Work machine, and operation system of work machine

Abstract

To provide a work machine capable of allowing a worker to recognize that an operator is trying to talk to the worker.SOLUTION: A work machine 100 includes: an internal sound collection unit M2 that collects voice of an operator OP of a work machine 100; an external sound output unit SP1 that outputs sound toward a periphery of the work machine 100; and a controller 30 that detects that the operator OP of the work machine 100 is attempting to communicate with a worker WK who is in the periphery of the work machine 100 using the internal sound collection unit M2 and the external audio output unit SP1, or the operator OP of the work machine 100 is communicating with the worker WK around the work machine 100 using the internal sound collection unit M2 and the external audio output unit SP1, and sends a notification indicating the detected status to the periphery of the work machine 100.SELECTED DRAWING: Figure 6

Description

[Technical Field]

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

[0002] BACKGROUND ART Conventionally, there is known a work machine equipped with a device that outputs sound to workers around the work machine (see Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2023-151687 Summary of the Invention [Problem to be solved by the invention]

[0004] However, workers around the above-mentioned work machine cannot know the status of the operator's conversation, such as whether the operator of the work machine is trying to talk to someone outside or whether the operator is talking to another worker.

[0005] Therefore, it is desirable to enable the operator of the work machine to recognize the situation regarding the conversation between the operator and the worker. [Means for solving the problem]

[0006] A work machine according to an embodiment of the present disclosure comprises a lower running body, an upper rotating body rotatably mounted on the lower running body, an internal sound collection device that collects the voice of the work machine operator, an external sound output device that outputs sound toward the area around the work machine, and a control device that uses the internal sound collection device and the external sound output device to detect that the work machine operator is attempting to converse with someone around the work machine, or that the work machine operator is conversing with someone around the work machine using the internal sound collection device and the external sound output device, and notifies the area around the work machine of this. [Effects of the Invention]

[0007] The above-described work machine can allow the operator of the work machine to recognize the situation regarding the conversation between the operator and the work machine. [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] 10 is a flowchart showing an example of the flow of a first information transmission process. [Figure 8] 10 is a flowchart illustrating an example of the flow of a sound transmission process. [Figure 9] 10 is a flowchart illustrating an example of the flow of a conversation notification process. [Figure 10] FIG. 10 is a top view of a work machine showing another example configuration of the work machine according to an embodiment of the present disclosure. [Figure 11] 1 is a schematic diagram illustrating a configuration example of an operation system according to an embodiment of the present disclosure. [Figure 12] 10 is a flowchart showing an example of the flow of a second information transmission process. [Figure 13] FIG. 10 is a top view of a work site where a work machine that executes a second information transmission process is located. [Figure 14] 10 is a flowchart showing another example of the flow of the second information transmission process. DETAILED DESCRIPTION OF THE INVENTION

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

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

[0011] First, an overview of a work machine 100 will be described with reference to Figures 1 and 2. Figure 1 is a side view of the work machine 100, and Figure 2 is a top 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 work machine 100, all or some of the driven parts, such as lower traveling body 1, upper rotating body 3, boom 4, arm 5, and bucket 6, may be electrically driven. In other words, work machine 100 may be a hybrid work machine, an electric work machine, or the like, in which all or some of the driven parts are driven by electric actuators.

[0020] Additionally, an information transmission device G1, an external sound collection device M1, an image capture device S6, and an external sound output device SP1 are attached to the work machine 100. In the illustrated example, the information transmission device G1, the external sound collection device M1, the image capture device S6, and the external sound output device SP1 are devices that include processing circuits.

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

[0022] The front camera S6F is a camera that captures images in front of the work machine 100, and is attached to the outside of the cab 10, such as on the roof of the cab 10 or on the side of the boom 4. The front camera S6F may also be attached to the inside of the cab 10, for example, on the ceiling of the cab 10. The left camera S6L is a camera that captures images to the left of the work machine 100, the right camera S6R is a camera that captures images to the right of the work machine 100, and the rear camera S6B is a camera that captures images 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 around the work machine 100. Examples of objects include people, animals, vehicles, construction machinery, buildings, and holes. The object detection device may be configured to be able to distinguish between people and non-human objects when detecting them. In other words, the object detection device may be configured to function as a person detection device. The object detection device may be constituted by a device other than a camera. For example, the object detection device may be a LiDAR. A LiDAR is a device that can measure the distance between the LiDAR (laser source) and a point cloud of, for example, one million or more points within a monitoring range. The object detection device may also be another device that can measure the distance to an object, such as a stereo camera, a range imaging camera, or a millimeter-wave radar. When a millimeter-wave radar or the like is used as the object detection device, the object detection device may emit a number of signals (such as laser light) toward the object and receive the reflected signals to derive the distance and direction of the object. Alternatively, the object detection device may be a combination of two or more types of devices. For example, the object detection device may be a combination of an imaging device and a LiDAR, a combination of an imaging device and a millimeter wave radar, or a combination of an imaging device and a stereo camera.

[0025] The external sound 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, converts sounds (air vibrations) generated around the work machine 100 into mechanical vibrations, and converts the mechanical vibrations into electrical signals. Specifically, the external sound collection device M1 is configured to be able to pick up voices emitted by workers around the work machine 100, and includes a front microphone M1F, a left microphone M1L, a right microphone M1R, and a rear microphone M1B. The external sound collection device M1 may be provided on structures such as poles (steel towers), fences, walls, or buildings at the work site, on flying vehicles such as multicopter or balloon, or on autonomous mobile robots that move around the work site, or may be a sound collection device (microphone) mounted on a mobile terminal such as a smartphone carried by a worker or the like around the work machine 100.

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

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

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

[0029] The external sound output device SP1 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 attached to the cab 10, and 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 forward. The external sound output device SP1 may also be provided on a structure at the work site, such as a pole (steel tower), fence, wall, or building, an aircraft such as a multicopter or balloon, or an autonomous mobile robot that moves around within the work site, or it may be a sound output device (speaker) mounted on a mobile terminal, such as a smartphone, carried by a worker or the like who is around the work machine 100.

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

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

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

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

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

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

[0043] The positioning device PS is a device including a processing circuit, and 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 into 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 is a device including a processing circuit, and 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 swing hydraulic motor 2A, the control valve 172 corresponds to the right traveling hydraulic motor 2MR, and the control valve 173 corresponds to the left traveling hydraulic motor 2ML. Furthermore, the control valve 174 corresponds to the bucket cylinder 9 , the control valve 175 corresponds to the boom cylinder 7 , and the control valve 176 corresponds to the arm cylinder 8 .

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

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

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

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

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

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

[0061] 4, the control system of the work machine 100 includes a controller 30, a display device D1, an input device D2, a horn button HS, a talk button KS, an external sound collection device M1, an internal sound collection device M2, an external sound output device SP1, an internal sound output device SP2, an external volume dial DL1, an internal volume dial DL2, a switch SW, and a communication device T1, etc. In the illustrated example, the internal sound collection device M2 and the internal sound output device SP2 are devices that include processing circuits.

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

[0063] 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.

[0064] The driver's seat 50 is located in the center of the driver's cab 10 in a top view. The driver's seat 50 includes a seat portion 51 on which the operator sits and a backrest 52. The driver's seat 50 is a reclining seat, and the tilt angle of the backrest 52 is adjustable. A left armrest 53L is located on the left side of the driver's seat 50, and a right armrest 53R is located on the right side. The left armrest 53L and the right armrest 53R are rotatably supported by the backrest 52.

[0065] A left console 54L is disposed on the left side of the driver's seat 50, and a right console 54R is disposed on the right side. The left console 54L and the right console 54R extend in the front-to-rear direction. The driver's seat 50 is slidable in the front-to-rear direction. The driver's seat 50 may be configured to be slidable in the front-to-rear direction together with the left console 54L and the right console 54R.

[0066] The left armrest 53L is disposed on top of the left console 54L. The right armrest 53R is disposed on top of the right console 54R. The left armrest 53L is disposed so as to cover a portion of the left console 54L in a top view. The right armrest 53R is disposed so as to cover a portion of the right console 54R in a top view.

