Work machine, and operating system of work machine

Abstract

To provide a technique capable of reducing noise levels by appropriately limiting the volume of the external audio output device.SOLUTION: A work machine 100 includes: a lower running body 1; an upper rotating body 3 that is rotatably placed on the lower running body 1; an operator cab 10 that is provided on the upper rotating body 3 for accommodating an operator OP; an internal sound collection unit M2 placed inside the operator cab 10; an external audio output unit SP1 placed outside the operator cab 10; and a controller 30 that processes the sound information acquired by the internal sound collection unit M2. The controller 30 monitors the change conditions of the parameter for outputting the sound information from the external audio output unit SP1, and when the conditions for parameter change are satisfied, the parameters for reducing the noise from the external audio output unit SP1.SELECTED DRAWING: Figure 7

Description

[Technical Field]

[0001] The present disclosure relates to work machines and operation systems for work machines. [Background technology]

[0002] Patent Document 1 discloses a work machine (construction machine) equipped with an alarm sound generator that generates an alarm sound. This alarm sound generator controls the volume level of the alarm sound or changes the sound quality according to the ambient noise level.

[0003] Furthermore, although not disclosed in Patent Document 1, in recent years, work machines have been developed that are equipped with an internal sound collection device (microphone) that collects the operator's voice and an external sound output device (speaker) that outputs sound to the outside. Work machines can improve workability at the work site by transmitting voice from the operator in the cab to workers around the work machine. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 9-110377 Summary of the Invention [Problem to be solved by the invention]

[0005] In conventional work machines, the voice uttered by the operator in the cab is output directly to the outside of the work machine regardless of the surrounding environment. However, even if it is the operator's voice, if sound is output to the outside from the external sound output device of the work machine, it may become noisy to people who are not involved in the work, for example.

[0006] The present disclosure provides a technique capable of suppressing noise by appropriately limiting the sound of an external sound output device. [Means for solving the problem]

[0007] According to one aspect of the present disclosure, there is provided a work machine comprising a lower running body, an upper rotating body rotatably mounted on the lower running body, a driver's cab mounted on the upper rotating body and capable of carrying an operator, an internal sound collection device mounted inside the driver's cab, an external sound output device mounted outside the driver's cab, and a control device that processes sound information acquired by the internal sound collection device, wherein the control device monitors parameter change conditions for outputting the sound information from the external sound output device and changes parameters that reduce noise from the external sound output device based on the establishment of the parameter change conditions. [Effects of the Invention]

[0008] According to one aspect, noise can be suppressed by appropriately limiting the sound from the external sound output device. [Brief explanation of the drawings]

[0009] [Figure 1] 1 is a side view of a work machine according to an embodiment of the present disclosure; FIG. [Figure 2] FIG. 2 is a top view of the work machine shown in FIG. [Figure 3] 2 is a diagram showing an example of the configuration of an external sound collecting device and an information transmitting device attached to the work machine shown in FIG. 1. [Figure 4] FIG. 2 is a diagram illustrating an example of the configuration of the work machine shown in FIG. [Figure 5] FIG. 2 is a top view of the interior of the cab of the work machine shown in FIG. [Figure 6] FIG. 1 is a perspective view of a work machine on which an operator is riding and workers around the work machine. [Figure 7] Fig. 7(A) is a top view illustrating an example of a conversation between a work machine operator and a worker, and Fig. 7(B) is a top view illustrating an example of a conversation between the operator and a worker when a person is detected around the work machine. [Figure 8] FIG. 10 is a top view of another example of the configuration of the work machine. [Figure 9]1 is a top view showing a state in which sound is restricted in an external sound output device to which a plurality of speakers are applied. [Figure 10] Fig. 10(A) is a first diagram showing a state in which sound is restricted from a preset area in the external sound output device, and Fig. 10(B) is a second diagram showing a state in which the work machine has moved from the state in Fig. 10(A) and is facing in a different direction. [Figure 11] 10 is a table illustrating an example of the relationship between parameter change conditions and parameter change contents. [Figure 12] FIG. 2 is a diagram illustrating an example of a display screen displayed by a display device. [Figure 13] FIG. 2 is a block diagram showing functional blocks formed inside the controller in the sound output process. [Figure 14] 4 is a flowchart showing an example of a sound output process of a work machine. [Figure 15] 1 is a schematic diagram illustrating a configuration example of an operation system according to an embodiment of the present disclosure. DETAILED DESCRIPTION OF THE INVENTION

[0010] Hereinafter, embodiments of the present disclosure will be described with reference to the drawings. The embodiments described below are examples and do not limit the invention. All features and combinations thereof in the embodiments of the present disclosure are not necessarily essential to the invention. In addition, identical or corresponding components in each drawing are designated by identical or corresponding reference numerals, and redundant description may be omitted.

[0011] The work machine 100 according to the embodiment of the present disclosure is a shovel. The work machine 100 may be a machine other than a shovel, such as a crane, an asphalt finisher, or a forklift. In the illustrated example, the shovel serving as the work machine 100 is an excavator equipped with a bucket 6 as an end attachment, but the work machine 100 may also be an applied machine such as a forestry machine equipped with an end attachment other than the bucket 6.

[0012] First, an overview of a work machine 100 will be described with reference to Figures 1 and 2. Figure 1 is a top view of the work machine 100, and Figure 2 is a side view of the work machine 100.

[0013] +X in Fig. 1 represents one direction of the X axis that constitutes a three-dimensional Cartesian coordinate system, and -X represents the other direction of the X axis. In Fig. 2, +Y represents one direction of the Y axis that constitutes a three-dimensional Cartesian coordinate system, and -Y represents the other direction of the Y axis. In Fig. 1, +Z represents one direction of the Z axis that constitutes a three-dimensional Cartesian coordinate system, and -Z represents the other direction of the Z axis. In Fig. 1, the +X side of the work machine 100 corresponds to the front side of the work machine 100, and the -X side of the work machine 100 corresponds to the rear side of the work machine 100. Furthermore, the +Y side of the work machine 100 corresponds to the left side of the work machine 100, and the -Y side of the work machine 100 corresponds to the right side of the work machine 100. Furthermore, the +Z side of the work machine 100 corresponds to the top side of the work machine 100, and the -Z side of the work machine 100 corresponds to the bottom side of the work machine 100. The same applies to the other figures.

[0014] The work machine 100 comprises a lower traveling body 1, an upper rotating body 3 that is mounted on the lower traveling body 1 so as to be rotatable via a rotating mechanism 2, an attachment AT for performing various tasks, and a driver's cab 10. The driver's cab 10 is also called a cabin or cab. The front side of the work machine 100 (upper rotating body 3) corresponds to the side of the upper rotating body 3 to which the attachment AT is attached, when the work machine 100 is viewed from directly above along the rotation axis of the upper rotating body 3. Furthermore, the left, right, and rear sides of the work machine 100 (upper rotating body 3) correspond to the left, right, and rear sides, respectively, as viewed from the perspective of an operator seated in the driver's seat in the driver's cab 10.

[0015] The lower traveling body 1 includes, for example, a pair of left and right crawlers 1C. Specifically, the crawlers 1C include a left crawler 1CL and a right crawler 1CR. The left crawler 1CL is driven by a left traveling hydraulic motor 2ML, and the right crawler 1CR is driven by a right traveling hydraulic motor 2MR. The left traveling hydraulic motor 2ML is a traveling drive unit that drives the left crawler 1CL as a driven part, and can rotate the left crawler 1CL. The right traveling hydraulic motor 2MR is a traveling drive unit that drives the right crawler 1CR as a driven part, and can rotate the right crawler 1CR. Note that the traveling drive units may be electric motors.

[0016] The upper rotating body 3 rotates relative to the lower traveling body 1 when the rotating mechanism 2 is driven by the hydraulic swing motor 2A. The hydraulic swing motor 2A is a swing drive unit that drives the upper rotating body 3 as a driven unit, and can change the orientation of the upper rotating body 3. The swing drive unit may be an electric motor.

[0017] A boom 4 is rotatably attached to the center of the front of the upper rotating body 3, an arm 5 is rotatably attached to the tip of the boom 4, and a bucket 6 is rotatably attached to the tip of the arm 5. In the illustrated example, the boom 4, arm 5, and bucket 6 constitute an excavation attachment, which is an example of an attachment AT. The boom 4, arm 5, and bucket 6 are driven by a boom cylinder 7, an arm cylinder 8, and a bucket cylinder 9, respectively.

[0018] The bucket 6 is an example of a work tool (end attachment). The bucket 6 is used, for example, for excavation work. Instead of the bucket 6, another work tool may be attached to the end of the arm 5 depending on the type of work, etc. The other work tool may be, for example, another type of bucket, such as a large bucket, a slope bucket, or a dredging bucket. The other work tool may also be a type of work tool other than a bucket, such as an agitator, a breaker, a grapple, or a lifting magnet.

[0019] The swing hydraulic motor 2A, the left traveling hydraulic motor 2ML, the right traveling hydraulic motor 2MR, the boom cylinder 7, the arm cylinder 8, and the bucket cylinder 9 are hydraulic actuators driven by hydraulic oil discharged from a hydraulic pump.

[0020] Note that in work machine 100, all or some of the driven parts, such as lower traveling body 1, upper rotating body 3, boom 4, arm 5, and bucket 6, may be electrically driven. In other words, work machine 100 may be a hybrid work machine, an electric work machine, or the like, in which all or some of the driven parts are driven by electric actuators.

[0021] Additionally, the work machine 100 is equipped with an information transmission device G1, an external sound collection device M1, an imaging device S6, and an external sound output device SP1.

[0022] The imaging device S6 is provided on the upper rotating body 3 or the cab 10, and captures images of the periphery of the work machine 100 to obtain image information showing the periphery of the work machine 100. In the illustrated example, the imaging device S6 includes a front camera S6F, a left camera S6L, a right camera S6R, and a rear camera S6B.

[0023] The front camera S6F is a camera that captures images in front of the work machine 100, and is attached to the outside of the cab 10, such as on the roof of the cab 10 or on the side of the boom 4. The front camera S6F may also be attached to the inside of the cab 10, for example, on the ceiling of the cab 10. The left camera S6L is a camera that captures images to the left of the work machine 100, the right camera S6R is a camera that captures images to the right of the work machine 100, and the rear camera S6B is a camera that captures images to the right of the work machine 100. Specifically, the front camera S6F, left camera S6L, right camera S6R, and rear camera S6B are all monocular wide-angle cameras equipped with an imaging element such as a CCD or CMOS, and output the captured images to the display device D1. Information about the images captured by the imaging device S6 is taken into the controller 30.

[0024] In the illustrated example, the front camera S6F is attached to the roof of the driver's cab 10, the left camera S6L is attached to the left end of the upper surface of the upper rotating body 3, the right camera S6R is attached to the right end of the upper surface of the upper rotating body 3, and the rear camera S6B is attached to the rear end of the upper surface of the upper rotating body 3.

[0025] The imaging device S6 may constitute an object detection device that detects objects around the work machine 100. Examples of objects include people, animals, vehicles, construction machinery, buildings, and holes. The object detection device may be configured to be able to distinguish between people and non-human objects when detecting them. In other words, the object detection device may be configured to function as a person detection device. The object detection device may be constituted by a device other than a camera. For example, the object detection device may be a LiDAR. A LiDAR is a device that can measure the distance between the LiDAR (laser source) and a point cloud of, for example, one million or more points within a monitoring range. The object detection device may also be another device that can measure the distance to an object, such as a stereo camera, a range imaging camera, or a millimeter-wave radar. When a millimeter-wave radar or the like is used as the object detection device, the object detection device may emit a number of signals (such as laser light) toward the object and receive the reflected signals to derive the distance and direction of the object. Alternatively, the object detection device may be a combination of two or more types of devices. For example, the object detection device may be a combination of an imaging device and a LiDAR, a combination of an imaging device and a millimeter wave radar, or a combination of an imaging device and a stereo camera.

