Work machine and control system for work machine

Abstract

To provide a work machine capable of improving quietness.SOLUTION: A work machine in a disclosed embodiment includes: a lower traveling body; an upper turning body that is turnably mounted on the lower traveling body; an operator cab placed on the upper turning body; an external sound collection device placed outside the operator cab; an internal sound output device placed inside the operator cab; and a control device that is configured to inhibit the sound collected by the external sound collection device from being output from the internal sound output device according to operation of the work machine based on an operation signal indicating an operation received by an operation device, or a detection signal that is output by a detection device that detects a state of the work machine.SELECTED DRAWING: Figure 4

Description

[Technical Field]

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

[0002] Conventionally, some work machines have been equipped with a sound collection device for collecting sounds from around the work machine and a speaker that outputs the collected sounds to the driver's seat of the work machine, which enables the work machine to output the voices of people present around the work machine to the driver's seat. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2013-047427 Summary of the Invention [Problem to be solved by the invention]

[0004] However, when the sound collected by the sound collection device is output from the sound output device in the cab, if non-stationary noise occurs on or near the work machine, the non-stationary noise will be output from the sound output device to the cab, which can be annoying for the operator.

[0005] One aspect of the present invention is to improve the quietness of a section in which an operator is present by suppressing sound output from a sound output device. [Means for solving the problem]

[0006] A work machine according to one aspect of the present invention comprises a lower running body, an upper rotating body mounted on the lower running body so as to be freely rotatable, a cab provided on the upper rotating body, an external sound collection device arranged outside the cab, an internal sound output device arranged inside the cab, and a control device that suppresses the output of sound collected by the external sound collection device from the internal sound output device in accordance with the operation of the work machine based on an operation signal indicating an operation received by an operating device or a detection signal output by a detection unit that detects the state of the work machine. [Effects of the Invention]

[0007] According to one aspect of the present invention, quietness is improved in the compartment where the operator is present. [Brief explanation of the drawings]

[0008] [Figure 1] 1 is a side view of a work machine according to an embodiment of the present disclosure; FIG. [Figure 2] FIG. 2 is a top view of the work machine shown in FIG. [Figure 3] 2 is a diagram showing an example of the configuration of an external sound collecting device and an information transmitting device attached to the work machine shown in FIG. 1. [Figure 4] FIG. 2 is a diagram illustrating an example of the configuration of the work machine shown in FIG. [Figure 5] FIG. 2 is a top view of the interior of the cab of the work machine shown in FIG. [Figure 6] FIG. 1 is a perspective view of a work machine on which an operator is riding and workers around the work machine. [Figure 7] FIG. 2 is an explanatory diagram illustrating an example of a situation in which unsteady noise occurs in the work machine according to the first embodiment. [Figure 8] FIG. 2 is an explanatory diagram illustrating an example of a situation in which unsteady noise occurs in the work machine according to the first embodiment. [Figure 9] FIG. 3 is a diagram showing a table structure of an output condition management table according to the first embodiment. [Figure 10]10 is a flowchart showing a processing procedure for suppressing the output of sound collected from an external sound collection device when non-stationary noise occurs, in the controller according to the first embodiment. [Figure 11] 10 is a flowchart showing a processing procedure for suppressing the output of sound collected from an external sound collection device when non-stationary noise occurs in another work machine, in a controller according to a second embodiment. [Figure 12] FIG. 11 is a top view of another example of the configuration of the work machine according to the third embodiment. [Figure 13] FIG. 10 is a schematic diagram illustrating an example of the configuration of an operation system according to a fourth embodiment. DETAILED DESCRIPTION OF THE INVENTION

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

[0010] The work machine 100 according to the embodiment of the present disclosure is a shovel. The work machine 100 may be a machine other than a shovel, such as a crane, an asphalt finisher, or a forklift. In the illustrated example, the shovel serving as the work machine 100 is an excavator equipped with a bucket 6 as an end attachment, but the work machine 100 may also be an applied machine such as a forestry machine equipped with an end attachment other than the bucket 6.

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

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

[0013] The work machine 100 comprises a lower traveling body 1, an upper rotating body 3 that is mounted on the lower traveling body 1 so as to be rotatable via a rotating mechanism 2, an attachment AT for performing various tasks, and a driver's cab 10. The driver's cab 10 is also called a cabin or cab. The front side of the work machine 100 (upper rotating body 3) corresponds to the side of the upper rotating body 3 to which the attachment AT is attached, when the work machine 100 is viewed from directly above along the rotation axis of the upper rotating body 3. Furthermore, the left, right, and rear sides of the work machine 100 (upper rotating body 3) correspond to the left, right, and rear sides, respectively, as viewed from the perspective of an operator seated in the driver's seat in the driver's cab 10.

[0014] The lower traveling body 1 includes, for example, a pair of left and right crawlers 1C. Specifically, the crawlers 1C include a left crawler 1CL and a right crawler 1CR. The left crawler 1CL is driven by a left traveling hydraulic motor 2ML, and the right crawler 1CR is driven by a right traveling hydraulic motor 2MR. The left traveling hydraulic motor 2ML is a traveling drive unit that drives the left crawler 1CL as a driven part, and can rotate the left crawler 1CL. The right traveling hydraulic motor 2MR is a traveling drive unit that drives the right crawler 1CR as a driven part, and can rotate the right crawler 1CR. Note that the traveling drive units may be electric motors.

[0015] The upper rotating body 3 rotates relative to the lower traveling body 1 when the rotating mechanism 2 is driven by the hydraulic swing motor 2A. The hydraulic swing motor 2A is a swing drive unit that drives the upper rotating body 3 as a driven unit, and can change the orientation of the upper rotating body 3. The swing drive unit may be an electric motor.

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

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

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

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

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

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

[0022] The front camera S6F is a camera that captures images in front of the work machine 100, and is attached to the exterior of the cab 10, such as on the roof of the cab 10 or on the side of the boom 4. The front camera S6F may also be attached, for example, to the ceiling of the cab 10, i.e., inside the cab 10. The left camera S6L is a camera that captures images to the left of the work machine 100, the right camera S6R is a camera that captures images to the right of the work machine 100, and the rear camera S6B is a camera that captures images behind the work machine 100. Specifically, the front camera S6F, left camera S6L, right camera S6R, and rear camera S6B are all monocular wide-angle cameras equipped with an imaging element such as a CCD or CMOS, and output the captured images to the display device D1. Information about the images captured by the imaging device S6 is taken into the controller 30.

[0023] In the illustrated example, the front camera S6F is attached to the roof of the driver's cab 10, the left camera S6L is attached to the left end of the upper surface of the upper rotating body 3, the right camera S6R is attached to the right end of the upper surface of the upper rotating body 3, and the rear camera S6B is attached to the rear end of the upper surface of the upper rotating body 3.

[0024] The imaging device S6 may constitute an object detection device that detects objects in the vicinity of the work machine 100. The object detection device may be constituted by a device other than a camera. For example, the object detection device may be a LiDAR. A LiDAR is a device that can measure the distance between a point cloud of one million or more points within a monitoring range and the LiDAR (laser source). The object detection device may also be another device that can measure the distance to an object, such as a stereo camera, a range imaging camera, or a millimeter-wave radar. When a millimeter-wave radar or the like is used as the object detection device, the object detection device may derive the distance and direction of the object by emitting a number of signals (laser light, etc.) toward the object and receiving the reflected signals. Alternatively, the object detection device may be a combination of two or more types of devices. For example, the object detection device may be a combination of an imaging device and a LiDAR, a combination of an imaging device and a millimeter-wave radar, or a combination of an imaging device and a stereo camera.

