Work machine, and operating system for work machine

Abstract

To provide a technique capable of reducing the processing load of a device while effectively preventing howling.SOLUTION: A work machine 100 includes: a lower running body 1; an upper rotating body 3; an operator cab 10; an internal sound collection unit M2; an external sound pickup unit M1; and at least one of the external audio output unit SP1 and the internal audio output unit SP2. The work machine 100 also includes a controller 30A that processes sound information collected by the internal sound collection unit M2 and / or external sound pickup unit M1. The controller 30A performs echo cancellation processing to remove howling that occurs between the internal sound collection unit M2 and the external audio output unit SP1 and / or between the external sound pickup unit M1 and the internal audio output unit SP2 based on the howling-causing conditions.SELECTED DRAWING: Figure 11

Description

[Technical Field]

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

[0002] Conventionally, in systems for communicating through a machine equipped with a microphone and a speaker, various configurations have been adopted to avoid feedback that occurs between the microphone and the speaker.

[0003] Patent Document 1 discloses a system (wireless communication device) in which the operator of a work machine (crane) switches a change-over switch to transmit the operator's voice to a worker via a wireless communication antenna, helmet assembly, etc. This system is also configured so that, when alerting a third party, the operator switches the change-over switch to output the operator's voice from an external sound output device (speaker). The system prevents howling between the speaker and microphone by turning on the speaker only when necessary. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 7-125973 Summary of the Invention [Problem to be solved by the invention]

[0005] However, the system disclosed in Patent Document 1 does not monitor situations where feedback occurs and does not prevent feedback depending on the situation. Therefore, for example, if a speaker is kept on, feedback may occur.

[0006] The present disclosure provides a technique that can reduce the processing load on a device while appropriately preventing feedback. [Means for solving the problem]

[0007] According to one aspect of the present disclosure, there is provided a work machine comprising: a lower running body; an upper rotating body rotatably mounted on the lower running body; a cab mounted on the upper rotating body and capable of housing an operator; an internal sound collection device mounted inside the cab; an external sound collection device mounted outside the cab; at least one of an external sound output device mounted outside the cab and outputting sound collected by the internal sound collection device, and an internal sound output device mounted inside the cab and outputting sound collected by the external sound collection device; and a control device that processes sound information collected by the internal sound collection device and / or the external sound collection device, wherein the control device performs echo cancellation processing to remove howling that occurs between the internal sound collection device and the external sound output device and / or between the external sound collection device and the internal sound output device based on a howling occurrence condition. [Effects of the Invention]

[0008] According to one aspect, it is possible to reduce the processing load on the device while appropriately preventing feedback. [Brief explanation of the drawings]

[0009] [Figure 1] 1 is a side view of a work machine according to an embodiment of the present disclosure; FIG. [Figure 2] FIG. [Figure 3] FIG. 2 is a schematic diagram of an external sound collecting device attached to a work machine. [Figure 4] FIG. 1 is a block diagram showing a schematic configuration of a work machine. [Figure 5] FIG. 2 is a plan view showing the configuration of the interior of the cab of the work machine. [Figure 6] FIG. 1 is a conceptual diagram of a two-way conversation between a work machine operator and a worker. [Figure 7] FIG. 2 is a functional block diagram of the control device for the work machine according to the first embodiment. [Figure 8] FIG. 3 is a flow chart illustrating the operation of the control device of the work machine. [Figure 9A] FIG. 2 is a functional block diagram of a signal processing unit of the control device. [Figure 9B] FIG. 2 is a functional block diagram of a signal processing unit of the control device. [Figure 9C] FIG. 2 is a functional block diagram of a signal processing unit of the control device. [Figure 9D] FIG. 2 is a functional block diagram of a signal processing unit of the control device. [Figure 9E] FIG. 2 is a functional block diagram of a signal processing unit of the control device. [Figure 10] FIG. 4 is an image diagram showing an image displayed on a display device of the work machine. [Figure 11] 10A and 10B are schematic diagrams illustrating echo cancellation processing by a controller according to a second embodiment. [Figure 12A] FIG. 2 is a block diagram showing functional blocks of an echo cancellation process formed in the controller. [Figure 12B] FIG. 10 is a block diagram showing specific functional blocks of an internal echo cancellation processor. [Figure 12C] FIG. 10 is a block diagram showing a state of normal echo cancellation processing of the controller. [Figure 13] 10 is a table showing the relationship between types of feedback occurrence conditions and processes of a controller. [Figure 14] 10 is a flowchart illustrating an echo cancellation processing method. [Figure 15] FIG. 10 is a top view showing another configuration of the work machine. [Figure 16] 1 is a schematic diagram of an operation system for a work machine according to an embodiment of the present disclosure. FIG. DETAILED DESCRIPTION OF THE INVENTION

[0010] Hereinafter, embodiments of the present disclosure will be described with reference to the drawings. The embodiments described below are 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.

[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] 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.

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

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

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

[0016] A boom 4 is rotatably attached to the center of the front of the upper rotating body 3, an arm 5 is rotatably attached to the tip of the boom 4, and a bucket 6 is rotatably attached to the tip of the arm 5. In the illustrated example, the boom 4, arm 5, and bucket 6 constitute an excavation attachment, which is an example of an attachment AT. The boom 4, arm 5, and bucket 6 are driven by a boom cylinder 7, an arm cylinder 8, and a bucket cylinder 9, respectively.

[0017] The bucket 6 is an example of a work tool (end attachment). The bucket 6 is used, for example, for excavation work. Instead of the bucket 6, another work tool may be attached to the end of the arm 5 depending on the type of work, etc. The other work tool may be, for example, another type of bucket, such as a large bucket, a slope bucket, or a dredging bucket. The other work tool may also be a type of work tool other than a bucket, such as an agitator, a breaker, a grapple, or a lifting magnet.

[0018] The swing hydraulic motor 2A, the left traveling hydraulic motor 2ML, the right traveling hydraulic motor 2MR, the boom cylinder 7, the arm cylinder 8, and the bucket cylinder 9 are hydraulic actuators driven by hydraulic oil discharged from a hydraulic pump.

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

[0020] Additionally, the work machine 100 is equipped with an information transmission device G1, an external sound collection device M1, an imaging device S6, and an external sound output device SP1.

[0021] The imaging device S6 is provided on the upper rotating body 3 or the cab 10, and captures images of the periphery of the work machine 100 to obtain image information showing the periphery of the work machine 100. In the illustrated example, the imaging device S6 includes a front camera S6F, a left camera S6L, a right camera S6R, and a rear camera S6B.

[0022] The front camera S6F is a camera that captures images in front of the work machine 100, and is attached to the 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 (see FIGS. 4 and 5). 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, for example, be attached to the upper rotating body 3 to form an object detection device that detects objects around the work machine 100. The objects may be, for example, people, animals, vehicles, construction machinery, buildings, holes, etc. The object detection device may be configured to be able to detect people and non-human objects separately. In other words, the object detection device may be configured to function as a person detection device.

[0025] The object detection device may be configured with a device other than a camera. For example, the object detection device may be a LiDAR. A LiDAR is a device capable of measuring the distance between a point cloud of one million or more points within a monitoring range and the LiDAR (laser source). The object detection device may also be another device capable of measuring the distance to an object, such as a stereo camera, a range imaging camera, or a millimeter-wave radar. When a millimeter-wave radar or the like is used as the object detection device, the object detection device may derive the distance and direction of the object by emitting multiple signals (such as laser light) toward the object and receiving the reflected signals. Alternatively, the object detection device may be a combination of two or more types of devices. For example, the object detection device may be a combination of an imaging device and a LiDAR, a combination of an imaging device and a millimeter-wave radar, or a combination of an imaging device and a stereo camera.

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

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

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

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

[0030] The external sound output device SP1 is a device that is disposed outside the cab 10 and outputs sound toward the periphery of the work machine 100. In the illustrated example, the external sound output device SP1 is an omnidirectional speaker that is configured to output sound uniformly in all directions. However, the external sound output device SP1 may also be a directional speaker that outputs sound toward the front.

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

[0056] The pilot pump 15 is an example of a pilot pressure generating device, and is configured to 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 of supplying hydraulic oil to various hydraulic control devices via pilot lines, in addition to a function of supplying hydraulic oil to the control valve unit 17 via a hydraulic oil line. In this case, the pilot pump 15 may be omitted.

[0057] The discharge pressure sensor 28 is configured to detect the discharge pressure of the main pump 14. In the illustrated example, the discharge pressure sensor 28 outputs the detected value to the controller 30.

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

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

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

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

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

[0063] The controller 30 is configured to output a control command to the regulator 13 as necessary, thereby changing the discharge rate of the main pump 14.

[0064] Furthermore, the controller 30 may be configured to perform control relating to a machine guidance function that guides (provides guidance for) the manual operation of the work machine 100 by the operator via the operation device 26. Furthermore, the controller 30 may be configured to perform control relating to a machine control function that automatically assists the manual operation of the work machine 100 by the operator via the operation device 26.