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

[0068] The left travel pedal 26PL and the right travel pedal 26PR are located on the floor in front of the driver's seat 50. An operator seated in the driver's seat 50 can operate the left travel pedal 26PL with his left foot to drive the left travel hydraulic motor 2ML. Also, an operator seated in the driver's seat 50 can operate the right travel pedal 26PR with his right foot to drive the right travel hydraulic motor 2MR.

[0069] The left travel lever 26DL and the right travel lever 26DR are located between the left travel pedal 26PL and the right travel pedal 26PR in a top view. The left travel lever 26DL and the right travel lever 26DR extend upward from the floor in front of the driver's seat 50. An operator seated in the driver's seat 50 can drive the left travel hydraulic motor 2ML by gripping and operating the left travel lever 26DL with their left hand, similar to operating the left travel pedal 26PL. Furthermore, an operator seated in the driver's seat 50 can drive the right travel hydraulic motor 2MR by gripping and operating the right travel lever 26DR with their right hand, similar to operating the right travel pedal 26PR. Furthermore, the left travel lever 26DL and the right travel lever 26DR are positioned so that the operator can operate the left travel lever 26DL and the right travel lever 26DR simultaneously with one hand.

[0070] The display device D1 is provided in a location that is easily visible to the operator seated in the cab 10, and displays various information images under the control of the controller 30. In the illustrated example, the display device D1 is located on the front right side of the driver's seat 50, and is connected to the controller 30 via a dedicated line. The display device D1 displays various types of image information. The display device D1 includes a display screen that displays information such as the working conditions or operating state of the work machine 100. The operator seated in the driver's seat 50 can perform work using the work machine 100 while checking the various types of information displayed on the display device D1. The display device D1 may be provided with an input device D2.

[0071] The input device D2 is a device including a processing circuit, and is provided within reach of the operator seated in the driver's seat 50. The input device D2 receives various operational inputs from the operator and outputs signals corresponding to the operational inputs to the controller 30. The input device D2 includes a touch panel mounted on the display of the display device D1 that displays various information images, a knob switch provided at the tip of one or more 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 an operation performed on the input device D2 is input to the controller 30.

[0072] A gate bar 55 is attached to the front surface of the front end of the left console 54L. The gate bar 55 operates in conjunction with the operation of a gate lock lever GL provided on the left console 54L. The gate bar 55 is attached to a frame inside the left console 54L so that it can be raised and lowered around an axis at the top end that extends in the left-right direction.

[0073] The gate lock lever GL is a mechanical input operation unit for switching between a state in which the work machine 100 can be operated by the operation device 26 (operable state) and a state in which the work machine 100 cannot be operated by the operation device 26 (inoperable state). In the illustrated example, the gate lock lever GL is configured so that the operator can switch between a first operation position that realizes the inoperable state and a second operation position that realizes the operable state. The controller 30 switches between the operable state and the inoperable state depending on the operation state of the gate lock lever GL. In the illustrated example, the controller 30 switches between the operable state and the inoperable state of the work machine 100 by electrically switching between a connected state and a disconnected state of the pilot line depending on the operation state of the gate lock lever GL.

[0074] When the gate lock lever GL is in the second operating position, the gate bar 55 is raised forward (passing prohibited state) so as to prevent the operator from passing through the boarding / exiting door, as shown in Fig. 5. On the other hand, when the gate lock lever GL is in the first operating position, the gate bar 55 is housed inside the left console 54L (passing permitted state) so as not to prevent the operator from passing through the boarding / exiting door.

[0075] With this configuration, the operator cannot operate the work machine 100 unless he or she sets the gate lock lever GL to the second operating position and puts the gate bar 55 in a passage-prohibiting state. Therefore, this configuration can prevent the work machine 100 from moving unintentionally, even if the operator inadvertently touches the operating device 26 when getting on or off the machine. Therefore, this configuration can improve the safety of the work machine 100.

[0076] Furthermore, the work machine 100 may be configured so that it can accept a predetermined operation to start the engine 11 only when the gate lock lever GL is in the second operating position and the gate bar 55 is in a pass-prohibiting state. In other words, the work machine 100 may be configured so that it cannot start the engine 11 when the gate lock lever GL is in the first operating position and the gate bar 55 is in a pass-permitting state.

[0077] A switch SW is installed on the right console 54R. A window console 56 is installed on the right side of the right console 54R. The window console 56 extends over the entire length of the driver's cab 10 in the fore-and-aft direction and is arranged parallel to the right console 54R. A display device D1 is installed in front of the window console 56. An external volume dial DL1, an internal volume dial DL2, an internal sound collector M2, a radio tuner, etc. are installed on the window console 56. The radio tuner, etc. may be installed on the left console 54L or the right console 54R.

[0078] The internal sound 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.

[0079] The horn button HS is a button that is operated by the operator of the work machine 100 to sound the horn. In the illustrated example, the horn button HS is a knob switch provided at the tip of the left operation lever 26L.

[0080] The 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.

[0081] 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, or may be a built-in speaker built into the display device D1. In this case, the headphones, earphones, or built-in speaker are connected to the controller 30 so as to be able to communicate with the controller 30 via, for example, Bluetooth (registered trademark) or the like.

[0082] The external volume dial DL1 is configured to adjust the volume of the sound output by the external sound output device SP1. The volume of the sound output by each external sound output device SP1 may be additionally configured to be adjustable using a device other than the external volume dial DL1, such as a touch panel attached to the display device D1.

[0083] The external volume dial DL1 may be configured to be infinitely rotatable in both the clockwise and counterclockwise directions, in order to accommodate a case where volume adjustment using the external volume dial DL1 and volume adjustment using a device other than the external volume dial DL1 are used in combination.

[0084] The external volume dial DL1 may have a push button switch function. In this case, pressing the external volume dial DL1 may switch whether or not sound is output from the external sound output device SP1. In other words, the push button switch function of the external volume dial DL1 may be configured to function as a speech button similar to the speech button KS shown in FIG. 5.

[0085] 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.

[0086] 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.

[0087] The internal volume dial DL2 may have a push button switch function. In this case, pressing the internal volume dial DL2 may switch whether or not sound is output from the internal sound output device SP2. In other words, the internal volume dial DL2 may be configured to function as a mute switch.

[0088] The switch SW is an example of an operating tool for switching the operating state of the conversation function. Specifically, the switch SW is a switch for switching whether or not to operate a sound output function that outputs sound collected by the external sound collection device M1 from the internal sound output device SP2. 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.

[0089] For example, when the switch SW is on, the sound collected by the external sound collection device M1 is output from the internal sound output device SP2, and when the switch SW is off, the output of the sound collected by the external sound collection device M1 from the internal sound output device SP2 is stopped (muted).

[0090] The voice transmission function is a function for realizing one-way or two-way voice transmission between the operator OP of the work machine 100 and a person (worker WK) around the work machine 100, as shown in FIG. 6. For example, the voice transmission function includes an internal sound reproduction function, which collects the voice of the operator OP using an internal sound collection device M2 and outputs it from an external sound output device SP1, and an external sound reproduction function, which collects the voice of the worker WK using an external sound collection device M1 and outputs it from the internal sound output device SP2. The conversation function is realized by combining the internal sound reproduction function and the external sound reproduction function. Note that the function for realizing one-way voice transmission is also called a one-way dialogue function, which means that, for example, the function for transmitting voice from the operator OP to the worker WK (internal sound reproduction function) and the function for transmitting voice from the worker WK to the operator OP (external sound reproduction function) are executed at different times (alternately), like a conventional walkie-talkie. The function for realizing two-way voice transmission is also called a two-way dialogue function, and means that, for example, a function for transmitting voice from the operator OP to the worker WK (internal sound playback function) and a function for transmitting voice from the worker WK to the operator OP (external sound playback function) are executed simultaneously. The conversation function may be configured to be available in at least one of the following states: key OFF state (state in which the power source is stopped), accessory ON state (state in which the power source is stopped but the on-board electronic devices are operating), engine ON state (state in which the power source is operating), gate lock ON state (state in which the gate lock lever GL has been activated to disable operation), and gate lock OFF (state in which the gate lock lever GL has been activated to enable operation).

