System for work machines

Abstract

To provide a work machine capable of grasping the location where verbal communication occurred at a work site.SOLUTION: The system for work machines includes work machines and a management unit for managing the work machines. The work machine includes: an upper rotating body; a lower running body; an operator cab placed on the upper rotating body; an external sound pickup unit placed outside the operator cab; an internal audio output unit placed inside the operator cab for outputting sounds collected by the external sound pickup unit; and a control unit that detects a verbal communication from the collected sounds and transmits a piece of position information associated with the verbal communication and sound data including the verbal communication to the management unit. The management unit correlates the map information showing the location of the work machine on the job site with the positional information associated with verbal communication.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to a system for a work machine. [Background technology]

[0002] Conventionally, a technique is known in which data acquired by an information acquisition device is stored in a volatile storage device in chronological order, and data stored during a specified period including the time when the shovel operator made a speech is identified and stored in a non-volatile storage device. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2019-7308 Summary of the Invention [Problem to be solved by the invention]

[0004] In the conventional technology described above, for example, if a speech is made outside the cab of a shovel, it is difficult for the shovel operator or shovel manager to understand where in the work site the speech was made.

[0005] The present disclosure has been made in consideration of the above circumstances, and aims to enable the location where an utterance was made to be ascertained at a work site. [Means for solving the problem]

[0006] A system for a work machine according to an embodiment of the present invention is a system for a work machine that includes a work machine and a management device that manages the work machine, wherein the work machine has an upper rotating body, a lower running body, a cab provided on the upper rotating body, an external sound collection device located outside the cab, an internal sound output device located inside the cab and outputting sound collected by the external sound collection device, and a control device that detects speech from the collected sound and transmits location information associated with the speech and sound data including the speech to the management device, and the management device associates map information of the work site where the work machine is located with the location information associated with the speech. [Effects of the Invention]

[0007] The location where the utterance was made can be ascertained at the work site. [Brief explanation of the drawings]

[0008] [Figure 1] 1 is a diagram showing an example of the system configuration of a system SYS for a work machine 100. FIG. [Figure 2] FIG. 1 is a side view of a work machine 100. [Figure 3] FIG. 1 is a top view of a work machine 100. [Figure 4] 2 is a diagram showing an example of the configuration of an external sound collection device M1 and an information transmission device G1 attached to a work machine 100. FIG. [Figure 5] 1 is a diagram illustrating an example of the configuration of a work machine 100 and a management device 200. FIG. [Figure 6] FIG. 2 is a top view of the interior of the operator's cab 10. [Figure 7] 1 is a perspective view of a work machine 100 with an operator OP on board and a worker WK positioned to the left and front of the work machine 100. FIG. [Figure 8] FIG. 2 is a diagram illustrating the functional configuration of each device included in the system SYS for a work machine. [Figure 9] FIG. 3 is a sequence diagram illustrating the operation of the system SYS for the work machine. [Figure 10]FIG. 10 is a diagram illustrating an example of a management screen. [Figure 11] FIG. 10 is a diagram illustrating an example of an utterance distribution screen. [Figure 12] FIG. 10 is a top view of another example configuration of the work machine 100. [Figure 13] FIG. 1 is a schematic diagram showing an example of the configuration of an operation system SYS1. DETAILED DESCRIPTION OF THE INVENTION

[0009] Hereinafter, embodiments of the present disclosure will be described with reference to the drawings. The embodiments described below are illustrative and do not limit the invention. Not all features and combinations thereof in the embodiments of the present disclosure are necessarily essential to the invention. In addition, identical or corresponding components in each drawing are designated by identical or corresponding reference numerals, and redundant description may be omitted.

[0010] FIG. 1 is a diagram showing an example of the system configuration of a system SYS for a work machine 100. As shown in FIG.

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

[0012] The system SYS for the work machine 100 in this embodiment includes a work machine 100-1, a work machine 100-2, a terminal device 300, and a management device 200. In the following description, the system SYS for the work machine 100 will be simply referred to as the system SYS. Furthermore, in the following description, the work machines 100-1 and 100-2 are assumed to be located at a single work site, and when there is no need to distinguish between the work machines 100-1 and 100-2, they will be referred to as work machines 100. Note that while Figure 1 shows two work machines 100 located at the work site, any number of work machines 100 may be located at the work site.

[0013] In the system SYS of this embodiment, the work machine 100, the management device 200, and the terminal device 300 are connected via a network or the like.

[0014] The management device 200 of this embodiment manages information collected from the work machines 100 arranged at the work site. The terminal device 300 of this embodiment is a terminal device that is mainly used by managers and the like who manage the work machines 100. Note that the terminal device 300 may also be a support device that is used by workers and the like who support work at the work site.

[0015] When an utterance is detected inside the cab 10 of the work machine 100 or at a work site where the work machine 100 is located, the work machine 100 of this embodiment acquires location information associated with the utterance. Then, the work machine 100 transmits to the management device 200 sound data including the utterance and log information including the location information associated with the utterance.

[0016] The position information associated with an utterance includes, for example, information indicating the direction in which the utterance occurred when the work machine 100 is used as the base point, information indicating the current position of the work machine 100 that detected the utterance, and information indicating the current position of the person who made the utterance. In the following description, the position indicated by the position information associated with an utterance may be synonymous with the position in which the utterance occurred.

[0017] More specifically, when an event involving speech is detected, the work machine 100 of this embodiment may acquire sound data including the speech, location information associated with the speech, image data of the surroundings of the work machine 100 when the event was detected, and operation data of the work machine 100, and store these as log information. The image data and operation data when the event was detected are, in other words, image data and operation data acquired during the period when data including the speech was collected.

[0018] Furthermore, when an event is detected, the work machine 100 of this embodiment may include information indicating the type of event in the log information. Furthermore, in this embodiment, information indicating the positions of other work machines 100 located at the work site may be included in the log information.

[0019] In this way, when an event accompanied by an utterance is detected, the work machine 100 of this embodiment transmits to the management device 200 log information including the utterance and location information associated with the utterance.

