Construction machine and control system for construction machine

Abstract

A construction machine according to one embodiment of the present application includes: a lower traveling body; an upper rotating body rotatably mounted to the lower traveling body; a cab provided to the upper rotating body; an inside sound collecting device disposed inside the cab; an inside sound output device disposed inside the cab; and a control device capable of performing control for outputting sound collected by the sound collecting device provided outside the cab from the inside sound output device, and capable of performing control for outputting sound collected by the inside sound collecting device from the sound output device provided outside the cab.

Description

Technical Field

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

[0002] In the past, construction machinery was sometimes equipped with sound-collecting devices to gather sound from the surrounding area and loudspeakers to output the collected sound to the operator's seat. This allowed the operator to identify the conditions around the construction machinery by sound.

[0003] Existing technical documents Patent documents Patent Document 1: Japanese Patent Application Publication No. 2013-47427 Summary of the Invention

[0004] The problem that the invention aims to solve In the technology described in reference 1, the operator can only hear sounds from the vicinity of the excavator. For construction machinery and personnel working around it to collaborate, two-way communication between the operator in the cab and those around the machinery is desired.

[0005] Currently, operators of construction machinery often open doors and speak directly to each other in order to communicate. This process, involving preparations such as opening doors, can cause interruptions in the work, potentially leading to decreased work efficiency.

[0006] One aspect of the present invention enables two-way communication and improves work efficiency by being able to output sound from a sound output device to both the operator of the construction machinery and people present around the construction machinery.

[0007] Methods for solving problems One aspect of the present invention relates to a construction machine comprising: 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 inner sound collecting device disposed inside the driver's cab; an inner sound output device disposed inside the driver's cab; and a control device capable of controlling the output of sound collected by the sound collecting device disposed outside the driver's cab from the inner sound output device, and capable of controlling the output of sound collected by the inner sound collecting device from the sound output device disposed outside the driver's cab.

[0008] Invention Effects According to one aspect of the present invention, two-way communication is achieved and work efficiency is improved. Attached Figure Description

[0009] Figure 1 This is a side view of the construction machinery involved in the first embodiment.

[0010] Figure 2 This is a top view of the construction machinery involved in the first embodiment.

[0011] Figure 3 It shows the installation at Figure 1 A diagram illustrating the structure of an external sound collection device and information transmission device for construction machinery.

[0012] Figure 4 This is a diagram schematically illustrating an example of the structure of the construction machinery involved in the first embodiment.

[0013] Figure 5 This is a top view of the interior of the driver's cab according to the first embodiment.

[0014] Figure 6 This is a conceptual diagram illustrating a two-way dialogue between the operator of the construction machinery involved in the first embodiment and the workers present around the construction machinery.

[0015] Figure 7 This is an example of a volume adjustment screen displayed on a display device according to the first embodiment.

[0016] Figure 8 This is a flowchart illustrating the processing steps for two-way dialogue in the controller according to the first embodiment.

[0017] Figure 9 This is a timing diagram showing the control in the output control unit according to the first embodiment that changes in response to the pressing of the talk switch.

[0018] Figure 10 This is a top view of another structural example of the construction machinery involved in the second embodiment.

[0019] Figure 11 This is a schematic diagram showing a structural example of the operating system of the construction machinery according to the third embodiment.

[0020] Figure 12 This is a right view illustrating one embodiment of the interior of the driver's cab according to the fourth embodiment.

[0021] Figure 13 This is an overall diagram illustrating one way in which the interior of the driver's cab is described in the fourth embodiment.

[0022] Figure 14 This is a diagram illustrating the left side of the driver's cab according to the fourth embodiment from the inside.

[0023] Figure 15 This is a schematic diagram illustrating a structural example of the operating system of the construction machinery according to the fifth embodiment.

[0024] Figure 16 This is a flowchart illustrating the processing sequence up to the point where a sound signal can be sent to an external device under the control of the controller according to the fifth embodiment.

[0025] Figure 17 This is a schematic diagram illustrating the communication between the construction machinery and the communication terminal according to the fifth embodiment. Detailed Implementation

[0026] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. Furthermore, the embodiments described below are not intended to limit the invention but are merely illustrative, and all features and combinations thereof described in the embodiments are not necessarily the essence of the invention. Additionally, identical or corresponding structures are labeled with the same or corresponding symbols in the various drawings, and sometimes descriptions are omitted.

[0027] The construction machinery 100 involved in the embodiments of the present invention is an excavator. The construction machinery 100 may also be machinery other than an excavator, such as a crane, an asphalt paver, or a forklift. Furthermore, in the example shown in the figure, the excavator as the construction machinery 100 is an excavator equipped with a bucket 6 as an end attachment, but it may also be an application machine such as forestry machinery equipped with end attachments other than the bucket 6.

[0028] Hereinafter, construction machinery 100 refers to an excavator equipped with a bucket 6 as an end attachment, but the present invention is not limited to excavators. Construction machinery 100 may also be an application machine such as forestry machinery equipped with end attachments other than the bucket 6.

[0029] (First Embodiment) First, refer to Figure 1 and Figure 2 A brief description of the construction machinery 100 is provided. Figure 1 This is a side view of construction machinery 100. Figure 2 This is a top view of construction machinery 100.

[0030] Construction machinery 100 includes a lower traveling body 1, an upper slewing body 3 rotatably mounted on the lower traveling body 1 via a slewing mechanism 2, auxiliary devices AT for various operations, and a driver's cab 10. The front of the construction machinery 100 (upper slewing body 3), when viewed from directly above along the axis of rotation of the upper slewing body 3, corresponds to the direction in which the auxiliary devices AT extend relative to the upper slewing body 3. Furthermore, the left and right sides of the construction machinery 100 (upper slewing body 3) correspond to the left and right sides when viewed from the driver's seat inside the driver's cab 10.

[0031] The lower traveling body 1 includes, for example, a pair of tracks 1C, one on the left and one on the 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 it 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 it is capable of rotating the right track 1CR. Alternatively, the travel drive unit can be an electric motor.

[0032] 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 be an electric motor.

[0033] A boom 4 is rotatably mounted at the center of the front part of the upper rotating body 3. A stick 5 is rotatably mounted at the front end of the boom 4, and a bucket 6 is rotatably mounted at the front end of the stick 5. In the example shown, the boom 4, stick 5, and bucket 6 constitute an excavation attachment 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.

[0034] 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 front end of the boom 5 to replace bucket 6. These other working tools may include, for example, large buckets, ramp buckets, dredging buckets, and other types of buckets. Furthermore, these other working tools may also be types of working tools other than buckets, such as mixers, crushers, grab buckets, or lifting electromagnets.

[0035] 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.

[0036] Furthermore, all or part of the driven parts of the construction machinery 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 construction machinery 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.

[0037] Furthermore, the construction machinery 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.

[0038] The camera device S6 is mounted on the upper rotating body 3 or the cab 10 to capture images of the area around the construction machinery 100 and acquire image information representing the area around the construction machinery 100. In the example shown, the camera device S6 includes a front camera S6F, a left camera S6L, a right camera S6R, and a rear camera S6B.

[0039] The front camera S6F is a camera that captures images of the front of the construction machinery 100. It is mounted on the exterior of the cab 10, such as on the top 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 construction machinery 100, the right camera S6R captures images of the right side of the construction machinery 100, and the rear camera S6B captures images of the rear of the construction machinery 100. Specifically, the front camera S6F, left camera S6L, right camera S6R, and rear camera S6B are all monocular wide-angle cameras equipped with CCD or CMOS imaging elements, 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.

[0040] In the example shown in the figure, the front camera S6F is mounted on the top 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.

[0041] The camera device S6 can constitute an object detection device for detecting objects located around the construction machinery 100. The object detection device can also be composed of devices other than a camera. For example, the object detection device can 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 (laser beams, etc.) to the object and receiving its reflected signals. Alternatively, the object detection device can 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.

[0042] The external sound collector M1 is a device for collecting external sound, also known as a microphone. In the example shown, the external sound collector M1 is located on the upper rotating body 3 or the cab 10, and converts the sound (air vibration) generated around the construction machinery 100 into mechanical vibration, and then converts the mechanical vibration into an electrical signal. Specifically, the external sound collector M1 includes a front microphone M1F, a left microphone M1L, a right microphone M1R, and a rear microphone M1B.

[0043] The front microphone M1F collects sound generated at the front of the construction machinery 100 and is installed on the exterior of the cab 10, such as on the top of the cab 10 or the side of the boom 4. Alternatively, the front microphone M1F can be installed, for example, in the ceiling of the cab 10, i.e., inside the cab 10. The left microphone M1L collects sound generated on the left side of the construction machinery 100, the right microphone M1R collects sound generated on the right side of the construction machinery 100, and the rear microphone M1B collects sound generated at the rear of the construction machinery 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.

[0044] In the example shown, the front microphone M1F is mounted on the top 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, for example, based on phase deviation or volume differences.

[0045] 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.

[0046] The external sound output device SP1 is a device that outputs sound towards the vicinity of the construction machinery 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.

[0047] The information transmission device G1 is used to notify the outside of the construction machinery 100 of its status. In the example shown, the information transmission device G1 is installed on the upper slewing body 3 or the cab 10, and is configured to convey information about the status of the construction machinery 100 to the workers located around it. 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.

[0048] The front light bar G1F is a light-emitting device that visually conveys information to workers and other personnel located in front of the construction machinery 100. It is installed on the exterior of the cab 10, such as on the top of the cab 10 or the side of the boom 4. Alternatively, the front light bar G1F can be installed, for example, in the roof 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 on the left side of the construction machinery 100. The right light bar G1R is a light-emitting device that visually conveys information to workers and other personnel located on the right side of the construction machinery 100. The rear light bar G1B is a light-emitting device that visually conveys information to workers and other personnel located behind the construction machinery 100. Furthermore, the front light bar G1F, left light bar G1L, right light bar G1R, and rear light bar G1B emit light according to electrical signals from the controller 30. In the example shown, the light-emitting device is an LED light, but it can also be another light-emitting device such as a halogen lamp. Furthermore, the light-emitting device is a multi-color light-emitting type, but it can also be a single-color light-emitting type.

[0049] In the example shown, the front light bar G1F is mounted on the top 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 independently activating the four information transmission devices G1, the controller 30 can communicate the status of the construction machinery 100 to personnel located in front, to the left, to the right, and behind the construction machinery 100.

[0050] In the example diagram, each of the four information transmission devices G1 is configured to correspond to each of 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.

[0051] Figure 3 This is a diagram illustrating a structural example of an external sound-collecting device M1 and an information transmission device G1 installed on construction machinery 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 it can also be applied 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.

[0052] 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 construction machinery 100. This arrangement allows the left microphone M1L to efficiently collect sound generated on the left side of the construction machinery 100, and the left light bar G1L to efficiently communicate the status of the construction machinery 100 to the operator located on the left side of the construction machinery 100. For example, the left microphone M1L can capture the sound emitted by the operator located on the left side of the construction machinery 100, and the left light bar G1L can convey the fact that the left microphone M1L has captured the operator's sound by emitting light in a predetermined color. At this time, the operator located on the left side of the construction machinery 100, speaking towards the left microphone M1L, can confirm that their voice has been transmitted to the left microphone M1L (i.e., the operator of the construction machinery 100) by observing the left light bar G1L emitting light in a predetermined color.

[0053] 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 NIKO 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.

[0054] 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 the non-volatile memory and loads it into the volatile memory, and causes the CPU to execute the program, thereby implementing various functions. In the example shown, the controller 30 is configured to implement various functions to control the construction machinery 100. These functions include, for example, a device guidance function that guides the operator in manually operating the construction machinery 100. Other functions may include a contact avoidance function that automatically or autonomously moves or stops the construction machinery 100 to prevent contact between the construction machinery 100 and objects within its monitoring range.