[0065] Note that some of the functions of the controller 30 may be realized by another controller (control device). That is, the functions of the controller 30 may be realized in a distributed manner by a plurality of controllers. For example, the machine guidance function and the machine control function may be realized by a dedicated controller (control device).

[0066] The interior of the cab 10 will now be described with reference to Figure 5. Figure 5 is a top view of the interior of the cab 10. The work machine 100 is equipped with a driver's seat 50, an operating device 26, a display device D1, and the like, which are arranged inside the cab 10. A door for getting on and off is provided on the left side of the driver's seat 50. The operator can enter the cab 10 by opening the door for getting on and off.

[0067] 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.

[0068] 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.

[0069] The left armrest 53L is disposed on top of the left console 54L. The right armrest 53R is disposed on top of the right console 54R. The left armrest 53L is disposed so as to cover a portion of the left console 54L in a top view. The right armrest 53R is disposed so as to cover a portion of the right console 54R in a top view.

[0070] The operating device 26 includes a left operating lever 26L, a right operating lever 26R, a left travel pedal 26PL, a right travel pedal 26PR, a left travel lever 26DL, and a right travel lever 26DR.

[0071] The left operation lever 26L is provided in front of the left console 54L. Similarly, the right operation lever 26R is provided in front of the right console 54R. An operator seated in the driver's seat 50 can operate the left operation lever 26L while holding the left operation lever 26L with his left hand, and can operate the right operation lever 26R while holding the right operation lever 26R with his right hand. An operator seated in the driver's seat 50 can operate the left operation lever 26L with his left hand to drive the arm cylinder 8 and the swing hydraulic motor 2A. In addition, an operator seated in the driver's seat 50 can operate the right operation lever 26R with his right hand to drive the boom cylinder 7 and the bucket cylinder 9. The bases of the left operation lever 26L and the right operation lever 26R are covered with lever boots 27.

[0072] 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.

[0073] 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.

[0074] 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.

[0075] The input device D2 is provided within reach of the operator seated on the left side of the driver's cab 10 in the driver's seat 50, and receives 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 lever portions 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 an operation performed on the input device D2 is input to the controller 30.

[0076] 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.

[0077] 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.

[0078] 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.

[0079] 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.

[0080] 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.

[0081] 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.

[0082] The internal sound collector M2 is a device that is disposed inside the cab 10 and collects sounds generated within the 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 within the cab 10. The internal sound collector M2 outputs a signal generated from the sounds collected within the cab 10 to the controller 30.

[0083] 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.

[0084] The speech button KS is a button that the operator of the work machine 100 operates when he or she wants to speak to a worker around the work machine 100. In the illustrated example, the speech button KS is a knob switch provided at the tip of the right operating lever 26R.

[0085] The speech button KS is an operation unit connected to the controller 30, which is a control device. Based on the operation state of the speech button KS, the controller 30 switches between a state in which the operator OP of the work machine 100 speaks to a target person, such as a worker WK, around the work machine 100, and a state in which the target person speaks to the operator OP of the work machine 100 (see FIG. 6). The state in which the operator OP speaks to the target person is a state in which sound based on a signal generated from sound collected by the internal sound collection device M2 is output from the external sound output device SP1. The state in which the target person speaks to the operator OP is a state in which sound based on a signal generated from sound collected by the external sound collection device M1 is output from the internal sound output device SP2.

[0086] The internal sound output device SP2 is a device disposed inside the cab 10 and outputs sound to an operator inside the cab 10. The internal sound output device SP2 converts an electrical signal input from the controller 30 into a physical sound (air vibration) and outputs the sound. The internal sound output device SP2 may be disposed 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.

[0087] The external volume dial DL1 is configured to adjust the volume of the sound output by the external sound output device SP1. The volume of the sound output by each external sound output device SP1 may be additionally adjusted using a device other than the external volume dial DL1, such as a touch panel attached to the display device D1. The external volume dial DL1 may be configured to be infinitely rotatable in both the clockwise and counterclockwise directions. This is to accommodate cases where volume adjustment using the external volume dial DL1 and volume adjustment using a device other than the external volume dial DL1 are used together.

[0088] 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 adjusted using a device other than the internal volume dial DL2, such as a touch panel attached to the display device D1. The internal volume dial DL2 may be configured to be infinitely rotatable in both the clockwise and counterclockwise directions. This is to accommodate cases where volume adjustment using the internal volume dial DL2 and volume adjustment using a device other than the internal volume dial DL2 are used together.

[0089] 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.

[0090] The conversation function is a function for realizing a conversation between an operator OP of the work machine 100 and a worker WK located around the work machine 100, as shown in Fig. 6. Fig. 6 is a perspective view of the work machine 100 on which the operator OP is riding and the worker WK located on the front left of the work machine 100. Fig. 6 shows how the voice of the operator OP is collected by the internal sound collection device M2 and output from the external sound output device SP1, and how the voice of the worker WK is collected by the external sound collection device M1 and output from the internal sound output device SP2.

[0091] In addition, in the work machine 100 shown in FIG. 6, an information transmission device G1 is provided at the top of each of the four side surfaces of the cab 10. A front light bar G1F provided at the top of the front of the cab 10 emits green light, and a left light bar G1L provided at the top of the left surface of the cab 10 emits white light. In FIG. 6, the front light bar G1F emitting green light has a dot pattern attached. When a worker WK sees the front light bar G1F emitting green light, he or she can recognize that his or her voice is being detected by the front microphone M1F. Note that, for clarity, other devices such as the imaging device S6 are not shown in FIG. 6.

[0092] The operating state of the conversation function includes an ON state (the state shown in FIG. 6) in which conversation between the operator OP and the worker WK is possible, and an OFF state in which conversation between the operator OP and the worker WK is not possible. However, the operating state of the conversation function may additionally include at least one of an audible state (with respect to the operator OP) in which the operator OP can hear the voice of the worker WK but the worker WK cannot hear the voice of the operator OP, and an utterance enabled state (with respect to the operator OP) in which the worker WK can hear the voice of the operator OP but the operator OP cannot hear the voice of the worker WK.

[0093] 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.

[0094] Furthermore, when the switch SW is operated to switch the operation state of the conversation function to a listening state, the external sound collection device M1 and the internal sound output device SP2 become available. Furthermore, when the switch SW is operated to switch the operation state of the conversation function to a speaking state, the external sound output device SP1 and the internal sound collection device M2 become available.

[0095] In the illustrated example, the operator OP speaks while pressing the speech button KS when the internal sound collection device M2 is available. The controller 30 then causes the external sound output device SP1 to output a sound based on a signal generated from the sound collected by the internal sound collection device M2. This allows the operator OP to speak to the worker WK using the internal sound collection device M2 and the external sound output device SP1.

[0096] Next, the operation of the controller 30 of the work machine 100 according to the first embodiment will be described with reference to Figures 4 to 10. Figure 7 is a functional block diagram of the controller 30 of the work machine 100 shown in Figure 4. Figure 8 is a flow diagram that explains the operation of the controller 30 shown in Figure 7.

[0097] 4 also functions as a control device that causes the internal sound output device SP2 to output a sound based on a signal generated from sound collected by the external sound collection device M1. Note that the controller 30 may be configured, for example, by a plurality of control devices or by a single control device.

[0098] 7, the controller 30 has, for example, a priority setting unit 301, a processing content determination unit 302, a signal processing unit 303, and a signal output unit 304. These units of the controller 30 represent, for example, various functions of the controller 30. Specifically, each function of the controller 30 is realized, for example, by the CPU of the controller 30 reading out a program stored in a non-volatile storage device, loading the program into a volatile storage device, and executing the program.

[0099] For example, when the switch SW and the talk button KS are operated to switch the operating state of the conversation function to the audible state, the controller 30 repeatedly executes the processing flow shown in Fig. 8 at a predetermined cycle. As a result, the controller 30 processes a sound signal that has arrived at the external sound collection device M1 from a direction with a high preset priority, with priority over sound signals that have arrived at the external sound collection device M1 from other directions.

[0100] 8 starts, the controller 30 executes, for example, a process P1 for setting the priority of signal processing. In this process P1, the priority setting unit 301 sets, for example, the priority of signal processing for sound signals that arrive at the external sound collection device M1 from each direction. Specifically, in this process P1, the priority setting unit 301 sets the priority of sound signals that arrive at the external sound collection device M1 from a direction with a high priority that has been set in advance higher than the priority of sound signals that arrive at the external sound collection device M1 from other directions, and outputs the priority of each signal to the processing content determination unit 302 and the signal processing unit 303.

[0101] The method by which the priority setting unit 301 identifies the direction of a sound that has reached the external sound collection device M1 is not particularly limited. The external sound collection device M1 includes multiple microphones, such as a front microphone M1F, a left microphone M1L, a right microphone M1R, and a rear microphone M1B, that are provided at different positions on the upper rotating body 3. In this case, the direction of the sound source, i.e., the direction of the sound that has reached the external sound collection device M1, can be identified based on the sound pressure or volume of the sound collected by each microphone. Furthermore, for example, if the above-mentioned array microphone is used as the external sound collection device M1, the direction of the sound that has reached the external sound collection device M1 can be identified based on the phase shift or volume difference of the sounds collected by the multiple microphones that make up the array microphone.

