Work machine and remote control system of work machine

Abstract

To make it easy to hear voice from a peripheral worker.SOLUTION: A work machine includes a lower traveling body, an upper turning body which is turnably mounted on the lower traveling body, an outer vehicle sound collecting unit for collecting outer vehicle sound in the periphery, an in-vehicle reproduction unit for outputting the outer vehicle sound collected by the outer vehicle sound collecting unit, to the inside of the vehicle provided on the upper turning body, and a control unit for controlling the operation of the work machine, wherein the control unit has a listening mode of restricting the operation of the work machine, on the basis of a predetermined condition, and thereby suppressing sound collected by the outer vehicle sound collecting unit.SELECTED DRAWING: Figure 1

Description

[Technical Field]

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

[0002] Patent Document 1 discloses a technique for operating a shovel using voice recognition. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] International Publication No. 2019 / 035427 Summary of the Invention [Problem to be solved by the invention]

[0004] The voices picked up by the microphone installed outside the vehicle often include work instructions from surrounding workers to the excavator operator. However, with a work machine such as an excavator, the voices from surrounding workers may be difficult to hear due to sounds generated by the operation of the work machine. Patent Document 1 does not disclose a technology for making it easier to hear the voices from surrounding workers.

[0005] Therefore, it is desirable to provide a work machine that can make it easier to hear voices from surrounding workers. [Means for solving the problem]

[0006] In order to achieve the above object, the present disclosure: A work machine, a lower running body; an upper rotating body rotatably mounted on the lower traveling body; An exterior sound pickup unit that picks up surrounding exterior sounds; an interior reproduction unit that outputs the vehicle exterior sound collected by the vehicle exterior sound collection unit into a vehicle interior provided on the upper rotating body; a control unit that controls the operation of the work machine, The control unit is a work machine that has a listening mode that is a mode in which sounds picked up by the outside sound pickup unit are suppressed by restricting the operation of the work machine based on predetermined conditions. [Effects of the Invention]

[0007] According to the present disclosure, it is possible to make it easier to hear voices from surrounding workers. [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. 5 is a block diagram showing an example of a sound processing unit shown in FIG. 4. [Figure 6] FIG. 5 is a block diagram showing an example of a detection unit shown in FIG. 4. [Figure 7] FIG. 2 is a top view of the interior of the cab of the work machine shown in FIG. [Figure 8] FIG. 1 is a perspective view of a work machine on which an operator is riding and workers around the work machine. [Figure 9] 5 is a flowchart for explaining a first embodiment of an operation of transitioning to a listening mode by the controller shown in FIG. 4. [Figure 10] 10 is a flowchart for explaining a second embodiment of the operation of transitioning to a listening mode by the controller shown in FIG. 4. [Figure 11] FIG. 10 is a diagram showing an example of a display on the display device D1 when a person is detected in the vicinity of the work machine. [Figure 12]10 is a flowchart for explaining a third embodiment of the operation of transitioning to a listening mode by the controller shown in FIG. 4. [Figure 13] 10 is a flowchart for explaining a fourth embodiment of the operation of transitioning to a listening mode by the controller shown in FIG. 4; [Figure 14] 10 is a flowchart for explaining a fifth embodiment of the operation of transitioning to a listening mode by the controller shown in FIG. 4. [Figure 15] FIG. 10 is a top view of a work machine showing another example configuration of the work machine according to an embodiment of the present disclosure. [Figure 16] 1 is a schematic diagram illustrating a configuration example of an operation system according to an embodiment of the present disclosure. DETAILED DESCRIPTION OF THE INVENTION

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

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

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

[0025] The external sound collector M1 is an example of an external sound collection unit in the present invention. The external sound collector M1 is a device that collects external sounds to collect external sounds, and is also called a microphone or a microphone. In the illustrated example, the external sound collector 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 collector M1 is configured to be able to pick up the voices of workers around the work machine 100, and includes a front microphone M1F, a left microphone M1L, a right microphone M1R, and a rear microphone M1B.

[0026] The front microphone M1F is a microphone that collects sounds generated in front of the work machine 100, and is attached to the outside of the cab 10, such as on the roof of the cab 10 or on the side of the boom 4. The front microphone M1F may also be attached to the inside of the cab 10, for example, on the ceiling of the cab 10. The left microphone M1L is a microphone that collects sounds generated to the left of the work machine 100, the right microphone M1R is a microphone that collects sounds generated to the right of the work machine 100, and the rear microphone M1B is a microphone that collects sounds generated behind the work machine 100. The electrical signals generated by the front microphone M1F, left microphone M1L, right microphone M1R, and rear microphone M1B are taken into the controller 30.

[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 constitutes an example of an external playback unit in the present invention, and is a device that outputs sound toward the periphery of the work machine 100. For example, the external sound output device SP1 outputs interior vehicle sound collected by an internal sound collection device M2 (described below) to the outside of the vehicle cabin. 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 others located 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 light bar G1F may also be attached to the interior 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 others located to the left of the work machine 100, the right light bar GR is a light-emitting device that can visually convey information to workers and others located to the right of the work machine 100, and the rear light bar GB is a light-emitting device that can visually convey information to workers and others located behind the work machine 100. The front light bar GF, left light bar GL, right light bar GR, and rear light bar GB 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 devices are of a multi-color emission type, but may also be of a single-color 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 unit in the present invention, 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 and 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 Global Navigation Satellite System (GNSS) compass, and detects the position and orientation of the upper rotating body 3. A detection signal corresponding to the position and orientation of the upper rotating body 3 is input to the controller 30. The function of detecting the orientation of the upper rotating body 3 may be realized by a direction sensor attached to the upper rotating body 3.

[0044] 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.

[0045] The communication device T1 communicates with an external device through a communication network including a mobile communication network, a satellite communication network, the Internet, etc. The communication device T1 is, for example, a mobile communication module compatible with a mobile communication standard such as LTE (Long Term Evolution), 4G (4th Generation), or 5G (5th Generation), a communication module compatible with a short-range wireless communication standard such as Wi-Fi (registered trademark) or Bluetooth (registered trademark), or a satellite communication module for connecting to a satellite communication network.

[0046] 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.

[0047] 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.

[0048] 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."

[0049] 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.

[0050] 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.

[0051] 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.

[0052] 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.

[0053] 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.

[0054] 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 .

[0055] 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.

[0056] The discharge pressure sensor 28 is configured to detect the discharge pressure of the main pump 14. In the illustrated example, the discharge pressure sensor 28 outputs the detected value to the controller 30.

[0057] 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.

[0058] The operation sensor 29 is configured to detect the operation content of the operator using the operation device 26. In this embodiment, the operation sensor 29 detects the operation direction and operation amount of the operation device 26 corresponding to each actuator and outputs the detected value to the controller 30. In the illustrated example, the controller 30 can control the opening area of ​​the valve 31 in accordance with the output of the operation sensor 29. The controller 30 then supplies the hydraulic oil discharged from the pilot pump 15 to the pilot ports of the corresponding control valves in the control valve unit 17. The pressure of the hydraulic oil supplied to each pilot port (pilot pressure) is, in principle, a pressure corresponding to the operation direction and operation amount of the operation device 26 corresponding to each hydraulic actuator. In this way, the operation device 26 is configured to supply the hydraulic oil discharged from the pilot pump 15 to the pilot ports of the corresponding control valves in the control valve unit 17.