[0055] The boom angle sensor S1 detects the rotation angle of the boom 4 relative to the upper rotating body 3, i.e., the boom angle. The stick angle sensor S2 detects the rotation angle of the stick 5 relative to the boom 4, i.e., the stick angle. The bucket angle sensor S3 detects the rotation angle of the bucket 6 relative to the stick 5, i.e., the bucket angle.

[0056] 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), or a potentiometer using a variable resistor, a cylinder stroke sensor that detects the stroke of a hydraulic cylinder, etc.

[0057] The detection signals corresponding to the boom angle obtained by the boom angle sensor S1, the stick angle obtained by the stick angle sensor S2, and the bucket angle obtained by the bucket angle sensor S3 are input to the controller 30.

[0058] 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 construction machinery 100 (i.e., the upper rotating body 3) about two axes in the forward / backward and left / 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.

[0059] 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 obtained through the rotation sensor S5 is input to the controller 30.

[0060] The positioning device PS is used to determine the position of the upper rotating body 3. The positioning device PS is, for example, a GNSS (Global Navigation Satellite System) compass, which is used to detect the position and orientation of the upper rotating body 3. The detection signals corresponding to the position and orientation of the upper rotating body 3 are input to the controller 30. The function of detecting the orientation of the upper rotating body 3 can be achieved by an azimuth sensor installed on the upper rotating body 3.

[0061] 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 construction machinery 100 is operated remotely or when the construction machinery 100 operates in a fully automatic manner.

[0062] Communication device T1 communicates with external devices through communication networks, including mobile communication networks, satellite communication networks, or the Internet. Communication device T1 may be, for example, a mobile communication module corresponding to 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.

[0063] The construction machinery 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.

[0064] Alternatively, the construction machinery 100 can be configured to be remotely operated from outside the construction machinery 100. In the case of remote operation of the construction machinery 100, the interior of the cab 10 can be unmanned.

[0065] Furthermore, the construction machinery 100 can also automatically operate the actuators regardless of the operator's actions. Thus, the construction machinery 100 achieves the function of automatically operating at least a portion of the driven parts, such as the lower traveling body 1, the upper slewing body 3, the boom 4, the stick 5, and the bucket 6, which is the so-called "equipment control function".

[0066] Figure 4 This is a schematic diagram illustrating an example of the structure of construction machinery 100. Figure 4 In the diagram, double lines, thick solid lines, thick dashed lines, and dotted lines are used to represent the mechanical power transmission system, working oil pipeline, pilot pipeline, and electrical control system, respectively.

[0067] The drive system of the construction 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 construction 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.

[0068] Engine 11 is one example of the power source for construction machinery 100, and it is mounted, for example, at the rear of the upper rotating body 3. Alternatively, the power source for construction machinery 100 can be a combination of a battery or fuel cell power source and an electric motor. Specifically, under the direct or indirect control of controller 30, engine 11 rotates at a predetermined target speed to drive the main pump 14 and pilot pump 15. Engine 11 is, for example, a diesel engine that uses diesel fuel. Alternatively, engine 11 can also be a gasoline engine or a hydrogen engine.

[0069] The regulator 13 controls the discharge rate of the main pump 14. For example, the regulator 13 adjusts the angle (tilt angle) of the swashplate of the main pump 14 according to the control command from the controller 30, thereby controlling the discharge rate of the main pump 14.

[0070] Similar to engine 11, main pump 14 is mounted, for example, at the rear of upper rotating body 3, and supplies working oil to control valve unit 17 via working oil line. In the example shown, main pump 14 is a variable capacity hydraulic pump.

[0071] Control valve unit 17 is a hydraulic control device for controlling the hydraulic system in construction 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 tanks. 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.

[0072] 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.

[0073] 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.

[0074] Operating device 26 is a device used by an operator to operate the actuator. Operating device 26 includes, for example, an operating lever and an operating pedal. The actuator can be a hydraulic actuator or an electric actuator.

[0075] 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 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. Then, the controller 30 supplies the 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 amount of the operation device 26 corresponding to each hydraulic actuator. Thus, the operation device 26 is configured to supply the working oil discharged from the pilot pump 15 to the pilot port of the corresponding control valve in the control valve unit 17.

[0076] The proportional valve 31, which functions as a control valve for equipment 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.

[0077] 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.

[0078] The control system of the construction machinery 100 includes a controller 30, a display device D1, an input device D2, a talk button KS, an external sound collection device (an example of an external sound collection device) M1, an internal sound collection device (an example of an internal sound collection device) M2, an external sound output device (an example of an external sound output device) SP1, an internal sound output device (an example of an internal sound output device) SP2, an external volume control panel DL1, an internal volume control panel DL2, a switch SW, and a communication device T1, etc.

[0079] The controller 30 is configured to output control commands to the regulator 13 as needed to change the discharge rate of the main pump 14.

[0080] Furthermore, the controller 30 may also be configured to perform equipment guidance functions related to guiding the operator's manual operation of the construction machinery 100 via the operating device 26. Additionally, the controller 30 may also be configured to perform equipment control functions related to automatically assisting the operator's manual operation of the construction machinery 100 via the operating device 26.

[0081] 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 be implemented in a distributed manner by multiple controllers. For example, equipment guidance functions and equipment control functions can be implemented by dedicated controllers (control devices).

[0082] 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 construction machinery 100 includes a driver's seat 50, operating devices 26, and a display device D1, all located inside the cab 10. A door for getting on and off is located on the left side of the driver's seat 50. The operator can open the door to enter the interior of the cab 10.

[0083] When 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 a reclining 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 the right armrest 53R are rotatably supported by the backrest 52.

[0084] A left control console 54L is located on the left side of the driver's seat 50, and a right control console 54R is located on the right side. The left control console 54L and the right control console 54R extend in the front-to-back direction. The driver's seat 50 is capable of sliding in the front-to-back direction. The driver's seat 50 may be a structure capable of sliding together with the left control console 54L and the right control console 54R in the front-to-back direction.

[0085] The left armrest 53L is positioned above the left console 54L. The right armrest 53R is positioned above the right console 54R. In a top-down view, the left armrest 53L partially covers the left console 54L. In a top-down view, the right armrest 53R partially covers the right console 54R.

[0086] 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.

[0087] The left operating lever 26L is located at the front of the left control console 54L. Similarly, the right operating lever 26R is located at the front of the right control console 54R. The operator seated in the driver's seat 50 can operate the left operating lever 26L with their left hand and the right operating lever 26R with their right hand. The operator seated in the driver's seat 50 can use their left hand to operate the left operating lever 26L to drive the boom cylinder 8 and the swing hydraulic motor 2A. Furthermore, the operator seated in the driver's seat 50 can use their right hand to operate the right operating lever 26R to drive the boom cylinder 7 and the bucket cylinder 9. Additionally, the base of both the left and right operating levers 26L and 26R is covered by lever sleeves 27.

[0088] The left travel pedal 26PL and the right travel pedal 26PR are located on the floor in front of the driver's seat 50. The operator sitting in the driver's seat 50 can use their left foot to operate the left travel pedal 26PL to drive the left travel hydraulic motor 2ML. Furthermore, the operator sitting in the driver's seat 50 can use their right foot to operate the right travel pedal 26PR to drive the right travel hydraulic motor 2MR.

[0089] 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 floor panel in front of the driver's seat 50. The operator, seated in the driver's seat 50, operates the left travel lever 26DL with their left hand, thereby driving the left travel hydraulic motor 2ML in the same manner as operating the left travel pedal 26PL. Similarly, the operator operates the right travel lever 26DR with their right hand, thereby driving the right travel hydraulic motor 2MR in the same manner as operating the right travel pedal 26PR. Furthermore, the left travel lever 26DL and right travel lever 26DR are configured so that the operator can operate both levers simultaneously with one hand.

[0090] 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 construction machinery 100. The operator seated in the operator's seat 50 can perform operations based on the construction machinery 100 while checking the various information displayed on display device D1. An input device D2 may be provided in display device D1.

[0091] 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 control panel located around the display device D1. Signals corresponding to the operations performed on the input device D2 are input to the controller 30.

[0092] A door rod 55 is mounted on the front surface of the front end of the left console 54L. The door rod 55 moves in conjunction with the door lock rod GL located on the left console 54L. The door rod 55 is mounted undulatingly on the internal frame of the left console 54L with its upper end as the center of its left-right axis.

[0093] The door lock lever GL is a mechanical input operation unit used to switch between a state in which the construction machinery 100 can be operated via the operating device 26 (operable state) and a state in which the construction machinery 100 cannot be operated via the operating device 26 (inoperable state). In the example shown, the door lock lever GL is configured to allow the operator to 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 switches the connection and disconnection of the pilot circuit according to the operating state of the door lock lever GL, thereby switching between the operable state and the inoperable state of the construction machinery 100.

[0094] 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 obstruct the operator from passing through the door for getting on and off the vehicle. 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 door for getting on and off the vehicle.

[0095] With this structure, the operator cannot operate the construction machinery 100 unless the door lock bar GL is set to the second operating position, thus preventing the door bar 55 from passing through. Therefore, this structure can prevent the construction machinery 100 from moving accidentally, even if the operator accidentally touches the operating device 26 when getting on or off the vehicle. Thus, this structure improves the safety of the construction machinery 100.

[0096] Furthermore, the construction machinery 100 can also be configured to accept a predetermined operation to start 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 construction machinery 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.

[0097] A switch SW is installed on the right control console 54R. A window-side control console 56 is installed to the right of the right control console 54R. The window-side control console 56 extends along the entire length of the cab 10 in the longitudinal direction and is parallel to the right control console 54R. A display device D1 is located at the front of the window-side control console 56. An external volume control panel DL1, an internal volume control panel DL2, and an internal sound collector M2 are installed on the window-side control console 56.

[0098] Furthermore, a radio tuner 57 and the like are provided on the window-side control panel 56. The radio tuner 57 and the like can be installed on control panel 54L or control panel 54R.

[0099] A switch is provided on the radio tuner 57. Pressing and rotating the switch allows for control of turning the radio on and off, as well as volume adjustment. Furthermore, operation of the radio tuner 57 is not limited to the physical switch; it can also be performed using a touch panel 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 operations on the touch panel. The radio tuner 57's volume can be adjusted independently of the external voice (the voice output to the operator inside the vehicle) or integrated with it.

[0100] 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.

[0101] The horn button HS is a button operated by the operator of the construction machinery 100 when the horn is sounded. In the example shown, the horn button HS is a rotary switch located at the top of the left operating lever 26L.

[0102] The talk button KS is operated by the operator of the construction machinery 100 when speaking to workers around the construction machinery 100. In the example shown, the talk button KS is a rotary switch located at the front end of the right operating lever 26R.

[0103] The internal sound output device SP2 is a device that outputs sound to the operator inside the cab 10, and it 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 (vibration of air) and then 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 to communicate with the controller 30 via Bluetooth (registered trademark), for example.

[0104] The external volume control panel DL1 is configured to adjust the volume of the sound output by the external sound output device SP1. Furthermore, it can also be configured so that the volume of the sound output by each external sound output device SP1 can be further adjusted using a device other than the external volume control panel DL1, such as a touch panel installed on the display device D1.

[0105] The external volume control dial DL1 can also be configured to rotate infinitely in both clockwise and counterclockwise directions. This is to accommodate situations where volume adjustment using the external volume control dial DL1 is used simultaneously with volume adjustment using other devices besides the external volume control dial DL1.

[0106] The internal volume control panel 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 each internal sound output device SP2 can be further adjusted using a device other than the internal volume control panel DL2, such as a touch panel installed on the display device D1.

[0107] The internal volume control dial DL2 can also be configured to rotate infinitely in both clockwise and counterclockwise directions. This is to accommodate situations where volume adjustment using the internal volume control dial DL2 is used simultaneously with volume adjustment using other devices besides the internal volume control dial DL2.

[0108] The switch SW is used to toggle whether the sound output function is activated, which causes the sound collected by the external sound collection device 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 console 54R. However, the switch SW can also be one of the input devices D2, which can be implemented by a touch panel located on the display device D1, or it can be a rotary switch.

[0109] 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.