[0102] The direction with high priority can be set, for example, based on map information of the work site where the work machine 100 will be working. The map information is stored in advance in a non-volatile storage device that constitutes the controller 30. Specifically, the direction with high priority is determined, for example, based on a specific area that is set in advance in the map information of the work site. The specific area includes, for example, an area where two-way conversations frequently take place between the operator OP of the work machine 100 and people, including workers WK, around the work machine 100, as shown in FIG. 6. The specific area can be input to the controller 30, for example, via the input device D2.

[0103] In this case, the priority setting unit 301 of the controller 30 acquires map information of the work site including the specific area from, for example, a non-volatile storage device. The priority setting unit 301 also acquires the position and orientation of the upper rotating body 3 of the work machine 100 from, for example, the positioning device PS. Then, for example, when the distance between the specific area and the work machine 100 is equal to or less than a predetermined threshold, the priority setting unit 301 sets the priority of a sound signal that arrives at the external sound collection device M1 on the upper rotating body 3 from the direction of the specific area to be higher than the priority of sound signals that arrive at the external sound collection device M1 from other directions.

[0104] Furthermore, the priority setting unit 301 may set a direction with a high priority based on the detection results of an object detection device including the image capture device S6. For example, assume that the object detection device including the image capture device S6 is able to detect specific objects, including workers WK and other work machines, around the work machine 100, and the directions of those objects. In such a case, the priority setting unit 301 acquires the direction of the detected object from the object detection device including the image capture device S6 as a pre-set high-priority direction. Then, the priority setting unit 301 sets a higher priority for sound signals that arrive at the external sound collection device M1 from that high-priority direction than for sound signals that arrive at the external sound collection device M1 from other directions.

[0105] Furthermore, the priority setting unit 301 may set a direction with a high priority based on a selection by the operator OP of the work machine 100. For example, assume that the operator OP of the work machine 100 visually checks the worker WK around the work machine 100 and is able to recognize the direction of the worker WK. In such a case, the operator OP can manually set, for example, via the input device D2, to give a higher priority to sound signals that reach the external sound collection device M1 from the direction of the worker WK than to sound signals that reach the external sound collection device M1 from other directions. In this case, the priority setting unit 301 sets, for example, a higher priority to sound signals that reach the external sound collection device M1 from a direction with a high priority set via the input device D2 than to sound signals that reach the external sound collection device M1 from other directions.

[0106] Furthermore, the selection of a high-priority direction by the operator OP of the work machine 100 includes, for example, the selection of a mode of the work machine 100 by the operator OP. Specifically, the operator OP can select any mode from among a plurality of modes of the work machine 100, such as crane mode, payload mode, machine control mode, or machine guidance mode. In this case, the priority setting unit 301 sets a high-priority direction, for example, according to the mode selected by the operator OP. Specifically, for example, if the operator OP selects crane mode, the front of the upper rotating body 3 is set as the high-priority direction. This is because, in crane mode, the worker WK may perform slinging work or change an end attachment on the attachment AT at the front of the upper rotating body 3.

[0107] Furthermore, for example, when the work machine 100 is away from a specific area, the object detection device does not detect an object, and the operator OP does not select a direction with a high priority, the priority setting unit 301 sets equal priorities to the sound signals that arrive at the external sound collection device M1 from each direction.

[0108] Next, the controller 30 executes process P2 to determine the processing content for the sound signals AS1-AS4 arriving at the external sound collection device M1 from each direction, as shown in Fig. 8. In process P2, the processing content determination unit 302 determines the content of signal processing to be executed by the signal processing unit 303 in the next process P3 on the sound signals AS1-AS4 arriving from each direction, for example, based on the priorities set by the priority setting unit 301 in the previous process P1.

[0109] 9A to 9E are functional block diagrams of the signal processing unit 303 of the controller 30 shown in FIG. 7. For example, in the previous process P1, the priority setting unit 301 sets equal priorities for the sound signals AS1-AS4 that arrive at the external sound collection device M1 from each direction. In this case, the processing content determination unit 302 determines to perform the same low-load processing LP on the sound signals AS1-AS4 that arrive at the external sound collection device M1 from each direction, as shown in FIG. 9A. The low-load processing LP includes, for example, a simple noise reduction process.

[0110] 1 and 7, signal AS1 is a signal generated by the front microphone M1F from sound reaching the front microphone M1F from the front of the upper rotating body 3, signal AS2 is a signal generated by the left microphone M1L from sound reaching the left microphone M1L from the left direction of the upper rotating body 3, signal AS3 is a signal generated by the right microphone M1R from sound reaching the right microphone M1R from the right direction of the upper rotating body 3, and signal AS4 is a signal generated by the right microphone M1R from sound reaching the right microphone M1R from the rear of the upper rotating body 3.

[0111] Also, suppose that in the previous process P1, the priority setting unit 301 set the right direction as the direction with the highest priority. In this case, the processing content determination unit 302 determines the processing content for, for example, the sound signal AS3 arriving from the right direction with the highest priority, and the sound signals AS1, AS2, and AS4 arriving from the other directions. The signal processing unit 303 processes, for example, the sound signal AS3 arriving from the direction with the highest priority with priority over the sound signals AS1, AS2, and AS4 arriving from the other directions.

[0112] Furthermore, the processing content determination unit 302 may determine, for sound signals AS1, AS2, and AS4 arriving from other directions, simpler processing than the processing determined for sound signal AS3 arriving from a direction with a high priority, as shown in FIG. 9B . Specifically, the processing content determination unit 302 determines to execute medium-load processing MP for sound signal AS3 arriving at the external sound collection device M1 from the right direction, which has a high priority. The medium-load processing MP has a higher processing load than the low-load processing LP, and includes noise reduction processing that is slightly more complex than the simple noise reduction processing performed by the low-load processing LP. Specifically, the noise reduction processing performed by the medium-load processing MP can remove noise to a higher level, for example, by adding a filter to the noise reduction processing performed by the low-load processing LP.

[0113] Furthermore, the processing content determination unit 302 determines to execute low-load processing LP, which is simpler than the medium-load processing MP, for example, on sound signals AS1 and AS4 that arrive at the external sound collection device M1 from the front and rear, which are different from the right direction, which has a high priority. Furthermore, the processing content determination unit 302 determines not to execute signal processing on a sound signal AS2 that arrives at the external sound collection device M1 from the left direction, which is opposite to the right direction, which has a high priority. In other words, determining simplified signal processing includes determining not to execute signal processing.

[0114] 9C, the processing content determination unit 302 may determine the content of signal processing only for the sound signal AS3 arriving from a direction with high priority, and may determine to block the sound signals AS1, AS2, and AS4 arriving from other directions. Specifically, the processing content determination unit 302 determines to perform the high-load processing HP only for the sound signal AS3 arriving to the external sound collection device M1 from the right direction, which has high priority. The processing content determination unit 302 may also determine to block the sound signals AS1, AS2, and AS4 arriving to the external sound collection device M1 from the front, left, and rear directions other than the right direction, which has high priority.

[0115] Furthermore, in the example shown in Fig. 9C, for example, the processing content determination unit 302 may pass some of the signals AS2 without processing them, as shown in Fig. 9B. That is, the processing content determination unit 302 can determine any combination of passing some of the signals AS2 without processing them, blocking some of the signals AS4, performing low-load processing LP on some of the signals AS1, and performing medium-load processing MP or high-load processing HP on some of the signals AS3.

[0116] Furthermore, in the example shown in Fig. 9C, for example, the processing content determination unit 302 may pass some of the signals AS2 without processing them, as shown in Fig. 9B. That is, the processing content determination unit 302 can determine any combination of passing some of the signals AS2 without processing them, blocking some of the signals AS4, performing low-load processing LP on some of the signals AS1, and performing medium-load processing MP or high-load processing HP on some of the signals AS3.

[0117] The high-load processing HP has a higher processing load than the medium-load processing MP, and includes, for example, processing that is more complex and has higher performance than the noise reduction processing performed by the medium-load processing MP. Specifically, the high-load processing HP includes, for example, a transcription process that recognizes speech and displays text corresponding to the speech, and a noise reduction process. The noise reduction processing performed by the high-load processing HP can remove noise to a higher level by using, for example, a trained model. The trained model is, for example, mainly configured with a neural network.

[0118] The neural network of the trained model may be a so-called deep neural network that has one or more intermediate layers (hidden layers) between the input layer and the output layer. In the neural network, a weighting parameter representing the connection strength with the lower layer is defined for each of the multiple neurons that make up each intermediate layer. The neural network is configured in such a way that the neurons in each layer output the sum of values ​​obtained by multiplying each of the input values ​​from the multiple neurons in the upper layer by the weighting parameter defined for each neuron in the upper layer to the neurons in the lower layer via a threshold function.

