Work machine and control system for work machine

Abstract

To provide a work machine capable of ensuring smooth and effective communication.SOLUTION: A work machine in a disclosed embodiment includes: a lower traveling body; an upper turning body that is turnably mounted on the lower traveling body; an operator cab placed on the upper turning body; an internal sound collection device placed inside the operator cab; an internal sound output device placed inside the operator cab; a communication device; and a control device that is configured to control first sound signal represents the sound collected by the internal sound collection device to be transmitted to another work machine via the communication device, and to output, from the internal sound output device, the sound represented by the second sound signal received from another work machine via the communication device.SELECTED DRAWING: Figure 4

Description

[Technical Field]

[0001] The present invention relates to a work machine and a control system for the work machine. [Background technology]

[0002] Conventionally, there have been proposed techniques for outputting predetermined alerts to the surrounding area for work machines, which make it possible to alert people in the vicinity. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2022-152362 Summary of the Invention [Problem to be solved by the invention]

[0004] Depending on the work site, multiple work machines may be working in close proximity. In this case, in order to communicate between the work machines, it is necessary to open the windows of each work machine so that sounds from the other work machines can be heard. In some cases, it may be necessary to get out of the driver's seat of the work machine to talk.

[0005] One aspect of the present invention is to facilitate communication between operators operating other work machines. [Means for solving the problem]

[0006] A work machine according to one embodiment of the present invention comprises a lower running body, an upper rotating body mounted on the lower running body so as to be freely rotatable, a cab provided on the upper rotating body, an internal sound collection device arranged inside the cab, an internal sound output device arranged inside the cab, a communication device, and a control device configured to control the transmission of a first sound signal indicating a sound collected by the internal sound collection device to another work machine via the communication device, and to control the output from the internal sound output device of a sound indicated in a second sound signal received from the other work machine via the communication device. [Effects of the Invention]

[0007] According to one aspect of the present invention, communication can be smoothly carried out between operators operating other work machines. [Brief explanation of the drawings]

[0008] [Figure 1] 1 is a side view of a work machine according to an embodiment of the present disclosure; FIG. [Figure 2] FIG. 2 is a top view of the work machine shown in FIG. [Figure 3] 2 is a diagram showing an example of the configuration of an external sound collecting device and an information transmitting device attached to the work machine shown in FIG. 1. [Figure 4] FIG. 2 is a diagram illustrating an example of the configuration of the work machine shown in FIG. [Figure 5] FIG. 2 is a top view of the interior of the cab of the work machine shown in FIG. [Figure 6] FIG. 1 is a perspective view of a work machine on which an operator is riding and workers around the work machine. [Figure 7] 1 is a diagram illustrating a wireless communication management system for performing two-way communication between work machines according to a first embodiment. [Figure 8] FIG. 3 is a sequence diagram showing a processing procedure for realizing two-way conversation between a work machine according to the first embodiment and another work machine. [Figure 9] FIG. 2 is a diagram showing an example of a display screen displayed by the display device according to the first embodiment. [Figure 10A]FIG. 4 is a diagram illustrating an example of a pairing confirmation screen displayed by an output control unit of the work machine according to the first embodiment. [Figure 10B] FIG. 10 is a diagram illustrating an example of a pairing request acceptance screen displayed by an output control unit of another work machine according to the first embodiment. [Figure 11] FIG. 4 is a diagram illustrating an example of a screen for switching the sound output destination, displayed by the output control unit according to the first embodiment. [Figure 12] FIG. 10 is a top view of another example of the configuration of the work machine according to the second embodiment. [Figure 13] FIG. 10 is a schematic diagram illustrating an example of the configuration of an operation system according to a third embodiment. 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] The work machine 100 according to the embodiment of the present disclosure is a shovel. The work machine 100 may be a machine other than a shovel, such as a crane, an asphalt finisher, or a forklift. In the illustrated example, the shovel serving as the work machine 100 is an excavator equipped with a bucket 6 as an end attachment, but the work machine 100 may also be an applied machine such as a forestry machine equipped with an end attachment other than the bucket 6.

[0011] (First embodiment) First, an overview of a work machine 100 will be described with reference to Figures 1 and 2. Figure 1 is a top view of the work machine 100, and Figure 2 is a side view of the work machine 100.

[0012] +X in Fig. 1 represents one direction of the X axis that constitutes a three-dimensional Cartesian coordinate system, and -X represents the other direction of the X axis. In Fig. 2, +Y represents one direction of the Y axis that constitutes a three-dimensional Cartesian coordinate system, and -Y represents the other direction of the Y axis. In Fig. 1, +Z represents one direction of the Z axis that constitutes a three-dimensional Cartesian coordinate system, and -Z represents the other direction of the Z axis. In Fig. 1, the +X side of the work machine 100 corresponds to the front side of the work machine 100, and the -X side of the work machine 100 corresponds to the rear side of the work machine 100. Furthermore, the +Y side of the work machine 100 corresponds to the left side of the work machine 100, and the -Y side of the work machine 100 corresponds to the right side of the work machine 100. Furthermore, the +Z side of the work machine 100 corresponds to the top side of the work machine 100, and the -Z side of the work machine 100 corresponds to the bottom side of the work machine 100. The same applies to the other figures.

[0013] 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.

[0014] 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.

[0015] 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.

[0016] 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.

[0017] 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.

[0018] 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.

[0019] Note that in the work machine 100, all or some of the driven parts, such as the lower traveling body 1, upper rotating body 3, boom 4, arm 5, and bucket 6, may be electrically driven. In other words, the work machine 100 may be a hybrid excavator, an electric excavator, or the like, in which all or some of the driven parts are driven by electric actuators.

[0020] 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.

[0021] 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.

[0022] The front camera S6F is a camera that captures images in front of the work machine 100, and is attached to the exterior 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, for example, to the ceiling of the cab 10, i.e., 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 behind 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.

[0023] 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.

[0024] The imaging device S6 may constitute an object detection device that detects objects in the vicinity of the work machine 100. 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 a point cloud of one million or more points within a monitoring range and the LiDAR (laser source). 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 derive the distance and direction of the object by emitting a number of signals (laser light, etc.) toward the object and receiving the reflected signals. 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.

[0025] 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 includes a front microphone M1F, a left microphone M1L, a right microphone M1R, and a rear microphone M1B.

[0026] The front microphone M1F is a microphone that collects sounds generated in front of the work machine 100, and is attached to the exterior 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 ceiling of the cab 10, i.e., the interior of the cab 10, for example. 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. Electrical signals generated by the front microphone M1F, left microphone M1L, right microphone M1R, and rear microphone M1B are taken into the controller 30.

[0027] 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.

[0028] 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.

[0029] 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.

[0030] 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.

[0031] 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.

[0032] 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.

[0033] 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.

[0034] Fig. 3 is a diagram showing an example configuration of an external sound collection device M1 and an information transmission device G1 attached to a work machine 100. Specifically, Fig. 3 is a perspective view of a left microphone M1L and a left light bar G1L attached to a housing having a substantially rectangular parallelepiped shape. Note that the following description with reference to Fig. 3 relates to the combination of the left microphone M1L and the left light bar G1L, but it also applies to the combination of the front microphone M1F and the front light bar G1F, the combination of the right microphone M1R and the right light bar G1R, and the combination of the rear microphone M1B and the rear light bar G1B.

[0035] As shown in FIG. 3, the left microphone M1L and left light bar G1L are arranged on the left side of a substantially rectangular parallelepiped housing so as to face to the left of the work machine 100. With this arrangement, the left microphone M1L can efficiently collect sounds generated to the left of the work machine 100, and the left light bar G1L can efficiently communicate the status of the work machine 100 to an operator on the left of the work machine 100. For example, the left microphone M1L can pick up the voice uttered by an operator on the left of the work machine 100, and the left light bar G1L can notify the operator that the left microphone M1L has picked up the operator's voice by emitting light in a predetermined color. In this case, an operator on the left of the work machine 100 who speaks into the left microphone M1L can confirm that their voice has reached the left microphone M1L (i.e., the operator of the work machine 100) by seeing the left light bar G1L emitting light in a predetermined color.