[0110] The sound output function involved in this embodiment is the function of outputting 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 construction machinery 100, and therefore can hear the conversations of people around the construction machinery 100. The operator can communicate with people around the construction machinery 100. In addition, the sound output function involved in this embodiment is not limited to the function of outputting 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.

[0111] [Two-way dialogue with construction machinery] In the past, in addition to opening the door to communicate directly, another method for facilitating two-way communication between operators and people around construction 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.

[0112] When using walkie-talkies, operators and workers around construction machinery need to wear additional equipment (the walkie-talkie terminal) that is not normally needed for the job. This increases fatigue as operators and workers wear the terminal. Furthermore, besides discomfort caused by sweat wetting the terminal, there is a possibility that sweat may cause the terminal to malfunction.

[0113] 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.

[0114] Therefore, the construction machinery 100 according to this embodiment has a structure for enabling two-way dialogue between the construction machinery 100 and people (e.g., workers WK) around the construction machinery 100. Figure 6 This is a concept diagram representing a two-way dialogue between the operator (OP) riding on construction machinery 100 and the workers (WK) around construction machinery 100. Figure 6 The example shown illustrates the situation where worker WK is located to the left front of construction machinery 100, but it does not limit the position of worker WK who is engaged in two-way communication.

[0115] In the construction 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 construction machinery 100 acquires sound signals collected by the internal sound collection device M2, representing sounds including the voice emitted by 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 construction machinery 100 can speak to workers WK around the construction 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.

[0116] Furthermore, in the construction 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 construction machinery 100 acquires sound signals collected by the external sound collection device M1, representing voices emitted by workers WK around the construction 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 construction machinery 100 can speak to the operator OP of the construction machinery 100.

[0117] Thus, the controller 30 of the construction machinery 100 according to this embodiment is configured to control the output of sound collected by the external sound collection device M1 (including the voice emitted by the worker WK present around the construction machinery 100) from the internal sound output device SP2, and to control the output of sound collected by the internal sound collection device M2 (including the voice emitted by the operator OP) from the external sound output device SP1. Therefore, two-way dialogue between the operator and people present around the construction machinery 100 (e.g., worker WK) can be realized, and communication becomes easier, thereby improving convenience.

[0118] Furthermore, when the controller 30 performs either control of outputting sound collected by the external sound collector M1 from the internal sound output device SP2 (an example of the first control) or control of outputting sound collected by the internal sound collector M2 from the external sound output device SP1 (an example of the second control), it restricts the other control. That is, by suppressing the simultaneous execution of control of outputting sound collected by the external sound collector M1 from the internal sound output device SP2 and control of outputting sound collected by the internal sound collector M2 from the external sound output device SP1, it suppresses the generation of howling, etc.

[0119] This embodiment describes suppressing sound output by stopping the sound output as an example, but it is not limited to stopping the sound output; it can also be controlled by reducing the volume, etc.

[0120] The controller 30 in this embodiment switches between controlling whether the speaker button KS (an example of the first operation) is pressed, and controlling whether the sound collected by the external sound collector M1 is output from the internal sound output device SP2 or the sound collected by the internal sound collector M2 is output from the external sound output device SP1. Through this control, the operator OP can speak to people around the construction machinery (e.g., workers WK) at the desired time and suppress feedback, etc.

[0121] Furthermore, in this embodiment, the method of restricting one control is not limited to controlling either the output of sound collected by the external sound collector M1 from the internal sound output device SP2 or the output of sound collected by the internal sound collector M2 from the external sound output device SP1. It is also possible to simultaneously output the sound collected by the external sound collector M1 from the external sound output device SP1 located inside the cab 10 and the sound collected by the internal sound collector M2 from the external sound output device SP1 located outside the cab 10. When outputting simultaneously, echo cancellation can suppress howling and other noises.

[0122] [Functional Structure of the Controller] Return to Figure 4 The structure of the controller 30 for two-way dialogue will be described below. The controller 30 includes an acquisition unit 301, a detection unit 302, a selection unit 303, an operation receiving unit 304, an output control unit 305, and an adjustment unit 306.

[0123] Furthermore, the controller 30 has a telephone function utilizing the communication device T1. That is, when the controller 30 performs the telephone function, it transmits and receives voice signals with an external terminal connected via a communication network via the communication device T1. The external terminal only needs to have a telephone function, such as a mobile phone terminal, smartphone, tablet terminal, or landline phone. For example, when a phone number is received from the input device D2 or when the call button is pressed from the input device D2 during an incoming call, the controller 30 can connect to the external terminal via the communication network and transmit voice signals based on the sound collected by the internal sound collection device M2 to the external terminal via the communication device T1. Furthermore, while connected to the external terminal via the communication network, the controller 30 can output sound based on the voice signals received from the external terminal via the communication device T1 from the external sound output device SP1 located inside the cab 10. By performing the above-described control, the controller 30 according to this embodiment can achieve two-way dialogue with an external terminal based on the telephone function.

[0124] Furthermore, the controller 30 has the function of outputting sound based on the voice signal received by the radio tuner 57 from the internal sound output device SP2 located inside the cab 10. Functions related to the specific sound output will be described later. Next, the various structures of the controller 30 will be explained.

[0125] The acquisition unit 301 acquires detection results from various sensors installed on the construction machinery 100. For example, the acquisition unit 301 acquires sound signals representing sounds generated around the construction machinery 100 from the external sound collection device M1. Furthermore, the acquisition unit 301 acquires sound signals representing sounds including the voice of the operator sitting in the operator's seat from the internal sound collection device M2.

[0126] Furthermore, when the radio tuner 57 is turned on, the acquisition unit 301 acquires the voice signal received by the radio tuner 57. Moreover, when the telephone function is in operation, the acquisition unit 301 acquires the voice signal received from an external terminal via the communication device T1.

[0127] Furthermore, the acquisition unit 301 acquires image information representing the imaging result from the imaging device S6.

[0128] Furthermore, the acquisition unit 301 performs noise cancellation on the sound represented by the sound signal acquired from the external sound collecting device M1 or the internal sound collecting device M2. Noise reduction can be achieved using known methods; for example, noise components can be eliminated by superimposing a sound that is out of phase with the noise component. Moreover, the acquisition unit 301 can also perform emphasis processing on the human voice frequency band of the sound represented by the sound signal acquired from the external sound collecting device M1 or the internal sound collecting device M2. Because the acquisition unit 301 performs noise cancellation, the detection unit 302 can easily detect speech, and when the output control unit 305 outputs sound based on the sound signal, it is easier to understand what is being said.

[0129] The detection unit 302 detects whether the sound signal acquired by the acquisition unit 301 from the external sound collection device M1 includes human speech. The sound signal to be detected is defined as the sound signal for which noise cancellation has been performed by the acquisition unit 301. As a method for detecting whether speech is included, the detection unit 302 can use known methods, such as speech interval detection.

[0130] The selection unit 303 selects, based on priority, the voice signal output from the internal sound output device SP2 from the sound signals representing sounds generated around the construction machinery 100 obtained from the external sound collection device M1, the sound signals received from the radio tuner 57, and the voice signals received from the external terminal.

[0131] When the internal sound output device SP2 outputs multiple sounds, it is difficult for the operator to identify the content of the sounds. Therefore, the selection unit 303 of this embodiment selects the voice signal output from the internal sound output device SP2 according to priority. Furthermore, the controller 30 suppresses the output of sounds based on unselected voice signals.

[0132] The priority of the output sound in this embodiment is as follows: sound signal received from an external terminal when the telephone function is active; sound signal acquired from the external sound collection device M1 when voice is detected by the detection unit 302; sound signal received from the radio tuner 57; and sound signal acquired from the external sound collection device M1 when voice is not detected by the detection unit 302. Furthermore, this embodiment shows one example of the priority, but is not limited to this order of voice signals.

[0133] Furthermore, this embodiment describes an example where the selected audio signal includes not only the audio signal acquired from the external audio collection device M1, but also the audio signal received from an external terminal when the telephone function is operating and the audio signal received from the radio tuner 57. However, in this embodiment, the selected audio signal is not limited to examples that include both the audio signal received from the external terminal when the telephone function is operating and the audio signal received from the radio tuner 57; it can be any one of them, as long as the audio signal is based on the sound collected by other devices.

[0134] In the following description, we will explain the case where the telephone function is not activated and the radio tuner 57 is turned off, in other words, the case where the audio signal obtained from the external sound collection device M1 has the highest priority.

[0135] The output control unit 305 controls the output of sound based on sound signals from the internal sound output device SP2 or the external sound output device SP1.

[0136] For example, the output control unit 305 controls the output of any one of the following sounds from the internal sound output device SP2 according to priority: a sound based on a sound signal acquired from the external sound collection device M1, a sound based on a sound signal received from an external terminal when the telephone function is in operation, and a sound based on a sound signal received from the radio tuner 57. It also controls the output of other sounds from the internal sound output device SP2 (e.g., stopping or reducing the volume).

[0137] In this embodiment, by controlling the output of sounds corresponding to priorities, the operator can hear the most important sound among multiple sounds, and thus identify the content represented by that sound. Therefore, the controller 30 according to this embodiment can improve convenience.

[0138] The operation receiving unit 304 receives operations from the operator via one or more of the input device D2, the talk button KS, and the switch SW. For example, the operation receiving unit 304 receives an operation to determine whether the talk button KS has been pressed.

[0139] Upon receiving a press of the talk button KS (an example of the first operation), the output control unit 305 controls the output of sound from the external sound output device SP1 based on the sound signal acquired from the internal sound collection device M2. Through this control, the operator can speak to people around the construction machinery at the desired time.

[0140] During the duration of pressing the talk button KS, the output control unit 305 controls the output of sound from the external sound output device SP1 based on the sound signal acquired from the internal sound collection device M2.

[0141] When the talk button KS is deactivated, the output control unit 305 stops controlling the output of sound based on the sound signal acquired from the internal sound collection device M2 from the external sound output device SP1, and controls the output of sound based on the sound signal acquired from the external sound collection device M1 from the internal sound output device SP2.

[0142] Thus, the output control unit 305 of this embodiment switches between controlling the output of sound based on the sound signal acquired from the external sound collector M1 via the internal sound output device SP2 and controlling the output of sound based on the sound signal acquired from the internal sound collector M2 via the external sound output device SP1, depending on whether the talk button KS (an example of the first operation) is pressed. Through this control, the operator can speak to people around the construction machinery at the desired time and suppress simultaneous output, thereby suppressing howling and other noises.

[0143] Furthermore, this embodiment does not limit the operation for switching output control (first operation) described above to whether the talk button KS is pressed continuously. For example, output control can be switched each time a predetermined button is pressed, or output control can be switched based on the image captured by the camera device installed in the driver's cab 10 and whether the operator's gaze is directed towards the display device D1, or output control can be switched based on the operation of the touch panel included in the input device D2. Thus, any switching of output control corresponding to a predetermined operation is acceptable.

[0144] The output control unit 305 controls the output of sound collected by the external sound collector M1 from the internal sound output device SP2 unless the voice button KS is pressed or the switch SW is turned off (an example of the second operation). Through this control, as long as the operator does not perform any intentional operation, the sound collected by the external sound collector M1 is output from the internal sound output device SP2, so that the operator can identify the situation around the construction machinery 100.

[0145] Furthermore, this embodiment is not limited to a method for suppressing the simultaneous control of outputting sound from the internal sound output device SP2 to the external sound collection device M1 and the control of outputting sound from the external sound output device SP1 to the internal sound collection device M2.

[0146] As a variation, the output control unit 305 is not limited to whether the talk button KS (an example of the first operation) has been pressed, and can always control the output of sound from the internal sound output device SP2 based on the sound signal acquired from the external sound collection device M1. That is, the output control unit 305 in the variation always controls the output of sound from the internal sound output device SP2 based on the sound signal acquired from the external sound collection device M1, and controls the output of sound collected by the internal sound collection device M2 from the external sound output device SP1 during the period when the talk button KS (an example of the first operation) is pressed. In other words, the controller 30 in the variation simultaneously controls the output of sound collected by the external sound collection device M1 from the internal sound output device SP2 located inside the cab 10 and the output of sound collected by the internal sound collection device M2 from the external sound output device SP1 located outside the cab 10.