[0119] Then, machine learning, specifically deep learning, is performed on the trained model, and as a result, the weighting parameters of the neural network are optimized. The training data used for machine learning includes, for example, a sound signal containing noise and a sound signal from which the noise has been removed. By performing machine learning using the training data, the trained model outputs a sound signal from which the noise has been removed when a sound signal containing noise is input.

[0120] Furthermore, when the external sound collection device M1 is configured with an array microphone, the processing content determination unit 302 determines to perform separation processing IP on the signal AS generated from sounds received by the external sound collection device M1 from each direction, as shown in Fig. 9D, for example. In the separation processing IP, for example, sound signals AS1, AS2, AS3, and AS4 from each direction are separated from the signal AS generated from sounds collected by the external sound collection device M1 from the front, left, right, and rear directions.

[0121] For example, suppose that in the previous process P1, the priority setting unit 301 set equal priorities to the sound signals arriving at the external sound collection device M1 from each direction. In this case, the processing content determination unit 302 determines to perform the same low-load processing LP on the separated sound signals AS1, AS2, AS3, and AS4 from each direction, as shown in Fig. 9D.

[0122] Also, suppose that in the previous process P1, the priority setting unit 301 set a higher priority for the sound signal AS1 that arrived at the external sound collection device M1 from the front than for the sound signals AS2-AS4 that arrived at the external sound collection device M1 from other directions. In this case, the processing content determination unit 302 may, for example, determine to perform the high-load processing HP only on the sound signal AS1 that arrived from the front, which has a high priority, and to block the sound signals AS2, As3, and As4 that arrived from other directions, as shown in Fig. 9E.

[0123] Next, the controller 30 processes the sound signals input from the external sound collection device M1 (process P3), for example, as shown in Fig. 8. In this process P3, the signal processing unit 303 processes the sound signals AS1-AS4 that have arrived at the external sound collection device M1 from each direction according to the priorities set in the previous processes P1 and P2 and the processing content determined.

[0124] Specifically, the signal processing unit 303 executes low-load processing LP, medium-load processing MP, or high-load processing HP, which is determined according to the priority of the sound signals AS1-AS4 from each direction, as shown in Figures 9A to 9E. As a result, the signal processing unit 303 processes sound signals that arrive at the external sound collection device M1 from directions with a higher priority, with higher priority than sound signals that arrive from other directions. Furthermore, the signal processing unit 303 performs more advanced signal processing on sound signals that arrive at the external sound collection device M1 from directions with a higher priority than on sound signals that arrive from other directions.

[0125] Next, the controller 30 executes a process P4 of outputting to the internal sound output device SP2 output signals OSL and OSR based on, for example, the processed signals PS1-PS4, PS3m, PS3a, and PS1a or the unprocessed signal AS2 output from the signal processing unit 303. Specifically, the signal output unit 304 arbitrates and integrates, for example, the processed signals PS1-PS4, PS3m, PS3a, and PS1a and the unprocessed signal AS2 input from the signal processing unit 303, generates output signals OSL and OSR, and outputs them to the internal sound output device SP2.

[0126] This allows, for example, the left indoor speaker SP2L and the right indoor speaker SP2R that constitute the internal sound output device SP2 to output sounds based on the processed signals PS1-PS4, PS3m, PS3a, PS1a or the unprocessed signal AS2, which can be heard by the operator OP.

[0127] The signal output unit 304 may arbitrate and integrate the processed signals PS1-PS4, PS3m, PS3a, and PS1a and the unprocessed signal AS2, for example, based on an operation by the operator OP. Specifically, the signal output unit 304 normally outputs a sound based on a sound signal from a direction with a high priority from the internal sound output device SP2, but may also output a sound based on a sound signal from a direction other than the high priority direction based on a selection by the operator OP.

[0128] Furthermore, the signal output unit 304 may, for example, based on the selection of the operator OP, cause only sounds based on the signals PS3m and PS3a generated from sounds in directions with high priority shown in Figures 9B and 9C to be output from the internal sound output device SP2. Furthermore, the signal output unit 304 may, for example, based on the selection of the operator OP, cause sounds based on the signal PS3m generated from sounds in directions with high priority shown in Figure 9B and sounds based on the signals PS1, PS2, and PS4 generated from sounds in other directions to be output simultaneously from the internal sound output device SP2.

[0129] Furthermore, if sounds based on signals generated from the voices of multiple workers WK, etc., arriving at the external sound collection device M1 from different directions are simultaneously output from the internal sound output device SP2, it may be difficult for the operator OP to hear what each worker WK is saying. In such a case, the controller 30 may switch the direction with a higher priority based on the selection of the operator OP. This allows the operator OP to clearly hear what the worker WK in the direction selected by the operator OP is saying via the internal sound output device SP2.

[0130] After the process P4 is completed, the controller 30 ends the process flow shown in Fig. 8 and repeats it at a predetermined cycle. Before ending the process flow shown in Fig. 8, the controller 30 may notify the operator OP via the display device D1 of the direction in which the sound signal is to be preferentially processed.

[0131] Below, we will first explain an example of an image displayed on the display device D1, and then explain an example of image 422d that notifies the direction in which sound signals should be processed preferentially, with reference to Fig. 10. Fig. 10 is an image diagram showing an example of an image 85 that is displayed on the display device D1 of the work machine 100 of Fig. 4.

[0132] 10, the image 85 that the controller 30 causes the image display unit 42 constituting the display device D1 to display includes, for example, a plurality of images. The image display unit 42 includes, for example, a date and time display area 42a, a driving mode display area 42b, an attachment display area 42c, a fuel efficiency display area 42d, an engine control status display area 42e, and an engine operating time display area.

[0133] The date and time display area 42a is an area for displaying an image showing the current date and time. The driving mode display area 42b is an area for displaying an image showing the current driving mode. The attachment display area 42c is an area for displaying an image showing the currently attached attachment. The fuel efficiency display area 42d is an area for displaying an image showing fuel efficiency information calculated by the controller 30.

[0134] The fuel efficiency display area 42d includes, for example, an average fuel efficiency display area 42d1 that displays an image showing lifetime average fuel efficiency or section average fuel efficiency, and an instantaneous fuel efficiency display area 42d2 that displays an image showing instantaneous fuel efficiency. The engine control status display area 42e is an area that displays an image showing the control status of the engine 11. The engine operating time display area is an area that displays an image showing the cumulative operating time of the engine 11.

[0135] The image display unit 42 also includes, for example, a coolant temperature display area 42g, a remaining fuel amount display area 42h, a rotation speed level display area 42i, a remaining urea water amount display area 42j, and a hydraulic oil temperature display area 42k. The coolant temperature display area 42g is an area for displaying an image showing the current temperature state of the engine coolant. The remaining fuel amount display area 42h is an area for displaying an image showing the remaining amount of fuel stored in the fuel tank.

[0136] The rotation speed level display area 42i is an area that displays, as an image, the current level set by the dial. A number indicating the selected level is displayed in the rotation speed level display area 42i. The urea water remaining amount display area 42j is an area that displays, as an image, the remaining amount of urea water stored in the urea water tank. The hydraulic oil temperature display area 42k is an area that displays an image that indicates the temperature state of the hydraulic oil in the hydraulic oil tank.

[0137] Furthermore, the image display unit 42 includes, for example, a status display area 421, a first image display area 422, and a second image display area 423. The status display area 421 is an area that displays an image that shows the positional relationship between the work machine 100 and an object OB, such as a person, that has been detected in the vicinity of the work machine 100. 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.

[0138] The image displayed in the status display area 421 includes, for example, a direction display icon 421a, a work machine icon 421b, a first circular area 421c, a second circular area 421d, and a person detection icon 421e. Note that the status display area 421 may display, for example, an overhead image generated by processing an image from the imaging device S6. The overhead image is an image of the work machine 100 and its surrounding objects viewed from above. The work machine icon may be displayed in the center of the overhead image, or the circular area and person detection icon may be superimposed on the overhead image.

[0139] The direction display icon 421a indicates the direction in which the work machine 100 can travel. The work machine icon 421b is an icon that represents the work machine 100. The first circular area 421c is an image that shows the range in which the attachment AT will rotate when the upper rotating body 3 is rotated while maintaining the current attitude of the attachment AT. The second circular area 421d is an image that shows the range in which the attachment AT will rotate when the upper rotating body 3 is rotated with the attachment AT fully extended in the horizontal direction. The person detection icon 421e is an image that displays a person, such as a worker WK, that has been detected around the work machine 100.

[0140] In the first image display area 422, for example, a right image is displayed. The right image is an image that shows the space to the right of the work machine 100, and includes an image 422c of the right end of the top surface of the upper rotating body 3. The right image is a real viewpoint image generated by the control unit 40a, and is generated based on an image acquired by the right camera S6R. The first image display area 422 is displayed to the right of the status display area 421.