[0025] The external sound collection device M1 is a device that collects external sounds and is also called a microphone or a microphone. In the illustrated example, the external sound collection device M1 is provided on the upper rotating body 3 or the cab 10, and converts sounds (air vibrations) generated around the work machine 100 into mechanical vibrations, which are then converted into electrical signals. Specifically, the external sound collection device M1 includes a front microphone M1F, a left microphone M1L, a right microphone M1R, and a rear microphone M1B.

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

[0027] In the illustrated example, the front microphone M1F is attached to the roof of the cab 10, the left microphone M1L is attached to the left end of the upper surface of the upper rotating body 3, the right microphone M1R is attached to the right end of the upper surface of the upper rotating body 3, and the rear microphone M1B is attached to the rear end of the upper surface of the upper rotating body 3. In this way, the four external sound collection devices M1 (the front microphone M1F, the left microphone M1L, the right microphone M1R, and the rear microphone M1B) are provided at different positions on the upper rotating body 3. Therefore, the controller 30 can detect the direction of the sound source based on the difference in the sounds collected by each of the four external sound collection devices M1 (e.g., difference in volume). Furthermore, when an array microphone is used as the external sound collection device M1, the direction of the sound source can be detected based on, for example, a phase shift or difference in volume.

[0028] In the illustrated example, the four external sound collection devices M1 and the four image capture devices S6 are arranged to correspond to one another. Specifically, the front microphone M1F is arranged adjacent to the front camera S6F, the left microphone M1L is arranged adjacent to the left camera S6L, the right microphone M1R is arranged adjacent to the right camera S6R, and the rear microphone M1B is arranged adjacent to the rear camera S6B.

[0029] The external sound output device SP1 is a device that outputs sound toward the periphery of the work machine 100. In the illustrated example, the external sound output device SP1 is an omnidirectional speaker that is configured to output sound uniformly in all directions. However, the external sound output device SP1 may also be a directional speaker that outputs sound toward a specific direction, such as the front.

[0030] The information transmission device G1 is a device for communicating the status of the work machine 100 to someone outside the work machine 100. In the illustrated example, the information transmission device G1 is provided on the upper rotating body 3 or the operator's cab 10, and is configured to be able to communicate the status of the work machine 100 to an operator around the work machine 100. Specifically, the information transmission device G1 is a light-emitting device, and includes a front light bar G1F, a left light bar G1L, a right light bar G1R, and a rear light bar G1B.

[0031] The front light bar G1F is a light-emitting device that can visually convey information to workers and the like in front of the work machine 100, and is attached to the outside of the cab 10, such as on the roof of the cab 10 or on the side of the boom 4. The front light bar G1F may also be attached to the inside of the cab 10, for example, on the ceiling of the cab 10. The left light bar G1L is a light-emitting device that can visually convey information to workers and the like on the left side of the work machine 100, the right light bar G1R is a light-emitting device that can visually convey information to workers and the like on the right side of the work machine 100, and the rear light bar G1B is a light-emitting device that can visually convey information to workers and the like behind the work machine 100. The front light bar G1F, left light bar G1L, right light bar G1R, and rear light bar G1B each emit light in response to an electrical signal from the controller 30. In the illustrated example, the light-emitting devices are LED lights, but they may also be other light-emitting devices, such as halogen lamps. Furthermore, the light emitting device is of a multicolor emission type, but may be of a monochromatic emission type.

[0032] In the illustrated example, the front light bar G1F is attached to the roof of the operator's cab 10, the left light bar G1L is attached to the left end of the upper surface of the upper rotating body 3, the right light bar G1R is attached to the right end of the upper surface of the upper rotating body 3, and the rear light bar G1B is attached to the rear end of the upper surface of the upper rotating body 3. In this way, the four information transmission devices G1 (front light bar G1F, left light bar G1L, right light bar G1R, and rear light bar G1B) are provided in different positions on the upper rotating body 3. Therefore, the controller 30 can communicate the status of the work machine 100 to workers and the like who are respectively located in front of, on the left, right, and rear of the work machine 100 by separately operating each of the four information transmission devices G1.

[0033] In the illustrated example, the four information transmission devices G1 and the four external sound collection devices M1 are arranged to correspond to each other. Specifically, the front light bar G1F is arranged adjacent to the front microphone M1F, the left light bar G1L is arranged adjacent to the left microphone M1L, the right light bar G1R is arranged adjacent to the right microphone M1R, and the rear light bar G1B is arranged adjacent to the rear microphone M1B.

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

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

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

[0037] The controller 30 is an example of a control device, and is configured, for example, by a computer including a CPU, a volatile storage device, a non-volatile storage device, and various input / output interfaces. The controller 30 then realizes various functions, for example, by reading a program from the non-volatile storage device, loading it into the volatile storage device, and having the CPU execute the program. In the illustrated example, the controller 30 is configured to realize various functions to control the work machine 100. The various functions include, for example, a machine guidance function that guides the operator in manually operating the work machine 100. The various functions may also include a contact avoidance function that automatically or autonomously operates or stops the work machine 100 to avoid contact between the work machine 100 and an object that is present within a monitoring range around the work machine 100.

[0038] The boom angle sensor S1 detects the boom angle, which is the rotation angle of the boom 4 relative to the upper rotating body 3. The arm angle sensor S2 detects the arm angle, which is the rotation angle of the arm 5 relative to the boom 4. The bucket angle sensor S3 detects the bucket angle, which is the rotation angle of the bucket 6 relative to the arm 5.

[0039] Each of the boom angle sensor S1, arm angle sensor S2, and bucket angle sensor S3 may be, for example, a rotary encoder, an acceleration sensor, a six-axis sensor, an IMU (Inertial Measurement Unit), a potentiometer using a variable resistor, a cylinder stroke sensor that detects the stroke amount of a hydraulic cylinder, etc.

[0040] The controller 30 receives a detection signal corresponding to the boom angle from the boom angle sensor S1, a detection signal corresponding to the arm angle from the arm angle sensor S2, and a detection signal corresponding to the bucket angle from the bucket angle sensor S3.

[0041] The machine body tilt sensor S4 detects the tilt state of the machine body (undercarriage 1 or upper rotating body 3) relative to the horizontal plane. The machine body tilt sensor S4 is attached to, for example, the upper rotating body 3, and detects the tilt angle of the work machine 100 (i.e., the upper rotating body 3) around two axes in the forward / backward and left / right directions. The machine body tilt sensor S4 may be, for example, an acceleration sensor, a six-axis sensor, an IMU, or the like. A detection signal corresponding to the tilt angle detected by the machine body tilt sensor S4 is input to the controller 30.

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

[0043] The positioning device PS measures the position of the upper rotating body 3. The positioning device PS is, for example, a Global Navigation Satellite System (GNSS) compass, and detects the position and orientation of the upper rotating body 3. A detection signal corresponding to the position and orientation of the upper rotating body 3 is input to the controller 30. The function of detecting the orientation of the upper rotating body 3 may be realized by a direction sensor attached to the upper rotating body 3.

[0044] The operator's cab 10 is a compartment space in which an operator rides, and is provided on the front left side of the upper rotating body 3. However, when the work machine 100 is remotely controlled or when the work machine 100 operates by fully automatic driving, the operator's cab 10 may be omitted.

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

[0046] In response to operations by an operator seated in the cab 10, the work machine 100 operates actuators to drive driven parts such as the lower traveling body 1, upper rotating body 3, boom 4, arm 5, and bucket 6.

[0047] Alternatively, the work machine 100 may be configured so that it can be remotely operated from outside the work machine 100. When the work machine 100 is remotely operated, the inside of the cab 10 may be unmanned.

[0048] Furthermore, the work machine 100 may automatically operate the actuators regardless of the operation performed by the operator. This allows the work machine 100 to realize a function of automatically operating at least some of the driven parts, such as the lower traveling structure 1, upper rotating structure 3, boom 4, arm 5, and bucket 6, i.e., a so-called "machine control function."