[0036] The information transmission device G1 may be provided at the upper part of each of the four side surfaces of the cab 10 (see FIG. 6). For example, the information transmission device G1 may be configured so that a front light bar G1F is attached to the upper part of the front surface of the cab 10, a left light bar G1L is attached to the upper part of the left surface of the cab 10, a right light bar G1R is attached to the upper part of the right surface of the cab 10, and a rear light bar G1B is attached to the upper part of the rear surface of the cab 10. The information transmission device G1 may also be a single rotating light such as a Nico Torch attached to the upper surface of the cab 10, or a display device such as a liquid crystal display or an organic EL display.

[0037] 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.

[0038] 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.

[0039] 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.

[0040] 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.

[0041] 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.

[0042] The rotation sensor S5 outputs information related to the rotation of the upper rotating body 3. The rotation sensor S5 detects, for example, the rotation angular velocity of the upper rotating body 3 relative to the lower traveling body 1. The rotation sensor S5 may also detect the rotation angle. The rotation sensor S5 may be, for example, a gyro sensor, a resolver, or a rotary encoder. A detection signal corresponding to the rotation angle or rotation angular velocity of the upper rotating body 3 detected by the rotation sensor S5 is input to the controller 30.

[0043] The positioning device PS measures the position of the upper rotating body 3. The positioning device PS is, for example, a GNSS (Global Navigation Satellite System) compass, and detects the position and orientation of the upper rotating body 3. 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 an orientation sensor attached to the upper rotating body 3. The positioning device PS according to this embodiment measures the current position of the work machine 100 in a reference coordinate system that can identify positions in the world.

[0044] The reference coordinate system is, for example, the World Geodetic System, which can identify positions on Earth. The World Geodetic System is a three-dimensional Cartesian XYZ coordinate system with its origin at the center of gravity of the Earth, its X axis pointing toward the intersection of the Greenwich Meridian and the equator, its Y axis pointing toward 90 degrees east longitude, and its Z axis pointing toward the North Pole.

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

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

[0047] The short-range wireless communication device BT directly connects to other work machines and communicates with the other connected work machines. The short-range wireless communication device BT is a communication module or the like that complies with a short-range wireless communication standard with a communication distance of within several tens of meters. One possible short-range wireless communication standard is Bluetooth (registered trademark). For example, by using a "Class 1" Bluetooth (registered trademark) device as the short-range wireless communication device BT, the work machine 100 can achieve a direct connection with other work machines approximately 100 m away. Note that in this embodiment, the short-range wireless communication standard is not limited to a method that uses Bluetooth (registered trademark), and Wi-Fi (registered trademark), ZigBee (registered trademark), or the like, may also be used.

[0048] 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.

[0049] 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.

[0050] 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."

[0051] Figure 4 is a diagram that schematically shows an example of the configuration of a work machine 100. In Figure 4, the mechanical power transmission system, hydraulic oil lines, pilot lines, and electrical control system are indicated by double lines, thick solid lines, thick dashed lines, and dotted lines, respectively.

[0052] 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.

[0053] 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.

[0054] 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.

[0055] 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.

[0056] 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 .

[0057] 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.

[0058] The discharge pressure sensor 28 is configured to detect the discharge pressure of the main pump 14. In the example shown in the figure, the discharge pressure sensor 28 outputs the detected value to the controller 30.

[0059] 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.

[0060] 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 proportional 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.

[0061] Proportional 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 ​​that pipe can be changed. In the illustrated example, proportional valve 31 operates in response to a control command output by controller 30. Therefore, controller 30 can adjust the pilot pressure acting on the pilot port of the control valve using proportional valve 31, regardless of the operation of operating device 26 by the operator.

[0062] 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.

[0063] As shown in FIG. 4, the control system of the work machine 100 includes a controller 30, a display device D1, an input device D2, a talk button KS, an external sound collection device (an example of an external sound collection device) M1, an internal sound collection device (an example of an internal sound collection device) M2, an external sound output device (an example of an external sound output device) SP1, an internal sound output device (an example of an internal sound output device) SP2, an external volume dial DL1, an internal volume dial DL2, a switch SW, a memory device 35, and a communication device T1.

[0064] 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.

[0065] Furthermore, the controller 30 may be configured to perform control relating to a machine guidance function that guides (provides guidance for) the manual operation of the work machine 100 by the operator via the operation device 26. Furthermore, the controller 30 may be configured to perform control relating to a machine control function that automatically assists the manual operation of the work machine 100 by the operator via the operation device 26.

[0066] Note that some of the functions of the controller 30 may be realized by another controller (control device). That is, the functions of the controller 30 may be realized in a distributed manner by a plurality of controllers. For example, the machine guidance function and the machine control function may be realized by a dedicated controller (control device).

[0067] The interior of the cab 10 will now be described with reference to Figure 5. Figure 5 is a top view of the interior of the cab 10. The work machine 100 is equipped with a driver's seat 50, an operating device 26, a display device D1, and the like, which are arranged inside the cab 10. A door for getting on and off is provided on the left side of the driver's seat 50. The operator can enter the cab 10 by opening the door for getting on and off.

[0068] 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.

[0069] 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.

[0070] The left armrest 53L is disposed on the left console 54L. The right armrest 53R is disposed on 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.

[0071] The operating device 26 includes a left operating lever 26L, a right operating lever 26R, a left travel pedal 26PL, a right travel pedal 26PR, a left travel lever 26DL, and a right travel lever 26DR.

[0072] The left operation lever 26L is provided in front of the left console 54L. Similarly, the right operation lever 26R is provided in front of the right console 54R. An operator seated in the driver's seat 50 can operate the left operation lever 26L while holding the left operation lever 26L with his left hand, and can operate the right operation lever 26R while holding the right operation lever 26R with his right hand. An operator seated in the driver's seat 50 can operate the left operation lever 26L with his left hand to drive the arm cylinder 8 and the swing hydraulic motor 2A. In addition, an operator seated in the driver's seat 50 can operate the right operation lever 26R with his right hand to drive the boom cylinder 7 and the bucket cylinder 9. The bases of the left operation lever 26L and the right operation lever 26R are covered with lever boots 27.

[0073] 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.

[0074] 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.

[0075] 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.

[0076] 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.

[0077] 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.

[0078] 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.

[0079] When the gate lock lever GL is in the second operating position, the gate bar 55 is raised forward (passing prohibited state) so as to prevent the operator from passing through the boarding / exiting door, as shown in Fig. 5. On the other hand, when the gate lock lever GL is in the first operating position, the gate bar 55 is housed inside the left console 54L (passing permitted state) so as not to prevent the operator from passing through the boarding / exiting door.

[0080] 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.

[0081] 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.

[0082] 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.

[0083] 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.

[0084] 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.

[0085] 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.

[0086] 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.

[0087] 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.

[0088] 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.

[0089] 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.

[0090] 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.

[0091] The storage device 35 is provided, for example, in the cab 10, and stores various types of information under the control of the controller 30. The storage device 35 is, for example, a non-volatile storage medium such as a semiconductor memory. The storage device 35 stores information for suppressing sound output from the internal sound output device SP2. The storage device 35 may store data relating to a target construction plane that is acquired via the communication device T1 or the like, or that is set via the input device D2 or the like. The target construction plane may be set (saved) by the operator of the work machine 100, or may be set by a construction manager or the like.

[0092] 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.

[0093] The conversation function is a function for enabling a conversation between an operator OP of the work machine 100 and a worker WK located around the work machine 100, as shown in FIG. 6. FIG. 6 is a perspective view of the work machine 100 on which the operator OP is riding and the worker WK located at the front left of the work machine 100. FIG. 6 shows the operator OP's voice being collected by the internal sound collection device M2 and output from the external sound output device SP1, and the worker WK's voice being collected by the external sound collection device M1 and output from the internal sound output device SP2. In the work machine 100 shown in FIG. 6, an information transmission device G1 is provided at the top of each of the four side surfaces of the cab 10. The front light bar G1F provided at the top of the front of the cab 10 emits green light, and the left light bar G1L provided at the top of the left side of the cab 10 emits white light. In FIG. 6, the front light bar G1F emitting green light has a dot pattern attached. When the worker WK sees the front light bar G1F emitting green light, he or she can recognize that his or her voice is being detected by the front microphone M1F. Note that, for clarity, other devices such as the imaging device S6 are not shown in Figure 6.