[0091] Specifically, the conversation function is a function for enabling a conversation between an operator OP of the work machine 100 and a worker WK who is around the work machine 100, as shown in Fig. 6. In the illustrated example, the work machine 100 is configured so that a conversation between the operator OP and the worker WK is possible even when the doors and windows of the work machine 100 are closed. Fig. 6 is a perspective view of the work machine 100 on which the operator OP is riding and the worker WK who is located on the front left of the work machine 100. Fig. 6 shows how the voice of the operator OP is collected by the internal sound collection device M2 and output from the external sound output device SP1, and how the voice of the worker WK is collected by the external sound collection device M1 and output from the internal sound output device SP2. Furthermore, 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 upper part of the front surface of the cab 10 emits green light, and the left light bar G1L provided at the upper part of the left surface of the cab 10 emits white light. In FIG. 6, the front light bar G1F emitting green light has a dot pattern attached. When 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 FIG. 6.

[0092] The operating state of the conversation function includes an ON state (the state shown in FIG. 6) in which conversation between the operator OP and the worker WK is possible, and an OFF state in which conversation between the operator OP and the worker WK is not possible. However, the operating state of the conversation function may additionally include at least one of an audible state (with respect to the operator OP) in which the operator OP can hear the 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] Next, an example of a process (hereinafter referred to as "first information transmission process") in which the controller 30 controls the information transmission device G1 to transmit information to the surroundings of the work machine 100 will be described with reference to Fig. 7. Fig. 7 is a flowchart showing an example of the flow of the first information transmission process. The controller 30 repeatedly executes this first information transmission process at a predetermined control period.

[0095] First, the controller 30 determines whether the conversation function is in an ON state (step ST1). In the illustrated example, the operator OP can operate the switch SW to switch the operation state of the conversation function between an ON state and an OFF state.

[0096] If it is determined that the conversation function is on (YES in step ST1), the controller 30 determines whether the external sound collection device M1 has detected a human voice (step ST2). In the illustrated example, the controller 30 analyzes the frequency of the electrical signal corresponding to the sound collected by the external sound collection device M1 and determines whether the sound collected by the external sound collection device M1 includes the voice of a person (worker WK), i.e., whether the external sound collection device M1 has picked up a human voice. The controller 30 may also determine whether a human voice is included based on the waveform pattern of the electrical signal corresponding to the sound collected by the external sound collection device M1. Furthermore, these sound-related functions may be realized by a device other than the controller 30 (for example, an independent audio controller).

[0097] If it is determined that the external sound collection device M1 has detected a human voice (YES in step ST2), the controller 30 causes the information transmission device G1 to emit light in a first manner (step ST3). In the illustrated example, the controller 30 outputs a control command to each of the four information transmission devices G1 (rear light bar G1B, front light bar G1F, left light bar G1L, and right light bar G1R), causing each of the four information transmission devices G1 to emit light in green.

[0098] When the worker WK sees that the information transmission device G1 is illuminated in green as a result of his or her speech, the worker WK can recognize that his or her voice has reached the operator OP of the work machine 100. This is because the worker WK can infer that his or her voice, collected by the external sound collection device M1, must have been output from the internal sound output device SP2.

[0099] If it is determined that the external sound collection device M1 has not detected a human voice (NO in step ST2), the controller 30 determines whether or not the internal sound collection device M2 has detected a human voice (step ST4). In the illustrated example, the controller 30 analyzes the frequency of the electrical signal corresponding to the sound collected by the internal sound collection device M2, and determines whether or not the sound collected by the internal sound collection device M2 includes a human voice (operator OP), that is, whether or not the internal sound collection device M2 has picked up a human voice. Note that the controller 30 may also determine whether or not a human voice is included based on the waveform pattern of the electrical signal corresponding to the sound collected by the internal sound collection device M2.

[0100] If it is determined that the internal sound collection device M2 has detected a human voice (YES in step ST4), the controller 30 causes the information transmission device G1 to emit light in the second mode (step ST5). In the illustrated example, the controller 30 outputs a control command to each of the four information transmission devices G1, causing each of the four information transmission devices G1 to emit light in blue. When the worker WK sees the information transmission device G1 emitting light in blue, he or she can recognize that the operator OP of the work machine 100 is speaking to the outside.

[0101] On the other hand, if it is determined that the internal sound collection device M2 has not detected a human voice (NO in step ST4), the controller 30 causes the information transmission device G1 to emit light in a third mode (step ST6). In the illustrated example, the controller 30 outputs a control command to each of the four information transmission devices G1, causing each of the four information transmission devices G1 to emit light in white. When the worker WK sees the information transmission device G1 emitting light in white, he or she can recognize that the conversation function of the work machine 100 is on. Furthermore, the worker WK can recognize that the operator OP of the work machine 100 is not speaking. In other words, the worker WK can recognize that it is a good time for him or her to speak.

[0102] Furthermore, if the information transmission device G1 is emitting white light instead of green light even though the worker WK is speaking, the worker WK can recognize that his / her voice is not being detected by the external sound collection device M1 due to some factor. Note that some factor may be, for example, the volume of the worker WK's voice, the distance between the work machine 100 (external sound collection device M1) and the worker WK, or the volume of ambient noise.

[0103] Moreover, when it is determined that the conversation function is not in the on state (NO in step ST1), the controller 30 determines whether or not the external sound collection device M1 has detected a human voice (step ST7).

[0104] Then, when it is determined that the external sound collection device M1 has detected a human voice (YES in step ST7), the controller 30 causes the information transmission device G1 to emit light in a fourth mode (step ST8). In the illustrated example, the controller 30 outputs a control command to each of the four information transmission devices G1, causing each of the four information transmission devices G1 to emit light in red. When the worker WK sees that the information transmission device G1 has emitted light in red due to his or her own speech, the worker WK can recognize that the external sound collection device M1 is available, but that his or her voice has not reached the operator OP of the work machine 100. This is because the worker WK can infer that, because the internal sound output device SP2 is not available, his or her own voice, which has been collected by the external sound collection device M1, is not being output from the internal sound output device SP2.

[0105] On the other hand, if it is determined that the external sound collection device M1 has not detected a human voice (NO in step ST7), the controller 30 turns off the information transmission device G1 (step ST9). In the illustrated example, the controller 30 outputs a control command to each of the four information transmission devices G1 to stop the light emission of each of the four information transmission devices G1. If each of the four information transmission devices G1 was emitting light, it stops emitting light, and if it was not emitting light, it maintains its current state.

[0106] When the worker WK sees that the information transmission device G1 is not emitting light, he or she can recognize that the conversation function of the work machine 100 is not on. In other words, the worker WK can recognize that even if he or she speaks into the external sound collection device M1, his or her voice will not be transmitted to the operator OP.

[0107] In this way, by recognizing the light emission pattern of the information transmission device G1, the worker WK can grasp the current situation, such as whether his / her voice is reaching the operator OP or whether the operator OP is speaking.

[0108] In the above example, the first to fourth modes are distinguished by differences in the emitted light color, but they may also be distinguished by differences in shading, brightness, blinking pattern, or a combination thereof. For example, each of the first to fourth modes may be realized by changing the blinking pattern of an illuminant that emits light in a single color. Changing the blinking pattern may be realized, for example, by changing at least one of the on-time and off-time of the illuminant.

[0109] Furthermore, it is desirable that the light color used in each of the first to fourth modes, which are distinguished by the difference in light color, be a light color (e.g., blue) other than the light colors (green, yellow, and red) used in the three-color light (revolving light) attached to the hydraulic excavator with crane function. This is to prevent the worker WK from confusing the light color of the information transmission device G1, which indicates the operating state of the conversation function, with the light color of the three-color light, which indicates the load state of the hydraulic excavator with crane function. It is also desirable that the light color used in each of the first to fourth modes be a light color (e.g., white) other than the light color (e.g., blue) of the light emitter attached to the remote-controlled work machine. This is to prevent the worker WK from confusing the light color of the information transmission device G1, which indicates the operating state of the conversation function, with the light color of the light emitter indicating that the work machine is remote-controlled.