[0026] The external sound collection device M1 is a device that collects external sounds and is also called a microphone or a microphone. In the illustrated example, the external sound collection device M1 is provided on the upper rotating body 3 or the cab 10, and converts sounds (air vibrations) generated around the work machine 100 into mechanical vibrations, which are then converted into electrical signals. Specifically, the external sound collection device M1 is configured to be able to pick up the voices of workers around the work machine 100, and includes a front microphone M1F, a left microphone M1L, a right microphone M1R, and a rear microphone M1B.

[0027] The front microphone M1F is a microphone that collects sounds generated in front of the work machine 100, and is attached to the outside of the cab 10, such as on the roof of the cab 10 or on the side of the boom 4. The front microphone M1F may also be attached to the inside of the cab 10, for example, on the ceiling of the cab 10. The left microphone M1L is a microphone that collects sounds generated to the left of the work machine 100, the right microphone M1R is a microphone that collects sounds generated to the right of the work machine 100, and the rear microphone M1B is a microphone that collects sounds generated behind the work machine 100. The electrical signals generated by the front microphone M1F, left microphone M1L, right microphone M1R, and rear microphone M1B are taken into the controller 30.

[0028] In the illustrated example, the front microphone M1F is attached to the roof of the cab 10, the left microphone M1L is attached to the left end of the upper surface of the upper rotating body 3, the right microphone M1R is attached to the right end of the upper surface of the upper rotating body 3, and the rear microphone M1B is attached to the rear end of the upper surface of the upper rotating body 3. In this way, the four external sound collection devices M1 (the front microphone M1F, the left microphone M1L, the right microphone M1R, and the rear microphone M1B) are provided at different positions on the upper rotating body 3. Therefore, the controller 30 can detect the direction of the sound source based on the difference in the sounds collected by each of the four external sound collection devices M1 (e.g., difference in volume). Furthermore, when an array microphone is used as the external sound collection device M1, the direction of the sound source can be detected based on, for example, a phase shift or difference in volume.

[0029] In the illustrated example, the four external sound collection devices M1 and the four image capture devices S6 are arranged to correspond to one another. Specifically, the front microphone M1F is arranged adjacent to the front camera S6F, the left microphone M1L is arranged adjacent to the left camera S6L, the right microphone M1R is arranged adjacent to the right camera S6R, and the rear microphone M1B is arranged adjacent to the rear camera S6B.

[0030] The external sound output device SP1 is a device that outputs sound toward the periphery of the work machine 100. In the illustrated example, the external sound output device SP1 is an omnidirectional speaker that is configured to output sound uniformly in all directions. However, the external sound output device SP1 may also be a directional speaker that outputs sound toward a specific direction, such as the front.

[0031] The information transmission device G1 is a device for communicating the status of the work machine 100 to someone outside the work machine 100. In the illustrated example, the information transmission device G1 is provided on the upper rotating body 3 or the operator's cab 10, and is configured to be able to communicate the status of the work machine 100 to an operator around the work machine 100. Specifically, the information transmission device G1 is a light-emitting device, and includes a front light bar G1F, a left light bar G1L, a right light bar G1R, and a rear light bar G1B.

[0032] The front light bar G1F is a light-emitting device that can visually convey information to workers and the like in front of the work machine 100, and is attached to the outside of the cab 10, such as on the roof of the cab 10 or on the side of the boom 4. The front light bar G1F may also be attached to the inside of the cab 10, for example, on the ceiling of the cab 10. The left light bar G1L is a light-emitting device that can visually convey information to workers and the like on the left side of the work machine 100, the right light bar G1R is a light-emitting device that can visually convey information to workers and the like on the right side of the work machine 100, and the rear light bar G1B is a light-emitting device that can visually convey information to workers and the like behind the work machine 100. The front light bar G1F, left light bar G1L, right light bar G1R, and rear light bar G1B each emit light in response to an electrical signal from the controller 30. In the illustrated example, the light-emitting devices are LED lights, but they may also be other light-emitting devices, such as halogen lamps. Furthermore, the light emitting device is of a multicolor emission type, but may be of a monochromatic emission type.

[0033] In the illustrated example, the front light bar G1F is attached to the roof of the operator's cab 10, the left light bar G1L is attached to the left end of the upper surface of the upper rotating body 3, the right light bar G1R is attached to the right end of the upper surface of the upper rotating body 3, and the rear light bar G1B is attached to the rear end of the upper surface of the upper rotating body 3. In this way, the four information transmission devices G1 (front light bar G1F, left light bar G1L, right light bar G1R, and rear light bar G1B) are provided in different positions on the upper rotating body 3. Therefore, the controller 30 can communicate the status of the work machine 100 to workers and the like who are respectively located in front of, on the left, right, and rear of the work machine 100 by separately operating each of the four information transmission devices G1.

[0034] In the illustrated example, the four information transmission devices G1 and the four external sound collection devices M1 are arranged to correspond to each other. Specifically, the front light bar G1F is arranged adjacent to the front microphone M1F, the left light bar G1L is arranged adjacent to the left microphone M1L, the right light bar G1R is arranged adjacent to the right microphone M1R, and the rear light bar G1B is arranged adjacent to the rear microphone M1B.

[0035] Fig. 3 is a diagram showing an example configuration of an external sound collection device M1 and an information transmission device G1 attached to a work machine 100. Specifically, Fig. 3 is a perspective view of a left microphone M1L and a left light bar G1L attached to a housing having a substantially rectangular parallelepiped shape. Note that the following description with reference to Fig. 3 relates to the combination of the left microphone M1L and the left light bar G1L, but it also applies to the combination of the front microphone M1F and the front light bar G1F, the combination of the right microphone M1R and the right light bar G1R, and the combination of the rear microphone M1B and the rear light bar G1B.

[0036] As shown in FIG. 3, the left microphone M1L and left light bar G1L are arranged on the left side of a substantially rectangular parallelepiped housing so as to face to the left of the work machine 100. With this arrangement, the left microphone M1L can efficiently collect sounds generated to the left of the work machine 100, and the left light bar G1L can efficiently communicate the status of the work machine 100 to an operator on the left of the work machine 100. For example, the left microphone M1L can pick up the voice uttered by an operator on the left of the work machine 100, and the left light bar G1L can notify the operator that the left microphone M1L has picked up the operator's voice by emitting light in a predetermined color. In this case, an operator on the left of the work machine 100 who speaks into the left microphone M1L can confirm that their voice has reached the left microphone M1L (i.e., the operator of the work machine 100) by seeing the left light bar G1L emitting light in a predetermined color.

[0037] The information transmission device G1 may be provided at the upper part of each of the four side surfaces of the cab 10 (see FIG. 6). For example, the information transmission device G1 may be configured so that a front light bar G1F is attached to the upper part of the front surface of the cab 10, a left light bar G1L is attached to the upper part of the left surface of the cab 10, a right light bar G1R is attached to the upper part of the right surface of the cab 10, and a rear light bar G1B is attached to the upper part of the rear surface of the cab 10. The information transmission device G1 may also be a single rotating light such as a Nico Torch attached to the upper surface of the cab 10, or a display device such as a liquid crystal display or an organic EL display.

[0038] The controller 30 is an example of a control device, and is configured, for example, by a computer including a CPU, a volatile storage device, a non-volatile storage device, and various input / output interfaces. The controller 30 then realizes various functions, for example, by reading a program from the non-volatile storage device, loading it into the volatile storage device, and having the CPU execute the program. In the illustrated example, the controller 30 is configured to realize various functions to control the work machine 100. The various functions include, for example, a machine guidance function that guides the operator in manually operating the work machine 100. The various functions may also include a contact avoidance function that automatically or autonomously operates or stops the work machine 100 to avoid contact between the work machine 100 and an object that is present within a monitoring range around the work machine 100.

[0039] The boom angle sensor S1 detects the boom angle, which is the rotation angle of the boom 4 relative to the upper rotating body 3. The arm angle sensor S2 detects the arm angle, which is the rotation angle of the arm 5 relative to the boom 4. The bucket angle sensor S3 detects the bucket angle, which is the rotation angle of the bucket 6 relative to the arm 5.

[0040] Each of the boom angle sensor S1, arm angle sensor S2, and bucket angle sensor S3 may be, for example, a rotary encoder, an acceleration sensor, a six-axis sensor, an IMU (Inertial Measurement Unit), a potentiometer using a variable resistor, a cylinder stroke sensor that detects the stroke amount of a hydraulic cylinder, etc.

[0041] The controller 30 receives a detection signal corresponding to the boom angle from the boom angle sensor S1, a detection signal corresponding to the arm angle from the arm angle sensor S2, and a detection signal corresponding to the bucket angle from the bucket angle sensor S3.

[0042] The machine body tilt sensor S4 detects the tilt state of the machine body (undercarriage 1 or upper rotating body 3) relative to the horizontal plane. The machine body tilt sensor S4 is attached to, for example, the upper rotating body 3, and detects the tilt angle of the work machine 100 (i.e., the upper rotating body 3) around two axes in the forward / backward and left / right directions. The machine body tilt sensor S4 may be, for example, an acceleration sensor, a six-axis sensor, an IMU, or the like. A detection signal corresponding to the tilt angle detected by the machine body tilt sensor S4 is input to the controller 30.

[0043] The rotation sensor S5 outputs information related to the rotation of the upper rotating body 3. The rotation sensor S5 detects, for example, the rotation angular velocity of the upper rotating body 3 relative to the lower traveling body 1. The rotation sensor S5 may also detect the rotation angle. The rotation sensor S5 may be, for example, a gyro sensor, a resolver, or a rotary encoder. A detection signal corresponding to the rotation angle or rotation angular velocity of the upper rotating body 3 detected by the rotation sensor S5 is input to the controller 30.

[0044] The positioning device PS measures the position of the upper rotating body 3. The positioning device PS is, for example, a Global Navigation Satellite System (GNSS) compass, and detects the position and orientation of the upper rotating body 3. A detection signal corresponding to the position and orientation of the upper rotating body 3 is input to the controller 30. The function of detecting the orientation of the upper rotating body 3 may be realized by a direction sensor attached to the upper rotating body 3.

[0045] The operator's cab 10 is a compartment space in which an operator rides, and is provided on the front left side of the upper rotating body 3. However, when the work machine 100 is remotely controlled or when the work machine 100 operates by fully automatic driving, the operator's cab 10 may be omitted.

[0046] The communication device T1 communicates with an external device through a communication network including a mobile communication network, a satellite communication network, the Internet, etc. The communication device T1 is, for example, a mobile communication module compatible with a mobile communication standard such as LTE (Long Term Evolution), 4G (4th Generation), or 5G (5th Generation), a communication module compatible with a short-range wireless communication standard such as Wi-Fi (registered trademark) or Bluetooth (registered trademark), or a satellite communication module for connecting to a satellite communication network.

[0047] In response to operations by an operator seated in the cab 10, the work machine 100 operates actuators to drive driven parts such as the lower traveling body 1, upper rotating body 3, boom 4, arm 5, and bucket 6.

[0048] Alternatively, the work machine 100 may be configured so that it can be remotely operated from outside the work machine 100. When the work machine 100 is remotely operated, the inside of the cab 10 may be unmanned.

[0049] Furthermore, the work machine 100 may automatically operate the actuators regardless of the operation performed by the operator. This allows the work machine 100 to realize a function of automatically operating at least some of the driven parts, such as the lower traveling structure 1, upper rotating structure 3, boom 4, arm 5, and bucket 6, i.e., a so-called "machine control function."

[0050] Figure 4 is a diagram that schematically shows an example of the configuration of a work machine 100. In Figure 4, the mechanical power transmission system, hydraulic oil lines, pilot lines, and electrical control system are indicated by double lines, thick solid lines, thick dashed lines, and dotted lines, respectively.

[0051] The drive system of the work machine 100 includes an engine 11, a regulator 13, a main pump 14, and a control valve unit 17. The hydraulic drive system of the work machine 100 also includes hydraulic actuators such as a swing hydraulic motor 2A, a left traveling hydraulic motor 2ML, a right traveling hydraulic motor 2MR, a boom cylinder 7, an arm cylinder 8, and a bucket cylinder 9.

