a uses a triangle shape to indicate the direction of travel of the working machine 100 when the travel lever is tilted forward. Furthermore, this embodiment shows one example of an icon indicating the direction of travel of the working machine 100 when the travel lever is tilted forward; however, the shape can be arbitrary as long as it represents the travel direction of the working machine 100.

[0163] Person detection icons 421e, 421f, and 421g are set as icons representing persons detected based on image information captured by the camera device S6. Specifically, person detection icons 421e, 421f, and 421g are configured based on the position information of the persons received from the controller 30. For example, person detection icons 421e, 421f, and 421g are configured at positions obtained by multiplying the direction and distance of the detected persons by a predetermined scale, with the operating machinery 100 as a reference.

[0164] Thus, the positional relationship between the excavator icon 421b and the human detection icons 421e, 421f, and 421g corresponds to the positional relationship between the operating machinery 100 in the actual space and the people existing around the operating machinery 100.

[0165] When there are people around the work machinery 100 but no external sounds are output from the internal sound output device SP2, the operator of the work machinery 100 can identify the positional relationship between the work machinery 100 and the people around it by displaying the work machinery 100 and the people around it on the display device D1.

[0166] Additionally, in the example diagram, the excavator status display area 421 displays icon images representing the excavator 100 and people present around it. However, the excavator status display area 421 can also display an overhead view. The overhead view could be, for example, an image generated by synthesizing image information captured by the camera device S6 installed on the excavator 100, or an image obtained from above the excavator 100, such as through aerial photography using a drone.

[0167] In the excavator status display area 421, a first circular area 421c and a second circular area 421d, determined based on the distance from the excavator 100, are displayed with reference to the operating machine 100.

[0168] In the example diagram, the first circular region 421c and the second circular region 421d are represented as circles, with the excavator icon 421b as a reference, to enable the operator to identify the relative distance from the operating machinery 100.

[0169] The excavator status display area 421 is displayed on the image display unit 142, along with image information captured by the camera device S6. By reviewing the image information in conjunction with the excavator status display area 421, the operator can identify the specific conditions around the working machinery 100. Therefore, safety can be improved.

[0170] In the example diagram, the first image display area 422 and the second image display area 423 are areas for displaying image information captured by the camera device S6. The right-side image is displayed in the first image display area 422. The rear-side image is displayed in the second image display area 423. The right-side image is an image reflecting the right space of the working machine 100, including image 422c of the right end of the upper surface of the upper rotating body 3. The right-side image is an actual viewpoint image generated by the display control unit 308, based on the image acquired by the camera S6R. The rear-side image is an image reflecting the rear space of the working machine 100, including image 423c of the counterweight. The rear-side image is an actual viewpoint image generated by the display control unit 308, based on the image acquired by the camera S6B.

[0171] The first image display area 422 is displayed to the right of the excavator status display area 421. The second image display area 423 is displayed below the excavator status display area 421. In this embodiment, the image display unit 142 is positioned above the upper rotating body 3. In other words, the second image display area 423 is displayed at a position corresponding to the rear, based on the excavator status display area 421. That is, the image display unit 142 displays the image information captured by the camera device S6 in the direction captured by the camera device S6, based on the excavator status display area 421. In this embodiment, the image information captured in the shooting direction is displayed based on the excavator status display area 421, so the operator can intuitively identify which direction the image information represents when referring to it. Therefore, safety can be improved.

[0172] Furthermore, when the controller 30 detects a person from either the right-hand image or the rear image, the display control unit 308 overlays a frame indicating the area where the person was detected onto the right-hand and rear images where the person was detected. Thus, frame 422b is displayed in the right-hand image of the first image display area 422, and frame 423b is displayed in the rear image of the second image display area 423. Moreover, a person icon 422a is displayed within frame 422b, and a person icon 423a is displayed within frame 423b.

[0173] The calibration target setting area 424 is the area where the target sound is set as the calibration target of the calibration unit 305. In the example shown, in the calibration target setting area 424, the target sound label 424a, explanatory text 424b, audio-visual button 424c, and setting switch 424d are displayed according to the type of target sound.

[0174] The name of the target sound, which is the object to be set, is displayed in the target sound label 424a. A description of the target sound's content is displayed in the explanatory text 424b. For example, the content of the target sound can be expressed using onomatopoeia. If the audiovisual button 424c is pressed, a typical target sound is output from the internal sound output device SP2. Typical target sounds are pre-stored in the controller 30. Sometimes, the operator cannot intuitively understand the target sound of the object to be set simply by looking at the name of the target sound. Through the explanatory text or audiovisual description, the operator can intuitively understand the target sound.

[0175] Setting switch 424d is used to toggle whether a sound is selected as a calibration target (on) or not (off). In the example shown, the switch is on when it is on the left and off when it is on the right. Controller 30 uses the target sound that is selected when setting switch 424d is on as the calibration target.