[0110] Furthermore, in the above example, the controller 30 is configured to illuminate all four information transmission devices G1. However, the controller 30 may be configured to illuminate only some of the four information transmission devices G1. For example, the controller 30 may illuminate the one closest to the worker WK who spoke, and not illuminate the remaining three. In this case, the controller 30 may determine which of the four information transmission devices G1 is closest to the worker WK based on a difference in the timing of detection of the worker WK's voice, a difference in the volume of the detected voice, or the like. Alternatively, the controller 30 may illuminate two of the information transmission devices G1 that are relatively close to the worker WK who spoke, and not illuminate the remaining two that are relatively far away.

[0111] Furthermore, in the above example, the information transmission device G1 is configured to include a light-emitting body (light bar) attached to the work machine 100, but the light-emitting body (light bar) may not be attached to the work machine 100 but may be installed at the work site. In this case, the information transmission device G1 may be a transmitting device that transmits a signal toward the light-emitting body (light bar) installed at the work site. In this configuration, the worker WK can, for example, by recognizing the light emission mode of the light-emitting body (light bar) installed at the work site, ascertain the current situation, such as whether or not his / her voice is reaching the operator OP, or whether or not the operator OP is speaking.

[0112] Alternatively, if the information transmission device G1 is a transmitting device, the light-emitting body (light bar) may be replaced by a mobile terminal such as a smartphone carried by the worker WK. In this case, the mobile terminal receiving a signal from the information transmission device G1 as a transmitting device may cause a light-emitting device such as a display screen to emit light in a predetermined manner, may vibrate the mobile terminal in a predetermined manner, or may output sound in a predetermined manner from a sound output device such as a speaker or buzzer attached to the mobile terminal. In this configuration, the worker WK can grasp the current situation, such as whether his / her voice is reaching the operator OP or whether the operator OP is speaking, by, for example, recognizing the light-emitting mode, vibration mode, or sound output mode of the light-emitting device of the mobile terminal he / she carries.

[0113] Next, an example of a process (hereinafter referred to as "sound transmission process") in which the controller 30 transmits sounds around the work machine 100 to the operator OP will be described with reference to Fig. 8. Fig. 8 is a flowchart showing an example of the flow of the sound transmission process. The controller 30 repeatedly executes this sound transmission process at a predetermined control cycle.

[0114] First, the controller 30 determines whether or not the external sound collection device M1 has detected a human voice (step ST11). In the illustrated example, as in the first information transmission process, the controller 30 analyzes the frequency of the electrical signal corresponding to the sound collected by the external sound collection device M1 and determines whether or not the sound collected by the external sound collection device M1 includes the voice of a person (worker WK), that is, whether or not the external sound collection device M1 has picked up a human voice. Note that the controller 30 may also determine whether or not a human voice is included based on the waveform pattern of the electrical signal corresponding to the sound collected by the external sound collection device M1.

[0115] If it is determined that the external sound collection device M1 has detected a human voice (YES in step ST11), the controller 30 causes the internal sound output device SP2 to output sound while suppressing the volume of sounds other than the human voice (step ST12). In the illustrated example, the sounds other than the human voice are, for example, sounds generated by the work machine 100 or sounds generated by work machines other than the work machine 100. The controller 30 adjusts the waveform of the electrical signal corresponding to the sound collected by the external sound collection device M1 so that the volume of sounds other than the human (worker WK) voice is reduced, and causes the sound corresponding to the adjusted electrical signal to be output from the internal sound output device SP2. Note that the sounds other than the human voice do not necessarily need to include a specific sound. The specific sound is, for example, a driving alarm, a whistle, or a warning sound. In other words, the controller 30 may cause the internal sound output device SP2 to output sound without suppressing the volume of the human voice and the specific sound. This is because sounds such as a driving alarm, whistle, or warning sound are considered to be sounds that the operator OP should be able to hear even during a conversation.

[0116] This processing makes it easier for the operator OP of the work machine 100 to hear the voice of the worker WK compared to when the volume of sounds other than the human (worker WK) voice is not suppressed. Therefore, this configuration can prevent the operator OP from noticing that the worker WK is speaking to him.

[0117] On the other hand, if it is determined that the external sound collection device M1 has not detected a human voice (NO in step ST11), the controller 30 controls the internal sound output device SP2 to output a sound with the volume of the predetermined sound suppressed (step ST13). In the illustrated example, the predetermined sound is, for example, a sound generated by the engine 11 mounted on the work machine 100. The controller 30 adjusts the waveform of the electrical signal corresponding to the sound collected by the external sound collection device M1 so as to reduce the volume of the predetermined sound among the sounds collected by the external sound collection device M1, and controls the sound corresponding to the adjusted electrical signal to be output from the internal sound output device SP2. Specifically, the controller 30 can adjust the waveform of the electrical signal so as to reduce the volume of the predetermined sound by analyzing at least one of the frequency and waveform pattern of the electrical signal corresponding to the sound collected by the external sound collection device M1. More specifically, the controller 30 can adjust the waveform of the electrical signal so as to reduce the volume of the predetermined sound by using at least one of the frequency and waveform pattern of the predetermined sound pre-stored in a non-volatile storage device or the like.

[0118] This processing makes it easier for the operator OP of the work machine 100 to hear sounds other than the predetermined sounds (for example, sounds such as a travel alarm, whistle, or warning sound) compared to when the volume of the predetermined sounds is not suppressed. Therefore, this configuration can prevent the operator OP from missing out on hearing sounds other than the predetermined sounds.

[0119] Next, a process of notifying the worker WK that the operator OP is about to have a conversation (hereinafter referred to as a "conversation notification process") will be described with reference to Fig. 9. Fig. 9 is a flowchart showing an example of the flow of the conversation notification process. The controller 30 repeatedly executes this conversation notification process at a predetermined control period.

[0120] First, the controller 30 determines whether the operator OP is attempting to have a conversation (step ST21). In the illustrated example, the controller 30 determines that the operator OP is attempting to have a conversation when the talk button KS is pressed while the conversation function is in an on state. However, the controller 30 may determine that the operator OP is attempting to have a conversation when the internal sound collector M2 determines that a human voice is detected, regardless of whether the talk button KS is pressed. Alternatively, the controller 30 may determine that the operator OP is attempting to have a conversation when the internal sound collector M2 determines that a human voice is detected while the talk button KS is pressed. Alternatively, the controller 30 may determine that the operator OP is attempting to have a conversation when the internal sound collector M2 detects that a specific word is uttered in the cab 10, regardless of whether the talk button KS is pressed. The specific word may be, for example, "start conversation" or "conversation function."

[0121] When it is determined that the operator OP is not attempting to have a conversation (NO in step ST21), the controller 30 ends the current conversation notification process without issuing any notification to the surroundings of the work machine 100.

[0122] On the other hand, when it is determined that the operator OP is attempting to have a conversation (YES in step ST21), the controller 30 determines whether or not it is necessary to notify the outside of this (that the operator OP is attempting to have a conversation) (step ST22). In the illustrated example, the controller 30 determines that it is necessary to notify the outside of the fact that the operator OP is attempting to have a conversation if the time that has elapsed since the last notification is greater than a predetermined time (for example, one minute). In other words, when the time that has elapsed since the last notification is less than a predetermined time (for example, one minute), the controller 30 determines that it is not necessary to notify the outside of the fact that the operator OP is attempting to have a conversation.