[0020] When the management device 200 collects log information from each of the work machines 100 arranged at the work site, it performs statistical processing on the collected log information and causes the terminal device 300 to display the results.

[0021] More specifically, the management device 200 displays on the terminal device 300 an image showing a map of the work site, overlaid with an image showing the frequency at which utterances occurred and the location at which the utterances occurred, based on the log information collected from the work machine 100. Note that the display destination of the management device 200 is not limited to the terminal device 300. The management device 200 may use a display or the like that the management device 200 has as the display destination.

[0022] In this embodiment, by displaying information indicating the location where the utterance occurred superimposed on a map of the work site in this way, the user of the management device 200 or terminal device 300 (the manager of the work site or work machine 100) can ascertain the location at the work site where the utterance occurred. In other words, according to this embodiment, the manager of the work site or work machine 100 can ascertain the location at the work site where communication took place between the operator of the work machine 100 and workers working at the work site.

[0023] 1, the management device 200 is realized by one information processing device, but this is not limiting. The management device 200 may be realized by multiple information processing devices. In other words, the functions realized by the management device 200 may be realized by multiple information processing devices.

[0024] Next, an overview of the work machine 100 will be described with reference to Figures 2 and 3. Figure 2 is a top view of the work machine 100, and Figure 3 is a side view of the work machine 100.

[0025] +X in Fig. 2 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. 3, +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. 2, +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. 2, 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.

[0026] 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.

[0027] 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.

[0028] 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.

[0029] 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.

[0030] 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.

[0031] 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.

[0032] 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.

[0033] 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.

[0034] 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.

[0035] 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 inside the cab 10, for example, on the ceiling of the cab 10. In addition to the front camera S6F, the cab 10 may be provided with a camera that captures images of the operator and the like inside 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.

[0036] 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.

[0037] 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.

[0038] 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.

[0039] 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.

[0040] 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.

[0041] 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.

[0042] In this embodiment, the external sound collection device M1 and the image capture device S6 may be integrated together. In other words, in this embodiment, the external sound collection device M1 and the image capture device S6 may be attached at the same position.

[0043] In addition, in this embodiment, the integrated external sound collecting device M1 and imaging device S6 may be attached near the center of rotation on the top surface of the upper rotating body 3, or may be attached near the center of rotation on the bottom surface of the upper rotating body 3.

[0044] 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.

[0045] 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.

[0046] 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.

[0047] 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.

[0048] 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.

[0049] Fig. 4 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. 4 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 referring to Fig. 4 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.

[0050] As shown in FIG. 4, 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.

[0051] 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. 7). 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.

[0052] 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.

[0053] 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.

[0054] 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.

[0055] 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.

[0056] 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.

[0057] 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 running 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.

[0058] 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.

[0059] 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.

[0060] 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.

[0061] 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.

[0062] 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.

[0063] 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."

[0064] Figure 5 is a diagram that shows a schematic example of the configuration of the work machine 100 and the management device 200. In Figure 5, 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.

[0065] 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.

[0066] 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.

[0067] 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.

[0068] 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.

[0069] 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 .

[0070] 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.

[0071] 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.

[0072] 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.

[0073] 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.

[0074] 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.

[0075] 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.

[0076] Also, as shown in FIG. 5, 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.

[0077] 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).

[0078] Next, a description will be given of the hardware configuration of the management device 200 of this embodiment. The management device 200 of this embodiment is a computer having a CPU 201, a storage device 202, a communication device 203, an input device 204, and a display device 205, which are all interconnected via a bus.

[0079] The CPU 201 controls the overall operation of the management device 200. The storage device 202 stores programs executed by the CPU 201 and various information related to the work machine 100. The communication device 203 communicates with the work machine 100 and terminal device 300 via a network.

[0080] The input device 204 is used to input information to the management device 200, and is realized by, for example, a keyboard, a pointing device, etc. The display device 205 displays various information output from the management device 200, and is realized by a display, etc.

[0081] Next, the interior of the cab 10 will be described with reference to Fig. 6. Fig. 6 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 open the door to enter the cab 10.

[0082] 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.

[0083] A left console 54L is disposed on the left side of the driver's seat 50, and a right console 54R is disposed on the right side. The left console 54L and the right console 54R extend in the front-to-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.

[0084] 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.

[0085] 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.

[0086] 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.

[0087] 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.

[0088] 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.

[0089] 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.

[0090] 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.

[0091] 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.

[0092] 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. 6. 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.

[0093] 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.

[0094] 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.

[0095] 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.

[0096] 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.

[0097] 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.

[0098] 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.

[0099] 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.

[0100] 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.

[0101] 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.

[0102] 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.

[0103] 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.

[0104] 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.

[0105] The conversation function is a function for realizing 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.

[0106] Fig. 7 is a perspective view of a work machine 100 with an operator OP on board and a worker WK standing on the left front side of the work machine 100. Fig. 7 shows how the voice of the operator OP is collected by the internal sound collection device M2 and output from the external sound output device SP1, and how the voice of the worker WK is collected by the external sound collection device M1 and output from the internal sound output device SP2.

[0107] In the work machine 100 shown in FIG. 7, an information transmission device G1 is provided at the top of each of the four side surfaces of the cab 10. A front light bar G1F provided at the top of the front surface of the cab 10 emits green light, and a left light bar G1L provided at the top of the left surface of the cab 10 emits white light. In FIG. 7, the front light bar G1F emitting green light has a dot pattern attached. When a worker WK sees the front light bar G1F emitting green light, he or she can recognize that his or her voice is being detected by the front microphone M1F. Note that, for clarity, other devices such as the imaging device S6 are not shown in FIG. 7.

[0108] The operating state of the conversation function includes an ON state (the state shown in FIG. 7) 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.

[0109] 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.

[0110] Furthermore, when the switch SW is operated to switch the operation state of the conversation function to a listening 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 a speaking 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 speaking while pressing the speaking button KS when the internal sound collection device M2 is available.