[0147] In a modified example, when the controller 30 simultaneously outputs the sound collected by the external sound collector M1 from the internal sound output device SP2 located inside the cab 10 and the sound collected by the internal sound collector M2 from the external sound output device SP1 located outside the cab 10, an echo (reverberation) like a "valley echo" may occur because the sound collectors M2 and M1 collect the sound output from the sound output devices SP1 and SP2. Therefore, the acquisition unit 301 in the modified example performs an echo cancellation function on the sound represented by the sound signal acquired from the external sound collector M1 or the internal sound collector M2. The echo cancellation function can be any function used to remove echoes. For example, an echo suppression method that does not capture the voice of another person while listening to the voice of one person can be used, or an echo cancellation method that removes the echoes collected by the sound collectors M2 and M1 can be used. Moreover, the echo cancellation function can use any of the methods known above. The controller 30 involved in this variation enables bidirectional and simultaneous dialogue between the operator and people around the construction machinery through the aforementioned control, thus facilitating communication. This facilitates collaborative work and improves work efficiency.

[0148] Returning to the first embodiment, the controller 30 is capable of controlling the output of any one of multiple sounds from the external sound output device SP1. Specifically, the output control unit 305 controls the output of any one of the sounds collected by the internal sound collection device M2, alarms, and horns from the external sound output device SP1. When multiple sounds are output from the external sound output device SP1, the output control unit 305 controls the output of any one of the sounds collected by the internal sound collection device M2, alarms, and horns from the external sound output device SP1 according to priority. The priority order can be determined according to the embodiment; for example, the priority of horn output control can be set to the highest.

[0149] The adjustment unit 306 adjusts the volume of the internal sound output device SP2 or the external sound output device SP1 according to the operation of the operator.

[0150] The adjustment unit 306 adjusts the volume of the sound output from the internal sound output device SP2 according to the operation of the internal volume control panel DL2.

[0151] In this embodiment, sounds corresponding to sound signals generated around the construction machinery 100, sound signals received by the radio tuner 57, and voice signals received from an external terminal are output from the internal sound output device SP2. In this embodiment, the adjustment unit 306 adjusts the volume of each sound based on these sound signals according to the operator's operation.

[0152] Figure 7 This is an example diagram showing the volume adjustment screen displayed on the display device D1 according to this embodiment. Figure 7 The volume adjustment screen 1600 shown includes a slider 1601 for adjusting the volume of a telephone call, or in other words, based on voice signals received from an external terminal; a slider 1602 for adjusting the volume of a conversation with the outside world, or in other words, based on sound signals collected from the vicinity of the construction machinery 100; and a slider 1603 for adjusting the volume of a sound signal received from the radio tuner 57.

[0153] The display device D1 includes a touch panel similar to that included in the input device D2. Therefore, the operator can slide the sliders 1601, 1602, and 1603 displayed on the display device D1 to the right or left. The operation receiving unit 304 receives the sliding operation, thereby the adjustment unit 306 adjusts the volume of the sound based on these sound signals. For example, when the operation receiving unit 304 receives a rightward or leftward sliding operation on any of the sliders 1601, 1602, and 1603, the adjustment unit 306 increases or decreases the volume of the sound associated with the sliders 1601, 1602, and 1603.

[0154] Furthermore, this embodiment describes an example where sliders 1601, 1602, and 1603 for adjusting volume are displayed on the volume adjustment screen 1600, but it is not limited to the screen displaying the structure for adjusting volume. Figure 7 The volume adjustment screen 1600 shown can also display volume adjustment structures such as sliders 1601, 1602, and 1603 on any display screen. For example, volume adjustment structures such as sliders 1601, 1602, and 1603 can also be displayed on a typical display screen during operation of the construction machinery 100. Typical display screens include, for example, an instrument display area displaying the current status of the construction machinery 100, an image display area displaying image information captured by the camera device S6, a status display area displaying the current surrounding status of the construction machinery 100, and a volume adjustment display area displaying the volume adjustment structures.

[0155] The instrument display area may display, for example, an image showing the current travel mode of the construction machinery 100, an image showing the auxiliary device AT currently installed on the construction machinery 100, an image showing the fuel consumption rate information calculated by the controller 30, an image showing the life-average fuel consumption rate or interval average fuel consumption rate, an image showing the instantaneous fuel consumption rate, an image showing the control status of the engine 11, an image showing the cumulative running time of the engine 11, an image showing the current temperature status of the engine coolant, an image showing the remaining fuel level in the fuel tank, an image showing the remaining urea level in the urea water tank, and the temperature status of the working oil in the working oil tank, or any one of the following:

[0156] The image display area is, for example, an area that displays image information captured by the camera device S6, such as image information captured by the right camera S6R and image information captured by the rear camera S6B.

[0157] The status display area is an area that displays an image representing the positional relationship between the construction machinery 100 and the people detected around the construction machinery 100. In this status display area, for example, a construction machinery icon representing the construction machinery 100 and a people detection icon representing the people detected around the construction machinery 100 are displayed according to the positional relationship.

[0158] The volume adjustment display area is the area that displays the structures used to adjust the volume, such as sliders 1601, 1602, and 1603.

[0159] Furthermore, this embodiment is not limited to displaying all instrument display areas, image display areas, status display areas, and volume adjustment display areas on a normal display screen. It is sufficient to display at least one of the volume adjustment display area and instrument display areas, status display areas, image display areas, and status display areas.

[0160] Furthermore, in this embodiment, when the operator operates the internal volume control panel DL2, the adjustment unit 306 adjusts the volume output from the internal sound output device SP2. In this embodiment, an internal volume control panel DL2 can be used to adjust the sound signal based on the sound signal generated around the construction machinery 100, the sound signal received by the radio tuner 57, and the voice signal received from an external terminal.

[0161] Specifically, in this embodiment, the adjustment unit 306, upon receiving a volume adjustment via the internal volume control panel DL2, adjusts the volume of the sound currently output from the internal sound output device SP2 in the telephone, conversations with the outside world, and radio tuner 57, while suppressing adjustments to the volume of other sounds. That is, when the operator feels the output sound is too low or too high, only the volume of that sound is adjusted; other sounds maintain their previously output volume—in other words, maintaining volumes that the operator does not wish to adjust.

[0162] Thus, in this embodiment, the volume of the sound signals representing sounds generated around the construction machinery 100, the sound signals received by the radio tuner 57, and the voice signals received from an external terminal can be adjusted to correspond to the operator's request. Therefore, convenience can be improved.

[0163] Next, the processing sequence executed by the controller 30 according to this embodiment will be described. Figure 8 This is a flowchart illustrating the processing steps for two-way dialogue in the controller 30 according to this embodiment.

[0164] When the acquisition unit 301 acquires one or more of the following: an audio signal collected by the external audio collection device M1, an audio signal received from the radio tuner 57, and an audio signal received from an external terminal while the telephone function is operating, the output control unit 305 controls the output of audio based on any one of the acquired audio signals from the internal audio output device SP2 according to priority (step S1701). Figure 8 The flowchart shown primarily illustrates an example where sound based on an external sound collection device M1 is output from an internal sound output device SP2. That is, it illustrates an example where the radio tuner 57 and telephone function are not utilized.

[0165] The operation receiving unit 304 determines whether the press of the talk button KS has been received (step S1702). If it is determined that the press of the talk button KS has not been received (step S1702: "No"), the process is repeated from step S1701.

[0166] On the other hand, if it is determined that the voice button KS has been pressed (step S1702: "Yes"), the output control unit 305 stops the output of sound based on the sound signal obtained from the external sound collection device M1, the sound based on the sound signal received from the external terminal when the telephone function is in operation, and the sound based on the sound signal received from the radio tuner 57 from the internal sound output device SP2 (step S1703).

[0167] Furthermore, the output control unit 305 controls the output of sound based on the sound signal obtained from the internal sound collection device M2 from the external sound output device SP1 (step S1704).

[0168] The operation receiving unit 304 determines whether the operation of releasing the speak button KS has been received (step S1705). If it is determined that the operation of releasing the speak button KS has not been received, in other words, the speak button KS is still pressed (step S1705: "No"), the process is repeated from step S1704.

[0169] On the other hand, if it is determined that the operation of the release voice button KS has been received (step S1705: "Yes"), the operation receiving unit 304 stops the control of outputting sound based on the sound signal obtained from the internal sound collecting device M2 from the external sound output device SP1 (step S1706).

[0170] Furthermore, when the acquisition unit 301 acquires any one or more of the sound signals collected by the external sound collecting device M1, the sound signals received from the radio tuner 57, and the sound signals received from the external terminal when the telephone function is in operation, the output control unit 305 controls the output of sound based on any one of the acquired sound signals from the internal sound output device SP2 according to priority (step S1707). Even when the radio tuner 57 and telephone function are not used, sound based on the sound signals acquired from the external sound collecting device M1 is output from the internal sound output device SP2, thus enabling two-way communication.

[0171] In this embodiment, the controller 30 performs the aforementioned control, thereby enabling two-way dialogue between the operator and people present around the construction machinery 100 through the operator's operation.

[0172] Next, the control of the output control unit 305 according to this embodiment, which changes in response to the pressing of the talk button KS, will be described. Figure 9 This is a timing diagram illustrating the changes in control within the output control unit 305 according to this embodiment, corresponding to the pressing of the talk button KS. Figure 9 In the example shown, for ease of explanation, it is assumed that the sound output from the internal sound output device SP2 is only the sound collected by the external sound collection device M1.

[0173] like Figure 9 As shown in line 1803 of (C), let’s say the talk button KS is pressed at time t1 and released at time t2.

[0174] At this time, as shown in line 1801, the output control unit 305 controls the output of the sound collected by the external sound collection device M1 from the internal sound output device SP2 until time t1, and stops the control of the output of the sound collected by the internal sound collection device M2 from the external sound output device SP1 as shown in line 1802.

[0175] Then, during the period from time t1 to time t2 (in other words, during the period when the talk button KS is pressed), as shown in line 1801, the output control unit 305 stops controlling the output of the sound collected by the external sound collection device M1 from the internal sound output device SP2, and as shown in line 1802, controls the output of the sound collected by the internal sound collection device M2 from the external sound output device SP1.

[0176] Furthermore, after time t2, as shown in line 1801, the output control unit 305 controls the output of the sound collected by the external sound collection device M1 from the internal sound output device SP2, and as shown in line 1802, stops the control of the output of the sound collected by the internal sound collection device M2 from the external sound output device SP1.

[0177] By performing the aforementioned control, the output control unit 305 of this embodiment enables the construction machinery 100 to output voice messages made by the operator at the desired time to the outside, and to output voice messages made outside to the cab 10 at other times. Therefore, two-way communication is achieved between the operator and people present around the construction machinery 100, and simultaneous output is suppressed, thus preventing howling and other noises.

[0178] (Second Implementation) Next, refer to Figure 10 Another structural example of the construction machinery 100 involved in the second embodiment will be described. Figure 10 This is a top view of another structural example of the construction machinery 100 according to the second embodiment. Figure 10The construction machinery 100 shown is Figure 1 The difference in the construction machinery 100 shown 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 construction machinery 100 shown, the external sound output device SP1 consists of an omnidirectional loudspeaker installed above the cab 10.

[0179] Through this structure, Figure 10 The construction machinery 100 shown, for example, can output sound to the worker WK located in front of the construction machinery 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 not to the workers WK located to the left, right and rear of the construction machinery 100.

[0180] Furthermore, in Figure 10 In the example shown, the front camera S6F and the 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, the left camera S6L and the 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, the right camera S6R and the 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, the rear camera S6B and the 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.

[0181] At this time, the construction machinery 100 can also set the light strip corresponding to the turned-on speaker to the turned-on state (can light up), and set the light strip corresponding to the turned-off speaker to the turned-off state (cannot light up).