[0176] The calibration target setting area 424, along with the excavator status display area 421, the first image display area 422, and the second image display area 423, are displayed on the display device D1. To set the target sound as the calibration target in the calibration target setting area 424, the operator needs to turn their gaze to the display device D1. This prevents the operator from visually assessing the surroundings of the work machinery 100. At this time, the excavator status display area 421, the first image display area 422, and the second image display area 423 are displayed on the same screen as the calibration target setting area 424 on the display device D1. The operator can then operate the calibration target setting area 424 while simultaneously assessing the surroundings of the work machinery 100, thus allowing them to set the target sound as the calibration target without compromising safety.

[0177] [Sound Correction Process] Next, the sound correction processing performed by the controller 30 will be explained. Figure 9 This is a flowchart illustrating an example of sound correction processing.

[0178] During the operation of the machine 100, sound correction processing is repeatedly performed at predetermined time intervals. The predetermined time interval may be, for example, the length of a frame equivalent to the noise removal processing frame. However, sound correction processing is not performed while the speaking button KS is pressed.

[0179] In step S101, the acquisition unit 301 of the controller 30 acquires a sound signal representing the sound generated around the working machine 100 from the external sound collecting device M1. The acquisition unit 301 then sends the acquired sound signal to the noise removal unit 303.

[0180] In step S102, the noise removal unit 303 of the controller 30 receives an audio signal from the acquisition unit 301. The noise removal unit 303 performs noise removal processing on the audio signal. The noise removal unit 303 sends the noise-removed audio signal to the feature extraction unit 304.

[0181] In step S103, the feature extraction unit 304 of the controller 30 receives the noise-removed sound signal from the noise removal unit 303. The feature extraction unit 304 extracts feature values ​​from the noise-removed sound signal. The feature extraction unit 304 sends the extracted feature values ​​to the correction unit 305.

[0182] In step S104, the correction unit 305 of the controller 30 receives feature values ​​from the feature extraction unit 304. The correction unit 305 corrects the sound signal acquired from the external sound collection device M1 based on the feature values. The correction unit 305 sends the corrected sound signal to the output control unit 307.

[0183] In step S105, the output control unit 307 of the controller 30 receives the corrected sound signal from the correction unit 305. The output control unit 307 sends the corrected sound signal to the internal sound output device SP2. The internal sound output device SP2 receives the corrected sound signal. The internal sound output device SP2 outputs sound based on the corrected sound signal.

[0184] In this embodiment, when the controller 30 outputs the sound collected by the external sound collector M1 from the internal sound output device SP2, it corrects the sound signal based on the characteristic quantities extracted from the sound signal and outputs sound based on the corrected sound signal. The sound collected by the external sound collector M1 includes high-volume noise generated around the machine 100. Even after noise removal processing of the sound signal, noise may sometimes remain due to performance limitations. Continuously listening to the sound with residual noise is a burden for the operator, but since the sound collected by the external sound collector M1 may contain information important to the operator, it is impossible to stop the output from the internal sound output device SP2. By correcting the sound at an appropriate time or volume based on the characteristic quantities of the sound signal and outputting it from the internal sound output device SP2, the total amount of noise heard by the operator can be reduced, thereby alleviating the operator's burden.

[0185] [Other Implementation Methods] For example, the controller 30 of the work machinery 100 can switch the on / off state of the sound output function according to the signal from the switch SW only when the engine 11 of the work machinery 100 is in operation, and can switch whether to talk to the operator according to the signal from the talking button KS. Therefore, when the engine 11 of the work machinery 100 is in operation, the controller 30 can control the output of sound collected by the external sound collector M1 from the internal sound output device SP2, and can also control the output of sound collected by the internal sound collector M2 from the external sound output device SP1. Moreover, when the engine 11 is not in operation, the controller 30 suppresses the output of sound collected by the external sound collector M1 from the internal sound output device SP2, and also suppresses the output of sound collected by the internal sound collector M2 from the external sound output device SP1. In this embodiment, two-way communication is possible when the engine 11 of the work machinery 100 is in operation. Therefore, when the operator is working on the work machinery 100, communication with people around the work machinery 100 can improve work efficiency. Furthermore, the controller 30 can suppress power consumption by limiting the use of the sound output function to when the engine 11 of the working machine 100 is in operation.

[0186] As another example, the controller 30 of the work machinery 100 can switch the on / off state of the sound output function based on a signal from the switch SW, and can switch whether to talk to the operator based on a signal from the talking button KS, only when the work machinery 100 is in the key-on state (including when the engine 11 of the work machinery 100 is in operation). That is, in the work machinery 100, when power is supplied to the peripheral equipment (e.g., air conditioning equipment, radio, etc.) installed on the work machinery 100, the sound output function can be turned on, and the operator can talk to the operator. Therefore, when the controller 30 is in the key-on state, supplying power to the peripheral equipment (e.g., air conditioning equipment, radio, etc.) installed on the work machinery 100, it can control the output of sound collected by the external sound collection device M1 from the internal sound output device SP2, and can control the output of sound collected by the internal sound collection device M2 from the external sound output device SP1. Furthermore, when the key is off, the controller 30 suppresses the output control of sound collected by the external sound collector M1 from the internal sound output device SP2, and also suppresses the output control of sound collected by the internal sound collector M2 from the external sound output device SP1. In this embodiment, two-way communication is possible when the machine 100 is in the key-on state. Therefore, even when the machine 100 is not in operation, such as during pre-operation discussions, the operator can easily communicate with people around the machine 100, thereby improving work efficiency.