[0111] Next, with reference to FIG. 8, the functions of the controller 30 and management device 200 of the work machine 100 included in the system SYS of this embodiment will be described.

[0112] 8 is a diagram illustrating the functional configuration of each device in the system SYS for a work machine. First, the function of the controller 30 of the work machine 100 will be described.

[0113] The controller 30 of the work machine 100 of this embodiment has a sound collection control unit 301 , a sound analysis unit 302 , an event detection unit 303 , an event identification unit 304 , an information acquisition unit 305 , and an information output unit 306 .

[0114] The sound collection control unit 301 controls the external sound collection device M1 and the internal sound collection device M2. Specifically, the sound collection control unit 301 controls the start and end of sound collection using at least one of the external sound collection device M1 and the internal sound collection device M2. In other words, the sound collection control unit 301 starts sound collection at a predetermined start timing and ends sound collection at a predetermined end timing.

[0115] The predetermined start timing in this embodiment may be, for example, the timing when the work machine 100 is keyed on, or the timing when the operation state of the conversation function, which will be described later, is turned on. In this case, the predetermined end timing may be the timing when the work machine 100 is keyed off, or the timing when the operation state of the conversation function is turned off.

[0116] Furthermore, the predetermined start timing in this embodiment may be the timing when a specific operation is started on the work machine 100. The specific operation may be, for example, an operation on the attachment AT of the work machine 100 or an operation to cause the work machine 100 to travel. In this case, the predetermined end timing may be the timing when the specific operation on the work machine 100 has ended.

[0117] Furthermore, the predetermined start timing in this embodiment may be the timing when the work machine 100 is placed in a specific operation mode. The specific operation mode may be, for example, a crane mode or an operation mode that executes a payload function that calculates the load inside the bucket 6. In this case, the predetermined end timing may be the timing when a specific operation on the work machine 100 is completed.

[0118] The predetermined start timing may be the timing at which an event is detected by the event detection unit 303. In this case, the predetermined end timing may be the timing at which the event detected by the event detection unit 303 ends, or may be the timing at which a certain time has elapsed since the event ended.

[0119] That is, the sound collection control unit 301 of this embodiment may start collecting sound when an event is detected, or may start collecting sound at a predetermined start timing that is set in advance, separate from the detection of an event. Details of events will be described later.

[0120] The sound analysis unit 302 analyzes the sound data collected by the external sound collection device M1 and the internal sound collection device M2. Specifically, the sound analysis unit 302 detects speech from the collected sound data. The sound analysis unit 302 may also perform speech recognition processing on the sound data and convert the sound data into text data.

[0121] Furthermore, when speech is detected, the sound analysis unit 302 identifies the direction from which the speech originated. Furthermore, when sounds other than speech are included in the collected sound data, the sound analysis unit 302 separates the speech from the other sounds and identifies the direction of the sound source that generated the other sounds and the type of the other sounds. The direction from which the speech originated and the direction of the sound source that generated the other sounds are identified based on the sound data collected by the front microphone M1F, the left microphone M1L, the right microphone M1R, and the rear microphone M1B.

[0122] The event detection unit 303 detects the occurrence of an event according to the analysis result of the sound analysis unit 302. The event detection unit 303 also detects the end of an event according to the analysis result of the sound analysis unit 302. Specifically, the event detection unit 303 may detect the end of an event when the phenomenon that was detected as an event is no longer detected.

[0123] Here, an event in this embodiment will be described.

[0124] An event in this embodiment may be, for example, an utterance by the operator of the work machine 100 who is in the cab 10, or an utterance by a worker who is in the vicinity of the work machine 100. In other words, an event in this embodiment includes an event accompanied by audio that occurs inside the work machine 100 (an inside audio event), and an event accompanied by audio that occurs outside the work machine 100 (an outside audio event).

[0125] In this embodiment, by detecting the speech of the operator of the work machine 100 and surrounding workers as an event, sound data including the conversation history of the operator of the work machine 100 and surrounding workers can be transmitted to the management device 200.

[0126] Furthermore, the event in this embodiment may be the timing when the operation state of a conversation function, which will be described later, is turned on.

[0127] In this embodiment, by detecting as an event that it has become possible to have a conversation with the operator of the work machine 100 or surrounding workers, sound data including the conversation (utterance) that is about to begin between the operator of the work machine 100 and surrounding workers can be acquired and transmitted to the management device 200.

[0128] In addition, the event in this embodiment may be the appearance of a specific keyword in the utterance. The specific keyword may be, for example, a word that is associated with a dangerous situation, and may be predetermined and stored in the controller 30.

[0129] In this embodiment, by doing this, it is possible to detect the possibility of a dangerous situation occurring, and further, it is possible to transmit sound data including a conversation history when there is a possibility of a dangerous situation occurring to the management device 200.

[0130] Furthermore, the event in this embodiment may be the key being turned on for the work machine 100. In this embodiment, by doing this, sound data including speech while the work machine 100 is operating can be acquired and transmitted to the management device 200.

[0131] Furthermore, the event of this embodiment may be a sound that satisfies a specific condition. A sound that satisfies the specific condition may be, for example, a sound whose volume is equal to or greater than a predetermined volume, or a sound that is sufficiently loud compared to the volume of the sound collected immediately before. A sufficiently loud sound may be, for example, a sound whose volume is greater than the volume of the sound collected immediately before by a predetermined amount. A sound that satisfies the specific condition may be, for example, a sound that notifies of danger. A sound that notifies of danger may be, for example, a horn or a siren.

[0132] In this embodiment, by doing this, it is possible to detect the occurrence of an event requiring attention around the work machine 100, and also to transmit sound data including the speech made at that time to the management device 200.

[0133] Furthermore, a sound that satisfies a specific condition may be, for example, an operating sound that is inconsistent with the operation of the work machine 100. In this embodiment, by doing so, it is possible to detect the possibility of an operation error on the work machine 100, and to acquire and transmit sound data including the speech made at that time to the management device 200.