[0094] The operating state of the conversation function includes an ON state (the state shown in FIG. 6) in which conversation between the operator OP and the worker WK is possible, and an OFF state in which conversation between the operator OP and the worker WK is not possible. However, the operating state of the conversation function may additionally include at least one of an audible state (with respect to the operator OP) in which the operator OP can hear the worker WK's voice but the worker WK cannot hear the operator OP's voice, and an utterance enabled state (with respect to the operator OP) in which the worker WK can hear the operator OP's voice but the operator OP cannot hear the worker WK's voice.

[0095] Specifically, when the switch SW is operated to switch the operation state of the conversation function to the ON state, the external sound collection device M1, the external sound output device SP1, the internal sound collection device M2, and the internal sound output device SP2 become available. Conversely, when the switch SW is operated to switch the operation state of the conversation function to the OFF state, the external sound collection device M1, the external sound output device SP1, the internal sound collection device M2, and the internal sound output device SP2 become unavailable. Furthermore, when the switch SW is operated to switch the operation state of the conversation function to the audible state, the external sound collection device M1 and the internal sound output device SP2 become available. Furthermore, when the switch SW is operated to switch the operation state of the conversation function to the speech-enabled state, the external sound output device SP1 and the internal sound collection device M2 become available. In the illustrated example, the operator OP can use the external sound output device SP1 to talk to the worker WK by pressing the speech button KS and speaking when the internal sound collection device M2 is available.

[0096] By controlling the controller 30 according to this embodiment, the internal sound output device SP2 provided inside the cab 10 outputs the sound collected by the external sound collection device M1, and the external sound output device SP1 provided outside the cab 10 outputs the sound collected by the internal sound collection device M2. The controller 30 can switch between the sound output from the internal sound output device SP2 and the sound output from the external sound output device SP1 in response to an operation from the operator OP, thereby realizing two-way conversation. The controller 30 according to this embodiment controls the sound output in response to an operation, thereby preventing simultaneous output of sound from the internal sound output device SP2 and the external sound output device SP1, thereby preventing the occurrence of feedback and the like. Note that this embodiment is not limited to the method of performing this switching control, and sound may be output simultaneously from the external sound output device SP1 and the internal sound output device SP2.

[0097] When the controller 30 simultaneously controls output from the internal sound output device SP2 and output from the external sound output device SP1, the sound output from the sound output devices SP1 and SP2 may be collected by the sound collection devices M2 and M1, resulting in an echo (reverberation) similar to an "echo." Therefore, the controller 30 may execute an echo cancellation function on the sound represented by the sound signal acquired from the external sound collection device M1 or the internal sound collection device M2. The echo cancellation function may be any function that removes echoes. For example, an echo suppressor method that prevents one person's voice from being picked up while the other person's voice is being heard may be used, or an echo canceller method that removes echoes (reverberation) collected by the sound collection devices M2 and M1 may be used. Furthermore, the echo cancellation function may use any method, regardless of the well-known method described above.

[0098] [Management system including work machines according to this embodiment] Conventionally, there are work sites where a work machine 100 works in close proximity to other work machines. When communicating between the work machine 100 and the other work machines, it is necessary to open a window or the like so that the voice from the other work machine can be heard. In this case, air enters through the window, making it difficult to control the air conditioning inside the cab 10. Furthermore, dust and the like are often floating around at work sites. When a window is opened, dust and the like can enter the driver's seat, and the inside of the cab 10 may become dirty with dust and the like.

[0099] Although it is possible to use hands-free calling using a mobile phone, it is not used frequently because it requires the time and effort of registering the phone number in advance. Also, in the case of a personal mobile phone, the phone number must be given, which can lead to privacy issues such as the phone number being leaked to a third party.

[0100] Therefore, in this embodiment, two-way communication is carried out by wirelessly connecting a plurality of work machines present at a work site.

[0101] Figure 7 is a diagram illustrating a wireless communication management system for performing two-way communication between work machines according to this embodiment. In the example shown in Figure 7, a work machine 100 and another work machine 100A are present at a work site. A management device 200 that manages the work site is connected to the other work machine 100A and the work machine 100 via a communication network.

[0102] 7 is a work machine that performs work in the same work site as the work machine 100 and in close proximity to the work machine 100, and the other work machine 100A has a similar configuration to the work machine 100. For example, the other work machine 100A has a cab 10, an internal sound collection device M2 arranged inside the cab 10, an internal sound output device SP2 arranged inside the cab 10, a short-range wireless communication device BT, a communication device T1, and a controller 30.

[0103] In other words, since the other work machine 100A and the work machine 100 are each equipped with a short-range wireless communication device BT, a connection can be established between the other work machine 100A and the work machine 100, allowing two-way conversation to take place.

[0104] There may be three or more work machines at a work site. In such cases, the work machine 100 may not know which work machine to connect to. Therefore, in this embodiment, the management device 200 manages information about work machines (for example, the work machine 100, other work machines 100A) that exist at the work site.

[0105] Specifically, the work machine 100 and the other work machine 100A transmit to the management device 200 identification information (for example, machine number) that identifies the work machine 100 and the other work machine 100A, network identification information (for example, equipment name) defined for performing wireless communication with the short-range wireless communication device BT, position information indicating the position measured by the positioning device PS, and administrator information that indicates the administrator that manages the work machine. Note that the identification information (for example, machine number) that identifies the work machine 100 and the other work machine 100A and the network identification information defined for performing wireless communication with the short-range wireless communication device BT may be the same.

[0106] The management device 200 stores the identification information, network identification information (e.g., device name), location information, and administrator information in a storage device in association with each other. Then, the management device 200 transmits, at predetermined time intervals, to each work machine present at the work site the identification information, network identification information, location information, and administrator information of all work machines present at the work site in association with each other.

[0107] For example, each of the work machine 100 and the other work machine 100A identifies the network identification information of the work machine it wishes to connect to based on the received information, and establishes a connection using the network identification information. Therefore, each of the work machine 100 and the other work machine 100A can carry out two-way conversations with the work machine with which it has established a connection.

[0108] The other work machine 100A according to this embodiment may be a shovel, or may be equipment other than a shovel, such as a dump truck, a crane, an asphalt finisher, or a forklift.

[0109] [Controller function configuration] 4, the configuration for limiting the volume output from the external sound output device SP1 by the controller 30 will be described. The controller 30 includes an acquisition unit 301, an operation reception unit 302, an output control unit 303, and a communication control unit 304. Furthermore, a storage device 35 connected to the controller 30 stores information received from the management device 200.

[0110] The acquisition unit 301 acquires detection results from various sensors provided on the work machine 100. For example, the acquisition unit 301 acquires image information indicating the imaging results from the imaging device S6. The acquisition unit 301 also acquires position information (including position and orientation) of the work machine 100 from the positioning device PS.

[0111] The acquisition unit 301 also acquires, from the external sound collection device M1, a sound signal representing a sound generated around the work machine 100. Furthermore, the acquisition unit 301 acquires, from the internal sound collection device M2, a sound signal (an example of a first sound signal) representing a sound including a voice uttered by the operator OP sitting in the operator seat.

[0112] Furthermore, the acquisition unit 301 executes a noise canceling function on the sound represented by the sound signal acquired from the external sound collection device M1 or the internal sound collection device M2. A well-known method may be used for noise canceling, for example, by superimposing a sound in the opposite phase to the noise component to remove the noise component. Furthermore, the acquisition unit 301 may also perform processing to emphasize the human voice band on the sound represented by the sound signal acquired from the external sound collection device M1 or the internal sound collection device M2. By having the acquisition unit 301 execute the noise canceling function, it becomes easier to understand what is being said when the output control unit 303 outputs a sound based on the sound signal.

[0113] The operation receiving unit 302 receives an operation from the operator OP via one or more of the input device D2, the speech button KS, and the switch SW. For example, the operation receiving unit 302 receives an operation indicating whether the speech button KS has been pressed.

[0114] As another example, the operation receiving unit 302 receives an operation to turn on the switch SW or an operation to turn off the switch SW. When the controller 30 receives an operation to turn on the switch SW, the controller 30 activates the voice output function, and when the controller 30 receives an operation to turn off the switch SW, the controller 30 stops the voice output function.

[0115] The output control unit 303 controls the output of a sound based on a sound signal acquired from the external sound collection device M1 or the internal sound collection device M2 from the internal sound output device SP2 or the external sound output device SP1.