[0187] In this embodiment, the conditions for utilizing the sound output function are not limited and can be determined according to the implementation method.

[0188] For example, the internal volume knob DL2, in addition to adjusting the volume output from the internal sound output device SP2, also functions as a button switch. Pressing the internal volume knob DL2 according to this embodiment turns off the sound output function. In other words, the internal volume knob DL2 functions as a mute button for the internal sound output device SP2.

[0189] In addition to adjusting the volume of the sound output from the external sound output device SP1, the external volume knob DL1 also functions as a push-button switch. Whether or not the external volume knob DL1 is pressed in this embodiment switches whether or not a conversation is initiated with personnel around the work machinery 100. In other words, the external volume knob DL1 functions as a speaking button KS.

[0190] That is, when the controller 30 of the working machine 100 receives a signal indicating that the external volume knob DL1 (speaking button KS) has been pressed, it can control the output of the sound collected by the internal sound collection device M2 (including the voice of the operator OP) from the external sound output device SP1.

[0191] Furthermore, when the sound output function of the operating machine 100 is enabled, the controller 30 disables the sound output function upon receiving a signal indicating that the internal volume knob DL2 has been pressed. Thus, the controller 30 stops outputting sounds collected by the external sound collector M1 (including voices from the operator WK around the operating machine 100) from the internal sound output device SP2.

[0192] As another example, the controller 30 of the work machinery 100 can switch the sound output function on and off according to the signal from the switch SW only when the door lock lever GL of the work machinery 100 is in the second operating position and the door lever 55 is in the prohibited passage state, and can switch whether to talk to the workers according to the signal from the talk button KS (of the external volume knob DL1). Furthermore, when the door lock lever GL of the work machinery 100 is in the first operating position and the door lever 55 is in the permitted passage state, the controller 30 of the work machinery 100 can switch the sound output function on and off according to the signal from the switch SW, and can switch whether to talk to the workers according to the signal from the talk button KS (of the external volume knob DL1). That is, regardless of whether the door lock lever GL is in the first operating position or the second operating position, the controller 30 of the work machinery 100 can control the output of sound collected by the external sound collection device M1 from the internal sound output device SP2, and can control the output of sound collected by the internal sound collection device M2 from the external sound output device SP1.

[0193] As another example, the controller 30 of the work machinery 100 has a method that allows it to switch the sound output function on and off based on a signal from the internal volume knob DL2, even when the work machinery 100 is in the key-off state (in other words, the engine 11 is not operating) and no power is supplied to peripheral equipment installed on the work machinery 100. That is, the controller 30 can control the output of sound collected by the external sound collector M1 from the internal sound output device SP2, and can also control the output of sound collected by the internal sound collector M2 from the external sound output device SP1, regardless of whether the key is on or off. In this embodiment, the work machinery 100 can engage in two-way communication at any time. Therefore, situations where the operator speaks but cannot be heard by those around them can be suppressed, thus facilitating communication.

[0194] [Another structural example of operating machinery] Next, refer to Figure 10 Another structural example of the working machine 100 will be described. Figure 10 This is a top view of another structural example of the working machinery 100. Figure 10 The operating machinery 100 shown and Figure 1 The difference in the illustrated work machinery 100 is that the external sound output device SP1 consists of four speakers (front speaker SP1F, left speaker SP1L, right speaker SP1R, and rear speaker SP1B). Figure 1 In the operating machinery 100 shown, the external sound output device SP1 consists of a non-directional loudspeaker installed on the cab 10.

[0195] Through this structure, Figure 10 The illustrated work machine 100, for example, can output sound to the worker WK located in front of the work machine 100 by setting the front speaker SP1F to the on (capable of outputting sound) and setting the left speaker SP1L, right speaker SP1R and rear speaker SP1B to the off (capable of outputting sound), but will not output sound to the workers WK to the left, right and rear of the work machine 100.

[0196] Furthermore, in Figure 10 In the example shown, a front camera S6F and a front microphone M1F are arranged adjacent to the front speaker SP1F, and a front light bar G1F is provided on the housing of the front microphone M1F. Similarly, a left camera S6L and a left microphone M1L are arranged adjacent to the left speaker SP1L, and a left light bar G1L is provided on the housing of the left microphone M1L. Furthermore, a right camera S6R and a right microphone M1R are arranged adjacent to the right speaker SP1R, and a right light bar G1R is provided on the housing of the right microphone M1R. Finally, a rear camera S6B and a rear microphone M1B are arranged adjacent to the rear speaker SP1B, and a rear light bar G1B is provided on the housing of the rear microphone M1B.

[0197] With this structure, the working machine 100 can set the light strip corresponding to the turned-on speaker to be on (able to emit light) and set the light strip corresponding to the turned-off speaker to be off (unable to emit light).

[0198] Alternatively, the external sound output device SP1 can also consist of one or more parametric loudspeakers. A parametric loudspeaker is an ultrasonic loudspeaker capable of selectively transmitting sound to a person located within a specific, narrow area. A parametric loudspeaker can transmit sound to any location.