[0134] Furthermore, the sound that satisfies a specific condition may be, for example, a sound that notifies of an abnormality in the work machine 100. Sounds that notify of an abnormality in the work machine 100 include, for example, a sound that indicates an oil temperature abnormality. Sounds that notify of an abnormality in the work machine 100 may be stored in advance by the event detection unit 303. In this embodiment, by doing this, it is possible to detect that an abnormality may have occurred in the work machine 100, and sound data including the speech made at that time can be acquired and transmitted to the management device 200.

[0135] Furthermore, the event in this embodiment may be the work machine 100 being placed in a specific operation mode. The specific operation mode may be, for example, a crane mode or an operation mode in which a payload function is executed that calculates the load inside the bucket 6. In this way, it is possible to detect that the work machine 100 has been placed in a specific mode, and to obtain sound data including the speech spoken at that time and transmit it to the management device 200.

[0136] Furthermore, the event of this embodiment may be the detection of an object or person around the work machine 100 by an object detection device. Specifically, for example, the event detection unit 303 may detect the occurrence of an event when an object or person is detected by the object detection device. Furthermore, the event of this embodiment may be the detection of a dangerous behavior based on image data of the front of the work machine 100 acquired by the front camera S6F. Furthermore, the event of this embodiment may be the detection of a dangerous behavior based on image data of the operator acquired by a camera provided inside the cab 10.

[0137] A dangerous act based on image data of the front of the work machine 100 acquired by the front camera S6F may specifically be, for example, an act of driving forward despite the image shown in the image data acquired by the front camera S6F including an image of a person. Also, a dangerous act based on the image data of the operator may specifically be, for example, falling asleep at the wheel while driving.

[0138] In this embodiment, by doing so, sound data including speech when an object or person approaches the work machine 100 can be acquired and transmitted to the management device 200.

[0139] Furthermore, the event in this embodiment may be the detection of a specific call. The specific call may be, for example, a call to guide the work machine 100. In this way, sound data including speech when the work machine 100 is being guided by a nearby worker can be acquired and transmitted to the management device 200.

[0140] Furthermore, the event in this embodiment may be detecting dangerous behavior of a worker around the work machine 100 from an image of the surroundings of the work machine 100. Dangerous behavior includes, for example, behavior of approaching the work machine 100.

[0141] In this way, the events in this embodiment are mainly events accompanied by speech. Events accompanied by speech include those detected based on voices inside the work machine 100 and those detected based on voices outside the work machine 100.

[0142] In addition, the events in this embodiment may further include events detected based on images (video) inside the work machine 100 (near misses, which will be described later) and events detected based on images (video) outside the work machine 100 (near misses, which will be described later).

[0143] The event identification unit 304 identifies the type of event according to the content of the event detected by the event detection unit 303 .

[0144] Specifically, for example, if the detected event is "utterance," the event identification unit 304 may identify the type of the event as "utterance." Also, if the detected event is "words associated with a dangerous situation," the event identification unit 304 may identify the type of the event as "dangerous situation."

[0145] Furthermore, if the detected event is "utterance," the event identification unit 304 may identify the person who spoke. Specifically, for example, the event identification unit 304 may store voice data for each worker in advance. Then, if the detected event is "utterance," the event identification unit 304 may compare the pre-stored voice data for each worker with the collected sound data to identify the person who spoke.

[0146] The event identification unit 304 may also identify the person speaking by performing face recognition processing or the like on a face image included in an image captured by an imaging device that captures the direction in which the utterance occurred. Furthermore, the event identification unit 304 may also identify the current location of the person who spoke from the direction in which the utterance occurred and the face image included in the image captured in this direction.

[0147] In this embodiment, in detecting an event involving speech, the person who spoke and the current location of the person who spoke may be identified.

[0148] Furthermore, if the detected event is a "sound notifying of danger," the event identification unit 304 may identify the type of the event as a "near miss." Furthermore, if dangerous behavior of a worker in the vicinity of the work machine 100 is detected, the event identification unit 304 may also identify the type of this event as a "near miss."

[0149] Furthermore, if the identified event is the detection of a sound that does not match the operation content of the work machine 100, the event identification unit 304 may identify the type of the detected event as "possible operation error." Furthermore, if the detected event is the detection of a person around the work machine 100, the event identification unit 304 may identify the type of the event as "person detection." Furthermore, if the identified event is a sound that notifies of an abnormality in the work machine 100, the event identification unit 304 may identify the type of the event as "abnormality detection."

[0150] In this embodiment, event type information that associates the above-mentioned event content with the event type may be stored in advance in the controller 30, and the event identification unit 304 may identify the type of event by referring to the event content detected by the event detection unit 303 and the event type information stored in the controller 30.

[0151] The information acquisition unit 305 acquires log information. Specifically, when an event is detected by the event detection unit 303, the information acquisition unit 305 acquires sound data collected by at least one of the external sound collection device M1 and the internal sound collection device M2. This sound data includes voice data of the speech of the operator OP of the work machine 100 and surrounding workers WK.

[0152] Furthermore, the information acquisition unit 305 acquires location information associated with the utterance. Specifically, the information acquisition unit 305 may acquire location information indicating the current location of the work machine 100 that detected the event (the work machine 100 that detected the utterance) as location information associated with the utterance. Furthermore, the information acquisition unit 305 may acquire information indicating the current location of the person who made the utterance as location information associated with the utterance.

[0153] Furthermore, the information acquisition unit 305 acquires information indicating the type of event identified by the event identification unit 304 and information indicating the date and time when the event was detected by the event detection unit 303 .

[0154] Furthermore, the information acquisition unit 305 acquires image data from the imaging device S6 and operation data including output values ​​of various sensors of the work machine 100. In other words, when an event involving speech is detected, the information acquisition unit 305 of this embodiment acquires image data acquired by the imaging device S6 during the period in which sound data including the speech was collected, and operation data including values ​​output by the various sensors during the period in which sound data including the speech was collected.