[0049] Figure 4 is a diagram that schematically shows an example of the configuration of a work machine 100. In Figure 4, the mechanical power transmission system, hydraulic oil lines, pilot lines, and electrical control system are indicated by double lines, thick solid lines, thick dashed lines, and dotted lines, respectively.

[0050] The drive system of the work machine 100 includes an engine 11, a regulator 13, a main pump 14, and a control valve unit 17. The hydraulic drive system of the work machine 100 also includes hydraulic actuators such as a swing hydraulic motor 2A, a left traveling hydraulic motor 2ML, a right traveling hydraulic motor 2MR, a boom cylinder 7, an arm cylinder 8, and a bucket cylinder 9.

[0051] The engine 11 is an example of a power source for the work machine 100, and is mounted, for example, on the rear of the upper rotating body 3. The power source for the work machine 100 may be a combination of a power source such as a battery or a fuel cell and an electric motor. Specifically, the engine 11 rotates at a constant speed at a preset target rotation speed under direct or indirect control by the controller 30, and drives the main pump 14 and the pilot pump 15. The engine 11 is, for example, a diesel engine that uses diesel as fuel. The engine 11 may also be a gasoline engine, a hydrogen engine, or the like.

[0052] The regulator 13 controls the discharge amount of the main pump 14. For example, the regulator 13 controls the discharge amount of the main pump 14 by adjusting the angle (tilting angle) of the swash plate of the main pump 14 in response to a control command from the controller 30.

[0053] The main pump 14 is mounted on the rear of the upper rotating body 3, similar to the engine 11, and supplies hydraulic oil to the control valve unit 17 through a hydraulic oil line. In the illustrated example, the main pump 14 is a variable displacement hydraulic pump.

[0054] The control valve unit 17 is one of the hydraulic control devices that controls the hydraulic system of the work machine 100. In the illustrated example, the control valve unit 17 includes control valves 171-176. The control valve unit 17 is configured to selectively supply hydraulic oil discharged by the main pump 14 to one or more hydraulic actuators via the control valves 171-176. The control valves 171-176 control the flow rate of hydraulic oil flowing from the main pump 14 to the hydraulic actuators, and the flow rate of hydraulic oil flowing from the hydraulic actuators to a hydraulic oil tank. The hydraulic actuators include a boom cylinder 7, an arm cylinder 8, a bucket cylinder 9, a left traveling hydraulic motor 2ML, a right traveling hydraulic motor 2MR, and a swing hydraulic motor 2A. Specifically, the control valve 171 corresponds to the left traveling hydraulic motor 2ML, the control valve 172 corresponds to the right traveling hydraulic motor 2MR, and the control valve 173 corresponds to the swing hydraulic motor 2A. Furthermore, the control valve 174 corresponds to the bucket cylinder 9 , the control valve 175 corresponds to the boom cylinder 7 , and the control valve 176 corresponds to the arm cylinder 8 .

[0055] The pilot pump 15 is an example of a pilot pressure generating device, and is configured to be able to supply hydraulic oil to hydraulic control devices via a pilot line. In the illustrated example, the pilot pump 15 is a fixed displacement hydraulic pump. However, the pilot pressure generating device may also be realized by the main pump 14. That is, the main pump 14 may have a function to supply hydraulic oil to various hydraulic control devices via pilot lines, in addition to a function to supply hydraulic oil to the control valve unit 17 via a hydraulic oil line. In this case, the pilot pump 15 may be omitted.

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

[0057] The operating device 26 is a device used by an operator to operate the actuator. The operating device 26 includes, for example, an operating lever and an operating pedal. The actuator may be a hydraulic actuator or an electric actuator.

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

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

[0060] With this configuration, the controller 30 can operate the hydraulic actuator corresponding to a specific operating device 26 even when the specific operating device 26 is not being operated.

[0061] As shown in FIG. 4, the control system of the work machine 100 includes a controller 30, a display device D1, an input device D2, a talk button KS, an external sound collection device (an example of an external sound collection device) M1, an internal sound collection device (an example of an internal sound collection device) M2, an external sound output device (an example of an external sound output device) SP1, an internal sound output device (an example of an internal sound output device) SP2, an external volume dial DL1, an internal volume dial DL2, a switch SW, a memory device 35, and a communication device T1.

[0062] The controller 30 is configured to output a control command to the regulator 13 as necessary, thereby changing the discharge rate of the main pump 14.

[0063] 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.

[0064] 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).

[0065] 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.

[0066] 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.

[0067] 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.

[0068] The left armrest 53L is disposed on the left console 54L. The right armrest 53R is disposed on the right console 54R. The left armrest 53L is disposed so as to cover a portion of the left console 54L in a top view. The right armrest 53R is disposed so as to cover a portion of the right console 54R in a top view.

[0069] 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.

[0070] 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.

[0071] 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.

[0072] 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.

[0073] 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.

[0074] The input device D2 is provided within reach of the operator seated in the driver's seat 50, accepts various operational inputs from the operator, and outputs signals corresponding to the operational inputs to the controller 30. The input device D2 includes a touch panel mounted on the display of the display device D1 that displays various information images, a knob switch provided at the tip of one or more levers of a plurality of operating levers included in the operating device 26, or a button switch, lever, toggle switch, rotary dial, or the like provided around the display device D1. A signal corresponding to the content of the operation on the input device D2 is taken into the controller 30.

[0075] 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.

[0076] 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.

[0077] 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.

[0078] 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.

[0079] 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.

[0080] A switch SW is installed on the right console 54R. A window console 56 is installed to the right 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.

[0081] The internal sound collection device M2 is a device that collects sounds generated inside the cab 10. In the illustrated example, the internal sound collection device M2 is an indoor microphone that is configured to be able to pick up the voice of an operator inside the cab 10.

[0082] 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.

[0083] 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.

[0084] The internal sound output device SP2 is a device that outputs sound to an operator in the cab 10 and is provided in the cab 10. The internal sound output device SP2 converts an electrical signal input from the controller 30 into a physical sound (air vibration) and outputs the sound. The internal sound output device SP2 may be provided in any position, for example, near the display device D1, near the input device D2, or near the boarding door of the cab 10. In the illustrated example, the internal sound output device SP2 includes a left interior speaker SP2L attached to the upper left corner of the rear wall of the cab 10 and a right interior speaker SP2R attached to the upper right corner of the rear wall of the cab 10. The internal sound output device SP2 may be headphones or earphones worn by the operator. In this case, the headphones or earphones are connected to the controller 30 so as to be able to communicate with the controller 30 via, for example, Bluetooth (registered trademark) or the like.

[0085] The external volume dial DL1 is configured to adjust the volume of the sound output by the external sound output device SP1. The volume of the sound output by each external sound output device SP1 may be additionally configured to be adjustable using a device other than the external volume dial DL1, such as a touch panel attached to the display device D1.

[0086] The external volume dial DL1 may be configured to be infinitely rotatable in both the clockwise and counterclockwise directions, in order to accommodate a case where volume adjustment using the external volume dial DL1 and volume adjustment using a device other than the external volume dial DL1 are used in combination.

[0087] The internal volume dial DL2 is configured to adjust the volume of the sound output by the internal sound output device SP2. The volume of the sound output by each internal sound output device SP2 may be additionally configured to be adjustable using a device other than the internal volume dial DL2, such as a touch panel attached to the display device D1.

[0088] The internal volume dial DL2 may be configured to be infinitely rotatable in both the clockwise and counterclockwise directions, in order to accommodate a case where volume adjustment using the internal volume dial DL2 and volume adjustment using a device other than the internal volume dial DL2 are used in combination.