[0059] Valve 31, which functions as a control valve for machine control, is disposed in a pipe connecting pilot pump 15 and a pilot port of a control valve in control valve unit 17, and is configured so that the flow path area of ​​the pipe can be changed. In the illustrated example, valve 31 is a solenoid valve that operates in response to a control command output by controller 30. Therefore, controller 30 can use valve 31 to adjust the pilot pressure acting on the pilot port of the control valve, regardless of the operation of operating device 26 by the operator.

[0060] 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.

[0061] As shown in FIG. 4, the control system of the work machine 100 includes a controller 30, a display device D1, an input device D2, a horn button HS, a talk button KS, an external sound collection device M1, an internal sound collection device M2, an external sound output device SP1, an internal sound output device SP2, an external volume dial DL1, an internal volume dial DL2, a switch SW, and a communication device T1.

[0062] The controller 30 is configured to output a control command to the regulator 13 as necessary, thereby changing the discharge rate of the main pump 14. The controller 30 may also be configured to perform control related to a machine guidance function that guides (provides guidance for) the manual operation of the work machine 100 by an operator via the operation device 26. The controller 30 may also be configured to perform control related to a machine control function that automatically assists the manual operation of the work machine 100 by an operator via the operation device 26. Some of the functions of the controller 30 may be realized by another controller (control device). In other words, the functions of the controller 30 may be realized in a distributed manner by multiple controllers. For example, the machine guidance function and the machine control function may be realized by dedicated controllers (control devices).

[0063] The interior of the cab 10 will now be described with reference to Figure 7. Figure 7 is a top view of the interior of the cab 10. The work machine 100 is equipped with a driver's seat 50, an operating device 26, a display device D1, and the like, which are arranged inside the cab 10. A door for getting on and off is provided on the left side of the driver's seat 50. The operator can open the door to enter the cab 10.

[0064] 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.

[0065] 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.

[0066] 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.

[0067] The operating device 26 includes a left operating lever 26L, a right operating lever 26R, a left traveling pedal 26PL, a right traveling pedal 26PR, a left traveling lever 26DL, and a right traveling lever 26DR. The left operating lever 26L is provided in front of the left console 54L. Similarly, the right operating lever 26R is provided in front of the right console 54R. An operator seated in the driver's seat 50 can operate the left operating lever 26L while holding the left operating lever 26L with his left hand, and can operate the right operating lever 26R while holding the right operating lever 26R with his right hand. The operator seated in the driver's seat 50 can operate the left operating lever 26L with his left hand to drive the arm cylinder 8 and the swing hydraulic motor 2A. The operator seated in the driver's seat 50 can also operate the right operating lever 26R with his right hand to drive the boom cylinder 7 and the bucket cylinder 9. The bases of the left operating lever 26L and the right operating lever 26R are covered with lever boots 27, respectively.

[0068] 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.

[0069] 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.

[0070] The display device D1 is one example of a notification unit in the present invention. 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.

[0071] 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.

[0072] 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.

[0073] 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.

[0074] 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.

[0075] 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.

[0076] 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.

[0077] 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.

[0078] The internal sound collector M2 constitutes an example of an interior sound collection section in the present invention, and is a device that collects sounds generated inside the driver's cab 10. In the illustrated example, the internal sound collector M2 is an indoor microphone that is configured to be able to pick up the voice of an operator inside the driver's cab 10. In this way, the internal sound collector M2 collects interior sounds inside the vehicle cabin.

[0079] 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.

[0080] The talk button KS constitutes an example of an output operation section in the present invention. The talk button KS is a button that the operator of the work machine 100 operates when speaking to a worker around the work machine 100. In other words, the talk button KS is used to perform an output operation that causes the interior sound collected by the internal sound collection device M2 to be output from the external sound output device SP1. In the illustrated example, the talk button KS is a knob switch provided at the tip of the right operation lever 26R.

[0081] The internal sound output device SP2 constitutes an example of an in-vehicle playback unit of the present invention. 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 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 / exiting 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.

[0082] 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.

[0083] 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.

[0084] 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.

[0085] 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.

[0086] 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.

[0087] The controller 30 includes an acquisition unit 301, a detection unit 302, a position estimation unit 303, a sound processing unit 304, and a display control unit 305 as machine guidance and control functions.

[0088] 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 image capture results from the imaging device S6. The acquisition unit 301 also acquires sound signals representing sounds generated around the work machine 100 from the external sound collection device M1. The acquisition unit 301 may also acquire the operating state of the work machine 100 in accordance with the operation content of the operation device 26. The acquisition unit 301 may also acquire the operation content of the input device D2. The acquisition unit 301 may also acquire, when the gate lock lever GL has been operated to put the gate bar 55 into a no-passage state, that fact.

[0089] The detection unit 302 performs a process of detecting people present in the vicinity of the work machine 100 from the image information acquired by the acquisition unit 301. Any method, including well-known methods, may be used for the person detection process. For example, a determination may be made as to whether a feature extracted from the image information is similar to a feature indicating a person by a predetermined value or more. In this case, the image capture device S6 operates as an example of a person detection unit of the present invention and detects people in the vicinity of the work machine 100. Furthermore, for example, a person detection sensor whose monitoring space is the imaging space of each of cameras S6F, S6L, S6R, and S6B may be provided as an example of a person detection unit of the present invention, and the person detection sensor may detect people in the vicinity of the work machine 100. The person detection sensor is a sensor that distinguishes people from objects other than people and detects them. For example, the person detection sensor is a sensor that detects energy changes in the corresponding monitoring space, and includes a motion detection sensor that uses the output signal of a pyroelectric infrared sensor, a bolometer infrared sensor, an infrared camera, or the like.

[0090] FIG. 5 is a block diagram showing an example of the detector 302 shown in FIG.

[0091] The detection unit 302 includes a detection processing unit 302a and a distance calculation unit 302b.

[0092] The detection processing unit 302a performs processing to detect people present in the vicinity of the work machine 100 from the image information acquired by the acquisition unit 301, as described above.

[0093] The distance calculation unit 302b calculates the distance between the person detected by the detection processing unit 302a and the work machine 100.

[0094] When a person is detected by the detection unit 302, the position estimation unit 303 estimates the position of the person in real space, for example, the direction and distance of the person relative to the work machine 100. For example, the position estimation unit 303 may estimate the direction and distance of the person based on the position and size of the person in the image information. Furthermore, if a LiDAR, a range imaging camera, or a millimeter-wave radar is installed as an object detection device in addition to the imaging device S6, the direction and distance of the person may be estimated from the detection results of the object detection device. An example will be described in which the position estimation unit 303 according to the present embodiment acquires the direction and distance of the person relative to the work machine 100 as position information of a person present in the vicinity of the work machine, but the position information of the person is not limited to the direction and distance of the person relative to the work machine 100, and for example, information indicating the position coordinates of the person in a world coordinate system may be acquired.

[0095] In this embodiment, the detection of a person and the estimation of the person's position are not limited to the above-mentioned method, and a trained model may be used to detect a person and estimate the person's position (e.g., direction and distance).

[0096] The sound processor 304 processes the sound signal acquired by the acquisition unit 301 and controls the output of sound from the internal sound output device SP2. Fig. 6 is a block diagram showing an example of the sound processor 304 shown in Fig. 4.

[0097] Sound processing unit 304 has speech detection unit 304a and sound output control unit 304b.