[0199] exist Figure 10In the illustrated work machinery 100, the controller 30 can detect workers WK around the work machinery 100 and determine their positions based on images captured by the camera device S6. Furthermore, when multiple workers WK are around the work machinery 100, the controller 30 can distinguish between those who are speaking (workers WK making sounds) and those who are not speaking (workers WK not making sounds) based on the output of the four external sound collection devices M1. Additionally, the controller 30 can distinguish between those who are speaking (workers WK facing the work machinery 100) and those who are not facing the work machinery 100 based on images captured by the camera device S6. Moreover, the controller 30 can activate speakers and light strips facing the workers WK. For example, if there is a worker WK (making sounds) behind the work machinery 100, the controller 30 can keep the front speaker SP1F, left speaker SP1L, and right speaker SP1R off while activating the rear speaker SP1B. At this time, the controller 30 can keep the front light bar G1F, left light bar G1L, and right light bar G1R off, while turning on the rear light bar G1B. Additionally, this function can also be used in… Figures 1-5 This is achieved in the operating machinery 100 shown.

[0200] According to this structure, the controller 30 can output sound towards the direction where the operator WK is located, and not towards the direction where there is no operator WK. Therefore, the operator WK can easily identify whether he / she is a dialogue partner or a non-participant.

[0201] Operating system of the machinery Next, refer to Figure 11 Here, a structural example of the operating system SYS (an example of a system for operating machinery) involved in the embodiments of the present invention will be described. Figure 11 This is a schematic diagram representing the structure of the operating system SYS. For example... Figure 11 As shown, the operating system SYS includes the operating machine 100, the remote control room RC, and the management center MC. Additionally, in Figure 11 The detailed structural diagram of the operating machinery 100 is omitted from the text. This is because... Figure 11 The operating machine 100 shown has the same Figure 1 or Figure 10 The operating machinery 100 shown has the same structure.

[0202] The work machine 100, the remote control room (RC), and the management center (MC) are connected to each other via a communication network (NW) to send and receive data. Alternatively, the work machine 100, the remote control room (RC), and the management center (MC) can also be connected to each other to send and receive data directly without going through the communication network (NW). In the example shown, the work machine 100 sends information related to the work site to the remote control room (RC). Thus, the remote operator (RO) located in the remote control room (RC) can monitor the work site situation based on the information from the work machine 100.

[0203] The work machine 100 is equipped with sensors capable of three-dimensionally identifying the position and shape of objects present at the work site. For example, the work machine 100 is equipped with a spatial recognition device. Therefore, the work machine 100 can transmit the results of three-dimensional measurement of the work site to a remote control room (RC).

[0204] A spatial identification device is used to identify the space surrounding the operating machinery 100. In the example shown, the spatial identification device is a LiDAR. The LiDAR, for example, measures the distance between itself and each of more than one million points within the monitoring range. Alternatively, the spatial identification device can be any device capable of measuring distances to objects. For example, it could be a stereo camera or a combination of a camera device S6 and a ranging device such as millimeter-wave radar.

[0205] The operating system SYS may include one or more work machines 100. In the case of multiple work machines 100, the remote operator RO of a specific work machine 100 can obtain information related to the work site obtained by that specific work machine 100, as well as information related to the work site obtained by one or more other work machines 100.

[0206] The remote control 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 collection device M2E, and an internal sound output device SP2E. Furthermore, the remote control room RC also houses the operator's seat DS for the remote operator RO of the remotely operated machinery 100.

[0207] The communication device T2 is configured to communicate with the communication device T1 installed on the work machine 100.

[0208] The remote controller 40 is a computing device that performs various calculations. In this embodiment, the remote controller 40 is composed of a microcomputer including a CPU and memory. Moreover, the various functions of the remote controller 40 are implemented by the CPU executing programs stored in the memory.

[0209] Display device D1E is a device capable of displaying various information. Display device D1E displays images based on information transmitted from the work machine 100, enabling the remote operator RO located in the remote control room RC to visually identify the surroundings of the work machine 100. In the example shown, display device D1E is a liquid crystal display showing images captured by the camera device S6 mounted on the work machine 100. Alternatively, display device D1E can also be a display or projector enabling naked-eye stereoscopic viewing, or even VR goggles, etc.

[0210] 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 sent from the operating machinery 100, so that the remote operator RO located in the remote control room RC can hear the sounds emanating from the work site. The internal sound output device SP2E can be configured to output sound captured by an external sound collector M1 installed outside the cab 10, or it can be configured to output sound captured by an internal sound collector M2 installed inside the cab 10. In this case, the internal sound collector M2 can be positioned at the ear level of the operator sitting in the driver's seat 50 inside the cab 10. The internal sound output device SP2E can be a speaker or a wearable device such as headphones or in-ear headphones. The speaker can be a mono 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 noise cancellation functionality, spatial audio functionality (stereo sound functionality), or bone conduction functionality.