[0089] The storage device 35 is provided, for example, in the cab 10, and stores various types of information under the control of the controller 30. The storage device 35 is, for example, a non-volatile storage medium such as a semiconductor memory. The storage device 35 stores information for suppressing sound output from the internal sound output device SP2. The storage device 35 may store data relating to a target construction plane that is acquired via the communication device T1 or the like, or that is set via the input device D2 or the like. The target construction plane may be set (saved) by the operator of the work machine 100, or may be set by a construction manager or the like.

[0090] 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.

[0091] The conversation function is a function for enabling a conversation between an operator OP of the work machine 100 and a worker WK located around the work machine 100, as shown in FIG. 6. FIG. 6 is a perspective view of the work machine 100 on which the operator OP is riding and the worker WK located at the front left of the work machine 100. FIG. 6 shows the operator OP's voice being collected by the internal sound collection device M2 and output from the external sound output device SP1, and the worker WK's voice being collected by the external sound collection device M1 and output from the internal sound output device SP2. In the work machine 100 shown in FIG. 6, an information transmission device G1 is provided at the top of each of the four side surfaces of the cab 10. The front light bar G1F provided at the top of the front of the cab 10 emits green light, and the left light bar G1L provided at the top of the left side of the cab 10 emits white light. In FIG. 6, the front light bar G1F emitting green light has a dot pattern attached. When the worker WK sees the front light bar G1F emitting green light, he or she can recognize that his or her voice is being detected by the front microphone M1F. Note that, for clarity, other devices such as the imaging device S6 are not shown in Figure 6.

[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 worker WK's voice but the worker WK cannot hear the operator OP's voice, and an utterance enabled state (with respect to the operator OP) in which the worker WK can hear the operator OP's voice but the operator OP cannot hear the worker WK's voice.

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

[0094] In this embodiment, under the control of the controller 30, the internal sound output device SP2 provided inside the cab 10 outputs the sound collected by the external sound collection device M1, and the external sound output device SP1 provided outside the cab 10 outputs the sound collected by the internal sound collection device M2. The controller 30 can switch between sound output from the internal sound output device SP2 and sound output from the external sound output device SP1 in response to an operation from an operator, thereby realizing two-way conversation. The controller 30 according to this embodiment controls the switching of sound output in response to an operation, and can simultaneously suppress sound output from the internal sound output device SP2 and the external sound output device SP1, thereby suppressing the occurrence of feedback and the like. In this embodiment, the switching control is not limited to a specific method, and output from the internal sound output device SP2 provided inside the cab 10 and output from the external sound output device SP1 provided outside the cab 10 may be performed simultaneously.

[0095] [Suppression of non-stationary noise generated by work machines] In a work machine, by implementing a noise canceling function, it is possible to eliminate stationary sounds generated by the work machine, such as engine sounds.

[0096] However, work machines can sometimes produce sudden, non-stationary noises with inconstant frequencies, such as the operating noise of hydraulic equipment or the collision noise of structures. When such non-stationary noise is collected by the external sound collection device M1, it is difficult to remove it using a noise canceling function. If non-stationary noise occurs while the sound collected by the external sound collection device M1 is being output from the internal sound output device SP2 installed inside the cab 10, the non-stationary noise will be output from the internal sound output device SP2. In this case, the quietness inside the cab 10 may decrease, potentially causing discomfort to the operator.

[0097] Therefore, the controller 30 according to this embodiment performs control to suppress output of sound collected by the external sound collection device M1 from the internal sound output device SP2 when it is estimated that unsteady noise will be generated in the work machine 100 according to the operation of the work machine 100 based on an operation signal indicating an operation received by the operating device 26, or a detection signal output by a detection unit that detects the state of the work machine 100. In this embodiment, an example is given in which one or more of the boom angle sensor S1, arm angle sensor S2, bucket angle sensor S3, machine body inclination sensor S4, and swing sensor S5 are used as the detection unit that detects the state of the work machine 100, but the detection unit that detects the state of the work machine 100 is not limited to these sensors, and any detection unit that can detect the state of the work machine 100 will suffice.

[0098] Next, an example of unsteady noise generated in work machine 100 will be described. Fig. 7 is an explanatory diagram illustrating an example of a situation in which unsteady noise occurs in work machine 100 according to this embodiment. In the example shown in Fig. 7, the bucket 6 of work machine 100 is open to the extent that earth discharge has been completed; in other words, the bucket angle is set to a first angle 6a at which the remaining stroke amount of bucket 6 is small. In this situation, when controller 30 acquires an operation signal to open bucket 6, in other words, when bucket 6 is further moved in opening direction 1701, bucket cylinder 9 reaches the stroke end, generating impact sound 1711.

[0099] When the front microphone M1F collects the impact sound 1711 and outputs it from the internal sound output device SP2, the impact sound 1711 reverberates inside the cab 10, reducing the quietness inside the cab 10. Therefore, when the bucket angle is equal to or greater than the first angle 6a and an operation signal to open the bucket 6 is received, the controller 30 according to this embodiment suppresses the sound collected by the front microphone M1F from being output from the internal sound output device SP2.

[0100] FIG. 8 is an explanatory diagram illustrating a situation in which unsteady noise occurs in the work machine 100 according to this embodiment. In the example shown in FIG. 8, the attachment AT is raised to an upper position AT1 (the boom angle is a second angle). In this situation, if the controller 30 receives an operation signal to lower the boom 4 and then an operation signal to suddenly stop the boom 4, the attachment AT is moved in direction 1801 and suddenly stopped at position AT2. In this case, the rear part of the work machine 100 rises in direction 1812 with position 1811 as a fulcrum, and then falls in direction 1813. Then, when the crawler 1C comes into contact with the ground, an impact sound 1821 is generated.

[0101] When the front microphone M1F, right microphone M1R, left microphone M1L, and rear microphone M1B collect impact sound 1821 and output it from the internal sound output device SP2, the impact sound 1821 will reverberate inside the cab 10, reducing the quietness inside the cab 10. Therefore, when the attachment AT is at or above position AT1 (boom angle is the second angle) and an operation signal to lower the boom 4 is acquired, and then an operation signal to stop the boom 4 is acquired, the controller 30 according to this embodiment suppresses output of the sounds collected by the front microphone M1F, right microphone M1R, left microphone M1L, and rear microphone M1B from the internal sound output device SP2. In this embodiment, the method of detecting the occurrence of the impact sound 1821 is not limited to the method described above. For example, when the controller 30 detects, based on a detection signal from the vehicle tilt sensor S4, that the upper rotating body 3 has moved upward at a first speed or faster (lifted up) and then moved downward at a second speed or faster (fallen), a method may be used that suppresses the output of sounds collected by the front microphone M1F, right microphone M1R, left microphone M1L, and rear microphone M1B from the internal sound output device SP2.

[0102] [Controller function configuration] 4, the configuration for suppressing the output of non-stationary noise by the controller 30 will be described. The controller 30 includes an acquisition unit 301, an operation reception unit 302, an output control unit 303, a determination unit 304, a notification unit 305, and a communication control unit 306. Furthermore, a storage device 35 connected to the controller 30 stores an output condition management table 35A.

[0103] The output condition management table 35A is a table for managing conditions for suppressing sound output from the internal sound output device SP2. Fig. 9 is a diagram showing the table structure of the output condition management table 35A according to this embodiment. In the output condition management table 35A shown in Fig. 9, for each non-stationary noise (name) generated in the work machine 100, the "posture" of the work machine 100, "one or more of an operation signal and a speed" which are conditions for generating the non-stationary noise, and a "suppression target" are stored in association with each other.