[0098] The speech detection unit 304a determines whether or not a person is speaking from the sound signal acquired by the acquisition unit 301. For example, the speech detection unit 304a determines whether or not a sound signal from which a human voice band has been extracted has a volume equal to or greater than a predetermined threshold, and determines whether or not a person is speaking from the determination result. In this way, the speech detection unit 304a detects speech from the outside vehicle sounds picked up by the external sound pickup device M1.

[0099] The sound output control unit 304b controls the internal sound output device SP2 to output the external vehicle sound based on the sound signal acquired by the acquisition unit 301.

[0100] The sound processing unit 304 may perform noise processing on the sound signal acquired by the acquisition unit 301 .

[0101] The display control unit 305 controls the display on the display device D1.

[0102] The operation restriction unit 306 can transition the operation mode of the work machine 100 to listening mode. The listening mode is a mode in which sound collected by the external sound collection device M1 is suppressed by restricting the operation of the work machine 100. The operation restriction unit 306 transitions the operation mode of the work machine 100 to listening mode and restricts the operation of the work machine 100 in accordance with the person detection results of the detection unit 302 and the speech detection results of the sound processing unit 304. This suppresses sound generated by the operation of the work machine 100.

[0103] 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. 8. FIG. 8 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. 8 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. 8, 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. 8, 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 8.

[0104] The operating state of the conversation function includes an ON state (the state shown in FIG. 8) 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.

[0105] 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.

[0106] In this way, the internal sound collection device M2 collects interior sounds from the cab 10, which is the cabin of the work machine 100, and the collected interior sounds are output from the external sound output device SP1 to the outside of the cab 10. This enables communication between the operator OP, who will be working on the work machine 100, and the workers WK who are around the work machine 100. For example, a talk button KS is provided for performing an output operation to output the interior sounds collected by the internal sound collection device M2 from the external sound output device SP1, and when the talk button KS is pressed in the sound output control unit 304b, the interior sounds collected by the internal sound collection device M2 are output from the external sound output device SP1. This allows the operator OP, who will be working on the work machine 100, to talk to the workers WK who are around the work machine 100 at a desired timing.

[0107] The transition operation to the listening mode will be described below with reference to several exemplary embodiments.

[0108] <First embodiment of transition operation to listening mode> FIG. 9 is a flowchart for explaining a first embodiment of the operation of transitioning to the listening mode by the controller 30 shown in FIG.

[0109] The controller 30 shown in FIG. 4 may determine in the operation restriction unit 306 whether or not to transition to a listening mode that restricts the operation of the work machine 100, based on whether or not the external vehicle sounds picked up by the external sound pickup device M1 include speech.

[0110] In this case, the speech detection unit 304a determines whether or not the external vehicle sound collected by the external sound collection device M1 includes speech, based on the sound signal processed by the sound processing unit 304 (step ST11). For example, the speech detection unit 304a determines whether or not the sound signal from which the human voice band has been extracted has a volume equal to or greater than a predetermined threshold, and determines whether or not speech is included based on the determination result.

[0111] Furthermore, the external vehicle sound picked up by the external sound pickup device M1 is output from the internal sound output device SP2 under the control of the sound output control section 304b.

[0112] The determination result of utterance detection unit 304a is notified to operation restriction unit 306.

[0113] Then, if the external sound picked up by the external sound pickup device M1 includes speech (YES in step ST12), the operation restriction unit 306 transitions to listening mode and restricts the operation of the work machine 100 (step ST13). At this time, the operation restriction unit 306 may use the operating state of the work machine 100 acquired by the acquisition unit 301. For example, if the operating state acquired by the acquisition unit 301 is that the upper rotating body 3 is rotating, the operation restriction unit 306 changes the pilot pressure that comes out of the pilot pump 15 and acts on the control valve 173 via the valve 31, thereby reducing the amount of hydraulic oil that flows into the swing hydraulic motor 2A. This slows down the swing speed of the upper rotating body 3. Furthermore, if the operating state acquired by the acquisition unit 301 is that the work machine 100 is traveling, the operation limiting unit 306 changes the pilot pressure that comes out of the pilot pump 15 and acts on the control valves 171, 172 via the valve 31, thereby reducing the amount of hydraulic oil that flows into the left traveling hydraulic motor 2ML and the right traveling hydraulic motor 2MR. This slows the traveling speed of the work machine 100. Furthermore, if the operating state acquired by the acquisition unit 301 is that the bucket 6 is being operated, the operation limiting unit 306 changes the pilot pressure that comes out of the pilot pump 15 and acts on the control valves 174 to 176 via the valve 31, thereby reducing the amount of hydraulic oil that flows into the bucket cylinder 9, the boom cylinder 7, or the arm cylinder 8. This may stop work by the bucket 6 or reduce the amount of operation. Furthermore, a limit may be placed on the traveling speed of the work machine 100. In this case, the operation limiting unit 306 limits the amount of hydraulic oil flowing into the left traveling hydraulic motor 2ML and the right traveling hydraulic motor 2MR in advance, and prevents the amount of hydraulic oil flowing into the left traveling hydraulic motor 2ML and the right traveling hydraulic motor 2MR from exceeding the limited amount, thereby limiting the traveling speed of the work machine 100.

[0114] On the other hand, if the external vehicle sounds picked up by the external sound collection device M1 do not include speech (NO in step ST12), the operation restriction unit 306 does not transition to the listening mode (step ST14). Alternatively, the above-mentioned processing may be performed at predetermined short intervals, and if the external vehicle sounds picked up by the external sound collection device M1 no longer include speech after transitioning to the listening mode, the operation restriction unit 306 may cancel the listening mode and lift the restriction on the operation of the work machine 100. In this case, if the sound processing unit 304 performs noise processing on the sound signal acquired by the acquisition unit 301, the above-mentioned processing may be performed at intervals for each frame of audio that is subjected to noise processing. Alternatively, the listening mode may be canceled after a certain time has elapsed since transitioning to the listening mode.

[0115] As described above, in this embodiment, when the speech detection unit 304a detects speech from external sounds picked up by the external sound collection device M1, the operation restriction unit 306 transitions to listening mode and restricts the operation of the work machine 100, thereby suppressing the sounds picked up by the external sound collection device M1. This makes it easier for the operator OP of the work machine 100 to hear the voice of the worker WK who is giving instructions to the operator OP of the work machine 100. Furthermore, when speech is no longer detected from external sounds picked up by the external sound collection device M1 after transitioning to listening mode, the operation restriction unit 306 cancels the listening mode. This prevents the operation of the work machine 100 from being restricted more than necessary, avoiding a significant drop in work efficiency.

[0116] It should be noted that whether or not to transition to the listening mode may be selectable via the operation device 26. In this case, if it is selected not to transition to the listening mode, the above-described series of processes will not be performed.

[0117] <Second embodiment of transition operation to listening mode> FIG. 10 is a flowchart for explaining a second embodiment of the operation of transitioning to the listening mode by the controller 30 shown in FIG.

[0118] The controller 30 shown in FIG. 4 may determine in the operation restriction section 306 whether or not to transition to a listening mode in which the operation of the work machine 100 is restricted, based on whether or not there is a person around the work machine 100.

[0119] In this case, the detection processing unit 302a of the detection unit 302 performs processing to detect people present in the vicinity of the work machine 100 from the image information acquired by the acquisition unit 301 (step ST21). Furthermore, if a human detection sensor is used, processing to detect people present in the vicinity of the work machine 100 is performed by the human detection sensor.

[0120] If the detection processing unit 302a detects a person in the vicinity of the work machine 100 (YES in step ST22), the distance calculation unit 302b of the detection unit 302 calculates the distance between the detected person and the work machine 100 (step ST23). This distance calculation can be performed using image information captured by the imaging device S6 and acquired by the acquisition unit 301.