[0123] In the illustrated example, the external notification is realized by outputting a predetermined sound from the external sound output device SP1. The predetermined sound is a sound that notifies those around that the operator OP is attempting to have a conversation. The predetermined sound may be, for example, a relatively high-pitched electronic sound such as a "beep beep" or a sound that does not drown out a human voice even when output simultaneously with the human voice. Preferably, the predetermined sound is output in a manner different from the horn sound so that the worker WK does not confuse the horn sound with the predetermined sound. In the illustrated example, the horn sound is the sound output from the horn device when the horn button HS is pressed. Specifically, the predetermined sound is output so that it differs from the horn sound in at least one of sound pressure, tone, and frequency. The external notification may also be realized by the horn device, as long as the horn device can output a predetermined sound that is different from the horn sound. Alternatively, the external notification may be realized by operating the information transmission device G1. Specifically, the external notification may be realized by illuminating the information transmission device G1. Alternatively, if the information transmission device G1 is a transmitting device, the external notification may be realized by operating a mobile device such as a smartphone carried by the worker WK. Specifically, the external notification may be realized by illuminating a light-emitting element on the display screen of the mobile device in a predetermined manner, vibrating the mobile device in a predetermined manner, or outputting a sound in a predetermined manner from a sound output device such as a speaker or buzzer attached to the mobile device. In this configuration, the worker WK can recognize that the operator OP is attempting to communicate with him / her by, for example, recognizing the light-emitting, vibration, or sound output mode of the light-emitting element on the mobile device he / she carries. In this way, the external notification may be a visual notification, a tactile notification, or an auditory notification.

[0124] The time elapsed since the previous notification is, for example, the time elapsed since the external sound output device SP1 most recently output the predetermined sound. However, the time elapsed since the previous notification may also be the time elapsed since the external sound collection device M1 stopped collecting the voice of a person (worker WK), the time elapsed since the internal sound collection device M2 stopped collecting the voice of a person (operator OP), or the time elapsed since the operator OP stopped pressing the talk button KS.

[0125] Then, when it is determined that there is no need to notify the outside that the operator OP is attempting to have a conversation (NO in step ST22), the controller 30 ends the current conversation notification process without issuing any notification to the surroundings of the work machine 100. This is because if the worker WK has just been having a conversation with the operator OP, it is thought that the worker WK will still be concentrating on his or her ears. Also, if notifications are issued frequently in the middle of a conversation, it is thought that the worker WK will feel annoyed.

[0126] On the other hand, when it is determined that it is necessary to notify the outside that the operator OP is attempting to have a conversation (YES in step ST22), the controller 30 notifies the outside to that effect (step ST23). In the illustrated example, the controller 30 outputs a control command to the external sound output device SP1, causing the external sound output device SP1 to output a relatively high-pitched electronic sound such as "beep beep" for a predetermined time. The predetermined time is, for example, less than one second.

[0127] When the worker WK hears the predetermined sound, he or she can recognize that the operator OP is trying to have a conversation. Therefore, the worker WK can focus his or her attention on his or her ears before the operator OP starts speaking, and can avoid missing the beginning of the operator OP's speech.

[0128] In the illustrated example, when a predetermined sound is output from the external sound output device SP1, the controller 30 outputs control commands to each of the external sound collection device M1 and the internal sound collection device M2, preventing the external sound collection device M1 from collecting sound and preventing the internal sound collection device M2 from collecting sound. This is to prevent feedback. However, when the external sound output device SP1 is outputting a predetermined sound, the external sound collection device M1 may be configured to selectively not collect the predetermined sound while collecting sounds other than the predetermined sound, or may be configured to remove a portion corresponding to the predetermined sound from an electrical signal generated based on the collected sound. The same applies to the internal sound output device SP2.

[0129] With this configuration, by hearing the predetermined sound, the worker WK can know that the operator OP of the work machine 100 is about to attempt a conversation before the operator OP starts speaking. Therefore, the worker WK can smoothly continue the conversation without missing the first words of the operator OP. Furthermore, even in a situation where multiple work machines are operating at the same work site, the worker WK can easily recognize which work machine operator is about to attempt a conversation.

[0130] In the above example, the controller 30 is configured to be able to notify the operator WK that the operator OP of the work machine 100 is about to attempt to have a conversation with the worker WK who is in the vicinity of the work machine 100. However, the controller 30 may also be configured to be able to notify a person who is in a location away from the work site that the operator OP is about to attempt to have a conversation with that person. For example, the controller 30 may be configured to be able to notify a manager that the operator OP is about to attempt to have a conversation with a manager who is in a management center that is in a location away from the work site.

[0131] Furthermore, in the above example, the controller 30 is configured to notify the outside when it determines that it is necessary to notify the outside that the operator is attempting to have a conversation, but it may also be configured to notify the outside without determining whether it is necessary to notify the outside.

[0132] Next, another example configuration of the work machine 100 will be described with reference to Fig. 10. Fig. 10 is a top view of another example configuration of the work machine 100. The work machine 100 shown in Fig. 10 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.

[0133] With this configuration, the work machine 100 shown in Figure 10 can output sound toward the worker WK in front of the work machine 100 without outputting sound toward the workers WK on the left, right, and rear of the work machine 100, for example, by turning on the front speaker SP1F (a state in which sound can be output) and turning off the left speaker SP1L, the right speaker SP1R, and the rear speaker SP1B (a state in which sound cannot be output).

[0134] 10, 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.

[0135] 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.

[0136] 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.

[0137] In the work machine 100 shown in Fig. 10, 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 conversation non-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 conversation non-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.

[0138] 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 a non-conversation target.

[0139] Next, an example configuration of the operation system SYS according to an embodiment of the present disclosure will be described with reference to Fig. 11. Fig. 11 is a schematic diagram showing an example configuration of the operation system SYS. As shown in Fig. 11, the operation system SYS includes a work machine 100, a remote control room RC, and a management center MC. Note that the detailed configuration of the work machine 100 is omitted from Fig. 11. This is because the work machine 100 shown in Fig. 11 has the same configuration as the work machine 100 shown in Fig. 1 or Fig. 10.

[0140] 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.

[0141] 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.

[0142] 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.

[0143] 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.

[0144] 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.

[0145] The communication device T2 is configured to be able to communicate with the communication device T1 attached to the work machine 100.

[0146] The remote controller 40 is an example of a control device that includes a processing circuit, and is a calculation device that executes various calculations. In this embodiment, the remote controller 40 is configured as a microcomputer that includes a CPU and memory. The various functions of the remote controller 40 are realized by the CPU executing programs stored in the memory.

[0147] 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.

[0148] 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.

[0149] 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.

[0150] 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.

[0151] The management device 200 is an example of a control device including a processing circuit, 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).

[0152] 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.

[0153] In addition, in the above-described embodiment, the controller 30 is configured to output an electronic sound (notification sound) from the external sound output device SP1 when the talk button KS is pressed, so as to make the worker WK aware that the operator OP is attempting to have a conversation.

[0154] However, if people other than the person who is the subject of the conversation with the operator OP (conversation target) (people who are not the subject of the conversation with the operator OP (non-conversation target)) are in a place where the notification sound cannot reach them, they may not notice that the operator OP is having a conversation with the conversation target. Also, the operator OP may be so focused on the conversation with the conversation target that they neglect to pay attention to their surroundings, and may miss the fact that non-conversation target people are nearby.

[0155] Therefore, the controller 30 may be configured to, when the operator OP is conversing with a conversation target and a non-conversation target is detected, notify the non-conversation target that the operator OP is conversing. Specifically, as shown in Fig. 12, the controller 30 may be configured to notify the non-conversation target that the operator OP is conversing visually, audibly, or tactilely.

[0156] 12 is a flowchart showing an example of the flow of processing (hereinafter referred to as "second information transmission processing") in which the controller 30 controls the information transmission device G1 to transmit information indicating that a conversation is taking place to those around the work machine 100. The controller 30 repeatedly executes this second information transmission processing at a predetermined control cycle.

[0157] First, the controller 30 determines whether a conversation is taking place (step ST31). In the illustrated example, the controller 30 determines whether a conversation is taking place between the operator OP of the work machine 100 and a person around the work machine 100, based on the output of at least one of the external sound collector M1 and the internal sound collector M2.

[0158] Then, if it is determined that a conversation is taking place (YES in step ST31), the controller 30 determines whether or not another person has been detected around the work machine 100 (step ST32). In the illustrated example, the controller 30 determines whether or not a person other than the person who is conversing with the operator OP has been detected around the work machine 100.

[0159] Then, when it is determined that another person (non-conversation target person) has been detected around the work machine 100 (YES in step ST32), the controller 30 notifies the other person (non-conversation target person) that a conversation is taking place (step ST33). Specifically, the controller 30 may notify visually using a display device (light bar), a light emitting device, a lighting device, or the like, or may notify audibly using an external sound output device SP1, or the like. Alternatively, the controller 30 may notify tactilely using a transmission device, or the like, that transmits a vibration command to a vibrator built into a mobile terminal carried by a person around the work machine 100.