[0116] When the output control unit 303 receives an operation to turn on the switch SW, it controls the internal sound output device SP2 to output a sound based on a sound signal acquired from the external sound collection device M1.

[0117] Furthermore, when the output control unit 303 receives an operation to turn off the switch SW, it stops the control of outputting the sound based on the sound signal acquired from the external sound collection device M1 from the internal sound output device SP2. The following processing will be described for the case where the switch SW is on.

[0118] The output control unit 303 in this embodiment controls the output of sound based on the sound signal acquired from the internal sound collection device M2 from the external sound output device SP1 while the operation reception unit 302 is receiving the press of the talk button KS.

[0119] That is, the output control unit 303 switches between control to output the sound collected by the external sound collection device M1 from the internal sound output device SP2 and control to output the sound collected by the internal sound collection device M2 from the external sound output device SP1, depending on whether the talk button (an example of a first operation) KS is pressed. This control enables the operator OP to talk to people around the work machine (for example, the worker WK) at the desired timing, and also prevents sounds from being output simultaneously from the internal sound output device SP2 and the external sound output device SP1, thereby preventing the occurrence of howling and the like.

[0120] In this way, the output control unit 303 according to this embodiment makes it possible to control the output of sound collected by the external sound collection device M1 from the internal sound output device SP2, and also makes it possible to control the output of sound collected by the internal sound collection device M2 from the external sound output device SP1. This allows two-way conversation between the operator OP in the cab 10 and people present in the vicinity of the work machine 100. Therefore, work can be coordinated through two-way conversation, thereby improving work efficiency.

[0121] The communication control unit 304 controls the transmission of a sound signal (an example of a first sound signal) indicating the sound collected by the internal sound collection device M2 to another work machine via a short-range wireless communication device BT that complies with a close-proximity wireless communication standard. The communication control unit 304 receives a sound signal (an example of a second sound signal) from the other work machine via the short-range wireless communication device BT. The output control unit 303 outputs the sound indicated in the received sound signal from the internal sound output device SP2.

[0122] The communication control unit 304 uses a short-range wireless communication device BT that complies with a short-range wireless communication standard to establish a connection with another work machine, and then controls the transmission and reception of information to and from the other work machine. In this embodiment, by using a short-range wireless communication device BT that complies with a short-range wireless communication standard, it is possible to achieve power savings and reduced communication costs compared to using a communication device that uses a public communication line. Note that this embodiment is not limited to a method of performing communication using a short-range wireless communication device BT that complies with a short-range wireless communication standard; for example, the communication control unit 304 may control communication with another work machine using a communication device T1 that communicates with external devices via a communication network including a mobile communication network, a satellite communication network, the Internet, or the like.

[0123] For example, the communication control unit 304 transmits a pairing request to the other work machine via the short-range wireless communication device BT, and when acceptance of the pairing request is received from the other work machine via the short-range wireless communication device BT, a connection is established with the other work machine. After the connection is established, the operator OP of the work machine 100 can speak to the operator of the other work machine 100A at a desired timing and can also hear in real time what the operator of the other work machine 100A is saying, making communication easier.

[0124] In this embodiment, any method may be used by the operator OP of the work machine 100 to select a connection destination. For example, the output control unit 303 displays the identification information (e.g., machine number) of other work machines present at the work site on the display device D1, and the operation reception unit 302 receives the selection of the identification information (e.g., machine number) of the other work machine via the touch panel of the input device D2. Then, when the communication control unit 304 receives the selection of the identification information (e.g., machine number) of the other work machine, it transmits a pairing request to the other work machine 100A indicated by the network identification information associated with the received identification information. Note that the identification information (e.g., machine number) that identifies the other work machine 100A and the network identification information (e.g., device name) of the short-range wireless communication device BT mounted on the other work machine 100A may be associated in advance, or the same information may be used.

[0125] As another method for selecting a connection destination, for example, the output control unit 303 displays map information on the display device D1 that indicates the relative positions between the work machine 100 and the other work machine 100A based on the received position information of the other work machine. The map information displays, for example, icons (an example of information indicating a work machine) that represent each of the work machine 100 and the other work machine 100A. The operation reception unit 302 then receives a selection of the icon for the other work machine 100A via the touch panel of the input device D2. When the communication control unit 304 receives the selection of an icon, it transmits a pairing request to the other work machine 100A that is indicated by the identification information corresponding to the icon whose selection has been received. The method of receiving the selection of an icon from map information allows the operator OP to select a connection destination based on its positional relationship with the other work machine 100A. In other words, the operator OP can intuitively select a connection destination, thereby reducing the operational burden. In this embodiment, an example will be described in which icons are used as an example of information indicating a work machine, but information other than icons may also be used.

[0126] After the communication connection is established, the communication control unit 304 uses the short-range wireless communication device BT to transmit a sound signal (an example of a first sound signal) indicating the sound collected by the internal sound output device SP2 to the other work machine 100A.

[0127] Then, the communication control unit 304 receives a sound signal (an example of a second sound signal) from another work machine 100A that has output the sound indicated in the first sound signal from its internal sound output device SP2, the sound signal including the sound collected by the internal sound collection device M2 of the other work machine 100A.

[0128] Furthermore, in this embodiment, depending on the operation received by the operation receiving unit 302, the communication control unit 304 switches whether or not to transmit a sound signal (an example of a first sound signal) indicating the sound collected by the internal sound collection device M2 to another work machine 100A via the short-range wireless communication device BT.

[0129] Next, a description will be given of the processing procedure for realizing two-way conversation between the work machine 100 according to this embodiment and another work machine 100A. Fig. 8 is a sequence diagram showing the processing procedure for realizing two-way conversation between the work machine 100 according to this embodiment and another work machine 100A.

[0130] The acquisition unit 301 acquires information about each of the surrounding work machines from the management device 200 via the communication device T1 (S1801). For example, the acquired information includes identification information (e.g., machine number), network identification information, location information, and administrator information.

[0131] The output control section 303 displays a list of identification information (machine numbers) of surrounding work machines and map information on the display device D1 (S1802). Specific screens will be described later.

[0132] The operation reception unit 302 receives the selection of the work machine to be paired from the list or map information (S1803).

[0133] The communication control unit 304 transmits a pairing request via the short-range wireless communication device BT to the network identification information of the other work machine 100A whose selection has been accepted (S1804).

[0134] The output control unit 303 of the other work machine 100A displays a pairing request acceptance screen based on the received pairing request (S1851). Then, the operation acceptance unit 302 of the other work machine 100A accepts an operation to accept pairing from the pairing request acceptance screen (S1852). The specific screen will be described later.

[0135] The communication control unit 304 of the other work machine 100A transmits the pairing result (acceptance of the pairing request) to the work machine 100 via the short-range wireless communication device BT (S1853).

[0136] Based on the received pairing result, the output control section 303 of the work machine 100 displays on the display device D1 that the pairing was successful (S1805).

[0137] Therefore, a mutual communication connection is established between the short-range wireless communication device BT of the work machine 100 and the short-range wireless communication device BT of the other work machine 100A (S1806).

[0138] Then, the operation receiving unit 302 receives the pressing of the talk button KS (S1807). The acquiring unit 301 acquires a sound signal indicating the sound collected by the internal sound collection device M2 while the talk button KS is being pressed (S1808).

[0139] The communication control unit 304 transmits a sound signal to the other work machine 100A with which a connection has been established via the short-range wireless communication device BT (S1809).

[0140] Then, the output control section 303 of the other working machine 100A outputs the sound indicated by the received sound signal from the internal sound output device SP2 (S1854).

[0141] The operation acceptance unit 302 of the other work machine 100A accepts that the talk button KS has been pressed (S1855). The acquisition unit 301 of the other work machine 100A acquires a sound signal indicating the sound collected by the internal sound collection device M2 while the talk button KS continues to be pressed (S1856).

[0142] The communication control section 304 of the other work machine 100A transmits a sound signal to the work machine 100 with which a connection has been established via the short-range wireless communication device BT (S1857).

[0143] The output control section 303 of the work machine 100 outputs the sound indicated by the received sound signal from the internal sound output device SP2 (S1810).

[0144] The operation receiving unit 302 receives an operation to cancel pairing (S1811). The method for canceling pairing may be any known method.

[0145] Then, the communication control unit 304 transmits a pairing cancellation request to the other work machine 100A with which a connection has been established via the short-range wireless communication device BT (S1812).