[0052] The engine 11 is an example of a power source for the work machine 100, and is mounted, for example, on the rear of the upper rotating body 3. The power source for the work machine 100 may be a combination of a power source such as a battery or a fuel cell and an electric motor. Specifically, the engine 11 rotates at a constant speed at a preset target rotation speed under direct or indirect control by the controller 30, and drives the main pump 14 and the pilot pump 15. The engine 11 is, for example, a diesel engine that uses diesel as fuel. The engine 11 may also be a gasoline engine, a hydrogen engine, or the like.

[0053] The regulator 13 controls the discharge amount of the main pump 14. For example, the regulator 13 controls the discharge amount of the main pump 14 by adjusting the angle (tilting angle) of the swash plate of the main pump 14 in response to a control command from the controller 30.

[0054] The main pump 14 is mounted on the rear of the upper rotating body 3, similar to the engine 11, and supplies hydraulic oil to the control valve unit 17 through a hydraulic oil line. In the illustrated example, the main pump 14 is a variable displacement hydraulic pump.

[0055] The control valve unit 17 is one of the hydraulic control devices that controls the hydraulic system of the work machine 100. In the illustrated example, the control valve unit 17 includes control valves 171-176. The control valve unit 17 is configured to selectively supply hydraulic oil discharged by the main pump 14 to one or more hydraulic actuators via the control valves 171-176. The control valves 171-176 control the flow rate of hydraulic oil flowing from the main pump 14 to the hydraulic actuators, and the flow rate of hydraulic oil flowing from the hydraulic actuators to a hydraulic oil tank. The hydraulic actuators include a boom cylinder 7, an arm cylinder 8, a bucket cylinder 9, a left traveling hydraulic motor 2ML, a right traveling hydraulic motor 2MR, and a swing hydraulic motor 2A. Specifically, the control valve 171 corresponds to the left traveling hydraulic motor 2ML, the control valve 172 corresponds to the right traveling hydraulic motor 2MR, and the control valve 173 corresponds to the swing hydraulic motor 2A. Furthermore, the control valve 174 corresponds to the bucket cylinder 9 , the control valve 175 corresponds to the boom cylinder 7 , and the control valve 176 corresponds to the arm cylinder 8 .

[0056] The pilot pump 15 is an example of a pilot pressure generating device, and is configured to be able to supply hydraulic oil to hydraulic control devices via a pilot line. In the illustrated example, the pilot pump 15 is a fixed displacement hydraulic pump. However, the pilot pressure generating device may also be realized by the main pump 14. That is, the main pump 14 may have a function to supply hydraulic oil to various hydraulic control devices via pilot lines, in addition to a function to supply hydraulic oil to the control valve unit 17 via a hydraulic oil line. In this case, the pilot pump 15 may be omitted.

[0057] 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.

[0058] The operating device 26 is a device used by an operator to operate the actuator. The operating device 26 includes, for example, an operating lever and an operating pedal. The actuator may be a hydraulic actuator or an electric actuator.

[0059] The operation sensor 29 is configured to detect the operation content of the operator using the operation device 26. In this embodiment, the operation sensor 29 detects the operation direction and operation amount of the operation device 26 corresponding to each actuator and outputs the detected value to the controller 30. In the illustrated example, the controller 30 can control the opening area of ​​the valve 31 in accordance with the output of the operation sensor 29. The controller 30 then supplies the hydraulic oil discharged from the pilot pump 15 to the pilot ports of the corresponding control valves in the control valve unit 17. The pressure of the hydraulic oil supplied to each pilot port (pilot pressure) is, in principle, a pressure corresponding to the operation direction and operation amount of the operation device 26 corresponding to each hydraulic actuator. In this way, the operation device 26 is configured to supply the hydraulic oil discharged from the pilot pump 15 to the pilot ports of the corresponding control valves in the control valve unit 17.

[0060] Valve 31, which functions as a control valve for machine control, is disposed in a pipe connecting pilot pump 15 and a pilot port of a control valve in control valve unit 17, and is configured so that the flow path area of ​​the pipe can be changed. In the illustrated example, valve 31 is a solenoid valve that operates in response to a control command output by controller 30. Therefore, controller 30 can use valve 31 to adjust the pilot pressure acting on the pilot port of the control valve, regardless of the operation of operating device 26 by the operator.

[0061] With this configuration, the controller 30 can operate the hydraulic actuator corresponding to a specific operating device 26 even when the specific operating device 26 is not being operated.

[0062] As shown in FIG. 4, the control system of the work machine 100 includes a controller 30, a display device D1, an input device D2, a horn button HS, a talk button KS, an external sound collection device M1, an internal sound collection device M2, an external sound output device SP1, an internal sound output device SP2, an external volume dial DL1, an internal volume dial DL2, a switch SW, and a communication device T1.

[0063] The controller 30 is configured to output a control command to the regulator 13 as necessary, thereby changing the discharge rate of the main pump 14. The controller 30 may also be configured to perform control related to a machine guidance function that guides (provides guidance for) the manual operation of the work machine 100 by an operator via the operation device 26. The controller 30 may also be configured to perform control related to a machine control function that automatically assists the manual operation of the work machine 100 by an operator via the operation device 26. Some of the functions of the controller 30 may be realized by another controller (control device). In other words, the functions of the controller 30 may be realized in a distributed manner by multiple controllers. For example, the machine guidance function and the machine control function may be realized by dedicated controllers (control devices).

[0064] The interior of the cab 10 will now be described with reference to Figure 5. Figure 5 is a top view of the interior of the cab 10. The work machine 100 is equipped with a driver's seat 50, an operating device 26, a display device D1, and the like, which are arranged inside the cab 10. A door for getting on and off is provided on the left side of the driver's seat 50. The operator can enter the cab 10 by opening the door for getting on and off.

[0065] The driver's seat 50 is located in the center of the driver's cab 10 in a top view. The driver's seat 50 includes a seat portion 51 on which the operator sits and a backrest 52. The driver's seat 50 is a reclining seat, and the tilt angle of the backrest 52 is adjustable. A left armrest 53L is located on the left side of the driver's seat 50, and a right armrest 53R is located on the right side. The left armrest 53L and the right armrest 53R are rotatably supported by the backrest 52.

[0066] A left console 54L is disposed on the left side of the driver's seat 50, and a right console 54R is disposed on the right side. The left console 54L and the right console 54R extend in the front-to-rear direction. The driver's seat 50 is slidable in the front-to-rear direction. The driver's seat 50 may be configured to be slidable in the front-to-rear direction together with the left console 54L and the right console 54R.

[0067] The left armrest 53L is disposed on top of the left console 54L. The right armrest 53R is disposed on top of the right console 54R. The left armrest 53L is disposed so as to cover a portion of the left console 54L in a top view. The right armrest 53R is disposed so as to cover a portion of the right console 54R in a top view.

[0068] The operating device 26 includes a left operating lever 26L, a right operating lever 26R, a left traveling pedal 26PL, a right traveling pedal 26PR, a left traveling lever 26DL, and a right traveling lever 26DR. The left operating lever 26L is provided in front of the left console 54L. Similarly, the right operating lever 26R is provided in front of the right console 54R. An operator seated in the driver's seat 50 can operate the left operating lever 26L while holding the left operating lever 26L with his left hand, and can operate the right operating lever 26R while holding the right operating lever 26R with his right hand. The operator seated in the driver's seat 50 can operate the left operating lever 26L with his left hand to drive the arm cylinder 8 and the swing hydraulic motor 2A. The operator seated in the driver's seat 50 can also operate the right operating lever 26R with his right hand to drive the boom cylinder 7 and the bucket cylinder 9. The bases of the left operating lever 26L and the right operating lever 26R are covered with lever boots 27, respectively.

[0069] The left travel pedal 26PL and the right travel pedal 26PR are located on the floor in front of the driver's seat 50. An operator seated in the driver's seat 50 can operate the left travel pedal 26PL with his left foot to drive the left travel hydraulic motor 2ML. Also, an operator seated in the driver's seat 50 can operate the right travel pedal 26PR with his right foot to drive the right travel hydraulic motor 2MR.

[0070] The left travel lever 26DL and the right travel lever 26DR are located between the left travel pedal 26PL and the right travel pedal 26PR in a top view. The left travel lever 26DL and the right travel lever 26DR extend upward from the floor in front of the driver's seat 50. An operator seated in the driver's seat 50 can drive the left travel hydraulic motor 2ML by gripping and operating the left travel lever 26DL with their left hand, similar to operating the left travel pedal 26PL. Furthermore, an operator seated in the driver's seat 50 can drive the right travel hydraulic motor 2MR by gripping and operating the right travel lever 26DR with their right hand, similar to operating the right travel pedal 26PR. Furthermore, the left travel lever 26DL and the right travel lever 26DR are positioned so that the operator can operate the left travel lever 26DL and the right travel lever 26DR simultaneously with one hand.

[0071] The display device D1 is provided in a location that is easily visible to the operator seated in the cab 10, and displays various information images under the control of the controller 30. In the illustrated example, the display device D1 is located on the front right side of the driver's seat 50, and is connected to the controller 30 via a dedicated line. The display device D1 displays various types of image information. The display device D1 includes a display screen that displays information such as the working conditions or operating state of the work machine 100. The operator seated in the driver's seat 50 can perform work using the work machine 100 while checking the various types of information displayed on the display device D1. The display device D1 may be provided with an input device D2.

[0072] The input device D2 is provided within reach of the operator seated in the driver's seat 50, accepts various operational inputs from the operator, and outputs signals corresponding to the operational inputs to the controller 30. The input device D2 includes a touch panel mounted on the display of the display device D1 that displays various information images, a knob switch provided at the tip of one or more levers of a plurality of operating levers included in the operating device 26, or a button switch, lever, toggle switch, rotary dial, or the like provided around the display device D1. A signal corresponding to the content of the operation on the input device D2 is taken into the controller 30.

[0073] A gate bar 55 is attached to the front surface of the front end of the left console 54L. The gate bar 55 operates in conjunction with the operation of a gate lock lever GL provided on the left console 54L. The gate bar 55 is attached to a frame inside the left console 54L so that it can be raised and lowered around an axis at the top end that extends in the left-right direction.

[0074] The gate lock lever GL is a mechanical input operation unit for switching between a state in which the work machine 100 can be operated by the operation device 26 (operable state) and a state in which the work machine 100 cannot be operated by the operation device 26 (inoperable state). In the illustrated example, the gate lock lever GL is configured so that the operator can switch between a first operation position that realizes the inoperable state and a second operation position that realizes the operable state. The controller 30 switches between the operable state and the inoperable state depending on the operation state of the gate lock lever GL. In the illustrated example, the controller 30 switches between the operable state and the inoperable state of the work machine 100 by electrically switching between a connected state and a disconnected state of the pilot line depending on the operation state of the gate lock lever GL.

[0075] When the gate lock lever GL is in the second operating position, the gate bar 55 is raised forward (passing prohibited state) so as to prevent the operator from passing through the boarding / exiting door, as shown in Fig. 5. On the other hand, when the gate lock lever GL is in the first operating position, the gate bar 55 is housed inside the left console 54L (passing permitted state) so as not to prevent the operator from passing through the boarding / exiting door.

[0076] With this configuration, the operator cannot operate the work machine 100 unless he or she sets the gate lock lever GL to the second operating position and puts the gate bar 55 in a passage-prohibiting state. Therefore, this configuration can prevent the work machine 100 from moving unintentionally, even if the operator inadvertently touches the operating device 26 when getting on or off the machine. Therefore, this configuration can improve the safety of the work machine 100.

[0077] Furthermore, the work machine 100 may be configured so that it can accept a predetermined operation to start the engine 11 only when the gate lock lever GL is in the second operating position and the gate bar 55 is in a pass-prohibiting state. In other words, the work machine 100 may be configured so that it cannot start the engine 11 when the gate lock lever GL is in the first operating position and the gate bar 55 is in a pass-permitting state.

[0078] A switch SW is installed on the right console 54R. A window console 56 is installed on the right side of the right console 54R. The window console 56 extends over the entire length of the driver's cab 10 in the fore-and-aft direction and is arranged parallel to the right console 54R. A display device D1 is installed in front of the window console 56. An external volume dial DL1, an internal volume dial DL2, an internal sound collector M2, a radio tuner, etc. are installed on the window console 56. The radio tuner, etc. may be installed on the left console 54L or the right console 54R.