[0211] An operation sensor 43 is provided in the operating device 42 to detect the operation content of the operating device 42. The operation sensor 43 may be, for example, a tilt sensor that detects the tilt angle of the operating lever or an angle sensor that detects the swing angle of the operating lever around its swing axis. The operation sensor 43 may also be composed of other sensors such as a pressure sensor, current sensor, voltage sensor, or distance sensor. The operation 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 working machine 100. The operation sensor 43 can be configured to generate an operation signal. In this case, the operation sensor 43 can output the operation signal to the communication device T2 without going through the remote controller 40. With this structure, the remote operator RO can remotely operate the working machine 100 from the remote control room RC.

[0212] A management center (MC) is a facility equipped with various devices for managing the work machinery 100 located at the work site or for remote operation of the work machinery 100 by a remote operator (RO) located in a remote control room (RC). In the example shown, the management center (MC) is located at both the work site and the remote control room (RC), respectively, away from the work machinery 100. Furthermore, the management center (MC) includes a management device (200), an internal sound collection device (M2C), and an internal sound output device (SP2C).

[0213] The management device 200 is an example of a control device, such as a server computer (a so-called cloud server) or an edge server. The management device 200 is typically a fixed terminal device, but it can also be a portable terminal device (e.g., a laptop computer, tablet computer, or smartphone).

[0214] Through this structure, the manager located in the management center (MC) can, for example, use the sound collection device (external sound collection device M1 or internal sound collection device M2) and the internal sound output device SP2C installed on the machine 100 to hear sounds emanating from the work site. Furthermore, the manager located in the management center (MC) can, for example, use the internal sound collection device M2E and the internal sound output device SP2C installed in the remote control room (RC) to hear sounds emanating from the remote control room (RC). Furthermore, the manager located in the management center (MC) can, for example, use the internal sound collection device M2C and the external sound output device SP1 installed on the machine 100 to transmit their own voice to the workers (WK) around the machine 100. Furthermore, the manager located in the management center (MC) can, for example, use the internal sound collection device M2C and the internal sound output device SP2 installed on the machine 100 to transmit their own voice to the operator (OP) of the machine 100. Furthermore, the administrator located in the management center (MC) can, for example, use the internal sound collection device (M2C) and the internal sound output device (SP2E) located in the remote control room (RC) to transmit their voice to the remote operator (RO) located in the remote control room (RC).

[0215] In the aforementioned operating system SYS, the sounds around the machine 100 collected by the external sound collector M1 are output from the internal sound output device SP2E. At this time, the remote controller 40 corrects the sound based on the characteristic values ​​of the sound collected by the external sound collector M1 and outputs it from the internal sound output device SP2E. Thus, even when the machine 100 is operated remotely, the burden on the remote operator RO can be reduced.

[0216] [Another example of an operating system architecture] In the above embodiments, an example was described in which the external sound collecting device M1 and the external sound output device SP1 are installed on the upper rotating body 3. However, the above embodiments are not limited to the method of installing the external sound collecting device M1 and the external sound output device SP1 on the upper rotating body 3. In the seventh embodiment, an example was described in which the external sound collecting device and the external sound output device are installed at a position away from the working machine 100.

[0217] refer to Figure 12 Here, a structural example of the operating system SYS1 (another example of a system for operating machinery) involved in the embodiments of the present invention will be described. Figure 12 This is a schematic diagram illustrating an example of the structure of the operating system SYS1 of the machine tool 100A according to this embodiment. Figure 12 As shown, the operating system SYS1 includes a machine 100A, a fixed microphone 1501, a fixed speaker 1502, a drone 1503, and an autonomous mobile robot 1504.

[0218] The 100A operating machine can be with Figure 1 or Figure 10 The same structure as the work machine 100 shown can also be a structure in which one or more of the external sound collecting device M1 and the external sound output device SP1 are removed from the work machine 100. That is, this embodiment describes the case in which two-way communication is achieved even in a work machine 100A that does not have one or more of the external sound collecting device M1 and the external sound output device SP1 installed.

[0219] The fixed microphone 1501 is a sound collection device installed at the work site, capable of being connected to the working machinery 100A via wireless or wired communication. The fixed microphone 1501 transmits sound signals representing the collected sounds to the working machinery 100.

[0220] The fixed loudspeaker 1502 is a sound output device installed at the work site, capable of being connected to the working machinery 100 wirelessly or via a wired connection. The fixed loudspeaker 1502 outputs sound represented by sound signals received from the working machinery 100A.

[0221] The autonomous mobile robot 1504 is equipped with a sound collecting device 1504A and a sound output device 1504B, enabling it to connect to the working machine 100 via wireless or wired communication. The autonomous mobile robot 1504 transmits sound signals representing the sounds collected by the sound collecting device 1504A to the working machine 100A. Furthermore, the autonomous mobile robot 1504 outputs the sound signals received by the working machine 100 from the sound output device 1504B.

[0222] The autonomous mobile robot 1504 is capable of moving within the work area. This embodiment does not limit the movement method of the autonomous mobile robot 1504. For example, if the autonomous mobile robot 1504 is equipped with a camera (not shown) (an example of a detection device), the autonomous mobile robot 1504 can determine the location of the working machine 100A based on image information captured by the camera, and can move in a manner that follows the working machine 100A when it moves. Furthermore, the autonomous mobile robot 1504 can also follow the working machine 100A in such a way that the signal strength in communication with the working machine 100A is above a predetermined threshold. Moreover, the autonomous mobile robot 1504 can determine the location of the worker based on image information captured by the camera, and can move to a location where it can collect the worker's voice.