[0141] 10, the right image displayed in the first image display area 422 includes an image 422a of a person who is the object OB, a person detection frame 422b, and an image 422c of the right end of the upper surface of the upper rotating body 3. The person detection frame 422b is an image generated by the controller 30 based on the detection result of a person such as a worker WK by the object detection device, and is a rectangular frame displayed so as to surround the image 422a of the detected person.

[0142] In the second image display area 423, for example, a rear image is displayed. The rear image is an image that shows the space behind the work machine 100, and includes an image 423c of the counterweight. The rear image is a real viewpoint image generated by the control unit 40a, and is generated based on an image acquired by the rear camera S6B. The second image display area 423 is displayed below the status display area 421 as a reference.

[0143] For example, the controller 30 causes the image display unit 42 of the display device D1 to display a frame-shaped image 422d that emphasizes the outer edge of the first image display area 422 that displays the image 422a of the person who is the sound source, in a manner different from that of the human detection frame 422b. In other words, the controller 30 causes the image 422d related to the priority of sound signal processing to be displayed in a manner different from that of the human detection frame 422b, which is an image related to human detection. That is, the controller 30 displays, for example, the human detection frame 422b and the image 422d related to the priority of signal processing in a manner that allows the operator OP to recognize the difference between them.

[0144] Specifically, the image 422d can be displayed in a different color or thickness from the person detection frame 422b, or can be made to blink. The controller 30 notifies the direction in which the sound signal reaching the external sound collection device M1 is to be preferentially processed, for example, by displaying the image 422d on the display device D1. Furthermore, the controller 30 may display an icon such as an exclamation point "!" adjacent to the image 422a of the person who is the sound source in the first image display area 422 as an image notifying the direction in which the sound signal is to be preferentially processed.

[0145] The operation of the work machine 100 of the first embodiment will be described below in comparison with the prior art.

[0146] The acoustic processing system described in the aforementioned Patent Document 1 processes signals generated from sounds collected by multiple microphones using a sound extraction unit, but the processing power of the central processing unit that constitutes the sound extraction unit is limited. Therefore, when signals generated from sounds collected by multiple microphones are processed by the sound extraction unit, there is a risk of a large delay between the sounds collected by the microphones and the sound output based on the signals processed by the sound extraction unit.

[0147] If the delay between the sound collected by the microphone and the sound output becomes large, it may have a negative impact on, for example, collaborative work between a work machine operator and surrounding workers. Furthermore, in such collaborative work, if the noise removal performance of the sound extraction unit is improved to make it easier for the work machine operator to hear the voices of surrounding workers, the processing load on the sound extraction unit may increase, further increasing the delay described above.

[0148] In contrast, the work machine 100 of the first embodiment includes a lower traveling body 1, an upper rotating body 3 rotatably mounted on the lower traveling body 1, and a cab 10 mounted on the upper rotating body 3. The work machine 100 also includes an external sound collection device M1 arranged outside the cab 10, an internal sound output device SP2 arranged inside the cab 10, and an object detection device attached to the upper rotating body 3 for detecting surrounding objects. The work machine 100 also includes a controller 30 as a control device that causes the internal sound output device SP2 to output sounds based on signals AS1-AS4 generated from sounds collected by the external sound collection device M1. The controller 30 processes sound signals that have arrived at the external sound collection device M1 from a direction with a predetermined high priority, giving priority to sound signals that have arrived at the external sound collection device M1 from other directions.

[0149] With this configuration, the controller 30 can prioritize processing of the sound signal AS3 received by the external sound collection device M1 from a high-priority direction over the sound signals AS1, AS2, and AS4 received by the external sound collection device M1 from other directions, as shown in Figures 9B and 9C. This improves the processing speed of the signal AS3 by the controller 30 and reduces the delay between the sound received by the external sound collection device M1 from a high-priority direction and the sound output from the internal sound output device SP2 based on the processed signals PS3m and PS3a. As a result, speech by workers WK and others around the work machine 100 can be transmitted to the operator OP of the work machine 100 via the internal sound output device SP2 inside the cab 10 without delay, enabling smooth collaborative work between the operator OP and the workers WK. Furthermore, by prioritizing processing of the sound signal AS3 received by the high-priority direction over the sound signals AS1, AS2, and AS4 received by the other directions, more advanced noise reduction processing can be performed on the sound signal AS3 received by the high-priority direction. As a result, for example, when an operator OP of a work machine 100 works together with surrounding workers WK, it is possible to make it easier for the operator OP to hear the voices of the surrounding workers WK while suppressing the delay between the sound that reaches the external sound collection device M1 and the sound that is output from the internal sound output device SP2. Similarly, when the external sound collection device M1 is an array microphone, as shown in Fig. 9E, it is possible to process a sound signal AS1 that reaches the external sound collection device M1 from a direction with a higher priority with priority over sound signals AS2-AS4 that reach the external sound collection device M1 from other directions.

[0150] Next, the processing of the controller 30A according to the second embodiment will be described with reference to Figures 11 to 14. Figure 11 is a schematic diagram illustrating the echo cancellation processing of the controller 30A according to the second embodiment.

[0151] The controller 30A according to the second embodiment differs from the controller 30 according to the first embodiment in that it performs echo cancellation processing to prevent feedback occurring between the external sound collection device M1, the internal sound collection device M2, the external sound output device SP1, and the internal sound output device SP2 during two-way conversation. Feedback is a phenomenon in which sound information from a sound output device is input to a sound collection device and then returns to the sound output device (loops), but in this specification, the phenomenon in which sound information output from one sound output device is input to another sound collection device as a reverberation echo is also included in the description of feedback.

[0152] Echo cancellation processing is processing to prevent howling (including reverberation echoes) that occurs when a sound output from a sound output device is picked up by a sound collection device. Therefore, echo cancellation processing is preferably performed between the external sound output device SP1 and the external sound collection device M1, between the internal sound output device SP2 and the internal sound collection device M2, between the internal sound output device SP2 and the external sound collection device M1, and between the external sound output device SP1 and the internal sound collection device M2. Hereinafter, echo cancellation processing between the external sound output device SP1 and the external sound collection device M1 is also referred to as external-to-external echo cancellation processing. Furthermore, echo cancellation processing between the internal sound output device SP2 and the internal sound collection device M2 is also referred to as internal-to-internal echo cancellation processing. Furthermore, echo cancellation processing between the internal sound output device SP2 and the external sound collection device M1 is also referred to as internal-to-external echo cancellation processing. Furthermore, echo cancellation processing between the external sound output device SP1 and the internal sound collection device M2 is also referred to as external-to-internal echo cancellation processing.

[0153] However, each echo cancellation process imposes a large processing load on the device that processes sound information. An example of the echo cancellation process performed by the controller 30A will be described below with reference to Fig. 12. Fig. 12A is a block diagram showing functional blocks of the echo cancellation process formed in the controller 30A. Fig. 12B is a block diagram showing specific functional blocks of an internal echo cancellation processing unit. Fig. 12C is a block diagram showing the state of normal echo cancellation process by the controller 30A.

[0154] The controller 30A has a main sound processing unit 310 that performs various processes on the acquired sound, and also has a plurality of echo cancellation processing units that input and output sound information by performing echo cancellation processing separately from the main sound processing unit 310. The plurality of echo cancellation processing units include an external-to-external echo cancellation processing unit 311, an internal-to-internal echo cancellation processing unit 312, an internal-to-external echo cancellation processing unit 313, and an external-to-internal echo cancellation processing unit 314.

[0155] The main sound processing unit 310 is a functional unit having, for example, the above-mentioned priority setting unit 301, processing content determination unit 302, signal processing unit 303, and signal output unit 304. The main sound processing unit 310 processes a sound information signal input from the external sound collection device M1 and outputs the processed signal to the internal sound output device SP2, and also processes a sound information signal input from the internal sound collection device M2 and outputs the processed signal to the external sound output device SP1. Note that the main sound processing unit 310 is not limited to the processing in the first embodiment and may include various other processing, such as calculating position information of the worker WK.

[0156] The external echo cancellation processor 311, the internal echo cancellation processor 312, the internal / external echo cancellation processor 313, and the external / internal echo cancellation processor 314 are functional units that perform echo cancellation processing on signals before sound information is input to the main sound processor 310. The external echo cancellation processor 311 is connected to the external sound output device SP1 and the external sound collection device M1 and performs external echo cancellation processing to eliminate feedback between them. The internal echo cancellation processor 312 is connected to the internal sound output device SP2 and the internal sound collection device M2 and performs internal echo cancellation processing to eliminate feedback between them. The internal / external echo cancellation processor 313 is connected to the internal sound output device SP2 and the external sound collection device M1 and performs internal / external echo cancellation processing to eliminate feedback between them. The external / internal echo cancellation processor 314 is connected to the external sound output device SP1 and the internal sound collection device M2 and performs external / internal echo cancellation processing to eliminate feedback between them.