[0079] The internal sound collection device M2 is a device that collects sounds generated inside the cab 10. In the illustrated example, the internal sound collection device M2 is an indoor microphone that is configured to be able to pick up the voice of an operator inside the cab 10.

[0080] The horn button HS is a button that is operated by the operator of the work machine 100 to sound the horn. In the illustrated example, the horn button HS is a knob switch provided at the tip of the left operation lever 26L.

[0081] The speech button KS is a button that the operator of the work machine 100 operates when he or she wants to speak to a worker around the work machine 100. In the illustrated example, the speech button KS is a knob switch provided at the tip of the right operating lever 26R.

[0082] The internal sound output device SP2 is a device that outputs sound to an operator in the cab 10 and is provided in the cab 10. The internal sound output device SP2 converts an electrical signal input from the controller 30 into a physical sound (air vibration) and outputs the sound. The internal sound output device SP2 may be provided in any position, for example, near the display device D1, near the input device D2, or near the boarding door of the cab 10. In the illustrated example, the internal sound output device SP2 includes a left interior speaker SP2L attached to the upper left corner of the rear wall of the cab 10 and a right interior speaker SP2R attached to the upper right corner of the rear wall of the cab 10. The internal sound output device SP2 may be headphones or earphones worn by the operator. In this case, the headphones or earphones are connected to the controller 30 so as to be able to communicate with the controller 30 via, for example, Bluetooth (registered trademark) or the like.

[0083] The external volume dial DL1 is configured to adjust the volume of the sound output by the external sound output device SP1. The volume of the sound output by each external sound output device SP1 may be additionally configured to be adjustable using a device other than the external volume dial DL1, such as a touch panel attached to the display device D1.

[0084] The external volume dial DL1 may be configured to be infinitely rotatable in both the clockwise and counterclockwise directions, in order to accommodate a case where volume adjustment using the external volume dial DL1 and volume adjustment using a device other than the external volume dial DL1 are used in combination.

[0085] The internal volume dial DL2 is configured to adjust the volume of the sound output by the internal sound output device SP2. The volume of the sound output by each internal sound output device SP2 may be additionally configured to be adjustable using a device other than the internal volume dial DL2, such as a touch panel attached to the display device D1.

[0086] The internal volume dial DL2 may be configured to be infinitely rotatable in both the clockwise and counterclockwise directions, in order to accommodate a case where volume adjustment using the internal volume dial DL2 and volume adjustment using a device other than the internal volume dial DL2 are used in combination.

[0087] The switch SW is an example of an operating device for switching the operating state of the conversation function. In the illustrated example, the switch SW is provided on the top surface of the right console 54R. However, the switch SW may be one of the input devices D2, may be realized by a touch panel provided on the display device D1, or may be a knob switch.

[0088] The conversation function is a function for enabling a conversation between an operator OP of the work machine 100 and a worker WK located around the work machine 100, as shown in FIG. 6. FIG. 6 is a perspective view of the work machine 100 on which the operator OP is riding and the worker WK located at the front left of the work machine 100. FIG. 6 shows the operator OP's voice being collected by the internal sound collection device M2 and output from the external sound output device SP1, and the worker WK's voice being collected by the external sound collection device M1 and output from the internal sound output device SP2. In the work machine 100 shown in FIG. 6, an information transmission device G1 is provided at the top of each of the four side surfaces of the cab 10. The front light bar G1F provided at the top of the front of the cab 10 emits green light, and the left light bar G1L provided at the top of the left side of the cab 10 emits white light. In FIG. 6, the front light bar G1F emitting green light has a dot pattern attached. When the worker WK sees the front light bar G1F emitting green light, he or she can recognize that his or her voice is being detected by the front microphone M1F. Note that, for clarity, other devices such as the imaging device S6 are not shown in Figure 6.

[0089] The operating state of the conversation function includes an ON state (the state shown in FIG. 6) in which conversation between the operator OP and the worker WK is possible, and an OFF state in which conversation between the operator OP and the worker WK is not possible. However, the operating state of the conversation function may additionally include at least one of an audible state (with respect to the operator OP) in which the operator OP can hear the worker WK's voice but the worker WK cannot hear the operator OP's voice, and an utterance enabled state (with respect to the operator OP) in which the worker WK can hear the operator OP's voice but the operator OP cannot hear the worker WK's voice.

[0090] Specifically, when the switch SW is operated to switch the operation state of the conversation function to the ON state, the external sound collection device M1, the external sound output device SP1, the internal sound collection device M2, and the internal sound output device SP2 become available. Conversely, when the switch SW is operated to switch the operation state of the conversation function to the OFF state, the external sound collection device M1, the external sound output device SP1, the internal sound collection device M2, and the internal sound output device SP2 become unavailable. Furthermore, when the switch SW is operated to switch the operation state of the conversation function to the audible state, the external sound collection device M1 and the internal sound output device SP2 become available. Furthermore, when the switch SW is operated to switch the operation state of the conversation function to the speech-enabled state, the external sound output device SP1 and the internal sound collection device M2 become available. In the illustrated example, the operator OP can use the external sound output device SP1 to talk to the worker WK by pressing the speech button KS and speaking when the internal sound collection device M2 is available.

[0091] When the operator OP and a worker WK outside the work machine 100 are having a conversation, the work machine 100 outputs sound information collected by each sound collection device to each sound output device via the controller 30. Specifically, the controller 30 performs appropriate processing on the sound information of the worker WK collected by the external sound collection device M1 and outputs it from the internal sound output device SP2. The controller 30 also performs appropriate processing on the sound information of the operator OP collected by the internal sound collection device M2 and outputs it from the external sound output device SP1.

[0092] Furthermore, the controller 30 may calculate position information of the worker WK, who is the sound source, when processing the sound collected by each microphone (front microphone M1F, left microphone M1L, right microphone M1R, and rear microphone M1B) of the external sound collection device M1. For example, if a worker WK located on the right side of the work machine 100 speaks, the external sound collection device M1 will pick up a loud sound volume at the right microphone M1R, while the other microphones will pick up a soft sound volume. Therefore, the controller 30 can recognize the direction in which the worker WK, who is the sound source, is located relative to the work machine 100, based on the difference in the volume of the sound collected by each microphone. Furthermore, the controller 30 can recognize the direction of the worker WK, who is the sound source, based on the time difference between sounds collected by multiple microphones (for example, the microphone that collected the sound earliest). Alternatively, if an array microphone is used for each microphone, the external sound collection device M1 can also recognize the direction of the worker WK, who is the sound source, in more detail based on the phase difference of the sound waves.

[0093] The controller 30 can also calculate position information of the worker WK present in the vicinity of the work machine 100 based on image information captured by the imaging device S6. In particular, the controller 30 may identify the worker WK making the sound by extracting the direction the worker WK is facing, mouth movements, etc. from the image information captured by the imaging device S6. The controller 30 may also calculate the distance from the work machine 100 to the worker WK using an object detection device (including the imaging device S6). In other words, the controller 30 can more accurately identify the position information of the worker WK by combining information on the sound collected by the external sound collection device M1 and information on the image captured by the imaging device S6.

[0094] Here, when the work machine 100 collects the voice of the operator OP using the internal sound collection device M2 and outputs the sound using the external sound output device SP1 during work, etc., this may cause noise in the environment surrounding the work machine 100. For example, people not involved in the work may recognize the sound output from the external sound output device SP1 of the work machine 100 as noise. In particular, if the volume of the sound output from the external sound output device SP1 is high, the sound will be perceived as loud. Alternatively, if the sound inside the cab 10 is environmental noise such as air conditioning noise, it will also be perceived as noise by the worker WK. For this reason, the controller 30 according to the embodiment monitors the parameter change condition when outputting sound information collected by the internal sound collection device M2 from the external sound output device SP1, and changes the parameters that reduce the noise of the external sound output device SP1 based on the establishment of this condition. The sound output process performed by the controller 30 when outputting sound from the external sound output device SP1 will be described below.

[0095] In the sound output processing, the controller 30 acquires information on multiple types of preset parameter change conditions, monitors whether the parameter change conditions are met, and changes the parameters of the external sound output device SP1 based on the met parameter change conditions. This parameter change condition information can be classified into ambient environment information, which is information on the ambient environment of the work machine 100, and internal state information, which is information on the internal state of the work machine 100.

[0096] For example, the controller 30 acquires, as ambient environment information for sound output processing, information that a person other than the worker WK has been detected around the work machine 100, based on image capture information from the image capture device S6. Fig. 7(A) is a top view illustrating an example of a conversation between the operator OP and worker WK of the work machine 100. Fig. 7(B) is a top view illustrating an example of a conversation between the operator OP and worker WK when a person has been detected around the work machine 100. The work machine 100 in Figs. 7(A) and 7(B) is an example in which a single omnidirectional speaker is used as the external sound output device SP1.

[0097] The example in Figure 7(A) shows a situation in which one worker WK is present on the right side of the work machine 100, while there is no one not involved in the work. For example, the controller 30 recognizes that the worker WK is located on the right side of the work machine 100 based on the image information captured by the imaging device S6.

[0098] Here, work sites of the work machine 100 often prohibit entry to people other than those involved in the work. Therefore, the controller 30 can distinguish between workers WK who are at the work site and people who are elsewhere by calculating the position information of the person using the work machine 100. The controller 30 may also perform image processing on the image information captured by the imaging device S6 to extract people and their feature points, and recognize people with high scores as workers WK. For example, feature points of the worker WK include the color and shape of work clothes, whether or not the worker WK is wearing a helmet, whether or not the worker is wearing tools, and a name tag. Furthermore, the controller 30 may constantly receive identification information from the worker WK's mobile device and recognize the worker WK by combining this identification information with the image information. Alternatively, the controller 30 may register the face information, body shape information, walking posture information, etc. of the worker WK and recognize the worker WK by performing face authentication, body shape authentication, walking posture authentication, etc. from the image information.

[0099] If the controller 30 does not recognize the worker WK even using the methods described above, it is preferable that it notify the operator OP via the display device D1 or the like that there is no worker WK in the vicinity. This makes it possible to prevent the operator OP from making loud noises around the work machine 100 when there is no worker WK. Furthermore, for example, the controller 30 may perform control so that sound information of the operator OP is not output from the external sound output device SP1 when there is no one around the work machine 100.

[0100] If the controller 30 recognizes one or more workers WK but does not recognize anyone not involved in the work, the controller 30 does not change the parameters of the external sound output device SP1 in the sound output processing. Therefore, when the operator OP in the cab 10 speaks appropriate content while pressing the speech button KS, the voice is collected by the internal sound collection device M2, and the controller 30 outputs the voice of the operator OP without adjusting the volume to the outside from the external sound output device SP1. When the worker WK recognizes the voice of the operator OP and replies appropriate voice, the external sound collection device M1 collects the voice. The controller 30 outputs the sound information collected by the external sound collection device M1 to the internal sound output device SP2. This allows the work machine 100 to smoothly carry out a conversation between the operator OP and the worker WK.

[0101] Note that the controller 30 may adjust the volume of the operator OP's speech before playing back sound when outputting sound from the external sound output device SP1 to the outside. For example, when the operator OP's speech volume is loud or soft, the controller 30 may automatically adjust the playback volume of the external sound output device SP1 so that the worker WK can hear it. Alternatively, when the ambient sound around the work machine 100 is loud or soft, the controller 30 may automatically adjust the playback volume of the external sound output device SP1 so that the worker WK can hear it appropriately. By automatically adjusting the playback volume in this way, unnecessary noise is prevented from being generated even when only the worker WK is present around the work machine 100. In other words, measured information on the operator OP's speech volume or measured information on the ambient sound also corresponds to information for determining the parameter change condition (see also FIG. 11). Furthermore, automatically adjusting the playback volume of the external sound output device SP1 according to the measured speech volume of the operator OP or the measured ambient sound also corresponds to changing the parameters of the external sound output device SP1.