[0146] Then, the communication control unit 304 of the construction machine 100 performs control to cancel the pairing with the other construction machine 100A (S1813).

[0147] Similarly, the communication control unit 304 of the other work machine 100A performs control to cancel the pairing with the work machine 100 (S1858).

[0148] The output control section 303 of the work machine 100 displays on the display device D1 a message to the effect that the pairing has been cancelled (S1814).

[0149] Similarly, the output control section 303 of the other work machine 100A displays on the display device D1 a message to the effect that pairing has been cancelled (S1859).

[0150] In this embodiment, two-way conversation between the work machine 100 and the other work machine 100A can be realized by performing the above-described processing between the work machine 100 and the other work machine 100A.

[0151] In this embodiment, while the talk button KS continues to be pressed, the communication control unit 304 transmits a sound signal indicating the sound collected by the internal sound collection device M2 to the other work machine 100A. In other words, while a connection is established between the work machine 100 and the other work machine 100A, the sound signal is not constantly transmitted, but the transmission timing is limited so that the sound signal is transmitted only while the talk button KS is pressed.

[0152] In other words, if all speech spoken during work is heard by other work machines 100A, etc., there is a possibility that the operator OP may become nervous because he or she may be heard talking to himself or herself. In contrast, in this embodiment, speech is only heard while the speech button KS is pressed, so the operator OP can be prevented from becoming nervous.

[0153] Furthermore, the output control unit 303 according to this embodiment can output the sound signal received by the radio tuner from the internal sound output device SP2 in response to an operation by the operator OP.

[0154] Then, while the talk button KS continues to be pressed, the output control section 303 suppresses the sound signal received by the radio tuner from being output from the internal sound output device SP2. Therefore, in this embodiment, it is possible to prevent a situation in which the operator of the other work machine 100A is unable to hear the voice of the operator OP of the work machine 100, because the sound signal received by the other work machine 100A includes the voice of the radio tuner.

[0155] Furthermore, while the output control section 303 is outputting a sound based on a sound signal received from another work machine 100A from the internal sound output device SP2, it suppresses the output of a sound based on a sound signal received by the radio tuner from the internal sound output device SP2. Therefore, in this embodiment, it is possible to prevent the voice of the operator of another work machine 100A from being obscured by the sound based on the sound signal received by the radio tuner, thereby making communication smoother.

[0156] Note that in this embodiment, an example is described in which the communication control unit 304 transmits a sound signal indicating the sound collected by the internal sound collection device M2 to the other work machine 100A while the talk button KS continues to be pressed. However, this embodiment does not limit the communication control unit 304's transmission of a sound signal indicating the sound collected by the internal sound collection device M2 to the other work machine 100A to while the talk button KS continues to be pressed, and for example, the communication control unit 304 may always transmit a sound signal indicating the sound collected by the internal sound collection device M2 to the other work machine 100A while a connection is established.

[0157] Next, the screen information that the output control unit 303 according to this embodiment outputs to the display device D1 will be described. Fig. 9 is a diagram showing an example of a display screen displayed by the display device according to this embodiment.

[0158] As shown in FIG. 9, the output control unit 303 causes the image display unit 42 constituting the display device D1 to display various types of information.

[0159] The image display unit 42 displays a display screen 85 including a date and time display area 42a, a driving mode display area 42b, an attachment display area 42c, a fuel efficiency display area 42d, an engine control status display area 42e, a coolant temperature display area 42g, a remaining fuel amount display area 42h, an RPM level display area 42i, a urea water remaining amount display area 42j, a hydraulic oil temperature display area 42k, a peripheral output status display area 42m, a call status display area 42n, a near-field communication display area 42p, a status display area 421, a first image display area 422, a second image display area 423, and a connection destination list display area 431. The display screen 85 may include other display areas.

[0160] The date and time display area 42a is an area for displaying an image showing the current date and time.

[0161] The driving mode display area 42b is an area that displays an image that indicates the current driving mode. The attachment display area 42c is an area that displays an image that indicates the currently attached attachment. The engine control status display area 42e is an area that displays an image that indicates the control status of the engine 11. The rotation speed level display area 42i is an area that displays an image of the current level set by the dial. The rotation speed level display area 42i displays a number that indicates the selected level.

[0162] The fuel efficiency display area 42d is an area that displays an image showing fuel efficiency information calculated by the controller 30. The fuel efficiency display area 42d includes, for example, an average fuel efficiency display area 42d1 that displays an image showing the lifetime average fuel efficiency or the section average fuel efficiency, and an instantaneous fuel efficiency display area 42d2 that displays an image showing the instantaneous fuel efficiency.

[0163] The coolant temperature display area 42g is an area for displaying an image showing the current temperature state of the engine coolant. The remaining fuel amount display area 42h is an area for displaying an image showing the remaining amount of fuel stored in the fuel tank. The urea water remaining amount display area 42j is an area for displaying an image showing the remaining amount of urea water stored in the urea water tank. The hydraulic oil temperature display area 42k is an area for displaying an image showing the temperature state of the hydraulic oil in the hydraulic oil tank.

[0164] The peripheral output status display area 42m and the call status display area 42n are not always displayed, but are displayed when a predetermined condition is met.

[0165] The peripheral output state display area 42m is a display area that is displayed (notified) when the output control unit 303 is outputting the sound collected by the internal sound collection device M2 from the external sound output device SP1.

[0166] The call status display area 42n is a display area that is displayed (notified) when the communication control unit 304 is transmitting and receiving sound signals to and from another work machine 100A.

[0167] The near-field communication display area 42p is a display area that is displayed when the short-range wireless communication device BT is operating. The display mode of the near-field communication display area 42p may be changed depending on the connection status of the short-range wireless communication device BT. For example, the display mode of the near-field communication display area 42p may be changed depending on whether the connection status is good or unstable.

[0168] The image displayed in the status display area 421 displays the relative positional relationships between the work machine 100 and surrounding work machines and people. For example, it includes a direction display icon 421a, a work machine icon 421b, a first circular area 421c, a second circular area 421d, person detection icons 421e, 421f, 421g, and a device detection icon 421h. Note that the status display area 421 may display, for example, an overhead image generated by processing an image from the imaging device S6. The overhead image is an image of the work machine 100 and its surrounding objects viewed from above. A work machine icon may be displayed in the center of the overhead image, or a circular area and person detection icon may be superimposed on the overhead image.

[0169] The direction display icon 421a indicates the direction in which the work machine 100 can travel. The work machine icon 421b is an icon that represents the work machine 100. The first circular area 421c is an image that shows the range in which the attachment AT will rotate when the upper rotating body 3 is rotated while maintaining the current attitude of the attachment AT. The second circular area 421d is an image that shows the range in which the attachment AT will rotate when the upper rotating body 3 is rotated with the attachment AT fully extended in the horizontal direction. The person detection icons 421e, 421f, and 421g are images that display people detected around the work machine 100, for example, based on the direction and distance of the people detected from image information captured by the imaging device S6.

[0170] The device detection icon 421h is an image that shows another work machine (e.g., work machine 100A) at a position relative to the work machine 100, based on, for example, the current position of the work machine 100 measured by the positioning device PS and the current position of the other work machine (e.g., work machine 100A) indicated by the position information received from the management device 200.

[0171] Furthermore, character string information 421i is displayed in the status display area 421 so as to correspond to the device detection icon 421h. The character string information 421i shows the last four digits of the identification information (machine number) of the other work machine indicated by the device detection icon 421h. Note that in the example shown in FIG. 9, an example is described in which the last four digits of the identification information of the other work machine are displayed as the character string information 421i, but it is sufficient if the other work machine can be identified, and the last five or more digits or the last three digits of the identification information may be used. Furthermore, the character string information displayed as the character string information 421i is not limited to the identification information of the other work machine, and administrator information, for example, may be displayed. Furthermore, the character string information 421i may display a user name indicating the operator of each work machine. For example, if the work machine 100, 100A is equipped with a login function, when an operator logs in to operate the work machine 100, 100A, the user name indicating the operator is displayed in the character string information 421i. Furthermore, if the work machine 100, 100A is equipped with a login function but the operator is not logged in, the character string information 421i may be displayed in gray with the name of the user who previously logged in.