[0223] The drone 1503 is equipped with a sound collection device 1503A and a sound output device 1503B, and can be connected to the working machine 100A via wireless or wired communication. The drone 1503 transmits sound signals representing the sound collected by the sound collection device 1503A to the working machine 100A. Furthermore, the drone 1503 outputs sound from the sound output device 1503B, representing the sound signals received from the working machine 100A.

[0224] The drone 1503 is configured to fly within the work site area. This embodiment does not limit the movement of the drone 1503; it can move in the same manner as the autonomous mobile robot 1504, following the work machinery 100A, or it can move to a location where it can collect the voice recordings of the workers. Because the drone 1503 is in flight, it can move regardless of the terrain or obstacles at the work site.

[0225] The number of fixed microphones 1501, fixed speakers 1502, drones 1503, and autonomous mobile robots 1504 set up at the work site can be one or more.

[0226] Similar to the work machine 100, the work machine 100A also includes a controller 30. The controller 30 is able to send and receive information with each of the fixed microphone 1501, fixed speaker 1502, drone 1503 and autonomous mobile robot 1504 by using a communication device T1.

[0227] That is, the controller 30 in this embodiment performs the following control: sending a sound signal representing the sound collected by the internal sound collecting device M2 to a sound output device located at a location far from the working machine 100A via the communication device T1; and outputting the sound represented by the sound signal received by the sound collecting device located at a location far from the working machine 100A via the communication device from the internal sound output device SP2.

[0228] For example, controller 30 sends sound signals representing the sounds collected by internal sound collection device M2 to at least one of fixed speaker 1502, drone 1503, and autonomous mobile robot 1504.

[0229] As another example, the controller 30 receives sound signals from at least one of the fixed microphone 1501, the drone 1503, and the autonomous mobile robot 1504, and outputs the sound represented by the received sound signals from the internal sound output device SP2.

[0230] The sound collection device and sound output device installed at the work site are not limited to the above-described methods. For example, there is a method in which the monitoring device for monitoring the work site, in addition to the spatial recognition device (e.g., camera device), also has a sound collection device and a sound output device.

[0231] However, in situations where the work site is relatively spacious, multiple fixed microphones 1501, fixed speakers 1502, drones 1503, and autonomous mobile robots 1504 are installed. Consequently, the number of work machines 100A present at the work site also increases. In this case, if all the fixed speakers 1502, drones 1503, and autonomous mobile robots 1504 present at the work site output speech based on sound signals received from work machines 100A, it will be difficult for people at the work site to identify which work machine 100A's speech is coming from.

[0232] Therefore, in this embodiment, the operating machine 100A establishes communication with at least one of the fixed microphone 1501, fixed speaker 1502, drone 1503, and autonomous mobile robot 1504 present at the work site only under specified conditions, thereby enabling two-way dialogue. In this embodiment, for example, communication is established with each of the fixed microphone 1501, fixed speaker 1502, drone 1503, and autonomous mobile robot 1504 that is determined to be within a specified distance from the operating machine 100A to achieve two-way dialogue.

[0233] The method by which the operating machinery 100A determines whether the target equipment is within the specified range is not limited to known methods, and any method can be used. For example, if the equipment is reflected in the image information captured by the camera device S6, the distance to the equipment can be determined based on the size and position of the reflected image. In this case, it is also possible to affix a sticker with a QR code to the equipment. The controller 30 can identify information related to the equipment reflected in the image information (e.g., inherent information of the equipment, address information of the connection destination, etc.) based on the QR code reflected in the image information.

[0234] As another example, there is a method where the controller 30 of the work machinery 100A pre-stores the position information of the fixed microphone 1501 and the fixed speaker 1502. Furthermore, the controller 30 determines whether the fixed microphone 1501 and the fixed speaker 1502 are within a specified range based on the position measured by the positioning device PS. Moreover, there is a method where the fixed microphone 1501, the fixed speaker 1502, the drone 1503, and the autonomous mobile robot 1504 each periodically send position information to the work machinery 100A.

[0235] Furthermore, this embodiment does not limit the condition of achieving at least one of sound output and sound collection to meeting the condition of being within a specified distance. For example, in the presence of multiple work machines 100A, the work machine 100A closest to the multiple work machines 100A may establish communication with a device for achieving the sound output function (e.g., a fixed microphone 1501, a fixed speaker 1502, a drone 1503, or an autonomous mobile robot 1504) in order to achieve at least one of sound output and sound collection. Furthermore, a priority order may be set for each of the multiple work machines 100A. Moreover, the device for achieving the sound output function (e.g., a fixed microphone 1501, a fixed speaker 1502, a drone 1503, or an autonomous mobile robot 1504) may establish communication with the work machine 100A with the highest priority among the multiple work machines 100A in order to achieve at least one of sound output and sound collection.

[0236] Furthermore, this embodiment does not limit the transceiver of audio signals between the machine and the operating equipment 100A to only... Figure 12 The image shows a fixed microphone 1501, a fixed speaker 1502, a drone 1503, and an autonomous mobile robot 1504. For example, the work machine 100A can send and receive audio signals with a communication terminal held by a person.