[0102] Moreover, the example in Fig. 7(B) shows a situation in which there is one worker WK to the right of the work machine 100 who is the subject of conversation, and a person (passerby PP) who is not involved in the work of the work machine 100 has been detected. In such a situation, if sound information is output at a high volume from the external sound output device SP1 in order to have a conversation with the worker WK, this will be perceived as noise by the passerby PP. Therefore, when a person not involved in the work is detected, the controller 30 changes the parameters of the external sound output device SP1 to suppress the noise perceived by people not involved in the work.

[0103] For example, the controller 30 reduces the volume of the voice of the operator OP output from the external sound output device SP1 based on the detection of a passerby PP. The detection of a person not involved in the work (passerby PP) can be performed, for example, by determining whether or not the passerby PP is present at the work site based on the position information of the passerby PP, and determining that the passerby PP is not involved in the work if the passerby PP is not present at the work site. Furthermore, for example, the controller 30 may process the image information captured by the imaging device S6 to extract people and their feature points, and recognize people with low feature points as not involved in the work. Furthermore, the controller 30 may also recognize a person as not involved in the work even if the person cannot be identified as a worker WK through various information processing (reading of identification information, face recognition, body shape recognition, walking posture recognition, etc.).

[0104] As shown in FIG. 7B, when the controller 30 detects a passerby PP, it reduces the volume of the sound output from the external sound output device SP1. In FIGS. 7A and 7B, the sound waves output from the external sound output device SP1 are depicted by multiple concentric circles, and the volume is indicated by the thickness (width) of the concentric circles. When the volume is high, the lines are thicker, and when the volume is low, the lines are thinner. By reducing the volume of the sound output from the external sound output device SP1 in this way, it is possible to reduce the chances that the passerby PP will find the sound annoying.

[0105] Note that FIG. 7 has described an example in which the volume is reduced as a parameter change in the external sound output device SP1 that employs an omnidirectional speaker. However, this is not limiting. When the work machine 100 employs an external sound output device SP1 that has multiple directional speakers, the direction of the sound from the external sound output device SP1 may be limited as a parameter change in the external sound output device SP1. Note that even when multiple omnidirectional speakers are arranged at appropriate positions on the work machine 100 (for example, front, back, left, and right), the sound output attenuates depending on the position, resulting in directional characteristics. For example, if the worker WK is located in front of the work machine 100, the sound from the speaker installed in the front will be audible, while the sound from the speaker installed in the rear will be inaudible. Therefore, although the following description will be given taking an example in which multiple directional speakers are used, the same control as for multiple directional speakers can be performed even when multiple omnidirectional speakers are used.

[0106] Figure 8 is a top view of another configuration example of the work machine 100. The work machine 100 shown in Figure 8 differs from the work machine 100 shown in Figure 1 in that the external sound output device SP1 is configured from four speakers (front speaker SP1F, left speaker SP1L, right speaker SP1R, and rear speaker SP1B).

[0107] With this configuration, the work machine 100 shown in Figure 8 can output sound toward the worker WK in front of the work machine 100 without outputting sound toward the workers WK on the left, right, and rear of the work machine 100, for example, by turning on the front speaker SP1F (a state in which sound can be output) and turning off the left speaker SP1L, the right speaker SP1R, and the rear speaker SP1B (a state in which sound cannot be output).

[0108] 8, a front camera S6F and a front microphone M1F are provided adjacent to the front speaker SP1F, and a front light bar G1F is provided on the housing of the front microphone M1F. A left camera S6L and a left microphone M1L are provided adjacent to the left speaker SP1L, and a left light bar G1L is provided on the housing of the left microphone M1L. A right camera S6R and a right microphone M1R are provided adjacent to the right speaker SP1R, and a right light bar G1R is provided on the housing of the right microphone M1R. A rear camera S6B and a rear microphone M1B are provided adjacent to the rear speaker SP1B, and a rear light bar G1B is provided on the housing of the rear microphone M1B.

[0109] With this configuration, the work machine 100 can turn on (light-emitting state) the light bar corresponding to the speaker that is turned on, and turn off (light-emitting state) the light bar corresponding to the speaker that is turned off.

[0110] The external sound output device SP1 may be configured with one or more parametric speakers. A parametric speaker is a speaker that uses ultrasonic waves and can selectively transmit sound to people within a specific narrow range. A parametric speaker can transmit sound toward any position.

[0111] In the work machine 100 shown in Fig. 8, the controller 30 may detect a worker WK around the work machine 100 based on images captured by the imaging device S6, and identify the position of the worker WK. Furthermore, if there are multiple workers WK around the work machine 100, the controller 30 may distinguish between a conversation target person (a worker WK who is speaking) and a non-conversation target person (a worker WK who is not speaking) based on the output of the four external sound collection devices M1. The controller 30 may also distinguish between a conversation target person (a worker WK facing the work machine 100) and a non-conversation target person (a worker WK who is not facing the work machine 100) based on images captured by the imaging device S6. The controller 30 may then turn on the speaker and light bar facing the worker WK. For example, if a worker WK (who made the sound) is present behind the work machine 100, the controller 30 may turn on the rear speaker SP1B while keeping the front speaker SP1F, left speaker SP1L, and right speaker SP1R off. In this case, the controller 30 may turn on the rear light bar G1B while keeping the front light bar G1F, left light bar G1L, and right light bar G1R off. Note that this type of function may be implemented in the work machine 100 shown in Figures 1 to 5.

[0112] With this configuration, the controller 30 can output sound in the direction where the worker WK is, without outputting sound in a direction where the worker WK is not present. Therefore, the worker WK can easily recognize whether he or she is considered a conversation target or non-target. Note that the work machine 100 may use one directional speaker as the external sound output device SP1 and may be provided with a rotation mechanism (not shown) that rotates this directional speaker, so that the orientation of the directional speaker (sound direction) can be changed by the rotation operation of the rotation mechanism.

[0113] FIG. 9(A) is a top view showing a state in which sound is output by an external sound output device SP1 that employs multiple speakers. FIG. 9(B) is a top view showing a state in which the direction of sound is restricted by an external sound output device SP1 that employs multiple speakers. As shown in FIG. 9(A), when the work machine 100 detects only the worker WK, the external sound output device SP1 does not restrict the direction of sound, and outputs sound in the direction of the worker WK. Note that the work machine 100 may, for example, be configured in advance not to output sound from the external sound output device SP1 in directions in which the worker WK is not present. This can reduce the noise elements of the work machine 100.

[0114] Then, as shown in Figure 9(B), when the work machine 100 detects a person not involved in the work (passerby PP), it selects a speaker in a direction based on the position information of the passerby PP (in the example of Figure 9, the right speaker SP1R) and limits the sound from that speaker. Note that in this specification, "limiting the sound" is an expression that includes meanings such as not outputting any sound at all, limiting the volume to a lower level compared to the original volume (for example, reducing the volume to 20% when the original volume is 100%), or narrowing the direction of the sound to a specific direction.

[0115] The external sound output device SP1 can suppress noise for the passerby PP by limiting the sound in the direction of the passerby PP. On the other hand, by outputting the voice of the operator OP to the worker WK who is in a different direction from the passerby PP, necessary information can be smoothly conveyed.

[0116] Also, Fig. 10(A) is a first diagram showing a state in which sound is restricted for a preset area in the external sound output device SP1. Fig. 10(B) is a second diagram showing a state in which the work machine 100 has moved from the state in Fig. 10(A) and is facing a different direction. The controller 30 may store in advance information about an area X in which sound is restricted, and when this area X is recognized, sound may be automatically restricted in the sound output processing.

[0117] For example, an area X where sound is restricted could be a place where people live, such as a residential area or an apartment complex. For the controller 30 to "hold an area in advance" means that the controller 30 stores map information including the work site and its surrounding area, and registers the area X where sound is restricted in that map information. The map information allows the position to be identified using coordinates such as longitude and latitude (global positioning coordinates, fixed coordinates), and the registered area X also has coordinate information including the area. By storing map information including a specific area X in a server, storage medium, etc. external to the work machine 100, the controller 30 may acquire the map information from the server, storage medium, etc. before performing work.

[0118] The controller 30 calculates the current position and orientation of the work machine 100 from the positioning device PS, and applies the current position and attitude of the work machine 100 to map information read from memory. The controller 30 can recognize the direction in which sound is to be restricted based on the current position and attitude of the work machine 100 and area X in the map information. Alternatively, the controller 30 may display map information on the display device D1 and have the operator OP specify area X by encircling it with his or her finger, thereby restricting sound. Conversely, the controller 30 may be configured to display map information on the display device D1 and have the operator OP specify area X by encircling an area in which sound is to be delivered with his or her finger, thereby restricting sound in directions other than area X.

[0119] For example, as shown in Figure 10(A), the controller 30 recognizes that an area X where sound should be restricted exists on the map information to the right of the work machine 100. In this case, the controller 30 restricts the sound from the right speaker SP1R, while not restricting the sound from the other speakers (front speaker SP1F, rear speaker SP1B, left speaker SP1L). This enables the work machine 100 to suppress noise in the recognized area X.

[0120] Furthermore, when the work machine 100 moves, the work machine 100 is moved with area X as a fixed coordinate, and the parameters of the external sound output device SP1 are changed based on area X. As shown in FIG. 10(B), it is assumed that the orientation of the work machine 100 relative to area X changes as the work machine 100 moves. At this time, the controller 30 monitors changes in the current position and orientation of the work machine 100 relative to the fixed coordinates of area X, and changes the speaker that limits the sound. For example, if the rear of the work machine 100 faces area X, the controller 30 limits the sound from the rear speaker SP1B, while not limiting the sounds from the other speakers (front speaker SP1F, left speaker SP1L, right speaker SP1R). This allows the work machine 100 to suppress noise in the recognized area X.

[0121] In addition to the above-described patterns, the sound limiting process may change the parameters of the external sound output device SP1 based on various parameter change conditions and the processes corresponding thereto. Fig. 11 is a table illustrating the relationship between the parameter change conditions and the parameter change contents. Note that the table in Fig. 11 separates the cases where the speaker applied to the external sound output device SP1 is an omnidirectional speaker and where multiple directional speakers (including parametric speakers) are used.

[0122] The upper part of Fig. 11 shows an example of changing parameters of an external sound output device SP1 that uses an omnidirectional speaker. For example, the controller 30 monitors parameter change conditions based on ambient environment information about the work machine 100 as a parameter change condition. This ambient environment information is information obtained by detecting the ambient environment from the work machine 100 as a base point using a ambient environment recognition device that includes the image capture device S6, external sound collection device M1, controller 30, etc. The ambient environment information includes, for example, position information of the worker WK, the presence and position information of people not involved in the work, and information about the area X set on the map information.

[0123] For example, when a person not involved in the work is detected as ambient environment information, the controller 30 performs sound adjustment processing based on the detection information. As an example of the sound adjustment processing, the controller 30 performs processing to reduce the volume of the external sound output device SP1, which is an omnidirectional speaker (see also FIGS. 7(A) and 7(B)). This makes it possible to suppress noise for people not involved in the work.

[0124] Alternatively, in the sound adjustment process, the controller 30 may perform control to reduce the volume of the external sound output device SP1 and reduce the operating sound of the work machine 100. Control to reduce the operating sound of the work machine 100 may include, for example, stopping some or all of the operation of the components operating in the work machine 100, or slowing down the operation. As a result, even if the volume output from the external sound output device SP1 is reduced, the operating sound of the work machine 100 will be low, allowing surrounding workers WK to easily hear the voice of the operator OP.

[0125] Furthermore, when the controller 30 recognizes the area X where sound is restricted based on the map information stored therein as described above, the controller 30 may perform a sound adjustment process to reduce the volume of the external sound output device SP1. This allows the external sound output device SP1 to prevent the voice of the operator OP from reaching the area X.

[0126] Furthermore, the controller 30 may monitor the parameter change conditions based on internal state information of the work machine 100 as the parameter change conditions. This internal state information is information obtained by detecting the internal state of the work machine 100 using an internal state recognition device such as the internal sound collection device M2, various sensors of the work machine 100, the controller 30, and an internal camera (not shown). The internal state information includes, for example, environmental sounds inside the cab 10 (air conditioning noise, radio, etc.), the voice of the operator OP, information on the operator's facial expression and posture captured by the internal camera, the state of the work machine 100, etc.