[0104] In the case of the record "Bucket end shock" shown in FIG. 9, it indicates that when "the bucket angle is equal to or greater than a first angle" and "an operation signal in the direction to open the bucket 6" is acquired, the output of sound collected from the front microphone M1F is suppressed. Note that the first angle may be, for example, the first angle 6a shown in FIG. 7. Note that the bucket angle can be estimated from a detection signal from the bucket angle sensor S3. Note that in this embodiment, instead of "an operation signal in the direction to open the bucket 6," an angular velocity that moves the bucket 6 in the opening direction may be detected.

[0105] In the case of the record "vehicle body impact sound" shown in Figure 9, it indicates that when "the boom angle is equal to or greater than the second angle" and "an operation signal to stop the bucket 6 is received after an operation signal to lower the bucket 6," the output of sounds collected from all external sound collection devices M1 (front microphone M1F, right microphone M1R, left microphone M1L, and rear microphone M1B) is suppressed. Note that the second angle may be, for example, the angle of the boom 4 when the attachment AT is at position AT1, as shown in Figure 8.

[0106] Furthermore, when recording "vehicle body impact noise," other methods may be used. When the machine body tilt sensor S4 is an IMU or the like, the controller 30 can detect the vertical movement speed of the upper rotating body 3. Therefore, one method is to suppress the output of sounds collected from all external sound collection devices M1 (front microphone M1F, right microphone M1R, left microphone M1L, and rear microphone M1B) when "the boom angle is equal to or greater than a second angle" and the machine body tilt sensor S4 detects that "the upper rotating body moved upward at a first speed or greater, and then moved downward at a second speed or greater." The first speed and second speed may be set according to the speed detected when a vehicle body impact noise occurs in the actual work machine 100.

[0107] 9, there is no need for a condition regarding the attitude of the work machine 100, and it shows that when the "swing angular velocity calculated from the swing angular velocity detected by the swing sensor S5 is equal to or greater than a third speed and an operation signal to continue swinging" is acquired, the output of sound collected from the front microphone M1F is suppressed. The third speed may be set according to the speed detected when a rattle sound occurs when the upper swing body 3 is swung.

[0108] In this manner, in this embodiment, when the conditions for the generation of non-stationary noise are met in the work machine 100, in other words, when it is predicted that non-stationary noise will occur, the output of sound collected by the external sound collection device M1, which is located in a position where non-stationary noise can be collected, is suppressed.

[0109] In this embodiment, the non-stationary noise whose output is suppressed is not limited to the non-stationary noise described above, but may be any non-stationary noise that occurs in response to the operation of the work machine. Furthermore, the condition for suppressing the sound output from the internal sound output device SP2 is not limited to when "attitude" and "one or more of an operation signal and speed" are satisfied, but may also be when "attitude" or "one or more of an operation signal and speed" are satisfied. For example, the controller 30 may perform control to suppress the sound output from the internal sound output device SP2 when a condition related to the operation signal that operates the attachment AT or a condition related to the speed at which the attachment AT moves is satisfied.

[0110] Returning to Fig. 4, the acquisition unit 301 acquires detection results from various sensors provided on the work machine 100. For example, the acquisition unit 301 acquires detection signals indicating the rotation angles of each component of the attachment AT from each of the boom angle sensor S1, arm angle sensor S2, and bucket angle sensor S3. The acquisition unit 301 also acquires detection signals corresponding to the tilt angle and tilt angular velocity from the machine body tilt sensor S4. The acquisition unit 301 also acquires detection signals corresponding to the swing angle and swing angular velocity from the swing sensor S5.

[0111] The acquisition unit 301 also acquires, from the operation sensor 29, an operation signal indicating the operation content of the operator using the operation device .

[0112] Furthermore, the acquisition unit 301 acquires, from the external sound collection device M1, a sound signal representing a sound generated around the work machine 100. The acquisition unit 301 also acquires, from the internal sound collection device M2, a sound signal representing a sound including a voice uttered by an operator sitting in the operator seat. Furthermore, the acquisition unit 301 acquires image information representing an imaging result from the imaging device S6.

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

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

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

[0116] The output control unit 303 according to this embodiment executes a noise canceling function on the sound when the sound is output from the internal sound output device SP2 or the external sound output device SP1. Noise canceling may be performed using a well-known method, for example, by superimposing a sound that is out of phase with the noise component to remove the noise component. Furthermore, the output control unit 303 may perform processing to emphasize the human voice band on the output sound. By the output control unit 303 executing the noise canceling function, it becomes easier to understand what is being said.

[0117] When the output control unit 303 receives an operation to turn on the switch SW, it controls the internal sound output device SP2 to output a sound based on a sound signal acquired from the external sound collection device M1.

[0118] Furthermore, when the output control unit 303 receives an operation to turn off the switch SW, it stops the control of outputting the sound based on the sound signal acquired from the external sound collection device M1 from the internal sound output device SP2.

[0119] The output control unit 303 in this embodiment controls the output of sound based on the sound signal acquired from the internal sound collection device M2 from the external sound output device SP1 while the operation reception unit 302 is receiving the press of the talk button KS.

[0120] That is, the output control unit 303 switches between control to output the sound collected by the external sound collection device M1 from the internal sound output device SP2 and control to output the sound collected by the internal sound collection device M2 from the external sound output device SP1, depending on whether the talk button KS is pressed (an example of a first operation). This control enables the operator OP to talk to people around the work machine (for example, the worker WK) at the desired timing, and also makes it possible to suppress the occurrence of howling and the like.

[0121] In this way, the output control unit 303 according to this embodiment makes it possible to control the output of sound collected by the external sound collection device M1 from the internal sound output device SP2, and also makes it possible to control the output of sound collected by the internal sound collection device M2 from the external sound output device SP1. This allows two-way conversation between the operator of the cab 10 and people present in the vicinity of the work machine 100. Therefore, work can be coordinated through two-way conversation, thereby improving work efficiency.

[0122] The determination unit 304 refers to the output condition management table 35A when the work machine 100 is operating based on the detection signals and operation signals acquired by the acquisition unit 301. The determination unit 304 then determines whether or not the operation of the work machine 100 indicated by the detection signals and operation signals acquired by the acquisition unit 301 satisfies the conditions for suppressing sound output indicated in the output condition management table 35A.

[0123] If the judgment unit 304 determines that the conditions for suppressing sound output are met, the output control unit 303 suppresses the output from the internal sound output device SP2 of sound based on sound signals acquired from the external sound collection device M1 (for example, one or more of the front microphone M1F, right microphone M1R, left microphone M1L, and rear microphone M1B) that correspond to the conditions.

[0124] For example, if the judgment unit 304 determines that the operation of the attachment AT based on the position of the attachment AT and the speed at which the attachment AT moves or the direction of operation of the attachment AT meets the conditions for generating non-stationary noise in the attachment AT (for example, if it determines that the condition indicated as "bucket end shock" is met), the output control unit 303 suppresses the output of the sound collected by the front microphone M1F from the internal sound output device SP2. Even if non-stationary noise is generated due to an impact caused by the operation of the attachment AT, suppressing the output of non-stationary noise into the cab 10 improves quietness.

[0125] As another example, when the determination unit 304 determines that the operation of the upper rotating body 3 based on the rotation angular velocity of the upper rotating body 3 or the operation direction of the upper rotating body 3 satisfies the condition for generating non-stationary noise in the upper rotating body 3 (for example, when it determines that the condition indicated as "rattle noise during rotation" is satisfied), the determination unit 304 suppresses output of the sound collected from the front microphone M1F from the internal sound output device SP2. Even when non-stationary noise such as rattle noise occurs during the rotation operation of the upper rotating body 3, suppressing the output of the non-stationary noise into the cab 10 improves quietness.