[0160] Note that when it is determined that a conversation is taking place, the controller 30 may issue a notification (announcement) to the outside that a conversation is taking place, regardless of whether or not another person is present around the work machine 100. On the other hand, when it is determined that a conversation is not taking place (NO in step ST31), the controller 30 ends the current second information transmission processing without issuing a notification to the outside that a conversation is taking place. The same applies when it is determined that a conversation is taking place (YES in step ST31) and when it is determined that another person has not been detected around the work machine 100 (NO in step ST32).

[0161] Here, with reference to Fig. 13, an example of the situation at the work site when the controller 30 notifies a non-conversation target person that a conversation is in progress will be described. Fig. 13 is a top view of the work site where the work machine 100 is located. Specifically, the left diagram of Fig. 13 shows a case where notification is made using a light bar, the center diagram of Fig. 13 shows a case where notification is made using an external sound output device SP1, and the right diagram of Fig. 13 shows a case where notification is made using a transmission device TM. Note that in Fig. 13, for ease of understanding, the propagation of sound is represented by a horizontal stripe pattern, the propagation of light is represented by a dot pattern, and the propagation of radio waves is represented by a lightning pattern.

[0162] In the example shown on the left side of FIG. 13, the work machine 100 has a front light bar G1F, a left light bar G1L, a right light bar G1R, and a rear light bar G1B as information transmission devices G1. The controller 30 illuminates the light bars when it determines that a conversation is taking place between a conversation target (worker WK1) in front of the work machine 100 and an operator OP, and detects a conversation target (worker WK2) behind the work machine 100. In the example shown, the controller 30 transmits control commands to the left light bar G1L, the right light bar G1R, and the rear light bar G1B, respectively, to cause each of the three information transmission devices G1 to illuminate in a predetermined color. The predetermined color is a color that is preset as a color for informing the worker WK2 that the worker WK1 and the operator OP are conversing. The controller 30 may illuminate only the rear light bar G1B, which faces the worker WK2. This is because it is possible to suppress the emission of unnecessary light and thereby suppress the occurrence of light pollution.

[0163] In addition, the controller 30 may be configured to illuminate the light bar only when the distance between the work machine 100 and the person not being spoken to (worker WK2) calculated by the human detection device is less than a predetermined distance.

[0164] In the example shown in the center diagram of FIG. 13, the work machine 100 has an external sound output device SP1 (front speaker SP1F, left speaker SP1L, right speaker SP1R, and rear speaker SP1B) as the information transmission device G1. When the controller 30 determines that a conversation is taking place between a conversation target (worker WK1) in front of the work machine 100 and the operator OP, and detects a conversation target (worker WK2) behind the work machine 100, the controller 30 causes sound to be output from the external sound output device SP1. In the example shown, the controller 30 sends a control command to the rear speaker SP1B facing the worker WK2 to output a predetermined sound. The predetermined sound is a sound that has been set in advance as a sound for notifying the worker WK2 that the worker WK1 and the operator OP are having a conversation. Incidentally, outputting sound only from the rear speaker SP1B facing the worker WK2 has the effect of suppressing the generation of unnecessary sounds and suppressing noise pollution. However, the controller 30 may also output a predetermined sound from speakers that do not face the worker WK2, such as the left speaker SP1L and the right speaker SP1R. Furthermore, it is desirable to select a predetermined sound that is unlikely to be confused with the voices exchanged between the operator OP and the worker WK1. This is to avoid interfering with the conversation between the operator OP and the worker WK1.

[0165] In addition, the controller 30 may be configured to output sound from the external sound output device SP1 only when the distance between the work machine 100 and the person not to be spoken to (worker WK2) calculated by the human detection device is less than a predetermined distance.

[0166] In the example shown on the right side of FIG. 13 , the work machine 100 has a transmitting device TM as an information transmission device G1. The transmitting device TM is a device for wirelessly transmitting a predetermined control command to a portable terminal PT carried by a worker WK, and is configured to vibrate a vibrator built into the portable terminal PT, for example. The transmitting device TM is also configured to automatically detect the portable terminal carried by the worker WK using known technology. When the controller 30 determines that a conversation is taking place between a conversation target (worker WK1) in front of the work machine 100 and an operator OP, and detects a non-conversation target (worker WK2) behind the work machine 100, the controller 30 vibrates the portable terminal carried by the worker WK2. In the example shown, the controller 30 causes the transmitting device TM to transmit a control command to the portable terminal carried by the worker WK2, and causes a vibrator built into the portable terminal carried by the worker WK2 to vibrate in a predetermined vibration pattern. The predetermined vibration pattern is a vibration pattern that is set in advance as a vibration pattern for notifying the worker WK2 that the worker WK1 and the operator OP are having a conversation. Note that the mobile terminal carried by the worker WK2 may be a wearable device such as a smart watch worn by the worker WK2.

[0167] Furthermore, the controller 30 may be configured to cause the transmitting device TM to transmit a control command to the portable terminal only when the distance between the work machine 100 and a non-conversation target person (worker WK2) calculated by the human detection device is less than a predetermined distance. Furthermore, the transmitting device TM may be configured not to transmit a control command to a portable terminal carried by the conversation target person (worker WK1). This is because there is no need to inform the conversation target person (worker WK1) that the operator OP is engaged in a conversation, and this is to reduce the annoyance felt by the conversation target person (worker WK1) when receiving such an unnecessary notification. Note that the determination of whether or not a person is a conversation target may be made based on the output of the human detection device.

[0168] In the three examples shown in FIG. 13 , the controller 30 is configured to continue providing a notification to inform the worker WK2 that a conversation is ongoing as long as the conversation between the operator OP and the worker WK1 is ongoing. However, the controller 30 may continue providing a tactile notification to inform the worker WK2 that a conversation is ongoing for a predetermined period of time, and then discontinue the notification even if the conversation is ongoing. This is to reduce the annoyance felt by the non-conversation target person due to receiving continuous notifications. In this case, the controller 30 may provide a notification to inform the worker WK2 that the conversation has ended when it determines that the conversation has ended. The same applies to the visual or auditory notification described above.

[0169] In this way, the controller 30 can visually, audibly, or tactilely notify the non-conversation target person (worker WK2) that the operator OP of the work machine 100 and the conversation target person (worker WK1) are conversing. Therefore, the non-conversation target person (worker WK2) can predict that the operator OP may not be aware of the presence of the non-conversation target person (worker WK2). As a result, the controller 30 can prevent the worker WK2 from approaching the work machine 100 when the operator OP and worker WK1 are conversing, and ultimately can prevent contact between the work machine 100 and the worker WK2.

[0170] 13 relates to the second information transmission process when the operator OP in the cab 10 is conversing with the worker WK1 around the work machine 100. However, the above description also applies to the second information transmission process when the remote operator RO in the remote control room RC is conversing with the worker WK1 around the work machine 100.

[0171] Next, another example of the flow of the second information transmission process will be described with reference to Fig. 14. Fig. 14 is a flowchart showing another example of the flow of the second information transmission process. The controller 30 repeatedly executes this second information transmission process at a predetermined control period.

[0172] First, the controller 30 determines whether or not a person has been detected around the work machine 100 (step ST41). In the illustrated example, the controller 30 determines whether or not a person has been detected around the work machine 100 based on the output of the person detection device.

[0173] When it is determined that a person has been detected around the work machine 100 (YES in step ST41), the controller 30 notifies the operator OP that a person has been detected (step ST42). In the illustrated example, the controller 30 notifies the operator OP that the person has been detected by displaying a frame image around the image of the detected person displayed on the display device D1.

[0174] Thereafter, the controller 30 determines whether or not a conversation is taking place (step ST43). In the illustrated example, the controller 30 determines whether or not a conversation is taking place between the operator OP of the work machine 100 and a person around the work machine 100, based on the output of at least one of the external sound collection device M1 and the internal sound collection device M2.