[0172] In this embodiment, the display device D1 is provided with a touch panel of the input device D2. Therefore, when the operation reception unit 302 receives a press on the device detection icon 421h, it processes the reception as receiving a selection of the identification information of another work machine indicated by the device detection icon 421h.

[0173] In the first image display area 422, for example, a right image is displayed. The right image is an image that shows the space to the right of the work machine 100, and includes an image 422c of the right end of the top surface of the upper rotating body 3. The right image is a real viewpoint image generated by the control unit 40a, and is generated based on an image acquired by the camera S6R. The first image display area 422 is displayed to the right of the status display area 421.

[0174] 9, the right image displayed in the first image display area 422 includes an image 422a of a person who is a worker WK having a two-way conversation with the operator OP, a person detection frame 422b, and an image 422c of the right end of the upper surface of the upper rotating body 3. The person detection frame 422b is an image generated by the output control unit 303 based on the person detection result from image information captured by the imaging device S6, for example, and is a rectangular frame displayed to surround the image 422a of the detected person.

[0175] In the second image display area 423, for example, a rear image is displayed. The rear image is an image that shows the space behind the work machine 100, and includes an image 423c of the counterweight. The rear image is a real viewpoint image generated by the control unit 40a, and is generated based on an image acquired by the camera S6B. The second image display area 423 is displayed below the status display area 421 as a reference.

[0176] 9, the rear image displayed in the second image display area 423 includes an image 423a of a person who is a worker WK having a two-way conversation with the operator OP, a person detection frame 423b, and an image 423c of a counterweight mounted on the rear of the upper rotating body 3. The person detection frame 423b is an image generated by the output control unit 303 based on the person detection result from image information captured by the imaging device S6, for example, and is a rectangular frame displayed to surround the image 423a of the detected person.

[0177] The connection destination list display area 431 includes, for example, a connection switch button 431a, an open / close button 431b, and a list of other work machines 431c. In the list of other work machines 431c, identification information (machine number) 431c1, a connection status 431c2, and administrator information 431c3 are associated with each other work machine.

[0178] The connection switching button 431a is a button for switching whether or not connection with another work machine 100A by the communication control unit 304 is possible.

[0179] When the operation reception unit 302 receives a press of the connection switch button 431a, the communication control unit 304 becomes able to connect to the other work machine 100A. When the operation reception unit 302 receives a press of the connection switch button 431a while connection to the other work machine 100A is possible, the communication control unit 304 disables connection to the other work machine 100A, in other words, it releases all connections with the other work machines 100A.

[0180] The open / close button 431b is a button for switching between opening and closing the window of the connection destination list display area 431.

[0181] When the operation reception unit 302 receives a press of the open / close button 431b, the connection destination list display area 431 is displayed, and when the operation reception unit 302 receives a press of the open / close button 431b again, the connection destination list display area 431 is hidden. Note that even when the connection destination list display area 431 is hidden, the open / close button 431b is still displayed.

[0182] The identification information (machine number) 431c1 indicates the identification information that identifies the other work machine. The connection status 431c2 indicates whether or not a connection has been established with the other work machine with "ON" or "OFF". The administrator information 431c3 indicates the administrator information of the other work machine.

[0183] The work machine 100 according to this embodiment can only be connected if the administrator information is the same. For example, if the administrator of the work machine 100 is "XX Construction", only machine numbers "200A8-1001" and "200A8-1002" can be connected. Note that this embodiment does not limit connection to only when the administrator information is the same. Depending on the work site, connection may be possible regardless of whether the administrator is the same or not.

[0184] In this embodiment, the image display unit 42 of the display device D1 is provided with a touch panel of the input device D2. Each time the operation reception unit 302 receives a press on the connection status 431c2 field provided for each other connectable work machine 100A, the field switches between "ON" and "OFF."

[0185] In other words, when the connection status 431c2 field is pressed to switch it to "ON", the communication control unit 304 performs control to establish a connection with another work machine. When the connection status 431c2 field is pressed to switch it to "OFF", the communication control unit 304 performs control to release the connection with another work machine.

[0186] When "OFF" is displayed in the connection status 431c2 field and the operation reception unit 302 receives a press on the connection status 431c2 field, the output control unit 303 displays a pairing confirmation screen on the display device D1. FIG. 10A is a diagram illustrating an example of a pairing confirmation screen displayed by the output control unit 303 according to this embodiment. As shown in FIG. 10A, the pairing confirmation screen 2001 is displayed so as not to overlap the first image display area 422 and the second image display area 423.

[0187] The pairing confirmation screen 2001 displays a confirmation message to the effect that a pairing request will be sent to the other work machine 100A indicated by the "machine number," as well as a confirmation button 2002 and a back button 2003. When the operation reception unit 302 receives a press of the back button 2003, the communication control unit 304 does not send the pairing request, and the output control unit 303 hides the pairing confirmation screen 2001.

[0188] When the operation reception unit 302 receives a press of the confirmation button 2002, the communication control unit 304 transmits a pairing request to the work machine 100A having the machine number indicated in the message.

[0189] Then, when the other work machine 100A receives the pairing request, the output control section 303 of the other work machine 100A displays a screen for accepting the pairing request on the display device D1.

[0190] Fig. 10B is a diagram showing an example of a pairing request acceptance screen displayed by the output control unit 303 of another work machine 100A according to this embodiment. As shown in Fig. 10A, the pairing request acceptance screen 2011 displays an acceptance button 2012 and a cancel button 2013 together with a message that the pairing request has been received. As shown in Fig. 10B, the pairing request acceptance screen 2011 is displayed so as not to overlap with the first image display area 422 and the second image display area 423.

[0191] When the operation reception unit 302 receives a press of the cancel button 2013, the communication control unit 304 sends a response to the work machine 100 indicating that the pairing request is not accepted, and the output control unit 303 hides the pairing request acceptance screen 2011.

[0192] When the operation reception unit 302 receives a press of the accept button 2012, the communication control unit 304 transmits a response to the effect that the pairing request is accepted to the work machine 100. Then, when the work machine 100 receives the response to the effect that the pairing request is accepted, control is performed to establish a communication connection between the work machine 100 and the other work machine 100A.

[0193] In this embodiment, while a communication connection is established between the work machine 100 and another work machine 100A, the operator OP can select whether to output the collected sound from the external sound output device SP1 or to transmit a sound signal of the collected sound to the other work machine 100A.

[0194] This embodiment is not limited to the method of performing the procedure based on the pairing request described above each time a communication connection is established. As a modified example, if a communication connection has been established between the work machine 100 and another work machine 100A in the past based on a pairing request, the communication control unit 304 between the work machine 100 and the other work machine 100A automatically performs control to establish a communication connection. The timing for establishing the communication connection may be any timing, and may be, for example, the timing when the operation reception unit 302 receives an operation to turn on the switch SW, which is the sound output function, or the timing when the power to the work machine 100 is turned on.

[0195] Furthermore, in order to automatically establish a communication connection from the next time onwards, consent may be obtained from each operator when a pairing request is made for the first time. For example, the output control unit 303 displays a check box along with the message "Do you want to pair automatically from now on" on each of the pairing confirmation screen 2001 shown in Fig. 10A and the pairing request acceptance screen shown in Fig. 10B. Then, when the operation acceptance unit 302 accepts a check (acceptance) in the check box displayed on each of the pairing confirmation screen 2001 shown in Fig. 10A and the pairing request acceptance screen shown in Fig. 10B, consent from each operator is considered to have been obtained, and the communication control unit 304 between the work machine 100 and the other work machine 100A performs control to automatically establish a communication connection.

[0196] Fig. 11 is a diagram illustrating an example of a sound output destination switching screen displayed by the output control unit 303 according to this embodiment. The switching screen 2100 shown in Fig. 11 is displayed, for example, while the speak button (an example of a first operation) KS is being pressed. Note that the switching screen 2100 is not limited to being displayed while the speak button (an example of a first operation) KS is being pressed, and may be displayed at any timing.

[0197] The switching screen 2100 displays a peripheral output button 2101, a slider 2102 for adjusting the volume during peripheral output, a check box 2103 for peripheral output, a sound display box 2104 for peripheral output, a call button 2111, a slider 2112 for adjusting the volume during a call, a check box 2113 for a call, and a sound display box 2114 for a call.