[0155] The image data in this embodiment may be video data. The image data acquired by the information acquisition unit 305 may be image data acquired from a camera that captures an image in a direction corresponding to the direction from which the utterance originated, among the front camera S6F, the left camera S6L, the right camera S6R, and the rear camera S6B.

[0156] The information acquisition unit 305 then associates the sound data including the speech, the location information associated with the speech, the information indicating the type of event and the date and time the event was detected, the image data, and the operation data to generate log information. Note that the log information may include machine identification information that identifies the work machine 100 that acquired the log information.

[0157] The information output unit 306 transmits the log information acquired by the information acquisition unit 305 to the management device 200. Specifically, the information output unit 306 may transmit the log information to the management device 200 every time the event detection unit 303 detects an event. Alternatively, the information output unit 306 may hold the log information acquired by the information acquisition unit 305 for a certain period of time and periodically transmit the held log information to the management device 200.

[0158] Next, a description will be given of the functions of the management device 200. The management device 200 includes an information collection unit 211, a storage control unit 212, a statistical processing unit 213, and a display control unit 214.

[0159] The information collection unit 211 collects log information from each work machine 100 included in the work machine 100. The storage control unit 212 stores the log information collected by the information collection unit 211 in the storage device 202 for each work machine 100.

[0160] In this embodiment, the machine identification information of the work machine 100 managed by the management device 200 and information specifying the work site where the work machine 100 is located may be stored in association with each other in the storage device 202. The information specifying the work site may be identification information that specifies the work site, or the name or address of the work site. Furthermore, in the management device 200 of this embodiment, map information showing a map of the work site may be acquired in advance in the storage device 202.

[0161] Note that the map information of the work site in this embodiment includes information indicating the topography of the work site and the layout of buildings within the work site. The map information of the work site also includes information indicating the layout of the work machines 100 that are deployed at the work site. In this embodiment, the map information also includes position information that indicates the location of the work site. Specifically, the map information of the work site may be image data of an aerial photograph of the work site.

[0162] In the management device 200 of this embodiment, when the information collection unit 211 collects log information from the work machine 100, the storage control unit 212 may associate the log information with the work site based on the machine identification information included in the log information, and store the log information in the storage device 202.

[0163] The statistical processing unit 213 performs statistical processing on the log information for each work site stored in the storage device 202 by the storage control unit 212 .

[0164] The statistical processing by the statistical processing unit 213 will be described below. The statistical processing unit 213 of this embodiment may, for example, divide an area that will be the work site into a plurality of areas and count the number of utterances detected in each of the divided areas. Furthermore, the statistical processing unit 213 may count the number of events detected for each type of event in each of the plurality of areas into which the work site is divided.

[0165] That is, the statistical processing unit 213 determines the location and frequency of occurrence of events accompanied by speech at the work site. In other words, the statistical processing unit 213 determines the distribution of the occurrence frequency of events accompanied by speech at the work site.

[0166] The display control unit 214 causes the terminal device 300 to display a screen showing the results of processing by the statistical processing unit 213. Specifically, the display control unit 214 causes the terminal device 300 to display a screen including an image in which an image showing the tabulation results by the statistical processing unit 213 is superimposed on a map of the work site. Details of a display example of the screen on the terminal device 300 will be described later. Note that the display control unit 214 may also cause the display device 205 to display a screen showing the results of processing by the statistical processing unit 213.

[0167] In the above-described system SYS, the management device 200 may include a sound analysis unit 302, an event detection unit 303, and an event identification unit 304.

[0168] In this case, the work machine 100 only needs to have the functions of a sound collection control unit 301, an information acquisition unit 305, and an information output unit 306, and acquires sound data, image data and operation data acquired during the period when the sound data was collected, and transmits these acquired data to the management device 200.

[0169] In this embodiment, by doing so, the processing load on the controller 30 can be reduced.

[0170] Next, the operation of the system SYS of this embodiment will be described with reference to Fig. 9. Fig. 9 is a sequence diagram illustrating the operation of the system SYS for a work machine.

[0171] In the system SYS of this embodiment, when the work machine 100 detects an event (step S901), it acquires log information (step S902).

[0172] Next, the work machine 100 transmits the acquired log information to the management device 200 (step S903). Note that, in the example of Fig. 9, the operations from step S901 to step S903 are considered to be a series of operations, but this is not limiting. The processing of steps S901 and S902 on the work machine 100 and the processing of step S903 may each be executed at independent times.

[0173] The management device 200 collects log information transmitted from each work machine 100 deployed at the work site using the information collection unit 211, and stores the log information of each work machine 100 for each work site in the storage device 202 using the storage control unit 212 (step S904).

[0174] Next, the management device 200 causes the statistical processing unit 213 to perform statistical processing on the log information for each work site stored in the storage device 202 (step S905).

[0175] The processing of the statistical processing unit 213 in step S905 may be executed each time the information collection unit 211 collects log information from the work site, or may be executed at an independent timing different from the collection of log information from the work machine 100.

[0176] Furthermore, the processing of the statistical processing unit 213 in step S905 may be executed when a request to display a management screen is received from the terminal device 300, as will be described later.

[0177] In the system SYS, when the management device 200 receives a request to display a management screen from the terminal device 300 (step S906), the display control unit 214 refers to the memory device 202 and sends an instruction to the terminal device 300 to display a screen including a list of work sites (step S907).

[0178] Based on this display instruction, the terminal device 300 displays a management screen including a list of work sites (step S908).

[0179] Next, when a work site is selected on the management screen, the terminal device 300 notifies the management device 200 of the selected work site (step S909). Upon receiving this notification, the management device 200 causes the display control unit 214 to send to the terminal device 300 a display instruction for a screen including the results of statistical processing of the log information corresponding to the selected work site (step S910). In other words, the display control unit 214 of the management device 200 sends to the terminal device 300 a display instruction for an utterance distribution screen indicating the positions at which events involving utterances were detected in the selected work site and the frequency with which they were detected.

[0180] The terminal device 300 receives this display instruction and displays the utterance distribution screen (step S911).