[0126] In this way, when the talk button KS is not pressed, the output control unit 303 suppresses the output from the internal sound output device SP2 of the sound collected from the first external sound collection device M1, which is provided at a position corresponding to the operation indicated by the condition, among the front microphone M1F, right microphone M1R, left microphone M1L, and rear microphone M1B (an example of a plurality of external sound collection devices). Therefore, when non-stationary noise corresponding to the operation occurs, the output of the non-stationary noise is suppressed, improving quietness.

[0127] Furthermore, the output control unit 303 outputs, from the internal sound output device SP2, sounds collected from the external sound collection device M1, other than the first external sound collection device M1, of the front microphone M1F, right microphone M1R, left microphone M1L, and rear microphone M1B (an example of a plurality of external sound collection devices), that is provided at a position corresponding to the operation indicated by the condition. Therefore, non-stationary noise is suppressed from being output into the cab 10, and the operator can hear the voices of people present around the work machine 100, thereby realizing communication with people present around the work machine 100. This enables the operator to cooperate in work with people present around the work machine 100. Furthermore, because the controller 30 outputs sounds collected from around the work machine 100 other than the direction from which the non-stationary noise was generated, the operator can recognize the situation around the work machine 100 by sound.

[0128] In this embodiment, an example of suppressing sound output is described in which sound output is stopped, but the suppression is not limited to stopping sound output, and control such as reducing the volume may also be used. For example, the output control unit 303 reduces the volume of the sound collected from a first external sound collection device M1, among the front microphone M1F, the right microphone M1R, the left microphone M1L, and the rear microphone M1B (an example of a plurality of external sound collection devices), that is provided at a position corresponding to the operation indicated in the condition, and outputs the collected sound from the internal sound output device SP2 without reducing the volume of the sound, and outputs the collected sound from the external sound collection devices M1 other than the first external sound collection device M1 that is provided at a position corresponding to the operation indicated in the condition from the internal sound output device SP2.

[0129] The notification unit 305 issues a notification to the operator of the work machine 100. Any method of notification may be used, for example, a notification sound may be output from the internal sound output device SP2 in the cab 10, or a pop-up display may be displayed on the display device D1. Specifically, the notification unit 305 issues a notification in accordance with the operation of the work machine 100 based on the determination result by the determination unit 304.

[0130] For example, when the condition of "bucket end shock" is met based on the determination result by the determination unit 304, the notification unit 305 may issue a notification that sound is being generated by bucket end shock, or may issue a notification that sound output from the front microphone M1F is being suppressed. The notification allows the operator to recognize the current situation and perform work appropriate to the current situation. Therefore, safety can be improved.

[0131] The communication control unit 306 controls the reception and transmission of information to and from external devices (for example, other work machines) via the communication device T1.

[0132] Next, a processing procedure executed by the controller 30 according to this embodiment will be described. Fig. 10 is a flowchart showing a processing procedure for suppressing the output of sound collected from the external sound collection device M1 when non-stationary noise occurs in the controller 30 according to this embodiment. In the processing procedure shown in Fig. 10, it is assumed that the output control unit 303 has already performed control to output the sound collected by the external sound collection device M1 from the internal sound output device SP2.

[0133] The acquisition unit 301 acquires an operation signal from the operation sensor 29, detection signals indicating the rotation angle of each component of the attachment AT from each of the boom angle sensor S1, arm angle sensor S2, and bucket angle sensor S3, a detection signal corresponding to the tilt angle and tilt angular velocity from the machine body tilt sensor S4, and a detection signal corresponding to the rotation angle and rotation angular velocity from the rotation sensor S5 (S2001).

[0134] The determination unit 304 refers to the output condition management table 35A (S2002).

[0135] The determination unit 304 determines whether or not the operation of the work machine 100 indicated by the detection signal and operation signal acquired by the acquisition unit 301 satisfies the conditions for suppressing sound output indicated in the output condition management table 35A (S2003). If it is determined that the conditions are not satisfied (S2003: NO), the processing ends.

[0136] On the other hand, if the determination unit 304 determines that the operation of the work machine 100 indicated by the detection signal and operation signal acquired by the acquisition unit 301 satisfies the conditions for suppressing sound output (S2003: YES), it suppresses the output from the internal sound output device SP2 of the sound collected by the external sound collection device M1 (for example, one or more of the front microphone M1F, right microphone M1R, left microphone M1L, and rear microphone M1B) that corresponds to the condition (S2004).

[0137] Furthermore, the notification unit 305 displays on the display device D1 that the output of the sound collected from the external sound collection device M1 corresponding to the condition has been suppressed (S2005).

[0138] In this embodiment, by performing the above-described control, if non-stationary noise is generated by the operation of the work machine 100 while sounds around the work machine 100 are being output into the cab 10, the non-stationary noise can be suppressed from being output into the cab 10.

[0139] (Second embodiment) In the above-described embodiment, a case has been described in which the output of non-stationary noise generated by the operation of the work machine 100 is suppressed. However, the above-described embodiment does not limit the target of output suppression to non-stationary noise generated by the operation of the work machine 100, and for example, the output of non-stationary noise generated by the operation of other work machines present around the work machine 100 may also be suppressed. Therefore, in the second embodiment, an example will be described in which the output of non-stationary noise generated by the operation of other work machines is suppressed.

[0140] The other work machines may be any work machines present at the work site that may emit non-stationary noise, and include, for example, excavators, dump trucks, cranes, asphalt finishers, forklifts, and the like.

[0141] The controller 30 according to this embodiment suppresses the output of sounds collected by the external sound collection device M1 from the internal sound output device SP2 in accordance with the operation of the other work machine based on an operation signal indicating an operation on the other work machine received via the communication device T1, or a detection signal indicating the detection result of the state of the other work machine (for example, the rotation angle, slewing angle, and tilt angle of the attachment AT) received via the communication device T1. Next, a specific configuration of the controller 30 according to this embodiment will be described.

[0142] The communication control unit 306 according to this embodiment receives information relating to the operation of another work machine from that other work machine. The information relating to the operation of that other work machine may be any information that enables the operation of that other work machine to be estimated. For example, if the other work machine has a configuration similar to that of the work machine 100, the communication control unit 306 receives, as information relating to operation, operation signals from the operation sensor 29 of the other work machine, detection signals indicating the rotation angles of each component of the attachment AT of the other work machine, detection signals corresponding to the tilt angle and tilt angular velocity of the other work machine, and detection signals corresponding to the swing angle and swing angular velocity of the other work machine.

[0143] Furthermore, the communication control unit 306 receives position information of other work machines. The position information includes the positions and orientations of the other work machines measured by the positioning devices PS of the other work machines.

[0144] The output condition management table 35A also stores conditions for suppressing sound output from the internal sound output device SP2 due to the operation of the other work machine. The conditions are determined according to the type of the other work machine. For example, if the other work machine is the same model as the work machine 100, conditions corresponding to "bucket end shock," "vehicle body impact noise," and "rattle noise during turning" shown in FIG. 9 (for example, "posture" and "one or more of operation signal and speed") are stored in the output condition management table 35A in order to suppress non-stationary noise caused by the operation of the other work machine. Similarly, if the other work machine is a dump truck or the like, the output condition management table 35A stores conditions under which non-stationary noise is generated by the operation of the other work machine.

[0145] However, it is assumed that the external sound collection device M1 to be suppressed, in other words, the external sound collection device M1 whose sound output is suppressed, is not set in the output condition management table 35A.

[0146] Then, when the judgment unit 304 of the controller 30 judges that the operation of the other work machine satisfies the conditions indicated in the output condition management table 35A, in other words, when it judges that non-stationary noise is generated in the other work machine, the output control unit 303 identifies a suppression target among the external sound collection devices M1 that is located in the direction in which the other work machine is located, based on the relative positional relationship between the work machine 100 and the other work machine, and restricts the output of sound collected from that suppression target.