[0182] Alternatively, the external sound output device SP1 can also consist of one or more parametric loudspeakers. A parametric loudspeaker is a loudspeaker that uses ultrasound to selectively transmit sound to a person located within a specific, narrow area. A parametric loudspeaker can transmit sound to any location.

[0183] exist Figure 10In the construction machinery 100 shown, the controller 30 can detect and determine the positions of workers WK around the construction machinery 100 based on the images captured by the camera device S6. Furthermore, when multiple workers WK are present around the construction machinery 100, the controller 30 can also distinguish between the target of the conversation (workers WK making sounds) and the non-target (workers WK not making sounds) based on the output of the four external sound collection devices M1. Additionally, the controller 30 can also distinguish between the target of the conversation (workers WK facing the construction machinery 100) and the non-target (workers WK not facing the construction machinery 100) based on the images captured by the camera device S6. Then, the controller 30 can activate the speakers and light strips facing the workers WK. For example, if there are workers WK (making sounds) behind the construction machinery 100, the controller 30 can activate the rear speaker SP1B while keeping the front speaker SP1F, left speaker SP1L, and right speaker SP1R off. At this time, the controller 30 can turn on the rear light bar G1B while keeping the front light bar G1F, left light bar G1L, and right light bar G1R off. Additionally, this function can... Figures 1-5 This is achieved in the construction machinery 100 shown.

[0184] 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.

[0185] (Third implementation) In the third embodiment, the situation of remote operation of construction machinery 100 by an operator will be described.

[0186] Next, refer to Figure 11 Here, a structural example of the operating system (an example of a control system) SYS involved in the third embodiment will be described. Figure 11 This is a schematic diagram representing the structure of the operating system (an example of a control system for construction machinery) SYS of construction machinery 100. (Example:) Figure 11 As shown, the operating system SYS includes construction machinery 100, remote control room RC, and management center MC. Additionally, in Figure 11 The detailed structural diagram of construction machinery 100 is omitted in the text. This is because... Figure 11 The construction machinery 100 shown has the same characteristics as... Figure 1 or Figure 10 The construction machinery 100 shown has the same structure.

[0187] Construction machinery 100, remote control room (RC), and management center (MC) are interconnected via a communication network (NW) to send and receive data. Alternatively, construction machinery 100, remote control room (RC), and management center (MC) can also be interconnected to directly send and receive data without using the communication network (NW). In the example shown, construction machinery 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 status based on the information from construction machinery 100.

[0188] For example, the construction machinery 100 sends the image information captured by the camera device S6 and the sound signal representing the sound collected by the external sound collection device M1 to the remote control room RC.

[0189] The construction machinery 100 is equipped with sensors capable of three-dimensionally identifying the position and shape of objects present at the work site. For example, the construction machinery 100 is equipped with a spatial recognition device. Therefore, the construction machinery 100 can send the results obtained from three-dimensional measurement of the work site to a remote control room (RC).

[0190] A spatial identification device is used to identify the space surrounding construction machinery 100. In the example shown, the spatial identification device is a LiDAR. The LiDAR, for example, measures the distance between itself and more than one million points within its monitoring range. Alternatively, any device capable of measuring distances to objects can be used. 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.

[0191] The operating system SYS may include one or more construction machines 100. In the case of multiple construction machines 100, the remote operator RO of a specific construction machine 100 can obtain information related to the work site obtained by that specific construction machine 100, as well as information related to the work site obtained by one or more other construction machines 100.

[0192] 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 is equipped with an operator's seat DS for the remote operator RO who remotely operates the construction machinery 100.

[0193] The communication device T2 is configured to communicate with the communication device T1 installed on the construction machinery 100.

[0194] 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.

[0195] Display device D1E is a device capable of displaying various information. Display device D1E displays images based on information sent from construction machinery 100, enabling the remote operator RO located in the remote control room RC to identify the surroundings of construction machinery 100. In the example shown, display device D1E is a liquid crystal display (LCD). Alternatively, display device D1E can also be a display or projector that enables naked-eye stereoscopic vision, or it can be VR goggles, etc.

[0196] The internal sound collector M2E is a device for collecting sound generated inside the remote control room RC. In the example shown, the internal sound collector M2E is an indoor microphone configured to capture the sound emitted by the remote operator RO inside the remote control room RC.

[0197] 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 construction machinery 100, enabling the remote operator RO located in the remote control room RC to hear 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 a position corresponding to the ear of the operator sitting in the driver's seat 50 inside the cab 10. The internal sound output device SP2E can be a fixed device such as a speaker, or a wearable device such as in-ear headphones or 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 reduction functionality, spatial audio functionality (stereo sound functionality), or bone conduction functionality.

[0198] 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 construction machinery 100. The operation signal can be generated by the operation sensor 43. 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 construction machinery 100 from the remote control room RC.

[0199] Similar to the controller 30 in the first embodiment, the remote controller 40 includes an acquisition unit 301, a detection unit 302, a selection unit 303, an operation receiving unit 304, an output control unit 305, and an adjustment unit 306.

[0200] The acquisition unit 301 of the remote controller 40 acquires sound signals representing the sound collected by the external sound collection device M1 from the construction machinery 100 via the communication device T2. Furthermore, the acquisition unit 301 acquires sound signals representing the sound collected by the internal sound collection device M2E of the remote control room RC.

[0201] The output control unit 305 of the remote controller 40 can control the output of sound based on the sound signal acquired by the acquisition unit 301 from the external sound collection device M1 via the internal sound output device SP2E of the remote control room RC through the communication device T2. Thus, the remote operator RO can hear the voices of people present around the construction machinery 100.

[0202] The output control unit 305 of the remote controller 40 can control the output of sound based on the sound signal acquired by the acquisition unit 301 from the internal sound collection device M2E of the remote control room RC, which is output from the external sound output device SP1 of the construction machinery 100 via the communication device T2. As a result, people around the construction machinery 100 can hear the voice of the remote operator RO.

[0203] The detection unit 302, selection unit 303, operation receiving unit 304, and adjustment unit 306 of the remote controller 40 perform the same control as the controller 30 in the above embodiment.

[0204] The remote controller 40 has the above-described structure, thereby enabling it to perform the same control as the controller 30 in the above-described embodiment.

[0205] That is, the remote controller 40 can control the output of sound collected by the external sound collection device M1 from the internal sound output device SP2E, and can also control the output of sound collected by the internal sound collection device M2E from the external sound output device SP1.

[0206] The management center (MC) is a facility equipped with various devices for managing the remote operation of the construction machinery 100 by the remote operator (RO) located in the 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 construction machinery 100. Furthermore, the management center (MC) is equipped with a management device (200), an internal sound collection device (M2C), and an internal sound output device (SP2C).

[0207] Management device 200 is an example of a control device, such as a server computer (a so-called cloud server) or an edge server. Management device 200 is typically a fixed terminal device, but it can also be a portable terminal device (e.g., a laptop, tablet, or smartphone). Management device 200 is capable of performing the same control as remote controller 40.

[0208] 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 internal sound output device SP2C installed on the construction machinery 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 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 construction machinery 100 to transmit their own sounds to the workers WK located around the construction machinery 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 SP2E installed in the remote control room RC to transmit their own sounds to the remote operator RO located in the remote control room RC.

[0209] In this embodiment, the internal sound collection device M2C and the internal sound output device SP2C perform the same functions as the internal sound collection device M2E and the internal sound output device SP2E. The management device 200 transmits and receives sound signals between itself and the construction machinery 100 or the remote control room RC. Therefore, the manager located in the management center MC can achieve two-way communication with the remote operator RO in the remote control room RC or people (including workers WK) around the construction machinery 100. The specific control used to achieve this two-way communication is the same as in the above embodiment, so the description is omitted.

[0210] Therefore, in this embodiment, two-way communication is achieved between the remote operator RO sitting in the operator's seat DS and the person present around the construction machinery 100. Similarly, two-way communication is achieved between the manager who manages the work site through the management device 200 and the person present around the construction machinery 100. Thus, even in the case of remote operation or remote management, communication with the person present around the construction machinery 100 is easy.

[0211] (Fourth implementation) In the above embodiment, an example was described in which the internal sound-collecting device M2 is installed on the window-side control panel 56 inside the cab 10, and a left interior speaker SP2L (internal sound output device SP2) is installed on the upper left corner of the rear wall of the cab 10, and a right interior speaker SP2R (internal sound output device SP2) is installed on the upper right corner of the rear wall of the cab 10. However, the above embodiment does not limit the configuration of the internal sound-collecting device M2 and the internal sound output device SP2. Therefore, in the fourth embodiment, an example of the configuration of the internal sound-collecting device M2 and the internal sound output device SP2 will be described.

[0212] Figure 12 This is a right view illustrating one embodiment of the interior of the driver's cab. Figure 12 The example shown illustrates a window-side control panel 56 located on the right side of the driver's cab 10. A display device D1 is connected to the window-side control panel 56. In this embodiment, as a first example, an internal sound-collecting device M2 is installed in area 1201 inside the display device D1. Furthermore, in this embodiment, as a second example, the internal sound-collecting device M2 is installed in area 1202 inside the display device D1, and a hole for collecting sound is provided on the back of the display device D1. Installing the internal sound-collecting device M2 inside the display device D1, such as in area 1201 or area 1202, facilitates installation.

[0213] Furthermore, as a third example, an internal sound-collecting device M2 is installed in region 1203 below the display device D1. As an example of the configuration below the display device D1, it is not limited to region 1203; it can also be installed at the air outlet of an air conditioning unit.

[0214] Furthermore, the internal sound-collecting device M2 can also be located inside or outside the display device D1. As a fourth example, the internal sound-collecting device M2 can be installed in area 1204 of the window-side control panel 56. For example, the internal sound-collecting device M2 can be built into area 1204 in an exposed state.

[0215] Furthermore, in this embodiment, a control panel 1210 for adjusting the air conditioner, radio tuner, and sound output functions can be provided. The control panel 1210 is provided with buttons for adjusting the air conditioner function, buttons for using the radio tuner, and buttons for using the sound output function.

[0216] For example, as a button for adjusting the air conditioning function, it includes an A / C switch 1211A, an indoor / outdoor air switching switch 1211B, a mode (blowing outlet) switching switch 1211C, a temperature adjustment knob 1211D, and an airflow adjustment knob 1211E.

[0217] The A / C switch 1211A toggles the operation of the air conditioning function between on and off. The indoor / outdoor air switching switch 1211B toggles between internal air recirculation and external air intake. The mode (outlet) switching switch 1211C switches the outlet for the output air. The temperature control knob 1211D is used to adjust the temperature. The fan speed control knob 1211E is used to adjust the fan speed.

[0218] Furthermore, as a button that utilizes a radio tuner or the like, it includes a destination switching button 1212A, a left selection button 1212B, and a right selection button 1212C.

[0219] The connection destination switch button 1212A is used to switch the connection destination for radio and Bluetooth audio, etc. The left selection button 1212B and right selection button 1212C are used to select radio stations in radio mode, and to select albums or tracks in Bluetooth audio mode. Additionally, the internal volume control dial DL2 is used to adjust the volume when using the radio tuner or Bluetooth audio.

[0220] As buttons for communicating with the outside world, an internal volume control panel DL2, an external volume control panel DL1, a switch SW, and an internal volume control panel DL2 are provided. Furthermore, as a fifth example, an internal sound collector M2 is installed in a portion 1214 of the third region 1213. A hole for sound to pass through is provided in this portion 1214 where the internal sound collector M2 is located, so the internal sound collector M2 can easily collect the operator's voice through the hole. The internal sound collector M2 with the hole is located near the external volume control panel DL1, thereby making it easy for the operator to identify the presence of the internal sound collector M2. That is, when the operator speaks to someone present near the construction machinery 100, by speaking towards this portion 1214, they can transmit a higher quality voice to that person.