[0121] Then, if the distance between the detected person and the work machine 100 is less than a predetermined distance (YES in step ST24), this is notified to the operation restriction unit 306, and the operation restriction unit 306 transitions to listening mode and restricts the operation of the work machine 100 (step ST25). In this case, the operation restriction unit 306 may restrict the operation of the work machine 100 in the same way as shown in the first embodiment.

[0122] Furthermore, if the distance between the detected person and the work machine 100 exceeds a predetermined distance (NO in step ST24), the operation restriction unit 306 also transitions to the listening mode and restricts the operation of the work machine 100 (step ST26). At this time, the listening mode transitioned to in step ST25 and the listening mode transitioned to in step ST26 have different levels of suppression of sounds picked up by the external sound collection device M1. This is because the amount of restriction on the operation of the work machine 100 is made different from each other. For example, in step ST25, the rotation speed of the engine 11 of the work machine 100 is restricted to 5, while in step ST26, the rotation speed of the engine 11 of the work machine 100 is restricted to 7. In other words, the amount of restriction on the operation of the work machine 100 in the listening mode transitioned to in step ST25 is made greater than the amount of restriction on the operation of the work machine 100 in the listening mode transitioned to in step ST26. As a result, the sound suppression level in the listening mode to which the transition is made in step ST25 is greater than the sound suppression level in the listening mode to which the transition is made in step ST26. This is to avoid a decrease in the efficiency of work using the work machine 100 if the operation of the work machine 100 is significantly restricted even in cases where a person is detected in an area away from the work machine 100, and there is a possibility that the detected person is not the worker WK.

[0123] On the other hand, if the detection processing unit 302a does not detect a person in the vicinity of the work machine 100 (NO in step ST22), the operation restriction unit 306 does not transition to the listening mode (step ST27). Also in this embodiment, the above-mentioned processing may be performed at predetermined short intervals, and when a person is no longer detected in the vicinity of the work machine 100, the operation restriction unit 306 may cancel the listening mode and lift the restriction on the operation of the work machine 100.

[0124] As described above, in this embodiment, when a person is detected near the work machine 100 in an image captured by the imaging device S6, the operation restriction unit 306 transitions to listening mode and restricts the operation of the work machine 100, thereby suppressing the sound picked up by the external sound collection device M1. This makes it easier for the operator OP of the work machine 100 to hear the voice of the worker WK when the worker WK is near the work machine 100. At this time, by varying the level of sound suppression depending on the distance between the detected person and the work machine 100, it is possible to avoid an unnecessary reduction in work efficiency using the work machine 100 due to, for example, restricting the operation of the work machine 100, even when the distance between the detected person and the work machine 100 is great.

[0125] If a person is detected in the vicinity of the work machine 100 from the image information acquired by the acquisition unit 301, a message to that effect may be displayed on the display device D1.

[0126] FIG. 11 is a diagram showing an example of a display on the display device D1 when a person is detected in the vicinity of the work machine 100.

[0127] The display device D1 of the work machine 100 has an image display unit 142 as shown in FIG. 11, for example.

[0128] In accordance with control from the display control unit 305, the image display unit 142 displays a display screen 185 including a date and time display area 142a, a driving mode display area 142b, an attachment display area 142c, a fuel efficiency display area 142d, an engine control status display area 142e, an engine operating time display area, a coolant temperature display area 142g, a remaining fuel amount display area 142h, an RPM level display area 142i, a urea water remaining amount display area 142j, a hydraulic oil temperature display area 142k, a work machine status display area 421, a first image display area 422, and a second image display area 423.

[0129] The travel mode display area 142b, attachment display area 142c, engine control state display area 142e, and rotation speed level display area 142i are areas that display setting state information, which is information related to the setting state of the work machine 100. The fuel efficiency display area 142d, engine operating time display area, coolant temperature display area 142g, remaining fuel amount display area 142h, remaining urea water amount display area 142j, and hydraulic oil temperature display area 142k are areas that display operating state information, which is information that represents the operating state of the work machine 100 based on the detection results of various sensors.

[0130] The date and time display area 142a is an area that displays the current date and time. The driving mode display area 142b is an area that displays the current driving mode. The attachment display area 142c is an area that displays an image representing the currently attached attachment. The fuel efficiency display area 142d is an area that displays fuel efficiency information calculated by the controller 30. The fuel efficiency display area 142d includes an average fuel efficiency display area 142d1 that displays the lifetime average fuel efficiency or the section average fuel efficiency, and an instantaneous fuel efficiency display area 142d2 that displays the instantaneous fuel efficiency.

[0131] The engine control status display area 142e is an area that displays the control status of the engine 11. The engine operating time display area is an area that displays the accumulated operating time of the engine 11. The coolant temperature display area 142g is an area that displays the current temperature state of the engine coolant. The remaining fuel amount display area 142h is an area that displays the remaining amount of fuel stored in the fuel tank.

[0132] The rotation speed level display area 142i is an area that displays the current level of the engine 11 set by the dial in an image. A number indicating the selected level is displayed in the rotation speed level display area 142i. The number "1" displayed in the rotation speed level display area 142i indicates that the selected rotation speed level is the "first level." The number "n" displayed in the rotation speed level display area 142i indicates that the selected rotation speed level is the "nth level." "n" is a natural number. When the operator rotates the dial, the number displayed in the rotation speed level display area 142i changes.

[0133] The urea water remaining amount display area 142j is an area that displays an image of the remaining amount of urea water stored in the urea water tank. The hydraulic oil temperature display area 142k is an area that displays the temperature of the hydraulic oil in the hydraulic oil tank.

[0134] The work machine status display area 421 is an area that displays information that indicates the positional relationship between the work machine 100 and a person detected in the vicinity of the work machine 100.

[0135] The work machine status display area 421 is a display area that displays, at a specified scale, real space with the work machine 100 at its center. A work machine icon 421b indicating the presence of the work machine 100 is placed in the center of the work machine status display area 421.

[0136] In addition to a work machine icon 421b representing the work machine 100, the work machine state display area 421 simultaneously displays an icon indicating the direction in which the work machine 100 can travel (direction display icon 421a in the example of FIG. 11) and icons representing people detected around the work machine 100 (person detection icons 421e, 421f, 421g in the example of FIG. 11). The area of ​​the work machine state display area 421 other than the work machine icon 421b, direction display icon 421a, and person detection icons 421e, 421f, 421g (in other words, the background) may be an area displayed in a single color (for example, black). Furthermore, the work machine state display area 421 may display an overhead image of the work machine 100, rather than displaying the work machine 100 with the work machine icon 421b.

[0137] The work machine icon 421b is an icon that combines an image showing the upper rotating body 3 and an image showing the lower traveling body 1 in accordance with the positional relationship between the upper rotating body 3 and the lower traveling body 1 based on the rotation angle.

[0138] The direction display icon 421a is triangular in shape and indicates the direction in which the work machine 100 will travel when the travel lever is tilted forward. Note that this embodiment shows only one example of an icon that indicates the direction in which the work machine 100 will travel when the travel lever is tilted forward, and any shape may be used as long as it represents the direction in which the work machine 100 can travel.

[0139] The person detection icons 421e, 421f, 421g are icons that represent people detected from image information captured by the imaging device S6. Specifically, the person detection icons 421e, 421f, 421g are arranged based on the position information of people received from the controller 30. For example, the person detection icons 421e, 421f, 421g are arranged at positions obtained by multiplying the direction and distance to the detected person, with the work machine 100 as the reference, by a predetermined scale factor.