[0157] The functional units of the echo cancellation process will be described below using the internal echo cancellation unit 312 shown in Fig. 12B as a representative example. The internal echo cancellation unit 312 includes an adaptive filter unit 312a, an echo suppressor unit 312b, and an audio switch unit 312c.

[0158] The adaptive filter unit 312a predicts and removes echoes that are generated when sound information output from the internal sound output device SP2 returns to the internal sound collection device M2. For example, the adaptive filter unit 312a predicts echoes by convolving the sound information of the internal sound output device SP2 using an adaptive algorithm such as a least mean squares (LMS) algorithm, and then subtracts the predicted echo from the sound information to cancel the echo.

[0159] The echo suppressor unit 312b performs processing to reduce the echo remaining in the adaptive filter unit 312a. For example, the echo suppressor unit 312b compares the signal levels of the transmission from the internal sound output device SP2 and the reception from the internal sound collection device M2 for each frequency band, and passes the signal if the signal level from the internal sound collection device M2 is higher, but attenuates it if it is lower.

[0160] Furthermore, the audio switch unit 312c controls the volume of the internal sound output device SP2 or the volume of the internal sound collection device M2 to suppress the occurrence of howling.

[0161] The internal echo cancellation processor 312 can prevent feedback that occurs between the internal sound output device SP2 and the internal sound collection device M2 through the processing of each of the above functional units. The external echo cancellation processor 311, the internal / external echo cancellation processor 313, and the external / internal echo cancellation processor 314 can also prevent feedback by performing echo cancellation processing using functional units similar to those of the internal echo cancellation processor 312. However, each echo cancellation processor increases the processing load because it performs processing using the above-mentioned multiple functional units. If the device were to constantly perform each echo cancellation processing, the processing of the device as a whole would slow down, which could result in a large delay between the collected sound and the output sound.

[0162] Therefore, the controller 30A according to the second embodiment stores in advance a howling occurrence condition under which there is a possibility of howling occurring, and determines whether or not to perform each echo cancellation process based on this howling occurrence condition.

[0163] However, in the work machine 100, as described above, the external sound output device SP1 and the external sound collection device M1 are installed in adjacent positions, and the internal sound output device SP2 and the internal sound collection device M2 are installed in the same cab 10. In this case, the external sound output device SP1 and the external sound collection device M1 are in a relationship in which feedback is likely to occur, and similarly, the internal sound output device SP2 and the internal sound collection device M2 are in a relationship in which feedback is likely to occur. For this reason, it can be said that the work machine 100 should always operate the inter-external echo cancellation processing unit 311 and the inter-internal echo cancellation processing unit 312 to perform echo cancellation processing. On the other hand, the internal sound output device SP2 inside the cab 10 and the external sound collection device M1 outside the cab 10 are located apart from each other and are separated from each other by windows and doors of the cab 10. Similarly, the external sound output device SP1 outside the cab 10 and the internal sound collection device M2 inside the cab 10 are located apart from each other and are separated from each other by windows and doors of the cab 10.

[0164] 12C, the controller 30A steadily performs external echo cancellation processing and internal echo cancellation processing. On the other hand, the controller 30A selectively performs internal-external echo cancellation processing and external-internal echo cancellation processing based on the feedback occurrence condition. In other words, the feedback occurrence condition is information that determines whether or not to perform internal-external echo cancellation processing and / or external-internal echo cancellation processing.

[0165] 13 is a table showing the relationship between the types of feedback occurrence conditions and the processing of the controller 30A. The feedback occurrence conditions include sound information conditions based on the actual sound collected by the external sound collection device M1 or the internal sound collection device M2, and sensor information conditions that can be detected by various sensors of the work machine 100. Furthermore, the sensor information conditions can be classified into equipment status conditions that detect various equipment statuses of the work machine 100, and image information conditions that are based on image information from the image capture device S6 or the internal camera.

[0166] Specifically, an example of a sound information condition that causes feedback is pattern (a) where the same sound is acquired by both the external sound collection device M1 and the internal sound collection device M2. Pattern (a) is, for example, a situation in which the operator OP's voice is collected not only by the internal sound collection device M2 but also by the external sound collection device M1. In this case, the operator OP's voice collected by the external sound collection device M1 is output from the internal sound output device SP2, resulting in a reverberation echo that can be heard by the operator OP. In other words, since the sound information loops, causing feedback, the controller 30A determines whether to execute echo cancellation processing. For example, the controller 30A may perform both internal-external echo cancellation processing and external-internal echo cancellation processing. This reliably prevents feedback. Alternatively, since the operator OP's voice becomes a reverberation echo output from the internal sound output device SP2, the controller 30A may perform only external-internal echo cancellation processing. This prevents feedback from occurring from the internal sound output device SP2.

[0167] In addition, pattern (a) may also include a situation in which the voice of the worker WK is collected not only by the external sound collection device M1 but also by the internal sound collection device M2. In this case, the voice of the worker WK collected by the internal sound collection device M2 is output from the external sound output device SP1, resulting in a reverberation echo that can be heard by the worker WK. In other words, the sound information loops, causing feedback, so the controller 30A determines whether to execute echo cancellation processing. In this case, the controller 30A may also perform both internal-external echo cancellation processing and external-internal echo cancellation processing. This reliably prevents feedback. Alternatively, since the voice of the worker WK becomes a reverberation echo output from the external sound output device SP1, the controller 30A may only perform internal-external echo cancellation processing. This suppresses feedback from the external sound output device SP1.

[0168] Furthermore, the sound information condition may simply be when the external sound collection device M1 acquires sound output from the internal sound output device SP2, when the internal sound collection device M2 acquires sound output from the external sound output device SP1, etc. The controller 30 performs internal-external echo cancellation processing when the external sound collection device M1 acquires sound output from the internal sound output device SP2, and performs external-internal echo cancellation processing when the internal sound collection device M2 acquires sound output from the external sound output device SP1.

[0169] An example of the device state condition of the sensor information condition is pattern (b) in which a window or door of the cab 10 is open. Pattern (b) is a situation in which, because a window or door of the cab 10 is open, the voice of the operator OP is likely to reach the external sound collection device M1, or the voice of the worker WK is likely to reach the internal sound collection device M2. For example, the controller 30A monitors the state of a window or door of the cab 10 as a howling occurrence condition. To monitor the state of a window or door of the cab 10, for example, the controller 30 acquires detection information from a sensor that detects the open / closed state of the window or door. The state of the window or door may be extracted from image information from an internal camera capturing an image of the inside of the cab 10.

[0170] When a window or door of the cab 10 is closed, the controller 30A determines not to perform the inside-outside echo cancellation process and the outside-inside echo cancellation process. When a window or door of the cab 10 is closed, sound information from the internal sound output device SP2 is blocked by the window or door and is unlikely to reach the external sound collection device M1. Because the external sound collection device M1 hardly collects sound information from the internal sound output device SP2, it can be assumed that no feedback will occur even if the inside-outside echo cancellation process is not performed. Similarly, when a window or door of the cab 10 is closed, sound information from the external sound output device SP1 is blocked by the window or door and is unlikely to reach the internal sound collection device M2. Because the internal sound collection device M2 hardly collects sound information from the external sound output device SP1, it can be assumed that no feedback will occur even if the outside-inside echo cancellation process is not performed.

[0171] Conversely, when a window or door of the cab 10 is open, the controller 30A determines whether to perform inside-outside echo cancellation processing and outside-inside echo cancellation processing. When a window or door of the cab 10 is open, sound information from the internal sound output device SP2 reaches the external sound collection device M1 without being blocked. In this case, the external sound collection device M1 may collect the sound information from the internal sound output device SP2, so the controller 30A can prevent feedback by performing inside-outside echo cancellation processing. Similarly, when a window or door of the cab 10 is open, sound information from the external sound output device SP1 reaches the internal sound collection device M2 without being blocked. In this case, the internal sound collection device M2 may collect the sound information from the external sound output device SP1, so the controller 30A can prevent feedback by performing inside-outside echo cancellation processing.

[0172] Alternatively, when a window or door of the cab 10 is open, it can be said that the operator OP and the worker WK can talk directly to each other without going through the two-way conversation device of the work machine 100. Therefore, when a window or door of the cab 10 is open, the controller 30A may automatically stop the two-way conversation function to avoid the occurrence of howling. Examples of processing for stopping the two-way conversation function include stopping the output of sound from the external sound output device SP1 and stopping the output of sound from the internal sound output device SP2. This allows the operator OP and the worker WK to talk directly to each other without relying on any device. Therefore, in a broad sense, stopping the two-way conversation function also falls under the echo cancellation processing that prevents howling.

[0173] Furthermore, the device status conditions may include detecting the status of various components of the work machine 100, such as attachments, using sensors on the work machine 100, and estimating the circumstances in which loud noises will occur from this detected information.