[0221] Furthermore, in the cases where the internal sound-collecting device M2 is provided in area 1204 as shown in the fourth example, and in the cases where the internal sound-collecting device M2 is provided in a portion of area 1214 of area 1213 as shown in the fifth example, the internal sound-collecting device M2 is positioned relatively close to the driver's seat 50. Therefore, the internal sound-collecting device M2 can collect the voice of the operator present nearby through the aperture, thereby improving the sound quality. For example, when the controller 30 removes noise from the operator's voice, noise removal is easy. Therefore, the controller 30 can output clear voice from the external sound output device SP1 to people present around the construction machinery 100.

[0222] In addition to adjusting the volume output from the internal sound output device SP2, the internal volume control dial DL2 also has a push-button switch function. Whether the sound output is muted depends on whether the internal volume control dial DL2 of this embodiment is pressed.

[0223] The switch SW is a button used to toggle the sound output function between on and off based on the operation of pressing it. The specific function of the switch SW is as described above, and will not be explained further.

[0224] When the controller 30 of the construction machinery 100 receives a signal from the switch SW indicating that the switch has been pressed while the sound output function is off, it turns on the sound output function.

[0225] The external volume control panel DL1, in addition to adjusting the volume of the sound output from the external sound output device SP1, also has a push-button switch function. According to this embodiment, whether the external volume control panel DL1 is pressed switches whether to speak to workers located around the construction machinery 100. In this embodiment, the case where pressing the external volume control panel DL1 functions as a talk button KS1 is taken as an example. The talk button KS1 of the external volume control panel DL1 has a... Figure 5 The rotary switch shown has the same function as the talk button KS.

[0226] That is, when the controller 30 of the construction machinery 100 receives a signal indicating that the external volume control panel DL1 (talk button KS1) has been pressed, it can control the output of the sound collected by the internal sound collection device M2 (including the voice emitted by the operator OP) from the external sound output device SP1.

[0227] Furthermore, when the sound output function of the construction machinery 100 is enabled, the controller 30 silences the output sound when it receives a signal from the internal volume control panel DL2 indicating that the sound has been pressed. Thus, the controller 30 stops controlling the output of sound collected by the external sound collector M1 (including voices emitted by workers WK around the construction machinery 100) from the internal sound output device SP2.

[0228] In this embodiment, the conditions under which the sound output function can be utilized are not limited, and can be determined according to the implementation method.

[0229] For example, the controller 30 of the construction machinery 100 can switch between turning the sound output function on and off based on a signal from the switch SW, only when the engine 11 of the construction machinery 100 is running. It can also switch whether to speak to the operator based on a signal from the talk button KS1 (on the external volume control panel DL1). Therefore, when the engine 11 of the construction machinery 100 is running, 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. Furthermore, when the engine 11 is not running, the controller 30 suppresses the control of the output of sound collected by the external sound collector M1 from the internal sound output device SP2, and also suppresses the control of 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 construction machinery 100 is running. Therefore, when the construction machinery 100 is operating, the operator can improve work efficiency by communicating with people around the construction machinery 100. Furthermore, by limiting the use of the sound output function to the state of the engine 11 of the construction machinery 100, the controller 30 is able to suppress power consumption.

[0230] As another example, the controller 30 of the construction machinery 100 can switch between turning the sound output function on and off based on a signal from the switch SW, only when the construction machinery 100 is in the key-on state (including when the engine 11 of the construction machinery 100 is in operation), and can switch whether to speak to the workers based on a signal from the talk button KS1 (of the external volume control panel DL1). That is, in the construction machinery 100, when power is supplied to the peripheral equipment (e.g., air conditioning equipment, radio tuner, etc.) installed on the construction machinery 100, the sound output function can be turned on, and the workers can be spoken to. Therefore, in the key-on state when power is supplied to the peripheral equipment (e.g., air conditioning equipment, radio tuner, etc.) installed on the construction machinery 100, the controller 30 can control the output of sound collected by the external sound collection device M1 from the internal sound output device SP2, and can also control the output of sound collected by the internal sound collection device M2 from the external sound output device SP1. Furthermore, when the key is off, the controller 30 suppresses the control of outputting sound collected by the external sound collector M1 from the internal sound output device SP2, and also suppresses the control of outputting 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 construction machinery 100 is in the key-on state. Therefore, even when the construction machinery 100 is not in operation, such as during pre-operation discussions, the operator can easily communicate with people around the construction machinery 100, thereby improving work efficiency.

[0231] As another example, the controller 30 of the construction machinery 100 can switch between turning the sound output function on and off based on a signal from the switch SW, only when the door lock bar GL of the construction machinery 100 is in the second operating position and the door bar 55 is in the prohibited passage state, and can switch whether to speak to the workers based on a signal from the talk button KS1 (of the external volume control panel DL1). Furthermore, when the door lock bar GL of the construction machinery 100 is in the first operating position and the door bar 55 is in the passable state, the controller 30 of the construction machinery 100 can also switch between turning the sound output function on and off based on a signal from the switch SW, and can also switch whether to speak to the workers based on a signal from the talk button KS1 (of the external volume control panel DL1).

[0232] As another example, the controller 30 of the construction machinery 100 can switch between turning the sound output function on and off based on a signal from the internal volume control panel DL2, even when the construction machinery 100 is in the key-off state (in other words, the engine 11 is not running) and no power is supplied to peripheral equipment installed on the construction 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 construction machinery 100 can engage in two-way communication at any time. Therefore, situations where the operator speaks but those around cannot hear are suppressed, thus facilitating communication.

[0233] In this embodiment, the configuration of the internal sound collecting device M2 is not limited to... Figure 12 The configuration example shown. Figure 13 This is an overall diagram illustrating one way in which the interior of the driver's cab is described in this embodiment. Figure 13 An example is shown in which an internal sound collection device M2 is arranged around the driver's seat 50.

[0234] exist Figure 12 A button related to operation, such as the talk button KS, can be installed on the surface 26R1 of the vehicle's rear side at the upper end of the right control lever 26R shown. A switch panel 1250, including a switch 1251, is provided on the right control console 54R. The switch 1251 is provided for switching the output characteristics of the construction machinery 100 and controlling the engine speed of the engine 11. When the switch 1251 is pressed, the output characteristics are switched; when the switch 1251 is rotated, the target speed of the engine 11 is changed. The switch panel 1250 is configured with buttons for functions frequently used during the operation of the construction machinery 100. Therefore, the operator OP can execute frequently used functions during the operation of the construction machinery 100 simply by pressing the buttons configured on the switch panel 1250.

[0235] The sixth example of the configuration of the internal sound collection device M2 is as follows: a flexible microphone 1301 is attached to the right window glass WR as the internal sound collection device M2.

[0236] As a seventh example of the configuration of the internal sound collection device M2, a flexible microphone 1302 is configured as the internal sound collection device M2 on the backrest 52 of the driver's seat 50.

[0237] As the eighth example of the configuration of the internal sound collection device M2, the following method is used: a flexible microphone 1303 is configured as the internal sound collection device M2 near the left column PL.

[0238] The connection between each of the flexible microphones 1301-1303 and the controller 30 can be wireless or via a signal cable. When using the flexible microphones 1301-1303, their positions can be freely adjusted when the operator speaks. The flexible microphones 1301-1303 can be positioned close to the operator's mouth, thus improving the quality of the collected sound.

[0239] Next, an example of the configuration of the internal sound output device SP2 will be described. Figure 13 In the example shown, the internal sound output device SP2 has a left speaker SP2L1 on the left side of the headrest 52A located on the upper part of the backrest 52, with reference to the operator, and a right speaker SP2R1 on the right side of the headrest 52A with reference to the operator.

[0240] Furthermore, the internal sound collection device M2 located near the driver's cab 10 can be in a manner other than flexible. Figure 14 This is a diagram illustrating the left side of the driver's cab according to this embodiment from the inside. Figure 14 In the example shown, a door DO for the operator is provided in the cab 10. Furthermore, a left pillar PL is located near the door DO. Because the left pillar PL near the door DO is close to the operator, it is easy to collect high-quality voice signals.

[0241] Therefore, the ninth example of the configuration of the internal sound collecting device M2 is an example in which the internal sound collecting device M2 is installed in region 1401 of the left column PL. The internal sound collecting device M2 is, for example, housed inside the bracket 1411 provided on the left column PL. Since there is a hole provided on the bracket 1411, the internal sound collecting device M2 can collect the operator's voice through the hole. When the operator turns his / her gaze to the left column PL side, he / she can identify the internal sound collecting device M2 housed in the bracket 1411. Therefore, when the operator uses the sound output function to speak to people around the construction machinery 100, he / she can identify which direction to speak in. Furthermore, since it is housed inside the bracket 1411, it does not protrude from the left column PL compared to flexible materials, thus suppressing obstruction of the operator's view.

[0242] exist Figure 14 The image shows an example of a typical internal sound-collecting device M2 installed inside a bracket 1411 in region 1401 of the left column PL. However, Figure 14 The location of the internal sound collector M2 is not limited to the left pillar PL. For example, a bracket can be installed on the right window glass WR, and the internal sound collector M2 can be installed inside the bracket.

[0243] This embodiment is not limited to the method of pre-installing the internal sound collection device M2 inside the cab 10. For example, the operator's mobile communication terminal (e.g., a smartphone) can also be used as the internal sound collection device M2.

[0244] Similarly, the method is not limited to pre-installing the internal sound output device SP2 inside the cab 10. For example, a mobile communication terminal owned by the operator (e.g., a smartphone) can also be used as the internal sound output device SP2. That is, as a control for outputting sound from the sound output device installed inside the cab 10, the controller 30 according to this embodiment can also send sound signals to the mobile communication terminal.

[0245] The connection between the controller 30 and the mobile communication terminal owned by the operator can be wireless or wired, such as via cable.

[0246] Furthermore, as another method for the internal sound output device SP2, a separate wireless communication (e.g., Bluetooth) speaker can be used. For example, if the internal sound output device SP2 is not installed inside the cab 10, the operator can bring a wireless communication speaker into the cab 10 and connect it to the controller 30, thereby achieving the same function as in the embodiment described above. Moreover, even if the internal sound output device SP2 is installed inside the cab 10, the operator can still bring a wireless communication speaker into the cab 10. In this case, by connecting the wireless communication speaker brought in by the operator to the controller 30, it is possible to hear sounds collected from the surroundings of the construction machinery 100 with a higher sound quality than the internal sound output device SP2 pre-installed inside the cab 10.

[0247] In this embodiment, the configuration of the internal sound output device SP2 is not limited to... Figure 5 The configuration shown or Figure 13 The configuration shown is accommodating various other configurations. Furthermore, the number of internal sound output devices SP2 installed within the driver's cab 10 is not limited to two; it can be one or more than three. For example, the internal sound output devices SP2 can be positioned at various locations relative to the driver's seat 50, such as front, rear, left, and right.

[0248] Similarly, when using separately configured wireless communication speakers, one or more wireless communication speakers can be configured within the cab 10. For example, the separately configured wireless communication speakers can be configured in the left and right positions, or in the front, rear, left, and right positions.

[0249] The internal sound collection device M2 described in this embodiment can use an analog microphone or a digital microphone. Furthermore, the internal sound collection device M2 described in this embodiment can use a mono microphone, a stereo microphone, or multiple microphones.

[0250] Furthermore, the internal sound output device SP2 described in this embodiment can be either an analog speaker or a digital speaker.

[0251] (Fifth implementation) In the above embodiments, an example in which the external sound collecting device M1 and the external sound output device SP1 are installed on the upper rotating body 3 has been described. 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 fifth embodiment, an example in which the external sound collecting device and the external sound output device are installed at a position away from the construction machinery 100 has been described.

[0252] Next, refer to Figure 15 Here, a structural example of the operating system (an example of a control system) SYS1 involved in the fifth embodiment will be described. Figure 15 This is a schematic diagram illustrating the structure of SYS1, the operating system (an example of a control system for construction machinery) of the construction machinery 100A involved in this embodiment. Figure 15 As shown, the operating system SYS1 includes construction machinery 100A, fixed microphone 1501, fixed speaker 1502, autonomous mobile robot 1503, and drone 1504.