[0140] In this way, the positional relationship between the work machine icon 421b and the person detection icons 421e, 421f, 421g corresponds to the positional relationship between the work machine 100 and the people present around the work machine 100 in real space.

[0141] As described above, when a person is detected in the vicinity of the work machine 100, the work machine 100 and the person in the vicinity are displayed on the display device D1, allowing the operator OP of the work machine 100 to recognize the positional relationship between the work machine 100 and the person in the vicinity.

[0142] Furthermore, in the work machine state display area 421, a first circular area 421c and a second circular area 421d are displayed, which are determined according to the distance from the work machine 100, with the work machine 100 as the reference point.

[0143] The first circular area 421c and the second circular area 421d shown in FIG. 11 are represented as circles that allow the operator to recognize the relative distance from the work machine 100, with the work machine icon 421b as the reference point.

[0144] The image display unit 142 displays the work machine status display area 421, as well as image information captured by the imaging device S6. By checking the image information along with the work machine status display area 421, the operator can recognize the specific situation around the work machine 100. This makes it possible to achieve improved safety.

[0145] 11, the first image display area 422 and the second image display area 423 are areas that display image information captured by the imaging device S6. The first image display area 422 displays a right-hand image. The second image display area 423 displays a rearward image. The right-hand 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-hand image is a real-viewpoint image generated by the display control unit 305, and is generated based on an image acquired by the camera S6R. The rearward image is an image that shows the space behind the work machine 100, and includes an image 423c of the counterweight. The rearward image is a real-viewpoint image generated by the display control unit 305, and is generated based on an image acquired by the camera S6B.

[0146] The first image display area 422 is displayed to the right of the work machine status display area 421 as a reference. The second image display area 423 is displayed below the work machine status display area 421 as a reference. In this embodiment, the upper side of the image display unit 142 corresponds to the front of the upper rotating body 3. In other words, the second image display area 423 is displayed at a position corresponding to the rear of the work machine status display area 421 as a reference. In other words, the image display unit 142 displays image information captured by the imaging device S6 in the direction in which the image was captured, based on the work machine status display area 421. In this embodiment, image information captured in the direction in which the image was captured is displayed based on the work machine status display area 421. Therefore, when the operator refers to the image information, he or she can intuitively recognize in which direction the situation in the image information is represented. This makes it possible to achieve improved safety.

[0147] Furthermore, when controller 30 detects a person in one or more of the right image and the rear image, display control unit 305 superimposes a frame showing information indicating the area in which the person is detected on the right image and the rear image in which the person is detected. As a result, frame 422b is displayed on the right image in first image display area 422, and frame 423b is displayed on the rear image in second image display area 423. Then, person icon 422a is displayed in frame 422b, and person icon 423a is displayed in frame 423b.

[0148] In this way, when a person is present near the work machine 100, it is possible to detect the direction in which the detected person is located relative to the work machine 100. Therefore, the level of sound suppression may be varied depending on the direction in which the detected person is located relative to the work machine 100. For example, if the detected person is at the rear of the work machine 100, the detected person is in a blind spot for the operator OP of the work machine 100, and therefore there is a risk of danger occurring if the work machine 100 is operated as is. Therefore, the amount of restriction by the listening mode may be increased when the detected person is at the rear of the work machine 100. On the other hand, if the detected person is at the front of the work machine 100, the detected person is visible to the operator OP of the work machine 100, and therefore there is little risk of danger occurring if the work machine 100 is operated as is. Therefore, the amount of restriction by the listening mode may be decreased when the detected person is at the front of the work machine 100. Note that the magnitude of the restriction amount is, for example, in the above example, a restriction of the engine speed to "5" is greater than a restriction of the engine speed to "7". This makes it possible to avoid an unnecessary reduction in work efficiency using the work machine 100 by, for example, restricting the operation of the work machine 100, even though there is little risk of danger due to the presence of a detected person in front of the work machine 100. Note that, instead of varying the level of sound suppression depending on the direction in which the detected person is located relative to the work machine 100, the system may be configured to switch to listening mode when the detected person is behind the work machine 100, and not to switch to listening mode when the detected person is in front of the work machine 100.

[0149] In this way, by varying the level of sound suppression depending on the relative position between the detected person and the work machine 100, it is possible to avoid unnecessary reductions in work efficiency using the work machine 100.

[0150] Furthermore, when the work machine 100 has switched to the listening mode, this fact may be displayed as notification information 142m. In this case, the display device D1 is an example of a notification unit in the present invention. Furthermore, when the work machine 100 has switched to the listening mode, this fact may be output as sound from the internal sound output device SP2, or a simple notification may be given using a lamp or the like. Furthermore, if a display device is provided on the outside of the work machine 100 and displays this fact when the work machine 100 has switched to the listening mode, workers WK in the vicinity of the work machine 100 will be able to recognize that the work machine 100 has switched to the listening mode.

[0151] In this way, whether or not the work machine 100 has transitioned to the listening mode may be displayed on the display device D1 under the control of the display control unit 305, thereby notifying the interior of the work machine 100. This allows the operator OP of the work machine 100 to know whether or not the work machine 100 is in the listening mode. In particular, in the listening mode, the operation of the work machine 100 is restricted as described above, so there is a risk that the operator OP of the work machine 100 may mistakenly believe that a malfunction has occurred in the work machine 100. Therefore, by displaying on the display device D1 that the work machine 100 has transitioned to the listening mode, it is possible to prevent the operator OP of the work machine 100 from mistakenly believing that a malfunction has occurred in the work machine 100, even if the operation of the work machine 100 is restricted by transitioning to the listening mode. Furthermore, in such a configuration, if notification to that effect is received via the display device D1 when the listening mode is released, the operator OP of the work machine 100 can recognize that the listening mode of the work machine 100 has been released and that the operation of the work machine 100 is no longer restricted.

[0152] Furthermore, when the work machine 100 has switched to the listening mode, the fact that it has switched to the listening mode may be notified to the outside of the work machine 100 by causing an information transmission device G1 provided on the outside of the work machine 100 to emit light or by displaying this fact on an indicator provided on the outside of the work machine 100. In this case, the information transmission device G1 and the indicator constitute an example of a notification unit in the present invention. This allows a worker WK in the vicinity of the work machine 100 to know whether or not the work machine 100 is in the listening mode. In particular, in the listening mode, the operation of the work machine 100 is restricted as described above, and therefore there is a risk that a worker WK in the vicinity of the work machine 100 may mistakenly believe that a malfunction has occurred in the work machine 100. For example, if the engine speed is restricted in the listening mode, a worker WK in the vicinity of the work machine 100 will not be able to determine whether a drop in engine speed is due to the listening mode or a malfunction. Therefore, if when the listening mode is entered, a notification to that effect is sent to a location outside the work machine 100 by the information transmission device G1 or an indicator, even if the operation of the work machine 100 is restricted by entering the listening mode, it is possible to prevent workers WK in the vicinity of the work machine 100 from mistakenly believing that a malfunction has occurred in the work machine 100. Furthermore, in such a configuration, when the listening mode is canceled, the information transmission device G1 stops emitting light or an indicator provided on the outside of the work machine 100 displays this information, so that workers WK in the vicinity can recognize that the listening mode of the work machine 100 has been canceled and that the operation of the work machine 100 is no longer restricted.