[0174] Further, imaging information conditions of the sensor information condition include (c) a pattern in which an external worker WK is speaking toward the cab 10 from the imaging information of the imaging device S6, and (d) a pattern in which an operator OP is speaking through a window from the imaging information of the indoor camera. The pattern (c) is a case in which the worker WK is speaking toward the cab 10 and thus requests a conversation with the operator OP. In this case, the controller 30A detects the worker WK from the imaging information of the imaging device S6 and extracts the direction the worker WK is facing and the movement of his or her mouth, thereby recognizing that the worker WK is speaking toward the operator OP. When the controller 30A recognizes that the worker WK is speaking toward the cab 10, it is preferable that the controller 30A automatically disables the two-way conversation function to avoid feedback. Alternatively, the controller 30A may perform echo cancellation processing to avoid feedback.

[0175] Pattern (d) is a case where the operator OP is speaking through the window facing the outside from the cab 10, and is attempting to have a direct conversation with the worker WK. In this case, the controller 30A detects the operator OP from the image information captured by the internal camera of the cab 10 and extracts the direction the operator OP is facing and the movement of his or her mouth, thereby recognizing that the operator OP is speaking to the outside. When the controller 30A recognizes that the operator OP is speaking to the outside, it is preferable that the controller 30A automatically stops the two-way conversation function to avoid the occurrence of feedback. Alternatively, the controller 30A may perform echo cancellation processing to avoid the occurrence of feedback.

[0176] The imaging information condition may also include capturing images of various components of the work machine 100, such as attachments, with the imaging device S6 and analyzing the conditions under which loud noises are generated from this imaging information.The imaging information condition may also include capturing images of another work machine 100 with the imaging device S6 and analyzing the conditions under which loud noises are generated from this imaging information.The imaging information condition may also include receiving monitoring information (image information) from a peripheral monitoring camera that captures images of the work site and analyzing this monitoring information.

[0177] The work machine 100 according to the second embodiment is basically configured as described above, and the operation during echo cancellation processing will now be described with reference to Fig. 14. Fig. 14 is a flowchart showing the echo cancellation processing method.

[0178] The controller 30A of the work machine 100 controls steps S101 to S103 in FIG. 14 in the two-way conversation between the operator OP and the worker WK.

[0179] In a two-way conversation between the operator OP and the worker WK, the controller 30A normally executes only external echo cancellation processing and internal echo cancellation processing (step S101). This prevents feedback that occurs between the external sound output device SP1 and the external sound collection device M1, and also prevents feedback that occurs between the internal sound output device SP2 and the internal sound collection device M2. Therefore, the work machine 100 allows the operator OP and the worker WK to smoothly carry out a conversation through the devices. Furthermore, by not executing internal-external echo cancellation processing and external-internal echo cancellation processing, the work machine 100 can reduce the processing load on the controller 30A (see also FIG. 12C).

[0180] Then, during the two-way conversation between the operator OP and the worker WK, the controller 30A monitors whether or not the feedback occurrence conditions are met (step S102). For example, if at least one of the above-described feedback occurrence conditions (a) to (d) is met (step S102: YES), the controller 30A proceeds to step S103. On the other hand, if the feedback occurrence conditions are not met (step S102: NO), the controller 30A returns to step S101 and continues the normal external echo cancellation processing and internal echo cancellation processing.

[0181] In step S103, the controller 30A executes echo cancellation processing (including disabling the two-way conversation function) based on the established feedback condition. For example, the controller 30A determines whether the same sound is acquired by both the external sound collection device M1 and the internal sound collection device M2 in pattern (a). If pattern (a) is established, the controller 30A executes internal-external echo cancellation processing and external-internal echo cancellation processing. This allows the controller 30A to prevent feedback between the internal sound output device SP2 and the external sound collection device M1, and between the external sound output device SP1 and the internal sound collection device M2. As a result, the operator OP and the worker WK can have a stable conversation.

[0182] Furthermore, for example, the controller 30A determines whether at least one of patterns (b) to (d) is established, and if at least one of patterns (b) to (d) is established, the controller 30A stops the two-way conversation function (or executes the above-mentioned external-internal echo cancellation process or internal-external echo cancellation process). This allows the controller 30A to stop the external sound output device SP1 itself and the internal sound output device SP2 itself, thereby preventing feedback. As a result, the operator OP and the worker WK can have a direct conversation.

[0183] As described above, the controller 30A according to the second embodiment selects echo cancellation processing (including stopping the two-way conversation function) based on the feedback occurrence conditions. As a result, the controller 30 does not perform unnecessary echo cancellation processing, thereby reducing the processing load and enabling sound to be output from the sound output device without delay. Furthermore, in a situation where feedback is likely to occur, the controller 30A can effectively avoid feedback by appropriately performing echo cancellation processing based on the feedback occurrence conditions.

[0184] The controller 30A according to the second embodiment is not limited to the above and may take various modified forms. For example, when a microphone in a direction with a high priority is set for the work machine 100 as in the first embodiment, the controller 30A may prioritize the execution of echo cancellation processing for that microphone. In this case, the controller 30A may perform processing such as stopping output from the sound output device without performing echo cancellation processing for a microphone in a direction with a low priority. This allows the work machine 100 to prevent feedback from occurring in sound information with a high priority.

[0185] Alternatively, when a high-priority microphone is set, the controller 30A may perform simplified echo cancellation processing for a low-priority microphone. One example of simplified echo cancellation processing is reducing echoes by operating only the echo suppressor unit 312b.

[0186] Furthermore, for example, the controller 30A may predict situations in which echo cancellation processing will be difficult based on the state of the work machine 100, and perform processing to stop sound output from the external sound output device SP1 and / or the internal sound output device SP2 when echo cancellation processing is difficult. An example of a situation in which echo cancellation processing is difficult is when each component of the work machine 100 is in operation. Since the controller 30A needs to have a large control processing range when work is being performed, it becomes difficult to increase the processing range of the echo cancellation processing. In particular, loud sounds such as impact sounds and operating sounds may be generated while the work machine 100 is in operation. As an example, when the end attachment (bucket 6) is removing soil during attachment operation, the work machine 100 will generate loud sounds. In this case, the loud sounds are collected by both the external sound collection device M1 and the internal sound collection device M2, which makes it more likely that feedback will occur.

[0187] However, because the work machine 100 operates based on the operation mode and the operation details of the operator OP, the controller 30A can easily predict the timing when impact sounds and operating sounds will be loud. For this reason, the controller 30A monitors the state of the work machine 100 (the operation mode and the operation details of the operator OP), and stops the sound output from the external sound output device SP1 and the internal sound output device SP2 when echo cancellation processing is difficult. This allows the work machine 100 to effectively prevent howling associated with impact sounds and operating sounds.

[0188] Furthermore, when predicting situations in which echo cancellation processing will be difficult based on the state of the work machine 100, the controller 30A may use image information of the surroundings of the work machine 100 captured by the imaging device S6. For example, the controller 30A may perform real-time video analysis of the image information and perform echo cancellation processing if it detects a scene in which an impact sound is likely to occur. Alternatively, for example, the controller 30A may perform real-time video analysis of surveillance footage captured by a surrounding surveillance camera capturing images of the work site and perform echo cancellation processing if it detects a scene in which an impact sound is likely to occur. In particular, when applied to an operation system SYS that remotely operates the work machine 100 as described below, it is possible to estimate situations in which loud sounds will occur using footage of the entire work site collected in the remote system, and therefore even greater effectiveness can be expected.

[0189] Furthermore, map information containing specific area information may be stored in a server, storage medium, or the like external to the work machine 100, and the controller 30A may acquire the map information from the server, storage medium, or the like before performing work. Specific areas include information on locations where conversations with workers WK, etc., frequently take place, or locations where conversations should be restricted due to the presence of residential buildings. The controller 30A may be set to execute internal-external echo cancellation processing and external-internal echo cancellation processing in advance when the current position information of the work machine 100 overlaps with or is close to area information in the map information of a location where conversations frequently take place. Conversely, the controller 30A may stop the two-way conversation function or otherwise prevent echo cancellation processing from being executed in advance when the current position information of the work machine 100 overlaps with or is close to specific area information in the map information where conversations should be restricted.

[0190] 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.

[0191] 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).

[0192] 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.

[0193] 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.

[0194] 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.

[0195] 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 5.

[0196] 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.

[0197] 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.

[0198] 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.

[0199] 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.

[0200] 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. 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.

[0201] 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.

[0202] The remote control room RC is equipped with a communication device T2, a remote controller 40, an operation device 26E, 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.

[0203] The communication device T2 is configured to be able to communicate with the communication device T1 attached to the work machine 100.

[0204] 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.

[0205] 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.

[0206] 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.

[0207] An operation sensor 43 is installed on the operation device 26E to detect the operation content of the operation device 26E. 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 configured with 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 26E 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.

[0208] 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.

[0209] 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).

[0210] 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. 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 a remote operator RO in the remote control room RC.

[0211] The technical ideas and effects of the present disclosure explained in the above embodiments will be described below.