[0253] Construction machinery 100A can be with Figure 1 or Figure 10 The same structure as the construction machinery 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 construction machinery 100. That is, this embodiment describes the case in which two-way communication can be achieved even in construction machinery 100A without any one or more of the external sound collecting device M1 and the external sound output device SP1.

[0254] The fixed microphone 1501 is a sound collection device installed at the work site, which can be connected to the construction machinery 100A wirelessly or via a wired connection. The fixed microphone 1501 transmits the sound signal representing the collected sound to the construction machinery 100.

[0255] The fixed loudspeaker 1502 is a sound output device installed at the work site, which can be connected to the construction machinery 100 wirelessly or via a wired connection. The fixed loudspeaker 1502 outputs sound represented by sound signals received from the construction machinery 100A.

[0256] The autonomous mobile robot 1503 is equipped with a sound collection device 1503A and a sound output device 1503B, and can be connected to the construction machinery 100 via wireless or wired communication. The autonomous mobile robot 1503 transmits sound signals representing the sound collected by the sound collection device 1503A to the construction machinery 100A. Furthermore, the autonomous mobile robot 1503 outputs sound from the sound output device 1503B, representing the sound signals received from the construction machinery 100.

[0257] The autonomous mobile robot 1503 is capable of moving within the work site area. This embodiment does not limit the movement method of the autonomous mobile robot 1503. For example, if a camera (not shown, an example of a detection device) is installed on the autonomous mobile robot 1503, the autonomous mobile robot 1503 can determine the location of the construction machinery 100A based on image information captured by the camera, and move in a manner that follows the construction machinery 100A when it moves. Furthermore, the autonomous mobile robot 1503 can follow the construction machinery 100A to ensure that the signal strength in communication with the construction machinery 100A reaches or exceeds a predetermined threshold. Furthermore, the autonomous mobile robot 1503 can determine the location of the worker based on image information captured by the camera and move to a location where it can collect the worker's voice.

[0258] The drone 1504 is equipped with a sound collection device 1504A and a sound output device 1504B, and can be connected to the construction machinery 100A via wireless or wired communication. The drone 1504 transmits sound signals representing the sound collected by the sound collection device 1504A to the construction machinery 100A. Furthermore, the drone 1504 outputs sound from the sound output device 1504B, representing the sound signals received from the construction machinery 100A.

[0259] The drone 1504 is configured to fly within the work site area. This embodiment does not limit the movement of the drone 1504; it can move in the same manner as the autonomous mobile robot 1503, following the construction machinery 100A, or it can move to a location where it can collect the voice recordings of the workers. Because the drone 1504 is in flight, it can move regardless of the terrain or obstacles at the work site.

[0260] The number of each of the fixed microphone 1501, fixed speaker 1502, autonomous mobile robot 1503, and drone 1504 set up at the work site can be one or more.

[0261] Similar to construction machinery 100, construction machinery 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, autonomous mobile robot 1503, and drone 1504 by using a communication device T1.

[0262] That is, the controller 30 in this embodiment controls the transmission of sound signals representing the sound collected by the internal sound collecting device M2 to a sound output device located at a location far from the construction machinery 100A via the communication device T1, and controls the output of sound represented by the sound signals received from the sound collecting device located at a location far from the construction machinery 100A via the communication device from the internal sound output device SP2.

[0263] 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, autonomous mobile robot 1503, and drone 1504.

[0264] As another example, the controller 30 receives sound signals from at least one of the fixed microphone 1501, the autonomous mobile robot 1503, and the drone 1504, and outputs the sound represented by the received sound signals from the internal sound output device SP2.

[0265] The sound collection and sound output devices installed at the work site are not limited to the above-mentioned 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 and sound output device.

[0266] However, in spacious work areas, multiple fixed microphones 1501, fixed speakers 1502, autonomous mobile robots 1503, and drones 1504 will be installed. Consequently, the number of construction machines 100A present at the work site will also increase. In this case, if all the fixed speakers 1502, autonomous mobile robots 1503, and drones 1504 present at the work site output voice based on sound signals received from the construction machines 100A, it will be difficult for people at the work site to identify which construction machine 100A's voice is coming from.

[0267] Therefore, the construction machinery 100A involved in this embodiment establishes communication with at least one of the following at the work site—the fixed microphone 1501, the fixed speaker 1502, the autonomous mobile robot 1503, and the drone 1504—only when predetermined conditions are met, thereby enabling two-way dialogue. In this embodiment, for example, two-way dialogue is achieved by establishing communication with each of the following devices—the fixed microphone 1501, the fixed speaker 1502, the autonomous mobile robot 1503, and the drone 1504—that is determined to be within a predetermined distance of the construction machinery 100A.

[0268] The method for determining whether construction machinery 100A is within the predetermined range is not limited to known methods, and any method can be used. For example, if the equipment is captured in the image information captured by the camera device S6, the distance to the equipment can be determined based on the captured size and position. In this case, it is also possible to affix a sticker with a two-dimensional 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 two-dimensional code captured in the image information.

[0269] As another example, one method involves the controller 30 of the construction machinery 100A pre-storing the position information of the fixed microphone 1501 and the fixed speaker 1502. Then, the controller 30 determines whether the fixed microphone 1501 and the fixed speaker 1502 are within a predetermined range based on the position measured by the positioning device PS. Alternatively, the fixed microphone 1501, the fixed speaker 1502, the autonomous mobile robot 1503, and the drone 1504 each periodically send position information to the construction machinery 100A.

[0270] Furthermore, this embodiment does not limit the condition of achieving at least one of sound output and sound collection to the condition of being within a predetermined distance. For example, when there are multiple construction machines 100A, the construction machine 100A closest to the multiple construction machines 100A can establish communication with the device for achieving the sound output function (e.g., a fixed microphone 1501, a fixed speaker 1502, an autonomous mobile robot 1503, or a drone 1504) to achieve at least one of sound output and sound collection. Furthermore, priorities can be assigned to each of the multiple construction machines 100A. Then, the device for achieving the sound output function (e.g., a fixed microphone 1501, a fixed speaker 1502, an autonomous mobile robot 1503, or a drone 1504) can establish communication with the construction machine 100A with the highest priority among the multiple construction machines 100A to achieve at least one of sound output and sound collection.

[0271] The processing sequence up to achieving two-way dialogue by controlling the controller 30 of the construction machinery 100A involved in this embodiment will be described. Figure 16 This is a flowchart illustrating the processing sequence up to the point where sound signals can be sent to an external device under the control of the controller 30 according to this embodiment. Furthermore, the processing sequence up to the point where sound signals can be received from an external device under the control of the controller 30 is also... Figure 16 Since they are the same, the explanation is omitted.

[0272] The controller 30 receives information indicating the detection result from the detection unit installed on the construction machinery 100A (S2601). The information indicating the detection result may be, for example, image information captured by the camera device S6, or information from a sound output device present around the construction machinery 100A.

[0273] The controller 30 determines whether there is a device equipped with a sound output device around the construction machinery 100A based on the received information (S2602). If it is determined that there is no device equipped with a sound output device (S2602: No), the process is repeated from S2601.

[0274] On the other hand, if the controller 30 determines, based on the received information, that a device equipped with a sound output device exists (S2602: Yes), it determines whether the device exists within a predetermined range (S2603). If it determines that the device does not exist within the predetermined range (S2603: No), the process is repeated from S2601.

[0275] On the other hand, when the controller 30 determines that there is a device equipped with a sound output device within a predetermined range (S2603: Yes), the controller 30 uses the communication device T1 to establish communication with the device determined to exist within the predetermined range (S2604).

[0276] Then, the controller 30 sends the sound signal representing the sound collected by the internal sound collection device M2 to the device that has established communication (S2605).

[0277] The controller 30 according to this embodiment can output sound from a device within a predetermined range by performing the above-described processing. Furthermore, by performing the same steps as described above, the controller 30 can receive sound signals from an external device within a predetermined range and output sound represented by the received sound signals from the internal sound output device SP2.

[0278] Furthermore, this embodiment does not limit the transceivers of audio signals with the construction machinery 100A to only... Figure 15The examples shown include a fixed microphone 1501, a fixed speaker 1502, an autonomous mobile robot 1503, and a drone 1504. For example, construction machinery 100A can also transmit and receive audio signals with a human-owned communication terminal.

[0279] Figure 17 This is a schematic diagram illustrating the communication between the construction machinery 100A and the communication terminal involved in this embodiment. Figure 17 As shown, the construction machinery 100A can be communicatively connected to four communication terminals 1701 to 1704.

[0280] For example, the construction machinery 100A can control the output of the sounds collected by the four communication terminals 1701 to 1704 from the internal sound output device SP2, and can also control the output of the sounds collected by the internal sound collection device M2 from the four communication terminals 1701 to 1704.

[0281] The communication terminal 1701 is a terminal owned by the site supervisor located in an office monitoring the work site. The operator of the construction machinery 100A can achieve two-way communication with the site supervisor by transmitting and receiving voice signals between the construction machinery 100A and the communication terminal 1701. Therefore, the operator of the construction machinery 100A can identify the site supervisor's work plan or the conditions of the work site.

[0282] The communication terminal 1702 is a terminal owned by the operator of other construction machinery 100B present at the work site. By transmitting and receiving voice signals between the construction machinery 100A and the communication terminal 1702, two-way communication between the operators of construction machinery 100A and other construction machinery 100B is possible. Therefore, construction machinery 100A and other construction machinery 100B can work collaboratively. Furthermore, the operator of construction machinery 100A can ask questions, provide education, or offer guidance to the operator of construction machinery 100B related to the operation of the construction machinery.

[0283] The communication terminal 1703 is a terminal owned by the driver of the dump truck 1713 who is operating at the work site. By transmitting and receiving voice signals between the construction machinery 100A and the communication terminal 1703, the construction machinery 100A and the driver of the dump truck 1713 can have a two-way conversation.

[0284] The communication terminal 1704 is a terminal owned by the workers performing the work at the work site. By transmitting and receiving voice signals between the construction machinery 100A and the communication terminal 1704, the operator of the construction machinery 100A and the workers can engage in two-way communication. Therefore, the construction machinery 100A and the workers can work collaboratively.

[0285] 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 construction machinery 100A is described. In this embodiment, even when the construction machinery 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 on the construction machinery 100A and a person outside the construction machinery 100A can be realized.

[0286] Furthermore, in this embodiment, since a sound collecting device and a sound output device located at a position far from the construction machinery 100A are used, compared with the case of using an external sound output device SP1 and an external sound collecting device M1 installed on the construction machinery 100A, the influence of noise and the like can be suppressed when transmitting voice to people outside and collecting voices of people outside, thereby facilitating two-way dialogue.

[0287] In this embodiment, the case where an operator is riding on the construction machinery 100A is described, but it is not limited to this case. Even when a remote operator RO operates the construction machinery 100A from a remote control room RC, two-way communication can be achieved using a sound output device and a sound collection device located at a position away from the construction machinery 100A as shown in this embodiment. That is, it is sufficient to provide a function that allows the sound to be transmitted between the areas where the operator operates the construction machinery and the areas outside the construction machinery are located, through sound collection devices and sound output devices located in each area.

[0288] The internal sound collection device, external sound collection device, internal sound output device, and external sound output device shown in the above embodiments can be implemented in various ways.

[0289] For example, internal sound-collecting devices located at positions capable of acquiring the operator's voice include internal sound-collecting devices M2, M2C, M2E, 1201-1204, 1214, 1301-1303, and 1401. Furthermore, internal sound-collecting devices located near the operator's mouth, capable of acquiring the operator's voice, include internal sound-collecting devices M2, M2C, M2E, 1201-1204, 1214, 1301-1303, and 1401. 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, M2E, 1201-1204, 1214, 1301-1303, and 1401.