[0147] Next, the processing procedure executed by the controller 30 according to this embodiment will be described. Fig. 11 is a flowchart showing the processing procedure in the controller 30 according to this embodiment for suppressing the output of sound collected from the external sound collection device M1 when non-stationary noise occurs in another work machine. In the processing procedure shown in Fig. 11, it is assumed that the output control unit 303 has already performed control to output the sound collected by the external sound collection device M1 from the internal sound output device SP2.

[0148] The communication control unit 306 receives, via the communication device T1, operation signals from the other work machine, detection signals indicating the rotation angles of each component of the attachment AT of the other work machine, detection signals corresponding to the tilt angle and tilt angular velocity of the other work machine, and detection signals corresponding to the slewing angle and slewing angular velocity of the other work machine (S2101).

[0149] Furthermore, the communication control unit 306 receives position information of other work machines via the communication device T1 (S2102).

[0150] The acquisition unit 301 acquires position information (including position and orientation) of the upper rotating body 3 from the positioning device PS, and acquires the relative positional relationship between the work machine 100 and the other work machines based on the position information of the upper rotating body 3 and the position information of the other work machines (S2103).

[0151] The determination unit 304 refers to the output condition management table 35A (S2104).

[0152] The determination unit 304 determines whether the operation of the other work machine indicated by the received detection signal and operation signal satisfies the conditions for suppressing sound output indicated in the output condition management table 35A (S2105). If it is determined that the conditions are not satisfied (S2105: NO), the processing ends.

[0153] On the other hand, if the judgment unit 304 determines that the operation of the other work machine indicated by the received detection signal and operation signal meets the conditions for suppressing sound output (S2105: YES), it suppresses the output from the internal sound output device SP2 of the sound collected by the external sound collection device M1 (for example, one or more of the front microphone M1F, right microphone M1R, left microphone M1L, and rear microphone M1B) corresponding to the direction in which the other work machine is located (S2106).

[0154] Furthermore, the notification unit 305 displays on the display device D1 that the output of the sound collected from the external sound collection device M1 in the direction where the other work machine is present has been suppressed (S2107).

[0155] In the work machine 100 according to this embodiment, when non-stationary noise is generated by the operation of another work machine, the sound collected from the external sound collection device M1 corresponding to the direction in which the other work machine is located is suppressed from being output from the internal sound output device SP2, thereby improving the quietness of the space in which the operator is located.

[0156] (Third embodiment) Next, another configuration example of the work machine 100 according to the third embodiment will be described with reference to Fig. 12. Fig. 12 is a top view of another configuration example of the work machine 100 according to the third embodiment. The work machine 100 shown in Fig. 12 differs from the work machine 100 shown in Fig. 1 in that the external sound output device SP1 is 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.

[0157] With this configuration, the work machine 100 shown in FIG. 12 can output sound toward the worker WK in front of the work machine 100 without outputting sound toward the workers WK to the left, right, and rear of the work machine 100, for example, by turning on the front speaker SP1F (a state in which sound can be output) and turning off the left speaker SP1L, the right speaker SP1R, and the rear speaker SP1B (a state in which sound cannot be output).

[0158] 12, a front camera S6F and a front microphone M1F are provided adjacent to the front speaker SP1F, and a front light bar G1F is provided on the housing of the front microphone M1F. A left camera S6L and a left microphone M1L are provided adjacent to the left speaker SP1L, and a left light bar G1L is provided on the housing of the left microphone M1L. A right camera S6R and a right microphone M1R are provided adjacent to the right speaker SP1R, and a right light bar G1R is provided on the housing of the right microphone M1R. A rear camera S6B and a rear microphone M1B are provided adjacent to the rear speaker SP1B, and a rear light bar G1B is provided on the housing of the rear microphone M1B.

[0159] 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.

[0160] 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.

[0161] In the work machine 100 shown in Fig. 12, the controller 30 may detect a worker WK around the work machine 100 based on images captured by the imaging device S6, and identify the position of the worker WK. Furthermore, if there are multiple workers WK around the work machine 100, the controller 30 may distinguish between a conversation target (a worker WK who is speaking) and a non-conversation target (a worker WK who is not speaking) based on the output of the four external sound collection devices M1. The controller 30 may also distinguish between a conversation target (a worker WK facing the work machine 100) and a non-conversation target (a worker WK who is not facing the work machine 100) based on images captured by the imaging device S6. The controller 30 may then turn on the speaker and light bar facing the worker WK. For example, if there is a worker WK (speaking) behind the work machine 100, the controller 30 may turn on the rear speaker SP1B while keeping the front speaker SP1F, left speaker SP1L, and right speaker SP1R off. In this case, the controller 30 may turn on the rear light bar G1B while keeping the front light bar G1F, left light bar G1L, and right light bar G1R off. Note that such a function may be implemented in the work machine 100 shown in Figures 1 to 5.

[0162] 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.

[0163] (Fourth embodiment) In the fourth embodiment, a case where an operator remotely controls a work machine 100 will be described.

[0164] Next, an example configuration of an operation system (an example of a construction machine control system) SYS according to the fourth embodiment will be described with reference to Fig. 13. Fig. 13 is a schematic diagram showing an example configuration of the operation system SYS. As shown in Fig. 13, the operation system SYS includes a construction machine 100, a remote control room RC, and a management center MC. Note that the detailed configuration of the construction machine 100 is omitted from Fig. 13. This is because the construction machine 100 shown in Fig. 13 has the same configuration as the construction machine 100 shown in Fig. 1 or Fig. 12.

[0165] 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.

[0166] 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.

[0167] The spatial recognition device is a device for recognizing the space around the work machine 100. In the illustrated example, the spatial recognition device is a LiDAR. The LiDAR measures the distance between the LiDAR and each of one million or more points within a monitoring range, for example. The spatial recognition device may be any device that can measure the distance to an object. For example, the spatial recognition device may be a stereo camera, or may be a combination of the image capture device S6 and a distance measuring device such as millimeter wave radar.

[0168] 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.

[0169] The remote control room RC is equipped with a communication device T2, a remote controller 40, an operation device 42, an operation sensor 43, a display device D1E, an internal sound collection device M2E, and an internal sound output device SP2E. The remote control room RC also is equipped with an operation seat DS where a remote operator RO who remotely operates the work machine 100 sits.

[0170] The communication device T2 is configured to be able to communicate with the communication device T1 attached to the work machine 100.

[0171] 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.

[0172] 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.

[0173] 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.

[0174] The operation device 42 is provided with an operation sensor 43 for detecting the operation content of the operation device 42. The operation sensor 43 is, for example, an inclination sensor that detects the inclination angle of the operation lever, or an angle sensor that detects the swing angle of the operation lever around the swing axis. The operation sensor 43 may be composed of other sensors such as a pressure sensor, a current sensor, a voltage sensor, or a distance sensor. The operation sensor 43 outputs information related to the detected operation content of the operation device 42 to the remote controller 40. The remote controller 40 generates an operation signal based on the received information and transmits the generated operation signal to the work machine 100. The operation sensor 43 may be configured to generate the operation signal itself. In this case, the operation sensor 43 may output the operation signal to the communication device T2 without passing through the remote controller 40. With this configuration, the remote operator RO can remotely operate the work machine 100 from the remote control room RC.

[0175] The remote controller 40, like the controller 30 of the first and second embodiments, includes an acquisition unit 301, an operation reception unit 302, an output control unit 303, a determination unit 304, a notification unit 305, and a communication control unit 306.

[0176] The acquisition unit 301 of the remote controller 40 acquires, via the communication device T2, a sound signal representing sound collected by the external sound collection device M1 from the work machine 100. Furthermore, the acquisition unit 301 acquires a sound signal representing sound collected by the internal sound collection device M2E of the remote control room RC.