[0237] In this embodiment, as a control based on the controller 30 for outputting from a sound output device located outside the cab, an example of sending a sound signal to a device having a sound output device located at a position far from the work machine 100A is described. In this embodiment, even when the work machine 100A is not equipped with an external sound output device SP1 and an external sound collection device M1, two-way communication between the operator riding in the work machine 100A and a person outside the work machine 100A can be realized.

[0238] Furthermore, in this embodiment, since a sound collecting device and a sound output device located at a position far from the working machine 100A are used, compared with the case of using an external sound output device SP1 and an external sound collecting device M1 provided on the working machine 100A, the influence of noise and the like can be suppressed when transmitting voice to a person outside and collecting the voice of a person outside, thereby making it easy to conduct two-way dialogue.

[0239] In this embodiment, the scenario where the operator is seated on the work machine 100A is described, but the situation is not limited to this. Even when a remote operator RO operates the work machine 100A from a remote control room RC, two-way communication can be achieved using a sound output device and a sound collection device located away from the work machine 100A, as shown in this embodiment. In other words, it is sufficient as long as the sound collection device and sound output device, located in the area where the operator is operating the work machine and outside the work machine respectively, have the function of transmitting their respective sounds in their respective areas.

[0240] The internal sound collecting device, external sound collecting device, internal sound output device, and external sound output device shown in the above embodiments can be implemented in various ways.

[0241] For example, internal sound-collecting devices located at positions capable of acquiring the operator's speech include internal sound-collecting devices M2, M2C, and M2E. Furthermore, internal sound-collecting devices located near the operator's mouth capable of acquiring the operator's speech include internal sound-collecting devices M2, M2C, and M2E. Additionally, internal sound-collecting devices located in the direction the operator is facing when the operator wishes to communicate include internal sound-collecting devices M2, M2C, and M2E.

[0242] For example, external sound collection devices installed at locations capable of acquiring sounds generated at the work site where the machinery is operating include external sound collection devices M1 (M1F, M1R, M1L, M1B), 1501, 1503A, and 1504A. External sound collection devices installed at locations capable of acquiring voices emitted by people at the work site where the machinery is operating include external sound collection devices M1 (M1F, M1R, M1L, M1B), 1501, 1503A, and 1504A. External sound collection devices installed at locations capable of acquiring voices emitted by workers intending to cooperate with the machinery 100 include external sound collection devices M1 (M1F, M1R, M1L, M1B), 1501, 1503A, and 1504A.

[0243] For example, internal sound output devices located at positions where the operator can hear the output sound include internal sound output devices SP2 (SP2R, SP2L), SP2C, and SP2E. Furthermore, internal sound output devices located near each of the operator's ears, including internal sound output devices SP2 (SP2R, SP2L), SP2C, and SP2E, are also provided so that the operator can hear the output sound.

[0244] For example, external sound output devices, including external sound output devices SP1, 1502, 1503B, and 1504B, are installed at the work site where a person can hear the voice of the operator of the working machinery. External sound output devices, including external sound output devices SP1, 1502, 1503B, and 1504B, are also installed at the location where a worker intending to cooperate with the working machinery can hear the voice of the operator.

[0245] Figure 13 This is a schematic diagram illustrating the communication between the work machine 100A and the communication terminal according to this embodiment. Figure 13 As shown, the operating machine 100A can be communicatively connected to four communication terminals 1701 to 1704.

[0246] For example, the machine tool 100A can control the sound collected by the four communication terminals 1701 to 1704 respectively from the internal sound output device SP2, and can also control the sound collected by the internal sound collection device M2 respectively from the four communication terminals 1701 to 1704.

[0247] The communication terminal 1701 is a terminal held by the site supervisor in the office monitoring the work site. The operator of the work machinery 100A can achieve two-way communication with the site supervisor by transmitting and receiving voice signals between the work machinery 100A and the communication terminal 1701. Therefore, the operator of the work machinery 100A can identify the work policies or the conditions of the work site based on the site supervisor's instructions.

[0248] The communication terminal 1702 is a terminal held by the operator of other work machinery 100B operating at the work site. By transmitting and receiving voice signals between work machinery 100A and the communication terminal 1702, two-way dialogue can be achieved between the operator of work machinery 100A and the operator of work machinery 100B. Therefore, collaborative operation between work machinery 100A and work machinery 100B is possible. Furthermore, the operator of work machinery 100A can ask questions, provide education, or offer guidance to the operator of work machinery 100B related to the operation of the work machinery.

[0249] The communication terminal 1703 is a terminal held by the driver of the dump truck 1713 operating at the work site. By transmitting and receiving voice signals between the work machinery 100A and the communication terminal 1703, two-way communication can be achieved between the operator of the work machinery 100A and the driver of the dump truck 1713. Therefore, collaborative operation between the work machinery 100A and the driver of the dump truck 1713 is possible.

[0250] The communication terminal 1704 is a terminal held by the operator performing the work at the work site. By transmitting and receiving voice signals between the machine 100A and the communication terminal 1704, two-way communication can be achieved between the operator of the machine 100A and the operator. Therefore, collaborative work between the machine 100A and the operator is possible.