[0290] For example, external sound collection devices installed at locations capable of acquiring sounds generated at the work site where construction 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 construction 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 who wish to cooperate with construction machinery 100 include external sound collection devices M1 (M1F, M1R, M1L, M1B), 1501, 1503A, and 1504A.

[0291] 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, SP2R1, SP2L1), SP2C, and SP2E. Furthermore, internal sound output devices located near each of the operator's ears include internal sound output devices SP2 (SP2R, SP2L, SP2R1, SP2L1), SP2C, and SP2E, enabling the operator to hear the output sound.

[0292] For example, external sound output devices, including external sound output devices SP1, 1502, 1503B, and 1504B, are installed at locations where people at the work site where construction machinery is operating can hear the voices of the machinery operator. External sound output devices, including external sound output devices SP1, 1502, 1503B, and 1504B, are also installed at locations where workers who wish to cooperate with the construction machinery can hear the voices of the machinery operator.

[0293] <Function> In the above embodiment, the system is configured to control the output of sound collected by the external sound collector M1 from the internal sound output device SP2, and to control the output of sound collected by the internal sound collector M2 from the external sound output device SP1. This allows for two-way communication between the operator and people present around the construction machinery 100, facilitating communication and improving convenience. Furthermore, the construction machinery 100 and people present around it can work collaboratively, increasing work efficiency. Moreover, since there is no need to wear intercom equipment for two-way communication, and the windows of the cab 10 do not need to be opened, the air-conditioned environment of the cab 10 can be maintained, improving comfort. Furthermore, by improving the efficiency of two-way communication between the operator and people present around the construction machinery 100, it is easier to communicate intentions such as attention reminders, thus improving safety.

[0294] The embodiments of the construction machinery and its control system according to the present invention have been described above, but the present invention is not limited to the above embodiments. Various changes, modifications, substitutions, additions, deletions, and combinations can be made within the scope of the claims. These, of course, also fall within the technical scope of the present invention.

[0295] This application claims priority based on Japanese Patent Application No. 2024-037495, filed on March 11, 2024, the entire contents of which are incorporated herein by reference.

[0296] Symbol Explanation 100, 100A - Construction 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, SP - Internal sound output device; SW - Switch; KS - Talk button; DL1 - External volume control panel; DL2 - Internal volume control panel; 57 - Radio tuner; T1, T2 - Communication device, 30 - Controller, 301 - Acquisition unit, 302 - Detection unit, 303 - Selection unit, 304 - Operation receiving unit, 305 - Output control unit, 306 - Adjustment unit, RC - Remote operation room, 40 - Remote controller, 1301-1303 - Flexible microphone, 1501 - Fixed microphone, 1502 - Fixed speaker, 1503 - Autonomous mobile robot, 1504 - Unmanned aerial vehicle (UAV), 1503A, 1504A - Sound collection device, 1503B, 1504B - Sound output device. Claims (as amended under Article 19 of the Treaty) 1. (Revised) A type of construction machinery, which possesses: Lower walking body; The upper rotating body is mounted on the lower walking body and rotates freely; The driver's cab is located on the upper rotating body; An internal sound-collecting device is located inside the driver's cab; An internal sound output device is disposed inside the driver's cab; and The control device is capable of controlling the output of sound collected by a sound collecting device located outside the cab, including the voice of the second person, who is the conversation partner of the first person in the cab, from the inner sound output device, and is also capable of controlling the output of sound collected by the inner sound collecting device, including the voice of the first person, from the sound output device located outside the cab. 2. The construction machinery according to claim 1, wherein, It also has: The sound-collecting device is located on the outside of the driver's cab; and The sound output device is located on the outside of the driver's cab. The control device is capable of controlling the output of the sound collected by the sound collecting device from the inner sound output device, and is also capable of controlling the output of the sound collected by the inner sound collecting device from the sound output device. 3. The construction machinery according to claim 1, wherein, It also has communication devices. The control device is configured to perform the following control: transmit a first sound signal representing the sound collected by the inner sound collecting device to the sound output device located at a position away from the construction machinery via the communication device; and output from the inner sound output device the sound representing the second sound signal received by the sound collecting device located at a position away from the construction machinery via the communication device. 4. The construction machinery according to claim 1, wherein, When the control device performs either a first control (outputting the sound collected by the sound collection device from the inner sound output device) or a second control (outputting the sound collected by the inner sound collection device from the sound output device), it restricts the other control. 5. The construction machinery according to claim 4, wherein, The control device switches between performing the first control and the second control based on the received first operation. 6. The construction machinery according to claim 1, wherein, The control device simultaneously performs a first control to output the sound collected by the sound collecting device from the inner sound output device and a second control to output the sound collected by the inner sound collecting device from the sound output device, and performs an echo cancellation function on the inner sound collecting device or the sound collected by the sound collecting device. 7. The construction machinery according to claim 1, wherein, Upon receiving the first operation, the control device controls the output of the sound collected by the inner sound collecting device from the sound output device. 8. The construction machinery according to claim 7, wherein, According to the first operation, the control device switches between controlling the output of sound collected by the inner sound collecting device from the sound output device and limiting the output of sound collected by the inner sound collecting device from the sound output device. 9. The construction machinery according to claim 1, wherein, Unless the second operation is received, the control device controls the output of the sound collected by the sound collection device from the inner sound output device. 10. The construction machinery according to claim 1, wherein, The control device controls the output of any one of the sounds collected by the sound collection device and the sounds acquired by other devices from the inner sound output device according to priority, and controls the output of another sound from the inner sound output device to be restricted. 11. The construction machinery according to claim 1, wherein, When the power source of the construction machinery is in operation, the control device can control the output of sound collected by the sound collection device located outside the cab from the inner sound output device, and can also control the output of sound collected by the inner sound collection device from the sound output device located outside the cab. 12. The construction machinery according to claim 1, wherein, When the power source of the construction machinery is not activated and the equipment installed on the construction machinery is supplied with electricity, the control device can control the output of sound collected by the sound collection device located outside the cab from the inner sound output device, and can also control the output of sound collected by the inner sound collection device from the sound output device located outside the cab. 13. The construction machinery according to claim 1, wherein, The control device is capable of controlling the output of sound collected by the sound collection device located outside the cab from the inner sound output device when the power source of the construction machinery is not activated and no power is supplied to the equipment installed on the construction machinery, and is also capable of controlling the output of sound collected by the inner sound collection device from the sound output device located outside the cab. 14. (Revised) A control system for construction machinery, comprising: The construction machinery has a lower traveling body and an upper rotating body that can rotate freely mounted on the lower traveling body; The control room is used to operate the construction machinery. An internal sound-collecting device is located in the operating room; An internal sound output device is located in the control room; A sound-collecting device is located on the outside of the control room; A sound output device is located on the outside of the control room; and The control device is capable of controlling the output of sound collected by the sound collection device, including the voice of the second person, who is the first person in the operating room, from the inner sound output device, and is also capable of controlling the output of sound collected by the inner sound collection device, including the voice of the first person, from the sound output device. 15. (Additionally) The construction machinery according to claim 1, wherein, During the duration of the accepted operation, the control device controls the output of the sound collected by the inner sound collecting device from the sound output device. When the operation is released, the control device stops controlling the output of the sound collected by the inner sound collecting device from the sound output device and controls the output of the sound collected by the inner sound collecting device from the inner sound output device. 16. (Additionally) The construction machinery according to claim 1, wherein, The control device is capable of outputting the sound collected by the sound collecting device and the sound acquired by other devices from the inner sound output device. It is possible to adjust the volume collected by the sound collecting device and the volume obtained by the other devices respectively. 17. (Additionally) The construction machinery according to claim 1, wherein, The inner sound collecting device and the inner sound output device are located in the operating room. 18. (Additionally) The construction machinery according to claim 17, wherein, The inner sound-collecting device is positioned to capture the voice of the first person sitting in the driver's seat inside the driver's cab. 19. (Additionally) The construction machinery according to claim 17, wherein, The inner sound-collecting device is positioned in a direction that the first person, sitting in the driver's seat in the driver's cab, can perceive. 20. (Additionally) The construction machinery according to claim 17, wherein, The inner sound output device is positioned at a location corresponding to the ear of the first person sitting in the driver's seat in the driver's cab.

Claims

1. A construction machine, comprising: Lower walking body; The upper rotating body is mounted on the lower walking body and rotates freely; The driver's cab is located on the upper rotating body; An internal sound-collecting device is located inside the driver's cab; An internal sound output device is disposed inside the driver's cab; and The control device is capable of controlling the output of sound collected by a sound collection device located outside the cab from the inner sound output device, and is also capable of controlling the output of sound collected by the inner sound collection device from the sound output device located outside the cab.

2. The construction machinery according to claim 1, wherein, It also has: The sound-collecting device is located on the outside of the driver's cab; and The sound output device is located on the outside of the driver's cab. The control device is capable of controlling the output of the sound collected by the sound collecting device from the inner sound output device, and is also capable of controlling the output of the sound collected by the inner sound collecting device from the sound output device.

3. The construction machinery according to claim 1, wherein, It also has communication devices. The control device is configured to perform the following control: transmit a first sound signal representing the sound collected by the inner sound collecting device to the sound output device located at a position away from the construction machinery via the communication device; and output from the inner sound output device the sound representing the second sound signal received by the sound collecting device located at a position away from the construction machinery via the communication device.

4. The construction machinery according to claim 1, wherein, When the control device performs either a first control (outputting the sound collected by the sound collection device from the inner sound output device) or a second control (outputting the sound collected by the inner sound collection device from the sound output device), it restricts the other control.

5. The construction machinery according to claim 4, wherein, The control device switches between performing the first control and the second control based on the received first operation.

6. The construction machinery according to claim 1, wherein, The control device simultaneously performs a first control to output the sound collected by the sound collecting device from the inner sound output device and a second control to output the sound collected by the inner sound collecting device from the sound output device, and performs an echo cancellation function on the inner sound collecting device or the sound collected by the sound collecting device.

7. The construction machinery according to claim 1, wherein, Upon receiving the first operation, the control device controls the output of the sound collected by the inner sound collecting device from the sound output device.

8. The construction machinery according to claim 7, wherein, According to the first operation, the control device switches between controlling the output of sound collected by the inner sound collecting device from the sound output device and limiting the output of sound collected by the inner sound collecting device from the sound output device.

9. The construction machinery according to claim 1, wherein, Unless the second operation is received, the control device controls the output of the sound collected by the sound collection device from the inner sound output device.

10. The construction machinery according to claim 1, wherein, The control device controls the output of any one of the sounds collected by the sound collection device and the sounds acquired by other devices from the inner sound output device according to priority, and controls the output of another sound from the inner sound output device to be restricted.

11. The construction machinery according to claim 1, wherein, When the power source of the construction machinery is in operation, the control device can control the output of sound collected by the sound collection device located outside the cab from the inner sound output device, and can also control the output of sound collected by the inner sound collection device from the sound output device located outside the cab.

12. The construction machinery according to claim 1, wherein, When the power source of the construction machinery is not activated and the equipment installed on the construction machinery is supplied with electricity, the control device can control the output of sound collected by the sound collection device located outside the cab from the inner sound output device, and can also control the output of sound collected by the inner sound collection device from the sound output device located outside the cab.

13. The construction machinery according to claim 1, wherein, The control device is capable of controlling the output of sound collected by the sound collection device located outside the cab from the inner sound output device when the power source of the construction machinery is not activated and no power is supplied to the equipment installed on the construction machinery, and is also capable of controlling the output of sound collected by the inner sound collection device from the sound output device located outside the cab.

14. A control system for construction machinery, comprising: The construction machinery has a lower traveling body and an upper rotating body that can rotate freely mounted on the lower traveling body; The control room is used to operate the construction machinery. An internal sound-collecting device is located in the operating room; An internal sound output device is located in the control room; A sound-collecting device is located on the outside of the control room; A sound output device is located on the outside of the control room; and The control device is capable of controlling the output of the sound collected by the sound collection device from the inner sound output device, and is also capable of controlling the output of the sound collected by the inner sound collection device from the sound output device.

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