[0153] In this way, by notifying whether or not the work machine 100 has transitioned to listening mode under the control of the display control unit 305, the operator OP of the work machine 100 and the worker WK in the vicinity of the work machine 100 can know whether or not the work machine 100 is in listening mode.

[0154] <Third embodiment of transition operation to listening mode> FIG. 12 is a flowchart for explaining a third embodiment of the operation of transitioning to the listening mode by the controller 30 shown in FIG.

[0155] The controller 30 shown in FIG. 4 may determine in the operation restriction unit 306 whether to transition to a listening mode that restricts the operation of the work machine 100 based on whether people around the work machine 100 are facing the work machine 100.

[0156] In this case, the detection processing unit 302a of the detection unit 302 performs processing to detect the faces of people present in the vicinity of the work machine 100 from the image information acquired by the acquisition unit 301 (step ST31).

[0157] Then, if a human face is included in the image information acquired by the acquisition unit 301 (YES in step ST32), the detection processing unit 302a determines whether the included human face is facing towards the work machine 100 (step ST33). Any method may be used to determine the direction of the human face, regardless of whether it is a well-known method. For example, this may be done by determining whether information indicating the eyes and nose, which are characteristic parts of a human face, is included in the image information acquired by the acquisition unit 301.

[0158] If the face of a person included in the image information acquired by the acquisition unit 301 is facing towards the work machine 100 (YES in step ST33), the detection processing unit 302a notifies the operation restriction unit 306 to that effect.

[0159] Then, the operation restriction unit 306 transitions to the listening mode and restricts the operation of the work machine 100 (step ST34). At this time, the operation restriction unit 306 may restrict the operation of the work machine 100 in the same manner as described in the first embodiment.

[0160] On the other hand, if the image information acquired by the acquisition unit 301 does not include a human face (NO in step ST32), or if the human face included in the image information acquired by the acquisition unit 301 is not facing the work machine 100 (NO in step ST33), the detection processing unit 302a notifies the operation restriction unit 306 of this fact.

[0161] Then, the operation restriction unit 306 does not transition to the listening mode (step ST35). Also in this embodiment, the above-mentioned processing may be performed at predetermined short intervals, and when the image information acquired by the acquisition unit 301 no longer includes a human face or the human face included in the image information acquired by the acquisition unit 301 no longer faces the work machine 100, the operation restriction unit 306 may cancel the listening mode and lift the restriction on the operation of the work machine 100.

[0162] As described above, in this embodiment, an image of the periphery of the work machine 100 is captured by the imaging device S6, and if the image captured by the imaging device S6 includes a human face and the face is facing the work machine, the operation restriction unit 306 switches to listening mode and restricts the operation of the work machine 100, thereby suppressing the sound picked up by the external sound collection device M1. As a result, when it is expected that a worker WK near the work machine 100 is speaking to the operator OP of the work machine 100, the listening mode is switched on, making it easier for the operator OP of the work machine 100 to hear the voice of the worker WK.

[0163] In the first to third embodiments described above, the operation restriction unit 306 transitions to listening mode in accordance with the ambient environment of the work machine 100. This allows the operation restriction unit 306 to transition to listening mode in accordance with the work being performed using the work machine 100. At that time, if the operation restriction unit 306 transitions to listening mode in accordance with conditions related to people around the work machine 100, it becomes easier for the operator OP of the work machine 100 to hear instructions from a worker WP who is around the work machine 100.

[0164] <Fourth embodiment of transition operation to listening mode> FIG. 13 is a flowchart for explaining a fourth embodiment of the operation of transitioning to the listening mode by the controller 30 shown in FIG.

[0165] The controller 30 shown in FIG. 4 may determine in the operation restriction section 306 whether or not to transition to a listening mode in which the operation of the work machine 100 is restricted, based on an operation on the input device D2.

[0166] In this case, the acquiring unit 301 acquires the operation content for the input device D2 (step ST41). The input device D2 is capable of selecting whether to transition to the listening mode, thereby enabling a switching operation to switch between transitioning to the listening mode and not. For example, if the input device D2 is configured with a touch panel, an icon button for transitioning to the listening mode may be displayed, and the device may transition to the listening mode when this icon button is pressed. In other words, the input device D2 can constitute an example of a switching operation unit in the present invention.

[0167] The operation restriction unit 306 is notified of the input content acquired by the acquisition unit 301 via the input device D2.

[0168] If the operation content for the input device D2 acquired by the acquisition unit 301 is an operation for transitioning to the listening mode (YES in step ST42), the operation restriction unit 306 transitions to the listening mode and restricts the operation of the work machine 100 (step ST43). The restriction on the operation of the work machine 100 by the operation restriction unit 306 at this time may be performed in the same manner as shown in the first embodiment.

[0169] On the other hand, if an operation for transitioning to the listening mode has not been performed on the input device D2 (NO in step ST42), the operation restriction unit 306 does not transition to the listening mode (step ST44).

[0170] Thus, in this embodiment, when an operation to transition to the listening mode is performed on the input device D2, the operation restriction unit 306 transitions to the listening mode. This makes it possible to transition the work machine 100 to the listening mode at a timing desired by the operator OP of the work machine 100.

[0171] Here, for example, if the processing described in the first embodiment detects speech and causes the machine to switch to listening mode, but the speech is not related to work by the work machine 100, and the work machine 100 continues to operate in listening mode, the efficiency of work using the work machine 100 will decrease. Also, if the processing described in the second embodiment detects a person and causes the machine to switch to listening mode, but the detection is a false detection, and the work machine 100 continues to operate in listening mode, the efficiency of work using the work machine 100 will decrease.

[0172] Therefore, a configuration may be adopted in which the operator OP of the work machine 100 can cancel the listening mode at will after the listening mode has been entered. For example, if the input device D2 is configured as a touch panel, a button for canceling the listening mode may be displayed on the input device D2 in the listening mode, and the listening mode may be canceled when this button is pressed. Also, when the notification information 142m (see FIG. 11) is touched, a message asking "Do you want to cancel the listening mode?" may be displayed as a pop-up along with a "YES" button and a "NO" button, and the listening mode may be canceled when the "YES" button is touched.

[0173] <Fifth embodiment of transition operation to listening mode> FIG. 14 is a flowchart for explaining a fifth embodiment of the operation of transitioning to the listening mode by the controller 30 shown in FIG.

[0174] The controller 30 shown in FIG. 4 may determine in the operation restriction section 306 whether or not to transition to a listening mode in which the operation of the work machine 100 is restricted, based on the operation of the gate lock lever GL.

[0175] When the gate lock lever GL is operated to set the gate bar 55 in the passage prohibiting state, the acquisition unit 301 acquires this fact (step ST51) and notifies the operation restriction unit 306 of this fact.

[0176] When the operation limiting unit 306 is notified by the acquisition unit 301 that an operation has been performed on the gate lock lever GL to put the gate bar 55 into a no-passage state (YES in step ST52), the operation limiting unit 306 transitions to listening mode and limits the operation of the work machine 100 (step ST53). The operation limiting unit 306 may limit the operation of the work machine 100 in this case in the same way as in the first embodiment.

[0177] After a certain time has elapsed since the transition to the listening mode (YES in step S54), the operation restriction unit 306 cancels the listening mode (step ST55).

[0178] On the other hand, if the acquisition unit 301 does not notify that an operation has been performed on the gate lock lever GL to place the gate bar 55 in a no-entry state (NO in step ST52), the operation restriction unit 306 does not transition to listening mode (step ST56).