[0127] When environmental sound is extracted as internal state information, the controller 30 determines that the environmental sound is unnecessary sound and performs unnecessary sound removal processing. For example, in the unnecessary sound removal processing, the controller 30 limits the environmental sound and outputs the voice of the operator OP from the external sound output device SP1. This environmental sound restriction can be achieved by noise cancellation processing that reduces or eliminates the environmental sound.

[0128] Furthermore, when the controller 30 extracts the operator OP's monologue as internal state information based on the audio acquired by the internal sound collection device M2 or the image information from the internal camera, the controller 30 determines that this monologue is unnecessary sound and performs an unnecessary sound removal process. The operator OP's monologue may be determined based on keywords, volume, voice quality, etc. included in the sound information acquired by the internal sound collection device M2, or may be determined from the operator OP's facial expression, direction, mouth movement, etc. from the image information, or may be determined by a combination of these. Then, in the unnecessary sound removal process, the controller 30 performs a process to not output the operator OP's monologue from the external sound output device SP1.

[0129] The controller 30 may execute the volume adjustment process and the unnecessary sound removal process in parallel when changing the parameters of the external sound output device SP1. Furthermore, when multiple parameter change conditions are met, the controller 30 may reduce the volume by a certain amount based on the satisfaction of any one of the parameter change conditions, or may reduce the volume by an amount equal to the satisfaction of the multiple parameter change conditions.

[0130] Furthermore, depending on the work situation, there may be cases where the work machine 100 intentionally wants to transmit sound to people who are not involved in the work. Examples of such cases include cases where there is a possibility of danger to people who are not involved in the work, or cases where people who are not involved in the work are interfering with the work. For this reason, in the sound output processing, the controller 30 may, for example, analyze the operator's voice (keywords, urgency, etc.) and make a decision not to change the parameters of the external sound output device SP1 as necessary. This allows the work machine 100 to intentionally deliver the voice of the operator OP to people who are not involved in the work. Alternatively, the controller 30 may intentionally change the parameters of the external sound output device SP1 in the sound output processing to increase the volume. Note that other cases where the parameters of the external sound output device SP1 are not changed or the playback volume is increased include cases where the operator OP's speaking volume is low, where the surrounding environmental noise is loud, and where it is desired to ensure that the voice is delivered to the worker WK.

[0131] Also, for example, an example of changing parameters of an external sound output device SP1 that uses multiple directional speakers is shown in the lower part of Fig. 11. In this case as well, the controller 30 monitors the parameter change conditions based on ambient environment information and / or internal state information of the work machine 100 as the parameter change conditions.

[0132] For example, when a person not involved in the work is detected as ambient environment information, the controller 30 performs sound adjustment processing and / or direction selection processing based on the detection information. As this direction selection processing, the controller 30 performs processing to stop the output of sound from a speaker in the direction of the person not involved in the work. Furthermore, the controller 30 may combine the sound adjustment processing and the direction selection processing to reduce the volume of the speaker in the direction of the person not involved in the work (see also FIG. 9(B)). This makes it possible to suppress noise for people not involved in the work, while outputting sound information of the operator OP to workers WK in other directions.

[0133] Alternatively, the controller 30 may perform sound adjustment processing and direction selection processing to limit the sound from speakers in the direction of people not involved in the work, and processing to reduce the operating sound of the work machine 100. As a result, a worker WK who is in the same direction as a person not involved in the work will be able to hear the voice of the operator OP even if the volume output from the external sound output device SP1 is reduced, as the operating sound of the work machine 100 will be reduced.

[0134] Furthermore, when the controller 30 recognizes an area X where sound is to be restricted based on the map information it holds as described above, it may restrict the sound from the speakers in the direction of the recognized area X (see FIGS. 10(A) and 10(B)). This makes it possible to prevent the voice of the operator OP from reaching the area X via the external sound output device SP1.

[0135] Furthermore, the controller 30 may select a speaker that outputs sound information based on the operation of the operator OP in the internal state information of the parameter change conditions. For this reason, the working machine 100 may use the input device D2 as an internal state recognition device for monitoring the parameter change conditions. When selecting a speaker that outputs sound information, imaging information captured by the imaging device S6 may be used.

[0136] For example, the display device D1 of the cab 10 displays imaged information captured by the imaging device S6 during work on the work machine 100. The imaged information displayed by the display device D1 shows one or more workers WK present in the vicinity of the work machine 100. As an example, the controller 30 allows the operator OP to select a worker WK by having the operator OP touch the worker WK displayed on the display device D1 and input device D2, which are configured as a touch panel.

[0137] 12 is a diagram illustrating an example of a display screen 85 displayed by the display device D1. The display device D1 generates the display screen 85 based on the imaging information of the imaging device S6 and various information received from the controller 30.

[0138] The display screen 85 displays, for example, setting status information, which is information relating to the setting status of the work machine 100, and operating status information, which is information showing the operating status of the work machine 100, at the top of the screen. The display screen 85 also has a shovel status display area 851, which shows the positional relationship between the work machine 100 and people (including workers WK) detected in the vicinity of the work machine 100, a first image display area 852, which displays image capture information from the imaging device S6, and a second image display area 853. For example, the first image display area 852 displays image capture information from the right camera S6R of the imaging device S6. The second image display area 853 displays image capture information from the rear camera S6B of the imaging device S6.

[0139] The operator OP may arbitrarily specify a camera for the information displayed in the shovel status display area 851, the first image display area 852, and the second image display area 853. Furthermore, one of the shovel status display area 851, the first image display area 852, and the second image display area 853 may display image information from a camera adjacent to a speaker that is outputting in a limited (or prioritized) manner among the speakers of the external sound output device SP1.

[0140] For example, the shovel status display area 851 displays a two-dimensional planar image (or a three-dimensional image of the work machine 100) looking down on the work machine 100. This shovel status display area 851 has a simulated work machine 851m positioned at the center, and displays area information 851e indicating the areas on all four sides of the simulated work machine 851m. In addition, person detection icons 851a are positioned around the simulated work machine 851m based on the position information of the detected worker WK.

[0141] The area information 851e is divided into multiple areas based on the installation positions and imaging directions (directions) of the cameras of the imaging device S6 and the speakers of the external sound output device SP1. For example, the area information 851e is divided into four areas—front, back, left, and right—according to the four cameras (front camera S6F, left camera S6L, right camera S6R, and rear camera S6B) and four speakers (front speaker SP1F, left speaker SP1L, right speaker SP1R, and rear speaker SP1B). The shovel status display region 851 can display the area information 851e divided into front, back, left, and right areas differently from other areas to indicate the position of the speaker or camera that is restricted (or prioritized). For example, the area in the restricted (or prioritized) direction (the right side in FIG. 12) can be displayed with a different background color or by flashing.

[0142] When the operator OP selects a worker WK to talk to, the operator OP may touch the person detection icon 851a displayed in the shovel state display area 851, for example. Alternatively, if the worker WK is displayed in the first image display area 852 or the second image display area 853, the operator OP may touch the image 852a, 853a of the worker WK. The controller 30 can prioritize the output of sound to the worker WK touched by the operator OP by selecting a speaker in the external sound output device SP1 that is close to the worker WK selected by the operator OP. On the other hand, the controller 30 can suppress noise in the surroundings by controlling the speaker to limit the sound in directions other than the selected worker WK.

[0143] In addition, at this time, the controller 30 may superimpose frame displays 851f, 852f, ​​etc. on the worker WK selected by the operator OP when the image information is displayed by the display device D1, thereby allowing the operator OP to recognize the subject of the conversation. At this time, when person detection frames 852b, 853b extracted from the image information are displayed on the display device D1, it is preferable to display frame displays 851f, 852f with decorations different from the person detection frames 852b, 853b for the selected worker WK.

[0144] Furthermore, when the operator OP performs an operation to switch the camera in the imaging direction of the imaging device S6, the controller 30 may prioritize (or restrict) the speaker in the direction corresponding to that camera. For example, in a configuration in which imaging information from one of the cameras in four directions (front camera S6F, left camera S6L, right camera S6R, and rear camera S6B) is displayed on the display device D1, the operator OP operates the input device D2 to select imaging information from one camera. Accordingly, the controller 30 also outputs sound information from the operator OP by prioritizing the speaker corresponding to the camera in the selected direction on the external sound output device SP1. Even in this case, the work machine 100 can prioritize a conversation with the worker WK selected by the operator OP. Furthermore, when switching cameras to have a conversation with a worker, the controller 30 preferably displays an ornament in the display area (first image display area 852, second image display area 853, etc.) displayed on the display device D1 itself to notify the operator OP that the camera and speaker in that direction are prioritized. For example, in FIG. 12, a decorative frame 852o is displayed in the first image display area 852 to let the operator OP know that the camera and microphone in that direction have priority.

[0145] Furthermore, when the controller 30 is restricting the sound of the external sound output device SP1, the controller 30 may notify the operator OP of this via the display device D1. For example, in FIG. 12, notification information 854 indicating that sound is being restricted is displayed at the bottom of the display screen. This allows the operator OP to easily recognize that his or her own sound is being restricted by the external sound output device SP1. The display position of the notification information 854 is not particularly limited, and may be, for example, the center of the screen.

[0146] Furthermore, the controller 30 preferably includes a cancel icon 855a for canceling the change in the parameters of the external sound output device SP1 and a notification icon 855b for switching the notification of the notification information 854 on and off. For example, if the operator OP does not want to limit the sound in order to convey important information to the worker WK, the operator OP can press the cancel icon 855a to turn it on so that the parameters of the external sound output device SP1 are not changed. This allows the sound information output from the external sound output device SP1 to be appropriately adjusted according to the operator OP's intention. Furthermore, by turning off the cancel icon 855a, the controller 30 may not only not change the parameters of the external sound output device SP1 but also intentionally increase the playback volume of the external sound output device SP1. Note that the controller 30 may also include an icon for increasing the playback volume of the external sound output device SP1, separate from the cancel icon 855a. For example, if the operator OP finds the display of the notification information 854 bothersome, the operator OP can press the notification icon 855b to turn it off to prevent the notification information from being displayed on the display device D1.

[0147] Returning to FIG. 11 , the controller 30 may apply multiple directional speakers as the external sound output device SP1, and when the volume of the operator OP's speech is measured as a parameter change condition, the controller 30 may automatically adjust the volume or direction of the external sound output device SP1 as a parameter change. For example, when the volume of the operator OP's speech is loud, the volume or direction may be limited for output. Conversely, when the volume of the operator OP's speech is quiet, the sound may be output without limiting the volume or direction (or with the volume increased). Furthermore, when the controller 30 measures ambient environmental sound as a parameter change condition, the controller 30 may automatically adjust the volume or direction of the external sound output device SP1 as a parameter change. For example, when the ambient environmental sound is quiet, the sound may be output with the volume or direction limited. For example, when the ambient environmental sound is loud, the sound may be output without limiting the volume or direction (or with the volume increased).

[0148] Furthermore, even when a plurality of directional speakers are used as the external sound output device SP1, the controller 30 may perform the unnecessary sound removal process in the same manner as in the case of the omnidirectional speaker. For example, in the unnecessary sound removal process, the controller 30 limits environmental sounds and outputs the voice of the operator OP from the external sound output device SP1. Also, for example, in the unnecessary sound removal process, the controller 30 performs a process of not outputting the operator OP's monologue from the external sound output device SP1.

[0149] In an external sound output device SP1 employing multiple directional speakers, when multiple parameter change conditions are met, the controller 30 may change the parameter with the highest priority among the parameter change conditions, or may change multiple types of parameters together. For example, if the parameter change condition is set to prioritize the detection of a person not involved in the work over the worker WK selected by the operator OP, the external sound output device SP1 can output sound information to the worker WK using a speaker oriented in the direction corresponding to the selected worker WK if there is no person not involved in the work. However, if a person not involved in the work (e.g., a passerby PP) is detected near the selected worker WK, the external sound output device SP1 performs processing to reduce the volume of the sound information from the operator OP. This allows the work machine 100 to effectively suppress noise for people not involved in the work.