[0177] The output control section 303 of the remote controller 40 enables control to output, via the communication device T2, from the internal sound output device SP2E of the remote control room RC, a sound based on a sound signal acquired from the external sound collection device M1 by the acquisition section 301. This allows the remote operator RO to hear the voices of people present around the work machine 100.

[0178] The output control section 303 of the remote controller 40 enables control to output sound based on the sound signal acquired by the acquisition section 301 from the internal sound collection device M2E in the remote operation room RC from the external sound output device SP1 of the work machine 100 via the communication device T2. This allows people present around the work machine 100 to hear the voice of the remote operator RO.

[0179] The operation reception unit 302, output control unit 303, determination unit 304, and communication control unit 306 of the remote controller 40 perform the same control as the controller 30 of the above-described embodiment.

[0180] The remote controller 40 has the above-described configuration and can thus achieve the same control as the controller 30 of the above-described embodiment.

[0181] In other words, the remote controller 40 suppresses the output of the sound collected by the external sound collection device M1 from the internal sound output device SP2 in accordance with the operation of the work machine 100 based on an operation signal indicating an operation received by the operating device 26 or a detection signal output by a detection unit that detects the state of the work machine 100 (for example, any one or more of the boom angle sensor S1, arm angle sensor S2, bucket angle sensor S3, machine body inclination sensor S4, and rotation sensor S5).

[0182] Furthermore, the remote controller 40 suppresses the output of the sound collected by the external sound collection device M1 from the internal sound output device SP2 in accordance with the operation of the other work machine based on an operation signal indicating an operation on the other work machine received via the communication device T2, or a detection signal indicating the detection result of the status of the other work machine received via the communication device T2.

[0183] Furthermore, when it is determined that the conditions for suppressing sound output are met, the notification unit 305 of the remote controller 40 displays on the display device D1E a message that a non-stationary noise corresponding to the condition has occurred, or that the sound being output from the internal sound output device SP2 is being suppressed. This allows the remote operator RO in the remote operation room RC to recognize the situation occurring in the work machine 100, even when the output of non-stationary noise has been suppressed. Therefore, the surrounding situation can be grasped while improving quietness, thereby achieving improved safety.

[0184] 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.

[0185] 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).

[0186] The management device 200 executes control similar to that of the above-described remote controller 40. As a result, when sound collected in the vicinity of the work machine 100 is being output from the internal sound output device SP2C, sound collected by the external sound collection device M1 is suppressed from being output from the internal sound output device SP2C in accordance with the operation of the work machine 100.

[0187] With this configuration, a manager at the management center MC can, for example, use a sound collection device (external sound collection device M1 or internal sound collection device M2) attached to the work machine 100 and the internal sound output device SP2C to listen to sounds emitted at the work site. The manager at the management center MC can also, for example, use an internal sound collection device M2E and internal sound output device SP2C provided in the remote control room RC to listen to sounds emitted in the remote control room RC. The manager at the management center MC can, for example, use the internal sound collection device M2C and the external sound output device SP1 attached to the work machine 100 to communicate the voice he or she makes to a worker WK who is around the work machine 100. The manager at the management center MC can, for example, use the internal sound collection device M2C and the internal sound output device SP2 attached to the work machine 100 to communicate the voice he or she makes to an operator OP of the work machine 100. In addition, an administrator at the management center MC can, for example, use an internal sound collection device M2C and an internal sound output device SP2E installed in the remote control room RC to transmit the voice he or she makes to the remote operator RO in the remote control room RC.

[0188] <effect> In the above-described embodiment, when non-stationary noise occurs due to the operation of the work machine or other work machines, the sound collected from the external sound collection device M1 is suppressed from being output from the internal sound output device SP2, thereby improving the quietness of the space in which the operator is present.

[0189] 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]

[0190] 100 Work Machinery 1 Undercarriage 2. Swivel mechanism 3 Upper rotating body 4. Boom 5 Arm 6 buckets S6 imaging device G1 Information Transmission Device M1 External sound collection device M2, M2C, M2E internal sound collector SP1 External Sound Output Device SP2, SP2C, SP2E internal sound output device SW switch KS Speak button DL1 External Volume Dial DL2 internal volume dial T1, T2 communications equipment 30 Controllers 301 Acquisition Department 302 Operation reception section 303 Output control section 304 Judgment section 305 Notification Department 306 Communication Control Unit RC remote control room 40 Remote Controller 200 Management device

Claims

1. a lower running body; an upper rotating body rotatably mounted on the lower traveling body; an operator's cab provided on the upper rotating body; An outside sound collecting device disposed outside the driver's cab; an inside sound output device disposed inside the driver's cab; a control device that suppresses output of the sound collected by the outer sound collection device from the inner sound output device in accordance with the operation of the work machine, based on an operation signal indicating an operation received by an operation device or a detection signal output by a detection unit that detects the state of the work machine; and A work machine comprising:

2. a lower running body; an upper rotating body rotatably mounted on the lower traveling body; an operator's cab provided on the upper rotating body; An outside sound collecting device disposed outside the driver's cab; an inside sound output device disposed inside the driver's cab; a communication device; a control device capable of controlling the output of the sound collected by the outer sound collection device from the inner sound output device, the control device suppresses output of the sound collected by the outer sound collection device from the inner sound output device in accordance with the operation of the other work machine indicated in information regarding the operation of the other work machine received via the communication device. Work machinery.

3. A plurality of the outer sound collecting devices are provided, the control device suppresses output of the sound collected from the outer sound collection device, which is provided at a position corresponding to the operation among the plurality of outer sound collection devices, from the inner sound output device.

3. A work machine according to claim 1 or 2.

4. The control device outputs, from the internal sound output device, sounds collected from the external sound collection devices other than the external sound collection device provided at a position corresponding to the operation, among the plurality of external sound collection devices.

4. The work machine according to claim 3.

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

3. A work machine according to claim 1 or 2.

6. The control device switches between a control for outputting the sound collected by the inside sound collection device from the outside sound output device and a control for limiting the output of the sound collected by the outside sound collection device from the inside sound output device, depending on the received operation.

6. A work machine according to claim 5.

7. The control device issues a notification according to the operation.

3. A work machine according to claim 1 or 2.

8. an attachment attached to the upper rotating body, The control device suppresses the output of the sound collected by the outer sound collection device from the inner sound output device according to the operation of the attachment based on the position of the attachment and the speed at which the attachment moves or the operation direction of the attachment.

2. The work machine according to claim 1.

9. The control device suppresses the sound collected by the outer sound collection device from being output from the inner sound output device in accordance with the movement of the upper rotating body based on the rotation angular velocity or the operation direction of the upper rotating body.

2. The work machine according to claim 1.

10. a work machine including a lower traveling body, an upper rotating body rotatably mounted on the lower traveling body, a driver's cab provided on the upper rotating body, and an outer sound collecting device arranged outside the driver's cab; a sound output device provided in the vicinity of an operator's seat for operating the work machine; a control device that suppresses output of the sound collected by the outer sound collection device from the sound output device in accordance with an operation of the work machine based on an operation signal indicating an operation received by an operation device or a detection signal output by a detection unit that detects the state of the work machine; and A work machine control system comprising:

11. a work machine including a lower traveling body, an upper rotating body rotatably mounted on the lower traveling body, a cab provided on the upper rotating body, an outer sound collecting device disposed outside the cab, and a communication device; a sound output device provided in the vicinity of an operator's seat for operating the work machine; a control device that suppresses the output of the sound collected by the outer sound collection device from the sound output device in accordance with an operation signal indicating an operation for the other work machine received via the communication device, or an operation of the other work machine based on a detection signal indicating a detection result of the state of the other work machine received via the communication device; and A work machine control system comprising:

Images