[0179] After boarding the work machine 100, the operator OP of the work machine 100 first operates the gate lock lever GL to put the gate bar 55 into a no-entry state, and then begins work using the work machine 100. It is thought that when work using the work machine 100 is started, an accident is likely to occur immediately after the start of work. For this reason, when the gate lock lever GL is operated to put the gate bar 55 into a no-entry state, the operation of the work machine 100 can be restricted for a certain period of time by entering listening mode, thereby reducing the possibility of an accident occurring immediately after work using the work machine 100 begins.

[0180] Here, the work machine 100 has various functions. For example, machine control and machine guidance can be used to display the distance between the bucket 6 and the design surface on the display device D1, or to notify the user by changing the interval of an alarm sound output from the internal sound output device SP2. It is also possible to measure the weight of the soil on the bucket 6. When such a function is switched from OFF to ON, the work machine 100 will behave differently than before, but immediately after the function is switched, nearby workers around the work machine 100 will not be aware of this. This may make accidents more likely to occur. The work machine 100 can also attach a lifting device to the bucket 6 and use the bucket 6 to lift an object. Even in this case, the work machine 100 will behave differently than before, which may make accidents more likely to occur. Therefore, when the functions of the work machine 100 are switched, the operation of the work machine 100 can be restricted for a certain period of time by entering a listening mode, thereby reducing the possibility of an accident occurring immediately after the function of the work machine 100 is switched.

[0181] In the fourth and fifth embodiments described above, the operation restriction unit 306 transitions to the listening mode in accordance with the mechanical state of the work machine 100. This makes it possible to transition to the listening mode in accordance with the operation content of the work machine 100 and the state of the work machine 100.

[0182] In the embodiment described above, external sounds around the work machine 100 that are collected by the external sound collection device M1 are output from the internal sound output device SP2, but at that time, the operation restriction unit 306 is equipped with a listening mode that suppresses sounds collected by the external sound collection device M1 by restricting the operation of the work machine 100 based on predetermined conditions, and transitions to the listening mode. This makes it easier to hear voices from surrounding workers around the work machine 100. In this case, in the listening mode, sounds generated by the operation of the work machine 100 are suppressed. This makes it easier to hear voices from surrounding workers around the work machine 100 by controlling the operation of the work machine 100.

[0183] As described above, the embodiment described above does not make it easier to hear the voices of surrounding workers around the work machine 100 by processing the sound collected by the external sound collection device M1, but rather makes it easier to hear the voices of surrounding workers around the work machine 100 by suppressing the sound before it is collected by the external sound collection device M1. In other words, by controlling the input to the external sound collection device M1, it is made easier to hear the voices of surrounding workers around the work machine 100.

[0184] Next, another example configuration of the work machine 100 will be described with reference to Fig. 15. Fig. 15 is a top view of another example configuration of the work machine 100. The work machine 100 shown in Fig. 15 differs from the work machine 100 shown in Fig. 1 in that the external sound output device SP1 is made up of four speakers (front speaker SP1F, left speaker SP1L, right speaker SP1R, and rear speaker SP1B). In the work machine 100 shown in Fig. 1, the external sound output device SP1 is made up of a single omnidirectional speaker provided above the cab 10.

[0185] With this configuration, the work machine 100 shown in FIG. 15 can output sound toward the worker WK in front of the work machine 100 without outputting sound toward the workers WK on the left, right, and rear of the work machine 100, for example, by turning on the front speaker SP1F (a state in which sound can be output) and turning off the left speaker SP1L, the right speaker SP1R, and the rear speaker SP1B (a state in which sound cannot be output).

[0186] 15, 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.

[0187] 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.

[0188] 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.

[0189] In the work machine 100 shown in Fig. 15, the controller 30 may detect a worker WK around the work machine 100 based on images captured by the imaging device S6, and identify the position of the worker WK. Furthermore, if there are multiple workers WK around the work machine 100, the controller 30 may distinguish between a conversation target person (a worker WK who is speaking) and a non-conversation target person (a worker WK who is not speaking) based on the output of the four external sound collection devices M1. The controller 30 may also distinguish between a conversation target person (a worker WK facing the work machine 100) and a non-conversation target person (a worker WK who is not facing the work machine 100) based on images captured by the imaging device S6. The controller 30 may then turn on the speaker and light bar facing the worker WK. For example, if 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 7.

[0190] 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.

[0191] Next, an example configuration of the operation system SYS according to an embodiment of the present disclosure will be described with reference to Fig. 16. Fig. 16 is a schematic diagram showing an example configuration of the operation system SYS. As shown in Fig. 16, 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. 16. This is because the work machine 100 shown in Fig. 16 has the same configuration as the work machine 100 shown in Fig. 1 or Fig. 15.

[0192] 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.

[0193] 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.

[0194] 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.

[0195] 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.

[0196] The remote control room RC is equipped with a communication device T2, a remote controller 40, an operation device 42, an operation sensor 43, a display device D1E, an internal sound collection device M2E, and an internal sound output device SP2E. The remote control room RC also is equipped with an operation seat DS where a remote operator RO who remotely operates the work machine 100 sits.

[0197] The communication device T2 is configured to be able to communicate with the communication device T1 attached to the work machine 100.

[0198] The remote controller 40 is a computing device that executes various calculations. In this embodiment, the remote controller 40 is configured as a microcomputer including a CPU and a memory. The various functions of the remote controller 40 are realized by the CPU executing programs stored in the memory.

[0199] 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.

[0200] The internal sound output device SP2E is a device capable of outputting various types of sound information. The internal sound output device SP2E outputs sound based on information transmitted from the work machine 100 so that the remote operator RO in the remote control room RC can hear sounds generated at the work site. The internal sound output device SP2E may be configured, for example, to output sound captured by an external sound collector M1 attached to the outside of the cab 10, or may be configured to output sound captured by an internal sound collector M2 attached to the inside of the cab 10. In this case, the internal sound collector M2 may be provided at a position corresponding to the ear position of the operator seated in the cab 10. The internal sound output device SP2E may be a stationary device such as a speaker, or may be a wearable device such as earphones or headphones. The speaker may be a monaural speaker, a stereo speaker, or a surround speaker. The speaker may also be an omnidirectional speaker or a directional speaker. The wearable device may have a noise canceling function, a spatial audio function (stereophonic sound function), or a bone conduction function.

[0201] The operation device 42 is provided with an operation sensor 43 for detecting the operation content of the operation device 42. The operation sensor 43 is, for example, an inclination sensor that detects the inclination angle of the operation lever, or an angle sensor that detects the swing angle of the operation lever around the swing axis. The operation sensor 43 may be composed of other sensors such as a pressure sensor, a current sensor, a voltage sensor, or a distance sensor. The operation sensor 43 outputs information related to the detected operation content of the operation device 42 to the remote controller 40. The remote controller 40 generates an operation signal based on the received information and transmits the generated operation signal to the work machine 100. The operation sensor 43 may be configured to generate the operation signal itself. In this case, the operation sensor 43 may output the operation signal to the communication device T2 without passing through the remote controller 40. With this configuration, the remote operator RO can remotely operate the work machine 100 from the remote control room RC.

[0202] 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.

[0203] 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).