[0198] The peripheral output button 2101 is a button for switching whether or not sound is output to the periphery of the work machine 100.

[0199] Every time the operation receiving unit 302 receives a press of the peripheral output button 2101, the output control unit 303 switches whether or not to output the sound collected by the internal sound collection device M2 from the external sound output device SP1.

[0200] The peripheral output check column 2103 is a column indicating whether or not sound is being output from the external sound output device SP1. For example, a check mark is displayed when sound is being output from the external sound output device SP1, and the check mark is hidden when sound is not being output from the external sound output device SP1.

[0201] The slider 2102 for adjusting the volume during peripheral output is a slider for adjusting the volume of the sound output from the external sound output device SP1.

[0202] The sound display field 2104 for peripheral output switches between outputting and muting the volume of the sound output from the external sound output device SP1. For example, each time the operation receiving unit 302 receives a press on the sound display field 2104, the output control unit 303 switches between muting and canceling the muting of the volume of the sound output from the external sound output device SP1. When muting is enabled, an "x" mark may be displayed in the sound display field 2104 together with a speaker icon. Furthermore, when the slide button of the slider 2102 is moved to the leftmost position, an "x" mark may be displayed in the sound display field 2104 together with a speaker icon.

[0203] The call button 2111 is a button for switching whether or not to output sound to the other work machine 100A with which a connection has been established.

[0204] Each time the operation reception unit 302 receives a press of the call button 2111, the communication control unit 304 switches whether or not to transmit a sound signal indicating the sound collected by the internal sound collection device M2 to another work machine 100A with which a connection has been established.

[0205] The check field 2113 for calls is a field that indicates whether or not a sound signal is being transmitted to another work machine 100A. For example, a check mark is displayed when a sound signal is being transmitted to another work machine 100A, and the check mark is hidden when a sound signal is not being transmitted to another work machine 100A.

[0206] The slider 2112 for adjusting the volume during a call is a slider for adjusting the volume included in the sound signal transmitted by the communication control unit 304 .

[0207] The sound display field 2114 for calls switches between outputting and muting the volume of the sound signal being transmitted to the work machine 100A. For example, each time the operation reception unit 302 receives a press on the sound display field 2114, the output control unit 303 switches between muting and unmuting the sound signal being transmitted to the work machine 100A. When muted, an "x" mark may be displayed in the sound display field 2104 together with a speaker icon. Furthermore, when the slide button of the slider 2112 is moved to the leftmost position, an "x" mark may be displayed in the sound display field 2114 together with a speaker icon.

[0208] In this embodiment, the operator OP can select one or more of the surroundings of the work machine 100 and other work machines 100A as the sound output destination by operating the switching screen 2100. In other words, the sound output destination may be either one of the surroundings of the work machine 100 and other work machines 100A, or both.

[0209] In this embodiment, the output destination can be switched in response to an operation by the operator OP. In other words, the operator OP can arbitrarily select the person with whom he or she wants to talk. The operator OP can only talk with the person with whom he or she wants to talk, and can prevent the conversation from being conveyed to undesired people. In other words, the controller 30 according to this embodiment can prevent miscommunication of the conversation and facilitate smooth communication.

[0210] Furthermore, it may be possible to automatically switch whether or not to output sound around the work machine 100. As a modified example, the acquisition unit 301 detects whether or not a person is present around the work machine 100 based on image information captured by the imaging device S6. Then, when a person is detected around the work machine 100, the output control unit 303 performs control to output sound collected by the internal sound collection device M2 from the external sound output device SP1. Furthermore, when no person is detected around the work machine 100, the output control unit 303 stops output of sound collected by the internal sound collection device M2 from the external sound output device SP1. For example, when a connection with another work machine 100A is established and no person is detected around the work machine 100, the output control unit 303 suppresses output of sound from the external sound output device SP1, and the communication control unit 304 transmits a sound signal indicating the sound collected by the internal sound collection device M2 to the other work machine 100A.

[0211] It should be noted that this embodiment is not limited to the example in which one talk button KS is provided. As a modified example, a first talk button for outputting sound collected by the internal sound collection device M2 to the periphery of the work machine 100 and a second talk button for transmitting a sound signal indicating the sound collected by the internal sound collection device M2 to another device are separately provided. In this modified example, the first talk button and the second talk button are provided on the operation lever of the operation device 26. While the operation reception unit 302 is accepting pressing of the first talk button, the output control unit 303 performs control to output the sound collected by the internal sound collection device M2 from the external sound output device SP1. While the operation reception unit 302 is accepting pressing of the second talk button, the communication control unit 304 transmits a sound signal indicating the sound collected by the internal sound collection device M2 to another work machine 100A.

[0212] (Second embodiment) Next, another configuration example of the work machine 100 according to the second embodiment will be described with reference to Fig. 12. Fig. 12 is a top view of another configuration example of the work machine 100 according to the second embodiment. The work machine 100 shown in Fig. 12 differs from the work machine 100 shown in Fig. 1 in that the external sound output device SP1 is configured from four speakers (front speaker SP1F, left speaker SP1L, right speaker SP1R, and rear speaker SP1B). In the work machine 100 shown in Fig. 1, the external sound output device SP1 is configured from a single omnidirectional speaker provided above the cab 10.

[0213] 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).

[0214] 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.

[0215] 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.

[0216] 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.

[0217] In the work machine 100 shown in Fig. 12, the controller 30 may detect a worker WK around the work machine 100 based on an image captured by the imaging device S6, and identify the position of the worker WK. Furthermore, if there are multiple workers WK around the work machine 100, the controller 30 may distinguish between a conversation target person (a worker WK who is speaking) and a non-conversation target person (a worker WK who is not speaking) based on the output of the four external sound collection devices M1. The controller 30 may also distinguish between a conversation target person (a worker WK facing the work machine 100) and a non-conversation target person (a worker WK who is not facing the work machine 100) based on an image captured by the imaging device S6. The controller 30 may then turn on a speaker and a 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 such a function may be implemented in the work machine 100 shown in Figures 1 to 5.

[0218] 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.

[0219] (Third embodiment) In the third embodiment, a case where an operator OP remotely controls a work machine 100 will be described.

[0220] Next, an example configuration of an operation system (an example of a control system) SYS according to the third embodiment will be described with reference to Fig. 13. Fig. 13 is a schematic diagram showing an example configuration of the operation system SYS. As shown in Fig. 13, the operation system SYS includes a work machine 100, a remote control room RC, and a management center MC. Note that the detailed configuration of the work machine 100 is omitted from Fig. 13. This is because the work machine 100 shown in Fig. 13 has the same configuration as the work machine 100 shown in Fig. 1 or Fig. 12.

[0221] 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.

[0222] For example, the work machine 100 transmits image information captured by the imaging device S6 and sound signals representing sounds collected by the external sound collection device M1 to the remote control room RC.

[0223] 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.

[0224] 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.

[0225] The operation system SYS may include one or more work machines 100. When multiple work machines 100 are included, the remote operator RO of a specific work machine 100 can obtain information about the work site obtained by that specific work machine 100, as well as information about the work site obtained by one or more other work machines 100.

[0226] The remote control room RC is equipped with a communication device T2, a remote controller R40, an operation device R42, an operation sensor R43, 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.

[0227] The communication device T2 is configured to be able to communicate with the communication device T1 attached to the work machine 100.

[0228] The remote controller R40 is a computing device that executes various calculations. In this embodiment, the remote controller R40 is configured as a microcomputer including a CPU and memory. The various functions of the remote controller R40 are realized by the CPU executing programs stored in the memory.

[0229] 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.

[0230] The internal sound collection device M2E is a device that collects sounds generated within the remote control room RC. In the illustrated example, the internal sound collection device M2E is an indoor microphone that is configured to be able to pick up the voice of the remote operator RO within the remote control room RC.

[0231] The internal sound output device SP2E is a device capable of outputting various types of sound information. The internal sound output device SP2E outputs sound based on information transmitted from the work machine 100 so that the remote operator RO in the remote control room RC can hear sounds generated at the work site. The internal sound output device SP2E may be configured, for example, to output sound captured by an external sound collector M1 attached to the outside of the cab 10, or may be configured to output sound captured by an internal sound collector M2 attached to the inside of the cab 10. In this case, the internal sound collector M2 may be provided at a position corresponding to the ear position of the operator OP seated in the driver's seat 50 in the cab 10. The internal sound output device SP2E may be a stationary device such as a speaker, or may be a wearable device such as earphones or headphones. The speaker may be a monaural speaker, a stereo speaker, or a surround speaker. The speaker may also be an omnidirectional speaker or a directional speaker. The wearable device may have a noise canceling function, a spatial audio function (stereophonic sound function), or a bone conduction function.