[0181] An example of the display on the terminal device 300 will be described below with reference to Figures 10 and 11. Figure 10 is a diagram showing an example of a management screen.

[0182] 10 is an example of a management screen displayed on the terminal device 300. The screen 311 is displayed on the terminal device 300 in step S908 of FIG.

[0183] Screen 311 includes display areas 312 and 313. Display area 312 displays a map including the work site selected in display area 313. Display area 313 displays a list of work sites managed by management device 200.

[0184] Specifically, the name of the work site, the number of work machines 100 arranged at the work site, and the address of the work site are displayed in the display area 313. Note that the information items displayed in the display area 312 are one example, and the information items displayed on the management screen are not limited to the example shown in Fig. 9.

[0185] The example of screen 311 shows a case where the work site name "Work Site 1" is selected from the list of work sites displayed in display area 313. In this case, an icon image 312a indicating the work site name "Work Site 1" may be displayed in display area 312.

[0186] In this embodiment, when a work site is selected on the screen 311, the display on the terminal device 300 transitions from the screen 311 to a distribution screen for the selected work site, which will be described later.

[0187] Fig. 11 is a diagram showing an example of an utterance distribution screen. A screen 311A ​​shown in Fig. 11 is an example of an utterance distribution screen displayed on the terminal device 300. The screen 311A ​​is displayed on the terminal device 300, for example, in step S911 of Fig. 9.

[0188] Screen 311 includes display areas 312A and 313A, and operation buttons 314 and 315. Display area 312A displays a map of the work site selected on screen 311 and icon images indicating the frequency and detection locations of utterances. In other words, display area 312A displays icon images indicating the frequency at which events accompanied by utterances were detected and the locations at which events accompanied by utterances were detected. Details of display area 312A will be described later.

[0189] Display area 313A displays a list of types of events detected at the work site selected on screen 311, and the number of times each type of event has been detected.

[0190] Operation button 314 is an operation button for displaying an icon image for each type of event in display area 312 A. In the present embodiment, for example, when operation button 314 is operated on screen 311 A and an event type is selected from the list of event types displayed in display area 313 A, an icon image indicating the frequency (number of times) that the selected type of event has been detected and the detection position may be displayed in display area 312 A.

[0191] Operation button 315 is an operation button for displaying icon images indicating the detection frequency and the detection position for all events in display area 312 A. In this embodiment, when operation button 315 is selected on screen 311 A, icon images indicating the detection count and the detection position for all types of events displayed in display area 313 A may be displayed in display area 312 A.

[0192] The following describes display area 312A shown in Fig. 11. In the example of Fig. 11, for example, operation button 315 is operated, and icon images indicating the number of times and detection positions of all types of events displayed in display area 313A are displayed in display area 312A.

[0193] On the map of the work site 1 displayed in the display area 312A, icon images of the two work machines 100 located at the work site 1 are displayed at positions corresponding to the location of each work machine 100. Specifically, in the example of Fig. 11, an icon image 324 representing work machine 100-1 and an icon image 325 representing work machine 100-2 are displayed superimposed on the map.

[0194] Furthermore, in the display area 312A, the icon images 321, 322, and 323 may be displayed at positions where events corresponding to each icon image have been detected at the work site, in display modes that correspond to the types of events corresponding to each icon image. Note that, although the icon images 321, 322, and 323 are circular in the example of Fig. 11, the shape of the icon images is not limited to circular and may be any shape. For example, the icon images 321, 322, and 323 may be shaped according to the type of event, and specifically may be shaped like a person, a speech bubble, a lightning bolt, or the like.

[0195] Furthermore, each of the icon images 321, 322, and 323 may be displayed in a size that corresponds to the number of detected utterances (utterance frequency) at the position where the icon image is displayed.

[0196] 11, of icon images 321, 322, and 323, icon image 321 is the largest, followed by icon image 322, and then icon image 321 is the smallest. Therefore, in the example of Fig. 11, it can be seen that the location at work site 1 corresponding to the position where icon image 321 is displayed has the most number of events accompanied by speech detected, and the location at work site 1 corresponding to the position where icon image 323 is displayed has the least number of events accompanied by speech detected.

[0197] In the example of FIG. 11, the type of event corresponding to icon image 321 is "utterance," the type of event corresponding to icon image 322 is "near miss," and the type of event corresponding to icon image 323 is "person detection."

[0198] In this case, at the work site 1, a "person detected" event was detected along with the speech near the attachment AT of the work machine 100-2 corresponding to the icon image 325, and a "near miss" event was detected along with the speech to the right of the work machine 100-2.

[0199] Furthermore, in the example of FIG. 11, it can be seen that many "utterance" events are detected at work site 1 at positions relatively far from work machine 100-1 and work machine 100-2.

[0200] In this embodiment, for example, when an operation to select a specific icon image from the icon images displayed in the display area 312A is accepted, log information corresponding to the selected icon image may be displayed.

[0201] The log information corresponding to the icon image may be a list of log information compiled for displaying the icon image.

[0202] Specifically, for example, when icon image 322 is selected in display area 312A, management device 200 may extract log information whose event type is "near miss" from the log information corresponding to work machine 100-2 stored in storage device 202, and display a list of the log information on terminal device 300. Then, management device 200 may allow the user of terminal device 300 to view image data and sound data included in the extracted log information in accordance with an operation on terminal device 300.

[0203] In this way, in this embodiment, map information of the work site, the position where the utterance was detected at the work site, and information indicating the number of times the utterance was detected (frequency of the utterance detection) are displayed. Therefore, according to this embodiment, the manager of the work site can easily grasp the location where the utterance occurred at the work site.

[0204] In addition, in this embodiment, by displaying icon images superimposed on a map in a display mode corresponding to the type of event involving speech, the work site manager or the like can visually understand the type of event detected at the work site, the frequency of detection, and the location where it was detected.

[0205] 11, the type of event detected at the work site, the frequency of detection, and the location where the event was detected are displayed as icon images, but this is not limiting. In this embodiment, for example, a speech bubble or the like may be displayed at the location where the event was detected on the map of the work site, and the type of the detected event, the frequency of detection, etc. may be displayed in the speech bubble.