[0251] In this embodiment, even if the external sound output device SP1 and the external sound collection device M1 are not installed on the work machine 100A, two-way dialogue between the operator riding on the work machine 100A and a person outside the work machine 100A can be realized.

[0252] Furthermore, in this embodiment, since a sound collecting device and a sound output device located at a position far from the working machine 100A are used, compared with the case of using an external sound output device SP1 and an external sound collecting device M1 provided on the working machine 100A, the influence of noise and the like can be suppressed when transmitting voice to a person outside and collecting the voice of a person outside, thereby making it easy to conduct two-way dialogue.

[0253] In this embodiment, the case where the operator is riding in the work machine 100A is described, but it is not limited to the case where the operator is riding in the work machine 100A. Even when the remote operator RO operates the work machine 100A from the remote control room RC, the sound output device and the sound collection device set at a position away from the work machine 100A as shown in this embodiment can be used to realize two-way communication.

[0254] The preferred embodiments of the present invention have been described above. However, the present invention is not limited to the embodiments described above. Various modifications and substitutions can be applied to the above embodiments without departing from the scope of the present invention. Furthermore, the features described with reference to the above embodiments can be appropriately combined as long as they are not technically contradictory.

[0255] This application claims priority based on Japanese Patent Application No. 2024-37500, filed with the Japan Patent Office on March 11, 2024, the entire contents of which are incorporated herein by reference.

[0256] Symbol Explanation 100, 100A - Working machinery, 1 - Lower traveling body, 2 - Slewing mechanism, 3 - Upper slewing body, 4 - Boom, 5 - Stick, 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 - Talk button, DL1 - External volume knob, DL2 - Internal volume knob, T1, T2 - Communication device, 30 - Control Controller, 301-Acquisition unit, 302-Detection unit, 303-Noise removal unit, 304-Feature extraction unit, 305-Correction unit, 306-Operation receiving unit, 307-Output control unit, 308-Display control unit, RC-Remote operating room, 40-Remote controller, 200-Management device, 1501-Fixed microphone, 1502-Fixed speaker, 1503-UAV, 1504-Autonomous mobile robot, 1503A, 1504A-Sound collection device, 1503B, 1504B-Sound output device.

Claims

1. A type of operating machinery, comprising: Lower walking body; The upper rotating body is rotatably mounted on the lower walking body; The driver's cab is located on the upper rotating body; An internal sound output device is located inside the driver's cab; and The control device corrects the sound based on the characteristic quantity of the sound collected by the external sound collecting device located outside the driver's seat and outputs it from the internal sound output device.

2. The operating machinery according to claim 1, wherein, The control device corrects the sound based on the overall characteristics of the sound collected by the external sound collecting device.

3. The operating machinery according to claim 2, wherein, The control device corrects the sound based on the volume of the sound collected by the external sound collecting device.

4. The operating machinery according to claim 2, wherein, The control device corrects the sound based on the volume variation of the sound collected by the external sound collecting device.

5. The operating machinery according to claim 1, wherein, The control device corrects the sound based on the characteristic quantities of the sound in a specified frequency band collected by the external sound collection device.

6. The operating machinery according to claim 5, wherein, If the sound collected by the external sound collection device does not include speech, the control device corrects the sound.

7. The operating machinery according to claim 5, wherein, The control device corrects the target sound based on the volume of the target sound included in the sound collected by the external sound collecting device.

8. The operating machinery according to claim 7, wherein, The control device causes the display device to show a screen indicating whether each of the target sounds is set as a correction target.

9. The operating machinery according to claim 5, wherein, The control device corrects the sound if the sound collected by the external sound collection device includes high-frequency sounds.

10. The operating machinery according to claim 1, wherein, The control device corrects the sound based on characteristic quantities obtained by comparing the sound collected by the external sound collecting device.

11. The operating machinery according to claim 10, wherein, The operating machinery is equipped with multiple external sound collection devices. The control device corrects the sound based on the difference in characteristic quantities of multiple sounds collected by the external sound collecting devices.

12. The operating machinery according to claim 10, wherein, The control device corrects the sound when the sound collected by the external sound collector and the sound collected inside the driver's cab share common characteristics.

13. The operating machinery according to claim 1, wherein, The control device corrects the sound based on an discomfort index calculated from the sound collected by the external sound collecting device.

14. The operating machinery according to any one of claims 1 to 13, wherein, It also features an internal sound collection device located inside the driver's cab. The control device performs the following control: outputs the sound collected by the internal sound collection device from the external sound output device located outside the driver's cab.

15. The operating machinery according to claim 14, wherein, When the control device receives a specified operation, it controls the output of sound collected by the internal sound collection device from the external sound output device.

16. A system for a working machine, comprising: The working machinery includes a lower traveling body and an upper rotating body that can be rotatably mounted on the lower traveling body; An external sound-collecting device is disposed on the exterior of the operating machinery; A sound output device is located around the operator's seat of the machine. and The control device corrects the sound based on the characteristic quantities of the sound collected by the external sound collecting device and outputs it from the sound output device.

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