[0150] 13 is a block diagram showing functional blocks formed inside the controller 30 in the sound output process. In order to perform the sound output process of the external sound output device SP1 described above, the controller 30 forms therein functional units as shown in FIG.

[0151] Specifically, the controller 30 includes an internal audio acquisition unit 301, an audio extraction unit 302, an ambient environment information acquisition unit 303, an internal state information acquisition unit 304, a parameter processing unit 305, an external sound output device playback processing unit 306, and an operating state processing unit 307.

[0152] The internal sound acquisition unit 301 acquires sound information such as the voice of the operator OP in the cab 10 from the internal sound collection device M2. The sound extraction unit 302 processes the sound information acquired by the internal sound acquisition unit 301 to extract the voice of the operator OP. At this time, the sound extraction unit 302 determines the presence or absence of unnecessary sound under the command of the parameter processing unit 305, and if unnecessary sound is present, it is preferable to perform unnecessary sound removal processing to extract the voice of the operator OP.

[0153] The ambient environment information acquisition unit 303 acquires ambient environment information from the ambient environment recognition device for monitoring parameter change conditions. Similarly, the internal state information acquisition unit 304 acquires internal state information from the internal state recognition device. Then, the parameter processing unit 305 determines whether a preset parameter change condition (see also FIG. 11 ) is met based on the ambient environment information or the internal state information, and if met, determines to change the parameter corresponding to the parameter change condition.

[0154] The external sound output device playback processing unit 306 changes the parameters of the external sound output device SP1 determined by the parameter processing unit 305, and after this change, causes the sound extracted by the sound extraction unit 302 to be output from the external sound output device SP1. Meanwhile, the operating status processing unit 307 monitors the operation of each component of the work machine 100 using sensors or the like of the work machine 100, and when reducing the speaker volume based on a command from the parameter processing unit 305, performs control to reduce the operating sounds of the components operating in the work machine 100.

[0155] The work machine 100 according to this embodiment is basically configured as described above, and its operation will be explained below with reference to Fig. 14. Fig. 14 is a flowchart showing an example of sound output processing by the work machine 100.

[0156] When the voice of the operator OP of the work machine 100 is to be output, the controller 30 controls the processing flow of steps S101 to S106.

[0157] Specifically, when the operator OP utters a voice while pressing the speech button KS in the cab 10, the controller 30 acquires the voice of the worker as sound information via the internal sound collector M2 (step S101). Note that before the operator OP utters a voice, the voice of the worker WK may be output from the external sound collector M1 to the operator OP via the internal sound output device SP2.

[0158] The controller 30 also monitors various parameter change conditions when the internal sound collection device M2 acquires sound information and determines whether the parameter change conditions are met (step S102). At this time, the controller 30 acquires ambient environment information and internal state information based on various parameter change conditions, as shown in FIG. 11, and determines whether each parameter change condition is met. As shown in FIG. 11, some parameter change conditions allow parameters of the external sound output device SP1 to be changed before acquiring sound information, such as when the sound-restricted area X is recognized or when the operator OP selects the worker WK or image information. Alternatively, detection information of a person unrelated to the work can be obtained before acquiring sound information by processing the image information of the image capture device S6. Therefore, the controller 30 may change the parameters of the external sound output device SP1 in advance without acquiring sound information in step S101.

[0159] If the controller 30 determines that the parameter change condition is met (step S102: YWS), the controller 30 proceeds to step S103. On the other hand, if the parameter change condition is not met (step S102: NO), the controller 30 proceeds to step S107.

[0160] In step S103, the controller 30 changes the parameters of the external sound output device SP1 based on the established parameter change condition. When changing the parameters, a process of reducing or setting to zero the volume of the external sound output device SP1, a process of limiting the direction of sound from the external sound output device SP1, and the like may be selected or combined in accordance with rules set in accordance with the parameter change condition. This allows the work machine 100 to appropriately change the parameters of the external sound output device SP1.

[0161] The controller 30 controls the playback of the operator's voice based on the parameters changed in step S103, thereby outputting the voice of the operator OP from the external sound output device SP1 (step S104). This allows the work machine 100 to output sound information with a reduced noise level to the surrounding area.

[0162] Furthermore, for example, the controller 30 acquires the operating state in advance from sensors or the like of the work machine 100, and if the volume is to be reduced when sound information is output from the external sound output device SP1, the controller 30 controls the configuration of the work machine 100 to reduce the operating sound (step S105). As a result, even if the volume is reduced, workers WK around the work machine 100 can clearly hear the sound information of the operator OP.

[0163] On the other hand, if the parameter change condition is not met in step S102, the controller 30 plays back the voice of the operator OP as is without changing the parameters of the external sound output device SP1 (step S106). This allows the work machine 100 to allow a smooth conversation between the operator OP and the worker WK.

[0164] As described above, when outputting the voice of the operator OP, the work machine 100 can suppress noise by limiting the sound in accordance with the parameter change conditions. The work machine 100 can suppress noise and perform appropriate work even when there are people unrelated to the work nearby, or when there are houses nearby, etc.

[0165] The work machine 100 of the present disclosure is not limited to the above configuration and may take various modified forms. For example, in the above embodiment, an example has been described in which the sound from the external sound output device SP1 is simply restricted in accordance with the parameter change condition. In this case, when the parameter change condition changes, the sound state of the external sound output device SP1 immediately changes, which may cause a sense of discomfort to the worker WK who is listening to the sound outside.

[0166] Therefore, when the parameter change condition changes, the controller 30 is not limited to immediately changing the parameters of the external sound output device SP1, but may be configured to change the parameters after the conversation ends, for example. For example, if the volume is reduced in response to the detection of a passerby PP not involved in the work and then the passerby PP is no longer detected, it is preferable not to immediately increase the volume, but to increase the volume after the conversation ends.

[0167] Next, an example configuration of the operation system SYS according to an embodiment of the present disclosure will be described with reference to Fig. 15. Fig. 15 is a schematic diagram showing an example configuration of the operation system SYS. As shown in Fig. 15, the operation system SYS includes a work machine 100, a remote control room RC, and a management center MC. Note that the detailed configuration of the work machine 100 is omitted from Fig. 15. This is because the work machine 100 shown in Fig. 15 has the same configuration as the work machine 100 shown in Fig. 1 or Fig. 9.

[0168] The work machine 100, remote control room RC, and management center MC are connected to one another so that they can send and receive data via a communication network NW. Note that the work machine 100, remote control room RC, and management center MC may also be connected to one another so that they can send and receive data directly to one another without going through the communication network NW. In the illustrated example, the work machine 100 transmits information about the work site to the remote control room RC. This allows the remote operator RO in the remote control room RC to understand the situation at the work site based on the information from the work machine 100.

[0169] The work machine 100 is equipped with a sensor that can three-dimensionally recognize the position and shape of objects present at the work site. For example, the work machine 100 is equipped with a spatial recognition device. Therefore, the work machine 100 can transmit the results of three-dimensionally measuring the work site to the remote control room RC.

[0170] The spatial recognition device is a device for recognizing the space around the work machine 100. In the illustrated example, the spatial recognition device is a LiDAR. The LiDAR measures the distance between the LiDAR and each of one million or more points within a monitoring range, for example. The spatial recognition device may be any device that can measure the distance to an object. For example, the spatial recognition device may be a stereo camera, or may be a combination of the image capture device S6 and a distance measuring device such as millimeter wave radar.

[0171] The operation system SYS may include one or more work machines 100. When multiple work machines 100 are included, the remote operator RO of a specific work machine 100 can obtain information about the work site obtained by that specific work machine 100, as well as information about the work site obtained by one or more other work machines 100.

[0172] The remote control room RC is equipped with a communication device T2, a remote controller 40, an operation device 42, an operation sensor 43, a display device D1E, an internal sound collection device M2E, and an internal sound output device SP2E. The remote control room RC also is equipped with an operation seat DS where a remote operator RO who remotely operates the work machine 100 sits.

[0173] The communication device T2 is configured to be able to communicate with the communication device T1 attached to the work machine 100.

[0174] The remote controller 40 is a computing device that executes various calculations. In this embodiment, the remote controller 40 is configured as a microcomputer including a CPU and a memory. The various functions of the remote controller 40 are realized by the CPU executing programs stored in the memory.

[0175] The display device D1E is a device capable of displaying various types of information. The display device D1E displays images based on information transmitted from the work machine 100 so that the remote operator RO in the remote control room RC can visually recognize the surroundings of the work machine 100. In the illustrated example, the display device D1E is a liquid crystal display that displays images captured by an imaging device S6 mounted on the work machine 100. Note that the display device D1E may be a display or projector that realizes naked-eye stereoscopic vision, or may be VR goggles or the like.

[0176] The internal sound output device SP2E is a device capable of outputting various types of sound information. The internal sound output device SP2E outputs sound based on information transmitted from the work machine 100 so that the remote operator RO in the remote control room RC can hear sounds generated at the work site. The internal sound output device SP2E may be configured, for example, to output sound captured by an external sound collector M1 attached to the outside of the cab 10, or may be configured to output sound captured by an internal sound collector M2 attached to the inside of the cab 10. In this case, the internal sound collector M2 may be provided at a position corresponding to the ear position of the operator seated in the cab 10. The internal sound output device SP2E may be a stationary device such as a speaker, or may be a wearable device such as earphones or headphones. The speaker may be a monaural speaker, a stereo speaker, or a surround speaker. The speaker may also be an omnidirectional speaker or a directional speaker. The wearable device may have a noise canceling function, a spatial audio function (stereophonic sound function), or a bone conduction function.

[0177] The operation device 42 is provided with an operation sensor 43 for detecting the operation content of the operation device 42. The operation sensor 43 is, for example, an inclination sensor that detects the inclination angle of the operation lever, or an angle sensor that detects the swing angle of the operation lever around the swing axis. The operation sensor 43 may be composed of other sensors such as a pressure sensor, a current sensor, a voltage sensor, or a distance sensor. The operation sensor 43 outputs information related to the detected operation content of the operation device 42 to the remote controller 40. The remote controller 40 generates an operation signal based on the received information and transmits the generated operation signal to the work machine 100. The operation sensor 43 may be configured to generate the operation signal itself. In this case, the operation sensor 43 may output the operation signal to the communication device T2 without passing through the remote controller 40. With this configuration, the remote operator RO can remotely operate the work machine 100 from the remote control room RC.

[0178] The management center MC is a facility where various devices are installed to manage the work machine 100 at the work site or the remote operation of the work machine 100 by the remote operator RO in the remote control room RC. In the illustrated example, the management center MC is installed in a location away from both the work site of the work machine 100 and the remote control room RC. The management center MC is also equipped with a management device 200, an internal sound collection device M2C, and an internal sound output device SP2C.

[0179] The management device 200 is an example of a control device, and is, for example, a server computer (a so-called cloud server) or an edge server. The management device 200 is typically a fixed terminal device, but may also be a portable terminal device (for example, a laptop computer, a tablet, or a smartphone).

[0180] With this configuration, a manager at the management center MC can, for example, use a sound collection device (external sound collection device M1 or internal sound collection device M2) attached to the work machine 100 and the internal sound output device SP2C to listen to sounds emitted at the work site. The manager at the management center MC can also, for example, use an internal sound collection device M2E and internal sound output device SP2C provided in the remote control room RC to listen to sounds emitted in the remote control room RC. The manager at the management center MC can, for example, use the internal sound collection device M2C and the external sound output device SP1 attached to the work machine 100 to communicate the voice he or she makes to a worker WK who is around the work machine 100. The manager at the management center MC can, for example, use the internal sound collection device M2C and the internal sound output device SP2 attached to the work machine 100 to communicate the voice he or she makes to an operator OP of the work machine 100. In addition, an administrator at the management center MC can, for example, use an internal sound collection device M2C and an internal sound output device SP2E installed in the remote control room RC to transmit the voice he or she makes to the remote operator RO in the remote control room RC.

[0181] The technical ideas and effects of the present disclosure explained in the above embodiments will be described below.