[0232] The operation device R42 is provided with an operation sensor R43 for detecting the operation content of the operation device R42. The operation sensor R43 is, for example, an inclination sensor that detects the inclination angle of the operation lever, or an angle sensor that detects the swing angle of the operation lever around the swing axis. The operation sensor R43 may be configured with other sensors such as a pressure sensor, a current sensor, a voltage sensor, or a distance sensor. The operation sensor R43 outputs information related to the detected operation content of the operation device R42 to the remote controller R40. The remote controller R40 generates an operation signal based on the received information and transmits the generated operation signal to the work machine 100. The operation sensor R43 may be configured to generate the operation signal. In this case, the operation sensor R43 may output the operation signal to the communication device T2 without passing through the remote controller R40. With this configuration, the remote operator RO can remotely operate the work machine 100 from the remote control room RC.

[0233] The remote controller R40 includes an acquisition unit 301, an operation reception unit 302, an output control unit 303, and a communication control unit 304, similar to the controller 30 of the first embodiment.

[0234] The acquisition unit 301 of the remote controller R40 acquires, via the communication device T2, a sound signal representing sound collected by the external sound collection device M1 from the work machine 100. The acquisition unit 301 also acquires a sound signal representing sound collected by the internal sound collection device M2E of the remote control room RC.

[0235] The output control section 303 of the remote controller R40 enables control to output, via the communication device T2, from the internal sound output device SP2E of the remote control room RC, a sound based on a sound signal acquired from the external sound collection device M1 by the acquisition section 301. This allows the remote operator RO to hear the voices of people present around the work machine 100.

[0236] The output control section 303 of the remote controller R40 enables control to output sound based on the sound signal acquired by the acquisition section 301 from the internal sound collection device M2E of the remote control room RC from the external sound output device SP1 of the work machine 100 via the communication device T2. This allows people present around the work machine 100 to hear the voice of the remote operator RO.

[0237] The communication control unit 304 of the remote controller R40 enables control to transmit, via the communication device T2, a sound signal acquired from the external sound collection device M1 by the acquisition unit 301 to another work machine 100A. Furthermore, the communication control unit 304 of the remote controller R40 enables control to receive a sound signal from another work machine 100A via the communication device T2.

[0238] The operation reception unit 302, output control unit 303, and communication control unit 304 of the remote controller R40 can perform the same control as the controller 30 of the above-described embodiment.

[0239] The remote controller R40 has the above-described configuration and can thus achieve the same control as the controller 30 of the above-described embodiment.

[0240] In other words, the remote controller R40 is configured to control the transmission of a sound signal (an example of a first sound signal) indicating the sound collected by the internal sound collection device M2E to another work machine via the communication device T2, and to control the output of the sound indicated in the sound signal (an example of a second sound signal) received from the other work machine via the communication device from the internal sound output device SP2E.

[0241] The management center MC is a facility where various devices are installed to manage the work machine 100 at the work site or the remote operation of the work machine 100 by the remote operator RO in the remote control room RC. In the illustrated example, the management center MC is installed in a location away from both the work site of the work machine 100 and the remote control room RC. The management center MC is also equipped with a management device 200, an internal sound collection device M2C, and an internal sound output device SP2C.

[0242] 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).

[0243] The management device 200 executes control similar to that of the above-described remote controller R40. For example, the management device 200 is configured to perform control to transmit a sound signal indicating a sound collected by the internal sound output device SP2C to another work machine via the communication device T2, and to perform control to output, from the internal sound output device SP2C, a sound indicated in a sound signal received from the other work machine via the communication device.

[0244] 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. Also, the manager at the management center MC can, for example, use the internal sound collection device M2C and the internal sound output device SP2E provided 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. Furthermore, the manager at the management center MC can, for example, use the internal sound collection device M2C and the internal sound output device SP2C to have two-way conversations with operators of other work machines.

[0245] <effect> In the above-described embodiment, the operator OP or remote operator RO, etc., can smoothly communicate with operators operating other work machines. Therefore, when multiple work machines are operated simultaneously at close range, smooth mutual communication can be achieved, so that, for example, by telling each other about upcoming actions, etc., each can predict the movements of the other work machine. In other words, the operator OP or remote operator RO, etc., can operate the work machine taking into account the movements of the other work machine, thereby improving safety. Furthermore, mutual communication makes it easier for multiple work machines to work together, thereby improving work efficiency and productivity.

[0246] The preferred embodiments and modifications of the present disclosure have been described above. However, the invention according to the present disclosure is not limited to the above-described embodiments. Various modifications, substitutions, etc. may be applied to the above-described embodiments without departing from the scope of the invention according to the present disclosure. Furthermore, each of the features described with reference to the above-described embodiments may be combined as appropriate unless technically inconsistent. [Explanation of symbols]

[0247] 100 Work Machinery 1 Undercarriage 2. Swivel mechanism 3 Upper rotating body 4. Boom 5 Arm 6 buckets S6 imaging device G1 Information Transmission Device M1 External sound collection device M2, M2C, M2E internal sound collector SP1 External Sound Output Device SP2, SP2C, SP2E internal sound output device SW switch KS Speak button DL1 External Volume Dial DL2 internal volume dial T1, T2 communications equipment 30 Controllers 301 Acquisition Department 302 Operation reception section 303 Output control section 304 Communication Control Unit RC remote control room R40 Remote Controller 200 Management device

Claims

1. a lower running body; an upper rotating body rotatably mounted on the lower traveling body; an operator's cab provided on the upper rotating body; An inside sound collecting device arranged inside the driver's cab; an inside sound output device disposed inside the driver's cab; a communication device; a control device configured to control transmission of a first sound signal indicating the sound collected by the inside sound collecting device to another work machine via the communication device, and to control output of a sound indicated in a second sound signal received from the other work machine via the communication device from the inside sound output device; A work machine comprising:

2. the control device transmits a pairing request to the other work machine via the communication device, and when an acceptance of the pairing request is received from the other work machine via the communication device, establishes a connection with the other work machine.

2. The work machine according to claim 1.

3. when the control device receives the selection of the identification information of the other work machine, it performs control to transmit a pairing request to the other work machine indicated by the identification information.

3. The work machine according to claim 2.

4. the control device receives position information of the other work machine via the communication device, displays map information showing information indicating the other work machine based on the position information, and, when a selection of information indicating the other work machine shown in the map information is accepted, performs control to transmit a pairing request to the other work machine shown in the selected information.

3. The work machine according to claim 2.

5. an outside sound output device disposed outside the driver's cab; An outside sound collecting device disposed outside the driver's cab, The control device is capable of controlling the output of the sound collected by the outer sound collection device from the inner sound output device, and is also capable of controlling the output of the sound collected by the inner sound collection device from the outer sound output device.

2. The work machine according to claim 1.

6. the control device switches, in response to the received operation, whether or not to transmit a first sound signal indicating the sound collected by the inside sound collecting device to the other work machine via the communication device.

2. The work machine according to claim 1.

7. the communication device controls transmission and reception of information to and from the other work machine in accordance with a close proximity wireless communication standard.

2. The work machine according to claim 1.

8. The communication device, under the control of the control device, transmitting the first sound signal to the other work machine, the other work machine including a second operator's cab, a second inside sound collector disposed inside the second operator's cab, and a second inside sound output device disposed inside the second operator's cab; receiving the second sound signal including the sound collected by the second inside sound collecting device from the other work machine that has output the sound indicated in the first sound signal from the second inside sound output device; 2. The work machine according to claim 1.

9. a work machine having a lower traveling body and an upper rotating body rotatably mounted on the lower traveling body; an operation room for operating the work machine; An inside sound collecting device arranged inside the operation room; an inside sound output device disposed inside the operation room; a communication device; a control device configured to control transmission of a first sound signal indicating the sound collected by the inside sound collecting device to another work machine via the communication device, and to control output of a sound indicated in a second sound signal received from the other work machine via the communication device from the inside sound output device; A work machine control system comprising:

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