[0175] Then, when it is determined that a conversation is taking place (YES in step ST43), the controller 30 notifies the outside of the work machine 100 that a conversation is taking place (step ST44). In the illustrated example, the controller 30 controls the information transmission device G1 to notify (announce) to the surroundings visually, audibly, or tactilely that a conversation is taking place.

[0176] On the other hand, if it is determined that no conversation is taking place (NO in step ST43), the controller 30 ends the current second information transmission process without issuing a notification (alert) in step ST44. The same applies to the case where it is determined that no person has been detected around the work machine 100 (NO in step ST41).

[0177] In this way, the controller 30 can notify (announce) to those outside the work machine 100 that a conversation is taking place, without determining whether the people around the work machine 100 are conversation targets or non-conversation targets. Therefore, the controller 30 can simplify control compared to when determining whether the people around the work machine 100 are conversation targets or non-conversation targets, and can more reliably notify people around the work machine 100 that a conversation is taking place. However, even in this case, the controller 30 may be configured to determine whether the people around the work machine 100 are conversation targets or non-conversation targets, and then notify only non-conversation targets that a conversation is taking place.

[0178] 14 relates to the second information transmission process when the operator OP in the cab 10 is conversing with the worker WK1 who is around the work machine 100. However, the above description also applies to the second information transmission process when the remote operator RO in the remote control room RC is conversing with the worker WK1 who is around the work machine 100.

[0179] As described above, the work machine 100 according to an embodiment of the present disclosure includes a cab 10, an external sound collection device M1 arranged outside the cab 10, an internal sound output device SP2 arranged inside the cab 10, and an information transmission device G1 that enables a worker WK around the work machine 100 to recognize whether or not the voice of the worker WK is reaching the operator OP of the work machine 100.

[0180] This configuration has the effect that the information transmitted by the information transmission device G1 allows the worker WK who is around the work machine 100 to recognize that his or her voice is reaching the operator OP of the work machine 100.

[0181] For example, if the information transmission device G1 is not installed on the work machine 100, when the worker WK speaks to the operator OP from behind the work machine 100, he or she will not be able to see the operator OP's reaction as the operator OP is hidden behind the upper rotating body 3 and will not be able to confirm whether or not the operator OP has heard his or her voice. In a situation where it is not possible to confirm whether or not the operator OP has heard his or her voice, the worker WK may mistakenly believe that the operator OP has heard his or her voice. In this case, even though the operator OP has not actually heard his or her voice, the worker WK may mistakenly believe that the operator OP has noticed his or her presence and may inadvertently approach the work machine 100. Furthermore, when the worker WK speaks to the operator OP, the operator OP may stop working in order to let the operator WK know by gesture that he or she has noticed the worker WK's presence. Therefore, if the information transmission device G1 is not mounted on the work machine 100, there is a risk that the work efficiency of the work machine 100 will decrease.

[0182] On the other hand, when the information transmission device G1 is mounted on the work machine 100, the worker WK at the rear of the work machine 100 can check whether or not the operator OP is hearing his or her voice by looking at the light emission state of the information transmission device G1 (rear light bar G1B). Therefore, this configuration can prevent the worker WK from mistakenly thinking that the operator OP is hearing his or her voice when in fact the operator OP is not hearing his or her voice, and can prevent the worker WK from carelessly approaching the work machine 100. In addition, this configuration can prevent the operator OP from being forced to take his or her hand off the operating device 26 and interrupt work to make a gesture.

[0183] Furthermore, the information transmission device G1 may be configured to be able to transmit its operating state to the worker WK. The operating state may include, for example, an ON state, an OFF state, a state in which the voice of the operator OP is being collected, or a state in which the voice of the operator OP can be collected. The state in which the voice of the operator OP can be collected is, for example, a state in which the operator OP is pressing the speech button KS.

[0184] This configuration allows the worker WK to accurately check various situations, such as whether the operator OP can hear the worker WK when he or she speaks to the operator OP, whether the operator OP is trying to speak to the worker WK, or whether the operator OP is speaking. Therefore, this configuration has the effect of preventing a conversation between the worker WK outside the cab 10 and the operator OP inside the cab 10 (a conversation that is more difficult to exchange than a face-to-face conversation) from being disrupted. In other words, this configuration has the effect of preventing a situation from occurring in which the worker WK fails to know that the operator OP is trying to speak to the worker WK and misses the operator's voice.

[0185] Furthermore, the work machine 100 may be provided with an internal sound collector M2 arranged inside the cab 10 and an external sound output device SP1 arranged outside the cab 10.

[0186] This configuration has the effect of enabling the voice of the operator OP in the cab 10 to be output at an appropriate volume to the worker WK outside the cab 10. Therefore, this configuration eliminates the need for the operator OP to speak to the worker WK in a loud voice, and reduces the burden on the operator OP when conversing with the worker WK.

[0187] The work machine 100 may also be equipped with a talk button KS located inside the cab 10. The work machine 100 may be configured so that when the talk button KS is pressed, the internal sound collection device M2 collects sound inside the cab 10, and the external sound output device SP1 outputs the sound collected by the internal sound collection device M2 toward the periphery of the work machine 100.

[0188] This configuration allows the operator OP to output his / her voice to the worker WK outside the cab 10 as needed, while preventing sounds generated inside the cab 10 from being continuously output outside the cab 10, thereby providing the effect of increasing the privacy of the operator OP.

[0189] Furthermore, the information transmission device G1 is preferably provided adjacent to the external sound collection device M1. This configuration has the effect of making it easier for the worker WK to recognize that his or her voice is reaching the operator OP of the work machine 100. This is because the worker WK typically turns his or her eyes to the external sound collection device M1 when speaking toward the external sound collection device M1, and at this time, if the information transmission device G1 is adjacent to the external sound collection device M1, the information transmission device G1 will naturally come into view.

[0190] The operation system SYS according to an embodiment of the present disclosure also includes an external sound collection device M1 attached to the work machine 100, an internal sound output device SP2 (internal sound output device SP2E) that outputs sound toward the operator OP (remote operator RO) of the work machine 100, and an information transmission device G1 that enables the worker WK who is around the work machine 100 to recognize whether the operator OP (remote operator RO) is hearing the voice of the worker WK. The operation system SYS also has a function of transmitting sounds generated in each area to the other area by using sound collection and generation equipment (including a sound collection device and a sound output device) provided in each of the areas outside the work machine 100 and the area where the operator (operator OP, remote operator RO, or manager) of the work machine 100 is present.

[0191] This configuration has the effect of enabling the worker WK to recognize that the voice of the worker WK around the work machine 100 is reaching the operator OP, due to the information transmitted by the information transmission device G1. Furthermore, this configuration has the effect of enabling the worker WK to recognize that the voice of the worker WK around the work machine 100 is reaching the remote operator RO, due to the information transmitted by the information transmission device G1, even when the work machine 100 is being remotely operated.

[0192] Furthermore, the work machine 100 according to an embodiment of the present disclosure is equipped with an internal sound collection device M2 that collects the voice of the operator OP of the work machine 100, an external sound output device SP1 that is attached to the work machine 100, and a controller 30 that serves as a control device that uses the internal sound collection device M2 and the external sound output device SP1 to detect that the operator OP of the work machine 100 is attempting to converse with a person (worker WK) around the work machine 100, or that the operator OP of the work machine 100 is conversing with a person (worker WK) around the work machine 100 using the internal sound collection device M2 and the external sound output device SP1, and notifies those around the work machine 100 of this fact.

[0193] This configuration has the effect of enabling the worker WK to recognize that the operator OP of the work machine 100 is about to speak to the worker WK. Furthermore, with this configuration, even in a situation where multiple work machines are operating at the work site, the worker WK can recognize which work machine operator is about to speak to the worker WK. Furthermore, with this configuration, the worker WK can recognize that the operator OP is about to speak to the worker WK before the operator OP actually speaks. Therefore, this configuration can prevent the worker WK from speaking at the same timing as the operator OP. Therefore, the worker WK can speak at a timing different from the timing at which the operator OP speaks. Furthermore, this configuration has the effect of enabling other workers WK to recognize that the operator OP of the work machine 100 is conversing with the worker WK.