[0204] With this configuration, a manager at the management center MC can, for example, use a sound collection device (external sound collection device M1 or internal sound collection device M2) attached to the work machine 100 and the internal sound output device SP2C to listen to sounds emitted at the work site. The manager at the management center MC can also, for example, use an internal sound collection device M2E and internal sound output device SP2C provided in the remote control room RC to listen to sounds emitted in the remote control room RC. The manager at the management center MC can, for example, use the internal sound collection device M2C and the external sound output device SP1 attached to the work machine 100 to communicate the voice he or she makes to a worker WK who is around the work machine 100. The manager at the management center MC can, for example, use the internal sound collection device M2C and the internal sound output device SP2 attached to the work machine 100 to communicate the voice he or she makes to an operator OP of the work machine 100. In addition, an administrator at the management center MC can, for example, use an internal sound collection device M2C and an internal sound output device SP2E installed in the remote control room RC to transmit the voice he or she makes to the remote operator RO in the remote control room RC.

[0205] In the operation system SYS described above, external sounds around the work machine 100 that are picked up by the external sound collection device M1 are output from the internal sound output device SP2E, but at that time the operation restriction unit 306 is equipped with a listening mode that suppresses sounds picked up by the external sound collection device M1 by restricting the operation of the work machine 100 based on predetermined conditions, and transitions to the listening mode. This makes it easier to hear voices from surrounding workers around the work machine 100, even when the work machine 100 is remotely operated.

[0206] The preferred embodiments of the present disclosure have been described above. However, the invention according to the present disclosure is not limited to the above-described embodiments. Various modifications, substitutions, etc. may be applied to the above-described embodiments without departing from the scope of the invention according to the present disclosure. Furthermore, each of the features described with reference to the above-described embodiments may be combined as appropriate unless technically inconsistent. [Explanation of symbols]

[0207] 1···Undercarriage 1C···Crawler 1CL··Left crawler 1CR···Right crawler 2···Slewing mechanism 2A···Slewing hydraulic motor 2ML···Left traveling hydraulic motor 2MR···Right traveling hydraulic motor 3···Upper rotating body 4···Boom 5···Arm 6···Bucket 7···Boom cylinder 8···Arm cylinder 9···Bucket cylinder 10···Operator's cab 11···Engine 13···Regulator 14···Main pump 15···Pilot pump 17···Control valve unit 26···Operating device 26DL···Left traveling lever 26DR···Right traveling lever 26L···Left operating lever 26PL···Left traveling pedal 26PR···Right traveling pedal 26R···Right operating lever 27···Lever boot 28...Discharge pressure sensor 29...Operation sensor 30...Controller 31...Valve 40...Remote controller 42...Operation device 43...Operation sensor 50...Driver's seat 51...Seat 52...Backrest 53L...Left armrest 53R...Right armrest 54L...Left console 54R...Right console 55...Gate bar 56...Window console 100...Work machine 200...Management device 171-176...Control valve AT...Attachment D1, D1E...Display device D2...Input device DL...Volume dial DS...Operator's seat G1...Information transmission device G1B...Rear light bar G1F...Front light bar G1L...Left light bar G1R Right light bar GL Gate lock lever HS Horn button KS Speak button M1 External sound collector M1B Rear microphone M1F Front microphone M1L Left microphone M1R Right microphone M2, M2C, M2E Internal sound collector OP Operator PS Positioning device RC Remote control room RO Remote operator S1 Boom angle sensor S2 Arm angle sensor S3 Bucket angle sensor S4 Machine tilt sensor S5 Rotation sensor S6 Image capture device S6B Rear camera S6F Front camera S6L Left camera S6R Right camera SP1 External sound output device SP1B Rear speakerSP1F: Front speaker SP1L: Left speaker SP1R: Right speaker SP2, SP2C, SP2E: Internal sound output device SP2L: Left interior speaker SP2R: Right interior speaker SW: Switch SYS: Operation system T1, T2: Communication device WK: Operator

Claims

1. A work machine, a lower running body; an upper rotating body rotatably mounted on the lower traveling body; An exterior sound pickup unit that picks up surrounding exterior sounds; an interior reproduction unit that outputs the vehicle exterior sound collected by the vehicle exterior sound collection unit into a vehicle interior provided on the upper rotating body; a control unit that controls the operation of the work machine, The control unit is provided with a listening mode that is a mode in which sounds picked up by the outside sound pickup unit are suppressed by restricting the operation of the work machine based on predetermined conditions.

2. The work machine according to claim 1 , wherein the control unit, in the listening mode, suppresses sounds that occur in conjunction with the operation of the work machine.

3. The work machine according to claim 1 , wherein the control unit transitions to the listening mode in accordance with the ambient environment of the work machine.

4. The work machine according to claim 3 , wherein the control unit transitions to the listening mode in response to a condition related to people around the work machine.

5. The control unit a speech detection unit that detects speech from the outside vehicle sound collected by the outside vehicle sound collection unit, The work machine according to claim 4 , wherein the work machine transitions to the listening mode when an utterance is detected by the utterance detection unit.

6. The work machine according to claim 5 , wherein the control unit cancels the listening mode when the speech detection unit no longer detects speech.

7. a person detection unit that detects people around the work machine, The work machine according to claim 4 , wherein the control unit transitions to the listening mode when the human detection unit detects a human.

8. The work machine according to claim 7 , wherein, when a person is detected by the person detection unit, the control unit varies the level of sound suppression depending on the relative position of the detected person and the work machine.

9. The work machine according to claim 8 , wherein, when a person is detected by the person detection unit, the control unit varies the level of sound suppression depending on the distance between the detected person and the work machine.

10. The work machine according to claim 8 , wherein, when a person is detected by the person detection unit, the control unit varies the level of sound suppression depending on the direction in which the detected person is located relative to the work machine.

11. an imaging unit that captures an image of the surroundings of the work machine, The work machine according to claim 4 , wherein the control unit transitions to the listening mode when a human face is included in the image captured by the imaging unit and the face is facing the work machine.

12. The work machine according to claim 1 , wherein the control unit transitions to the listening mode in accordance with a mechanical state of the work machine.

13. a switching operation unit that is operated when transitioning to the listening mode, The work machine according to claim 12, wherein the control unit transitions to the listening mode when the switching operation unit is operated.

14. a notification unit for notifying whether the control unit has transitioned to the listening mode; The work machine according to claim 1 , wherein when the control unit has transitioned to the listening mode, the control unit notifies the user of this via the notification unit.

15. The work machine according to claim 14 , wherein the notification unit notifies the interior of the vehicle whether or not the work machine has transitioned to the listening mode.

16. The work machine according to claim 14 , wherein the notification unit notifies an area outside the work machine whether or not the work machine has transitioned to the listening mode.

17. The work machine according to claim 14 , wherein when the listening mode is cancelled, the control unit notifies the user of that fact via the notification unit.

18. an interior sound pickup unit that picks up interior sounds within the vehicle; The work machine according to claim 1 , further comprising an exterior reproduction unit that outputs the interior sound collected by the interior sound collection unit to an exterior of the vehicle.

19. an output operation unit for performing an output operation to output the vehicle interior sound collected by the vehicle interior sound collection unit from the vehicle exterior reproduction unit, The work machine according to claim 18 , wherein the control unit causes the interior sound collected by the interior sound collection unit to be output from the exterior playback unit when an output operation is performed on the output operation unit.

20. an exterior sound collection unit that collects exterior sounds around the work machine; an exterior sound reproduction unit that outputs the exterior sound collected by the exterior sound collection unit; a control unit that controls the operation of the work machine, The control unit has a listening mode that suppresses sounds picked up by the outside sound pickup unit by restricting the operation of the work machine based on predetermined conditions.

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