[0212] A first aspect of the present disclosure is a work machine 100 comprising a lower running body 1, an upper rotating body 3 rotatably mounted on the lower running body 1, a cab 10 mounted on the upper rotating body 3 and capable of housing an operator OP, an internal sound collection device M2 mounted inside the cab 10, an external sound collection device M1 mounted outside the cab 10, at least one of an external sound output device SP1 mounted outside the cab 10 and outputting sound collected by the internal sound collection device M2, and an internal sound output device SP2 mounted inside the cab 10 and outputting sound collected by the external sound collection device M1, and a control device (controller 30A) that processes sound information collected by the internal sound collection device M2 and / or the external sound collection device M1, wherein the control device performs echo cancellation processing to remove howling that occurs between the internal sound collection device M2 and the external sound output device SP1 and / or between the external sound collection device M1 and the internal sound output device SP2 based on a howling occurrence condition.

[0213] As described above, the work machine 100 can reduce the processing load of the device while appropriately preventing feedback. That is, when the feedback occurrence condition is not met, the control device (controller 30A) does not perform echo cancellation processing between the internal sound collection device M2 and the external sound output device SP1, and between the external sound collection device M1 and the internal sound output device SP2, thereby significantly reducing the processing load. Furthermore, when the feedback occurrence condition is met, the control device can reliably suppress or eliminate feedback by performing echo cancellation processing.

[0214] The condition for howling to occur is when the internal sound collection device M2 and the external sound collection device M1 receive the same sound.

[0215] This allows the work machine 100 to smoothly suppress or eliminate howling that occurs when the internal sound collection device M2 and the external sound collection device M1 pick up the same sound.

[0216] Furthermore, the condition for howling to occur is when it is detected that a window or door of the driver's cab 10 is open.

[0217] This allows the work machine 100 to suppress or eliminate howling caused by a window or door of the cab 10 being open.

[0218] In addition, the work machine 100 is equipped with an imaging device S6 that captures images of the area around the work machine 100, and the condition for howling to occur is when the imaging information from the imaging device S6 extracts a state in which a worker WK around the work machine 100 is speaking toward the cab 10.

[0219] This allows the work machine 100 to suppress or eliminate howling that occurs when the worker WK speaks towards the cab 10.

[0220] In addition, an indoor camera is provided to capture an image of the operator in the cab 10, and the condition for howling to occur is when the image information captured by the indoor camera detects that the operator OP is speaking towards the outside of the work machine 100.

[0221] This allows the work machine 100 to suppress or eliminate howling that occurs when the operator OP speaks towards the outside of the cab 10.

[0222] The echo cancellation process is a process of removing or reducing reverberation echoes by an echo cancellation processor (internal-external echo cancellation processor 313, external-internal echo cancellation processor 314) formed inside the control device (controller 30A).

[0223] This enables the work machine 100 to effectively suppress or eliminate howling through echo cancellation processing.

[0224] The echo cancellation process is a process of stopping the sound output from the external sound output device SP1 and / or the internal sound output device SP2.

[0225] As a result, the work machine 100 will no longer output sound from the sound output device in the first place, making it possible to create a state in which howling does not occur, and allowing the operator OP and worker WK to have a direct conversation.

[0226] Furthermore, the control device (controller 30A) predicts a situation in which echo cancellation processing will be difficult based on the state of the work machine 100, and stops sound output from the external sound output device SP1 and / or the internal sound output device SP2 when echo cancellation processing is difficult.

[0227] This allows the work machine 100 to suppress or eliminate howling even under conditions where echo cancellation processing is difficult during operation of the work machine 100. In particular, even when loud noises are generated during operation of the work machine 100, it becomes possible to avoid that howling.

[0228] The external sound collection device M1 includes a plurality of microphones (a front microphone M1F, a left microphone M1L, a right microphone M1R, and a rear microphone M1B) that collect sounds outside the cab 10 from different directions.

[0229] This enables the work machine 100 to stably acquire sounds from around the work machine 100.

[0230] The external sound output device SP1 also includes a plurality of speakers (a front speaker SP1F, a left speaker SP1L, a right speaker SP1R, and a rear speaker SP1B) that output sounds outside the cab 10 in different directions.

[0231] This enables the work machine 100 to stably output the voice of the operator OP in an appropriate direction of the work machine 100.

[0232] The driver's cab 10 also has a talk button KS, and when the talk button KS is pressed, the internal sound collection device M2 collects sound, and the external sound output device SP1 outputs the sound collected by the internal sound collection device M2.

[0233] This allows the work machine 100 to output to the outside only the information that the operator OP wants to convey.

[0234] Moreover, an operation system according to a second aspect of the present disclosure includes a work machine 100 having a lower running body 1 and an upper rotating body 3 rotatably mounted on the lower running body 1, an internal sound collection device M2 that collects sounds from an operator OP of the work machine 100, an external sound collection device M1 that collects sounds outside the work machine 100, at least one of an external sound output device SP1 that is provided outside the work machine 100 and outputs sounds collected by the internal sound collection device M2 and an internal sound output device SP2 that outputs sounds collected by the external sound collection device M1 to the operator OP of the work machine 100, and a control device (controller 30A) that processes sound information collected by the internal sound collection device M2 and / or the external sound collection device M1, and the control device performs echo cancellation processing to remove howling that occurs between the internal sound collection device M2 and the external sound output device SP1 and / or between the external sound collection device M1 and the internal sound output device SP2 based on a howling occurrence condition.

[0235] Even in this case, the operation system of the work machine 100 can reduce the processing load on the device while appropriately preventing feedback.

[0236] 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]

[0237] 1 Undercarriage 3 Upper rotating body 10 Driver's cab 30 Controller (control device) 301 Priority setting section 302 Processing content determination unit 303 Signal Processing Unit 40 Remote controller (control device) 100 Work Machinery AS1 signal AS2 signal AS3 signal AS4 signal KS speech button (operation part) M1 External sound collection device M2 internal sound collector OP Operator RO Remote Operator (Operator) S6 Imaging device (object detection device) SP1 External Sound Output Device SP2 internal sound output device SP2E internal sound output device (sound output device) SYS Work machine operating system

Claims

1. a lower running body; an upper rotating body rotatably provided on the lower traveling body; an operator's cab provided on the upper rotating body and in which an operator can ride; an internal sound collecting device provided inside the driver's cab; an external sound collecting device provided outside the driver's cab; At least one of an external sound output device that is provided outside the driver's cab and outputs the sound collected by the internal sound collection device, and an internal sound output device that is provided inside the driver's cab and outputs the sound collected by the external sound collection device; A control device that processes sound information collected by the internal sound collection device and / or the external sound collection device, the control device performs echo cancellation processing to remove feedback occurring between the internal sound collection device and the external sound output device and / or between the external sound collection device and the internal sound output device based on feedback occurrence conditions. Work machinery.

2. The howling occurrence condition is a case where the internal sound collection device and the external sound collection device acquire the same sound.

2. The work machine according to claim 1.

3. The howling occurrence condition is when an opening of a window or a door of the driver's cab is detected.

2. The work machine according to claim 1.

4. an imaging device that images the surroundings of the work machine; the howling occurrence condition is a state in which a worker around the work machine is uttering a voice toward the driver's cab, extracted from image information of the image capturing device.

2. The work machine according to claim 1.

5. an indoor camera that captures an image of the operator in the cab; the howling occurrence condition is a state in which the operator is uttering a voice toward the outside of the work machine, extracted from the image information captured by the indoor camera.

2. The work machine according to claim 1.

6. The echo cancellation process is a process of removing or reducing reverberation echoes by an echo cancellation processing unit formed inside the control device. A work machine according to any one of claims 1 to 5.

7. the echo cancellation process is a process of stopping sound output from the external sound output device and / or the internal sound output device; A work machine according to any one of claims 1 to 5.

8. the control device predicts a situation in which the echo cancellation process will be difficult based on the state of the work machine, and stops sound output from the external sound output device and / or the internal sound output device when the echo cancellation process is difficult. A work machine according to any one of claims 1 to 5.

9. The external sound collection device includes a plurality of microphones that collect sounds from different directions outside the driver's cab. A work machine according to any one of claims 1 to 5.

10. The external sound output device includes a plurality of speakers that output sounds in different directions outside the driver's cab. A work machine according to any one of claims 1 to 5.

11. The cab is provided with a speech button, When the talk button is pressed, the internal sound collection device collects sound, and the external sound output device outputs the sound collected by the internal sound collection device. A work machine according to any one of claims 1 to 5.

12. a work machine including a lower traveling body and an upper rotating body rotatably provided on the lower traveling body; an internal sound collecting device that collects sounds from an operator of the work machine; an external sound collecting device that collects sounds outside the work machine; at least one of an external sound output device that is provided outside the work machine and outputs the sound collected by the internal sound collection device, and an internal sound output device that outputs the sound collected by the external sound collection device to an operator of the work machine; a control device that processes sound information collected by the internal sound collection device and / or the external sound collection device, the control device performs echo cancellation processing to remove feedback occurring between the internal sound collection device and the external sound output device and / or between the external sound collection device and the internal sound output device based on feedback occurrence conditions. Work machine operating systems.

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