[0182] A work machine 100 according to a first aspect of the present disclosure is a work machine 100 comprising a lower running body 1, an upper rotating body 3 rotatably mounted on the lower running body 1, a cab 10 mounted on the upper rotating body 3 and capable of housing an operator OP, an internal sound collection device M2 mounted inside the cab 10, an external sound output device SP1 mounted outside the cab 10, and a control device (controller 30) that processes sound information acquired by the internal sound collection device M2, wherein the control device monitors parameter change conditions for outputting sound information from the external sound output device SP1, and changes parameters that reduce noise from the external sound output device SP1 based on the establishment of the parameter change conditions.

[0183] As described above, the work machine 100 can suppress noise by appropriately limiting the sound of the external sound output device SP1 when, for example, the operator OP is having a conversation with an external worker WK. That is, the control device (controller 30) monitors the parameter change condition, and when the parameter change condition is met, changes the parameter that reduces the noise of the external sound output device SP1, so that the external sound output device SP1 can output limited sounds from the operator OP. As a result, people who are not involved in the work and who are near the work machine 100 are prevented from feeling uncomfortable due to noise.

[0184] In addition, the control device (controller 30) monitors the parameter change conditions based on either ambient environment information detected from the ambient environment of the work machine 100 or internal state information detected from the internal state of the work machine 100.

[0185] This allows the control device (controller 30) to accurately monitor the parameter change conditions of the external sound output device SP1 based on the ambient environment information or the internal state information.

[0186] In addition, the parameter change condition is met when at least one of the following conditions is met: when a person not related to the work is detected in the surrounding environment information; when an area X that restricts sound is recognized in the surrounding environment information; when unnecessary sound from the cab 10 is extracted in the internal environment information; or when an operator OP selects an object (worker WK, imaging device S6) to output sound information in the internal environment.

[0187] This allows the work machine 100 to appropriately determine a situation in which it is better to limit the sound from the external sound output device SP1, and to limit the sound information from the external sound output device SP1 based on the determination result.

[0188] Furthermore, when a person not involved in the work is detected as a parameter change condition, the control device (controller 30) limits the sound directed to the detected person as a parameter change.

[0189] This allows the work machine 100 to suppress noise that is made to people who are not involved in the work.

[0190] Furthermore, when the control device (controller 30) recognizes area X as a parameter change condition, it restricts the sound for the recognized area X as a parameter change.

[0191] This allows the work machine 100 to suppress noise in a preset area X, for example.

[0192] Furthermore, when the work machine 100 moves, the control device (controller 30) moves the work machine 100 using the area X as a fixed coordinate, and changes the parameters of the external sound output device SP1 based on the area X.

[0193] As a result, even if the current position of the work machine 100 changes, the noise in that direction can be suppressed without changing the area X.

[0194] Furthermore, when the control device (controller 30) extracts unnecessary sounds from the operator cab 10 as a parameter change condition, the control device restricts the extracted unnecessary sounds as a parameter change.

[0195] This allows the work machine 100 to restrict the output of unnecessary sounds from the external sound output device SP1, and allows clear voices to be conveyed to the worker WK and the like.

[0196] In addition, when the operator OP selects an object (worker WK, imaging device S6) for which sound information is to be output as a parameter change condition, the control device (controller 30) changes the parameter by restricting sounds from directions other than those of the selected object.

[0197] This allows the work machine 100 to effectively suppress noises from directions other than the target direction selected by the operator OP.

[0198] Furthermore, the control device (controller 30) executes, as parameter changes, at least one of a process of reducing or setting to zero the volume of the external sound output device SP1 and a process of limiting the direction of the sound from the external sound output device SP1.

[0199] This allows the work machine 100 to appropriately suppress noise caused by the sound output from the external sound output device SP1.

[0200] Furthermore, when the volume of the external sound output device SP1 is reduced as a parameter change, the control device (controller 30) performs control to reduce the operating sound of the work machine 100.

[0201] As a result, even when the sound from the external sound output device SP1 is restricted, the work machine 100 can still adequately transmit the voice of the operator OP to surrounding workers WK.

[0202] The operator's cab 10 also has a release section (release icon 855a) that releases the change of parameters based on an operation by the operator OP.

[0203] This allows the operator OP to smoothly cancel the parameter change when he or she wishes to output unrestricted sound from the external sound output device SP1.

[0204] Furthermore, when the control device (controller 30) changes the parameters, it notifies the operator OP via the device in the operator cab 10 of information that the parameters have been changed.

[0205] This allows the operator OP to easily recognize that the sound from the external sound output device SP1 is being restricted.

[0206] The operator's cab 10 also has an operation unit (notification icon 855b) that turns on or off a notification of information that a parameter has been changed based on an operation by the operator OP.

[0207] This allows the operator OP to smoothly switch on and off the notification that the sound of the external sound output device SP1 is restricted.

[0208] The external sound output device SP1 also includes a plurality of speakers (a front speaker SP1F, a left speaker SP1L, a right speaker SP1R, and a rear speaker SP1B) that output sounds outside the cab 10 in different directions.

[0209] This allows the work machine 100 to easily restrict the direction of sound emitted by the external sound output device SP1.

[0210] The driver's cab 10 also has a talk button KS, and when the talk button KS is pressed, the internal sound collection device M2 collects sound, and the external sound output device SP1 outputs the sound collected by the internal sound collection device M2.

[0211] This allows the work machine 100 to output to the outside only the information that the operator OP wants to convey.

[0212] The vehicle also includes an external sound collection device M1 that collects sounds outside the cab 10, and an internal sound output device SP2 that outputs sounds toward the inside of the cab 10.

[0213] This allows the work machine 100 to easily transmit the voice of the worker WK outside to the operator OP in the cab 10.

[0214] In addition, the operation system SYS for a work machine 100 according to a second aspect of the present disclosure comprises a work machine 100 having a lower running body 1 and an upper rotating body 3 rotatably mounted on the lower running body 1, an internal sound collection device M2 that collects sounds from the operator of the work machine 100, an external sound output device SP1 that outputs sound to the outside of the work machine 100, and a control device (controller 30) that processes sound information acquired by the internal sound collection device M2, and the control device monitors parameter change conditions for outputting sound information from the external sound output device SP1 and changes parameters that reduce noise from the external sound output device SP1 based on the establishment of the parameter change conditions.

[0215] Even in this case, the operation system SYS of the work machine 100 can suppress noise by appropriately restricting the sound from the external sound output device SP1.

[0216] The preferred embodiments of the present disclosure have been described above. However, the invention according to the present disclosure is not limited to the above-described embodiments. Various modifications, substitutions, etc. may be applied to the above-described embodiments without departing from the scope of the invention according to the present disclosure. Furthermore, each of the features described with reference to the above-described embodiments may be combined as appropriate unless technically inconsistent. [Explanation of symbols]

[0217] 1···Undercarriage 1C···Crawler 1CL··Left crawler 1CR···Right crawler 2···Slewing mechanism 2A···Slewing hydraulic motor 2ML···Left traveling hydraulic motor 2MR···Right traveling hydraulic motor 3···Upper rotating body 4···Boom 5···Arm 6···Bucket 7···Boom cylinder 8···Arm cylinder 9···Bucket cylinder 10···Operator's cab 11···Engine 13···Regulator 14···Main pump 15···Pilot pump 17···Control valve unit 26···Operating device 26DL···Left traveling lever 26DR···Right traveling lever 26L···Left operating lever 26PL···Left traveling pedal 26PR···Right traveling pedal 26R···Right operating lever 27···Lever boot 28...Discharge pressure sensor 29...Operation sensor 30...Controller 31...Valve 40...Remote controller 42...Operation device 43...Operation sensor 50...Driver's seat 51...Seat 52...Backrest 53L...Left armrest 53R...Right armrest 54L...Left console 54R...Right console 55...Gate bar 56...Window console 100...Work machine 200...Management device 171-176...Control valve AT...Attachment D1, D1E...Display device D2...Input device DL...Volume dial DS...Operator's seat G1...Information transmission device G1B...Rear light bar G1F...Front light bar G1L...Left light bar G1R Right light bar GL Gate lock lever HS Horn button KS Speak button M1 External sound collector M1B Rear microphone M1F Front microphone M1L Left microphone M1R Right microphone M2, M2C, M2E Internal sound collector OP Operator PS Positioning device RC Remote control room RO Remote operator S1 Boom angle sensor S2 Arm angle sensor S3 Bucket angle sensor S4 Machine tilt sensor S5 Rotation sensor S6 Image capture device S6B Rear camera S6F Front camera S6L Left camera S6R Right camera SP1 External sound output device SP1B Rear speakerSP1F: Front speaker SP1L: Left speaker SP1R: Right speaker SP2, SP2C, SP2E: Internal sound output device SP2L: Left interior speaker SP2R: Right interior speaker SW: Switch SYS: Operation system T1, T2: Communication device WK: Operator

Claims

1. a lower running body; an upper rotating body rotatably provided on the lower traveling body; an operator's cab provided on the upper rotating body and in which an operator can ride; an internal sound collecting device provided inside the driver's cab; an external sound output device provided outside the driver's cab; a control device that processes sound information acquired by the internal sound collecting device, the control device monitors a parameter change condition for outputting the sound information from the external sound output device, and changes a parameter for reducing noise from the external sound output device based on the establishment of the parameter change condition. Work machinery.

2. the control device monitors the parameter change conditions based on either ambient environment information detected from the ambient environment of the work machine or internal state information detected from the internal state of the work machine.

2. The work machine according to claim 1.

3. The parameter change condition is satisfied when at least one of the following is satisfied: a person not involved in the work is detected in the surrounding environment information; an area where sound is restricted is recognized in the surrounding environment information; unnecessary sounds in the driver's cab are extracted in the internal state information; and a target for which the sound information is to be output is selected by the operator in the internal state information.

3. The work machine according to claim 2.

4. When the control device detects a person not involved in the work as the parameter change condition, the control device changes the parameter by limiting a sound for the detected person.

4. The work machine according to claim 3.

5. When the control device recognizes the area as the parameter change condition, the control device restricts sound for the recognized area as the parameter change.

4. The work machine according to claim 3.

6. When the work machine moves, the control device moves the work machine using the area as a fixed coordinate, and changes the parameters of the external sound output device based on the area.

6. A work machine according to claim 5.

7. When an unnecessary sound in the cab is extracted as the parameter change condition, the control device limits the extracted unnecessary sound as the parameter change.

4. The work machine according to claim 3.

8. when a target for which the sound information is to be output is selected by the operator as the parameter change condition, the control device limits sounds from directions other than the selected target as the parameter change condition.

4. The work machine according to claim 3.

9. The control device executes, as the change of the parameter, at least one of a process of reducing or setting to zero the volume of the external sound output device and a process of limiting the direction of the sound from the external sound output device. A work machine according to any one of claims 1 to 8.

10. When the volume of the external sound output device is reduced as a change in the parameter, the control device performs control to reduce the operation sound of the work machine.

10. The work machine according to claim 9.

11. The operator's cab has a cancellation unit that cancels the change of the parameter based on an operation by the operator. A work machine according to any one of claims 1 to 8.

12. When the parameter is changed, the control device notifies the operator via a device in the cab of information that the parameter has been changed. A work machine according to any one of claims 1 to 8.

13. The operator's cab has an operation unit that turns on or off a notification of information that the parameter has been changed based on an operation by the operator.

13. The work machine according to claim 12.

14. The external sound output device includes a plurality of speakers that output sounds in different directions outside the driver's cab. A work machine according to any one of claims 1 to 8.

15. The cab is provided with a speech button, When the talk button is pressed, the internal sound collection device collects sound, and the external sound output device outputs the sound collected by the internal sound collection device. A work machine according to any one of claims 1 to 8.

16. an external sound collecting device that collects sounds outside the cab; an internal sound output device that outputs sound toward the inside of the driver's cab, A work machine according to any one of claims 1 to 8.

17. a work machine including a lower traveling body and an upper rotating body rotatably provided on the lower traveling body; an internal sound collection device that collects the voice of the operator of the work machine; an external sound output device that outputs sound to the outside of the work machine; a control device that processes sound information acquired by the internal sound collecting device, the control device monitors a parameter change condition for outputting the sound information from the external sound output device, and changes a parameter for reducing noise from the external sound output device based on the establishment of the parameter change condition. Work machine operating systems.

Images