[0206] Next, another example configuration of the work machine 100 will be described with reference to Fig. 12. Fig. 12 is a top view of another example configuration of the work machine 100. The work machine 100 shown in Fig. 12 differs from the work machine 100 shown in Fig. 2 in that the external sound output device SP1 is made up of four speakers (front speaker SP1F, left speaker SP1L, right speaker SP1R, and rear speaker SP1B). In the work machine 100 shown in Fig. 2, the external sound output device SP1 is made up of a single omnidirectional speaker provided above the cab 10.

[0207] With this configuration, the work machine 100 shown in FIG. 12 can output sound toward the worker WK in front of the work machine 100 without outputting sound toward the workers WK to the left, right, and rear of the work machine 100, for example, by turning on the front speaker SP1F (a state in which sound can be output) and turning off the left speaker SP1L, the right speaker SP1R, and the rear speaker SP1B (a state in which sound cannot be output).

[0208] 12, 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.

[0209] 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.

[0210] 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.

[0211] In the work machine 100 shown in Fig. 12, the controller 30 may detect a worker WK around the work machine 100 based on images captured by the imaging device S6, and identify the position of the worker WK. Furthermore, if there are multiple workers WK around the work machine 100, the controller 30 may distinguish between a conversation target (a worker WK who is speaking) and a non-conversation target (a worker WK who is not speaking) based on the output of the four external sound collection devices M1. The controller 30 may also distinguish between a conversation target (a worker WK facing the work machine 100) and a non-conversation target (a worker WK who is not facing the work machine 100) based on images captured by the imaging device S6. The controller 30 may then turn on the speaker and light bar facing the worker WK. For example, if there is a worker WK (speaking) behind the work machine 100, the controller 30 may turn on the rear speaker SP1B while keeping the front speaker SP1F, left speaker SP1L, and right speaker SP1R off. In this case, the controller 30 may turn on the rear light bar G1B while keeping the front light bar G1F, left light bar G1L, and right light bar G1R off. Note that this type of function may be implemented in the work machine 100 shown in Figures 2 to 7.

[0212] With this configuration, the controller 30 can output sound in the direction where the worker WK is located without outputting sound in the direction where the worker WK is not present, so the worker WK can easily recognize whether he or she is considered a conversation target or non-target.

[0213] Next, an example configuration of the operation system SYS1 according to this embodiment will be described with reference to Fig. 13. Fig. 13 is a schematic diagram showing an example configuration of the operation system SYS1. As shown in Fig. 13, the operation system SYS1 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. 13. This is because the work machine 100 shown in Fig. 13 has the same configuration as the work machine 100 shown in Fig. 2 or Fig. 12.

[0214] 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.

[0215] 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.

[0216] 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.

[0217] The operation system SYS1 may include one or more work machines 100. When the operation system SYS1 includes multiple work machines 100, the remote operator RO of a specific work machine 100 can obtain information about the work site obtained by that specific work machine 100, as well as information about the work site obtained by one or more other work machines 100.

[0218] 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.

[0219] The communication device T2 is configured to be able to communicate with the communication device T1 attached to the work machine 100.

[0220] 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.

[0221] 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.

[0222] 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 emitted at the work site. The internal sound output device SP2E may be configured to output sound captured by an external sound collection device M1 attached to the outside of the cab 10, for example, or may be configured to output sound captured by an internal sound collection device M2 attached to the inside of the cab 10.

[0223] In this case, the internal sound collection device M2 may be provided at a position corresponding to the position of the ears of an operator seated in the driver's seat 50 in the driver's 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 function), or a bone conduction function.

[0224] The operating device 42 is provided with an operation sensor 43 for detecting the operation of the operating device 42. The operation sensor 43 is, for example, an inclination sensor that detects the inclination angle of the operating lever, or an angle sensor that detects the swing angle of the operating 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.

[0225] The operation sensor 43 outputs information relating 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. In this case, the operation sensor 43 may output the operation signal to the communication device T2 without going 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.

[0226] 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 the above-mentioned management device 200, internal sound collection device M2C, and internal sound output device SP2C.

[0227] 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).

[0228] 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.

[0229] In this embodiment, an utterance by the administrator may also be detected as an event. In this embodiment, when an utterance by the administrator is detected as an event, sound data including the utterance by the administrator may be included in the log information.

[0230] 13, the remote controller 40 in the remote control room RC may have the functions of the controller 30 of the work machine 100. Specifically, the remote controller 40 may have a sound collection control unit 301, a sound analysis unit 302, an event detection unit 303, an event identification unit 304, an information acquisition unit 305, and an information output unit 306. In this case, the controller 30 of the work machine 100 does not need to have these functions.

[0231] Thus, in this embodiment, in the system SYS for a work machine, the work machine 100 has a controller 30 that detects speech from collected sounds and transmits location information associated with the speech and sound data including the speech to the management device 200, and the management device 200 associates map information of the work site where the work machine 100 is located with the location information associated with the speech.

[0232] In this embodiment, by configuring in this manner, the management device 200 manages the locations of utterances made at the work site, and allows the manager of the work site or the like to know where utterances were detected at the work site.

[0233] In addition, in this embodiment, the utterance is an utterance associated with an event, and the location information associated with the utterance is location information indicating the location of the person who made the utterance, and when an event is detected, the controller 30 transmits to the management device 200 sound data including the content of the utterance associated with the event and location information indicating the location of the person who made the utterance.

[0234] In this embodiment, with this configuration, the location of a person who has spoken at a work site can be notified to a manager or the like of the work site.

[0235] In addition, in this embodiment, the management device 200 has a display control unit 214 that causes the terminal device 300 to display information indicating that an event involving an utterance has occurred on the map of the work site based on map information of the work site and location information associated with the utterance.

[0236] In this embodiment, by configuring in this way, it is possible for a manager or the like of the work site to visually and easily grasp the position at which an utterance has been detected in the work site.

[0237] Furthermore, in this embodiment, the information indicating that an event accompanied by speech has occurred is an icon image corresponding to the type of event accompanied by speech, and the display control unit 214 causes the terminal device 300 to display an image in which the icon image is superimposed at a position indicated by the location information associated with the speech on the map of the work site.

[0238] In this embodiment, by configuring in this way, a manager or the like at the work site can easily visually grasp the type and detected position of an event involving speech at the work site.

[0239] Furthermore, in this embodiment, the icon image is displayed in a display mode that corresponds to the total number of times that an event of the type corresponding to the icon image has been detected.

[0240] In this embodiment, by configuring in this way, it is possible for a manager or the like at a work site to visually and easily grasp the number of times each type of event accompanied by speech has been detected.

[0241] Furthermore, in this embodiment, the controller 30 transmits to the management device 200 log information including location information associated with the utterance, sound data including the utterance, image data captured by the imaging device S6 during the period when the sound is being collected, operation data of the work machine 100 acquired during the period when the sound is being collected, and information indicating the type of event.

[0242] In this embodiment, by configuring in this way, it is possible to store in the management device 200 information indicating the situation at the site when an event involving speech is detected.

[0243] Furthermore, in this embodiment, the management device 200 has a memory control unit 212 that stores log information received from the work machine 100 in the memory device 202 in association with the work site where the work machine 100 is located and machine identification information that identifies the work machine 100, and a statistical processing unit 213 that tally up events detected at the work site by event type based on the log information stored in the memory device 202.

[0244] In this embodiment, with this configuration, it is possible to manage log information when an event involving speech is detected for each work site.

[0245] Furthermore, in this embodiment, when an icon image is selected on the terminal device 300, the management device 200 outputs to the terminal device 300 log information corresponding to the type of event indicated by the selected icon image.

[0246] In this embodiment, by configuring in this way, a manager or the like at the work site can check the situation at the work site when an event is detected.

[0247] In this embodiment, the work machine 100 is provided with a plurality of external sound collection devices M1.

[0248] In this embodiment, with this configuration, the controller 30 can detect the direction of the sound source based on differences in the collected sounds (for example, phase shifts or volume differences).

[0249] In addition, in this embodiment, the work machine 100 has an internal sound collection device M2 arranged inside the cab 10, and an external sound output device SP1 arranged outside the cab and outputting the sound collected by the internal sound collection device M2.

[0250] In this embodiment, with this configuration, the operator of the work machine 100 can speak to the worker using the external sound output device SP1.

[0251] In addition, in this embodiment, the work machine 100 is equipped with 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 toward the surroundings of the work machine 100.

[0252] In this embodiment, with this configuration, the operator of the work machine 100 can speak to workers in the vicinity of the work machine 100 by pressing the speech button when he or she wants to speak.

[0253] The preferred embodiments of the present invention have been described above in detail. However, the present invention 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 present invention. Furthermore, features described separately may be combined unless technical contradictions arise. [Explanation of symbols]

[0254] 1 Undercarriage 2. Swivel mechanism 3 Upper rotating body 4. Boom 5 Arm 6 buckets 30 Controllers D1 display device 100 Work Machinery 301 Sound collection control unit 302 Sound Analysis Department 303 Event detection unit 304 Event Specific Department 305 Information Acquisition Department 306 Information Output Unit

Claims

1. A system for a work machine including a work machine and a management device that manages the work machine, The work machine includes: An upper rotating body; a lower running body; an operator's cab provided on the upper rotating body; an external sound collecting device disposed outside the driver's cab; an internal sound output device that is arranged in the driver's cab and outputs the sound collected by the external sound collection device; a control device that detects an utterance from the collected sound and transmits location information associated with the utterance and sound data including the utterance to the management device; The management device A system for a work machine that associates map information of a work site where the work machine is located with location information associated with the utterance.

2. the utterance is an utterance associated with an event, the location information associated with the utterance is location information indicating the location of a person who made the utterance, The control device 2. The system for a work machine according to claim 1, wherein when the event is detected, sound data including the content of the utterance associated with the event and location information indicating the location of the person who made the utterance are transmitted to the management device.

3. The management device 2. A system for a work machine according to claim 1, further comprising a display control unit that causes a terminal device to display information indicating that an event involving the utterance has occurred on a map of the work site based on map information of the work site and location information associated with the utterance.

4. the information indicating that the event involving speech has occurred is an icon image corresponding to the type of the event involving speech, The display control unit 4. The system for a work machine according to claim 3, wherein an image in which the icon image is superimposed on a position on the map of the work site indicated by the position information associated with the utterance is displayed on the terminal device.

5. The icon image is 5. The system for a work machine according to claim 4, wherein the icon image is displayed in a display mode corresponding to the total number of times that an event of the type corresponding to the icon image has been detected.

6. The control device 5. A system for a work machine according to claim 4, wherein log information including location information associated with the utterance, sound data including the utterance, image data captured by an imaging device during the period when the sound is being collected, operation data of the work machine acquired during the period when the sound is being collected, and information indicating the type of the event is transmitted to the management device.

7. The management device a storage control unit that stores log information received from the work machine in a storage device in association with the work site where the work machine is located and machine identification information that identifies the work machine; 7. The system for a work machine according to claim 6, further comprising: a statistical processing unit that compiles the events detected at the work site for each type of event based on the log information stored in the storage device.

8. The management device 8. The system for a work machine according to claim 7, wherein when the icon image is selected on the terminal device, log information corresponding to the type of the event indicated by the selected icon image is output to the terminal device.

9. The work machine includes: The system for a work machine according to claim 1 , wherein a plurality of the external sound collecting devices are provided.

10. The work machine includes: an internal sound collecting device disposed in the cab; The system for a work machine according to claim 1 , further comprising: an external sound output device disposed outside the operator's cab and configured to output the sound collected by the internal sound collection device.

11. The work machine includes: Equipped with a talk 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 toward the periphery of the work machine.

11. A system for a work machine according to claim 10.

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