[0194] The controller 30 may also be configured to be able to audibly, tactilely, or visually notify people around the work machine 100 that the operator OP of the work machine 100 is about to attempt a conversation with a person (worker WK) around the work machine 100 before the operator OP of the work machine 100 speaks or while the operator OP of the work machine 100 is speaking.

[0195] This configuration brings about the effect that the operator OP can notify the worker WK at an appropriate timing that he / she is about to speak to the worker WK.

[0196] The work machine 100 may also be equipped with a talk button KS located inside the cab 10. In this case, when the talk button KS is pressed, the internal sound collection device M2 may collect sound from inside the cab 10, and the external sound output device SP1 may output the sound collected by the internal sound collection device M2 toward the periphery of the work machine 100. When the talk button KS is pressed, the controller 30 may notify the outside of the cab 10 that the operator OP of the work machine 100 is attempting to have a conversation with a person (worker WK) outside the cab 10.

[0197] This configuration has the effect of making the worker WK aware that the operator OP is about to speak to the worker WK.

[0198] Additionally, the controller 30 may be configured not to issue a notification until a predetermined time has elapsed since the previous notification was issued. For example, the controller 30 may be configured not to issue an auditory notification until a predetermined time has elapsed since the previous auditory notification was issued.

[0199] This configuration has the effect of preventing the worker WK from feeling annoyed by frequent notifications. However, the controller 30 may be configured to output at least one of a visual notification and a tactile notification even when a predetermined time has not elapsed since the previous notification. This is because visual notifications and tactile notifications are less likely to annoy the worker WK than auditory notifications, even if they are output frequently.

[0200] Furthermore, notification to those around the work machine 100 may be achieved by outputting a predetermined sound. In this case, the predetermined sound is preferably a sound that is distinct from a horn sound.

[0201] This configuration has the effect of notifying the worker WK that the operator OP is about to attempt a conversation with him / her, without outputting a horn sound which is highly effective in attracting attention, i.e., without excessively attracting the attention of people around the work machine 100.

[0202] Furthermore, the work machine 100 may be provided with an internal sound output device SP2 arranged inside the cab 10 and an external sound collection device M1 arranged outside the cab 10.

[0203] This configuration has the effect of more reliably transmitting the voice of the worker WK to the operator OP after the operator OP has notified the worker WK that he or she is about to converse with the worker WK, because the voice of the worker WK collected by the external sound collection device M1 is reproduced by the internal sound output device SP2.

[0204] Furthermore, the controller 30 may be configured to disable collection of sound related to the auditory notification by the internal sound collection device M2 when an auditory notification is being given. For example, the controller 30 may turn off the internal sound collection device M2 (to a state where sound cannot be collected) when an auditory notification is being given.

[0205] This configuration has the effect of suppressing the occurrence of howling. Specifically, this configuration has the effect of suppressing the sound (auditory notification) output by the external sound output device SP1 from being collected by the internal sound collection device M2, and further suppressing the sound (auditory notification) collected by the internal sound collection device M2 from being output by the external sound output device SP1.

[0206] The work machine 100 may also be equipped with a human detection device that detects people around the work machine 100. The human detection device may be configured to include an imaging device S6 or LiDAR. In this case, when the controller 30 detects that the operator OP of the work machine 100 is attempting to converse with a person (worker WK) around the work machine 100, it may be configured to identify the position of the person around the work machine 100 based on the output of the human detection device, and issue a notification to that effect in the direction of the person (worker WK).

[0207] This configuration has the effect of being able to notify a specific worker WK that the operator OP is about to speak to him / her. In other words, this configuration has the effect of being able to notify a specific worker WK that the operator OP is about to speak to him / her without attracting the attention of anyone other than the specific worker WK.

[0208] Furthermore, the controller 30 may be configured to output a sound in the direction in which the person (worker WK) is located, or to cause a light emitter to emit light in the direction in which the person (worker WK) is located.

[0209] This configuration brings about the effect of more reliably informing a specific worker WK that the operator OP is about to speak to him / her.

[0210] Furthermore, as shown in FIG. 13, the controller 30 may be configured to notify a person (worker WK2) other than the person (worker WK1) who is conversing with the operator OP of the work machine 100, that the operator OP and worker WK1 are conversing.

[0211] This configuration has the effect of reliably informing the worker WK2, who is not the intended conversation partner, that the operator OP and the worker WK1 are currently in conversation.

[0212] Furthermore, as shown in FIG. 13, the controller 30 may continue to notify the worker WK2 while the operator OP and the worker WK1 are having a conversation.

[0213] With this configuration, the non-conversation target person can know that the conversation has ended when the notification has ended.

[0214] In addition, as shown in FIG. 13, if the controller 30 detects a worker WK2 while the operator OP and the worker WK1 are having a conversation, the controller 30 may be configured to notify the operator OP that the worker WK2 has been detected.

[0215] This configuration has the effect of preventing a situation in which the operator OP, concentrating on the conversation, does not notice the presence of a person who is not the conversation target (worker WK2).

[0216] Furthermore, as shown in FIG. 13, while an operator OP of the work machine 100 and a person (worker WK1) around the work machine 100 are having a conversation, the controller 30 may be configured to notify (announce) from the work machine 100 to the outside of the work machine 100 that the operator OP and worker WK1 are having a conversation.

[0217] This configuration can notify the outside of the work machine 100 that a conversation is in progress, regardless of whether or not a non-conversation target person is present around the work machine 100. Therefore, this configuration has the effect of preventing a situation from occurring in which a notification that a conversation is in progress is not made even though a non-conversation target person is present around the work machine 100.

[0218] Furthermore, the operation system SYS according to an embodiment of the present disclosure includes an internal sound collection device M2 (internal sound collection device M2E) that collects the voice of the operator OP (remote operator RO) of the work machine 100, an external sound output device SP1 that is attached to the work machine 100, and a controller 30 that serves as a control device that detects, using the internal sound collection device M2 (internal sound collection device M2E) and the external sound output device SP1, that the operator OP (remote operator RO) of the work machine 100 is attempting to converse with a person (worker WK) around the work machine 100, or that, using the internal sound collection device M2 (internal sound collection device M2E) and the external sound output device SP1, that the operator OP (remote operator RO) of the work machine 100 is conversing with a person (worker WK) around the work machine 100, and notifies those around the work machine 100 of this fact.

[0219] This configuration has the effect of enabling the worker WK to recognize that the operator OP of the work machine 100 is about to speak to the worker WK. This configuration also has the effect of enabling the worker WK to recognize that the remote operator RO of the work machine 100 is about to speak to the worker WK. This configuration also has the effect of enabling a non-conversation target to recognize that the operator OP and the conversation target are having a conversation.

[0220] 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]

[0221] 1···Undercarriage 1C···Crawler 1CL··Left crawler 1CR···Right crawler 2···Slewing mechanism 2A···Slewing hydraulic motor 2ML···Left traveling hydraulic motor 2MR···Right traveling hydraulic motor 3···Upper rotating body 4···Boom 5···Arm 6···Bucket 7···Boom cylinder 8···Arm cylinder 9···Bucket cylinder 10···Operator's cab 11···Engine 13···Regulator 14···Main pump 15···Pilot pump 17···Control valve unit 26···Operating device 26DL···Left traveling lever 26DR···Right traveling lever 26L···Left operating lever 26PL···Left traveling pedal 26PR···Right traveling pedal 26R···Right operating lever 27···Lever boot 28...Discharge pressure sensor 29...Operation sensor 30...Controller 31...Valve 40...Remote controller 42...Operation device 43...Operation sensor 50...Driver's seat 51...Seat 52...Backrest 53L...Left armrest 53R...Right armrest 54L...Left console 54R...Right console 55...Gate bar 56...Window console 100...Work machine 200...Management device 171-176...Control valve AT...Attachment D1, D1E...Display device D2...Input device DL1...External volume dial DL2...Internal volume dial DS...Operator's seat G1...Information transmission device G1B...Rear light bar G1F...Front light bar G1L···Left light bar G1R···Right light bar GL···Gate lock lever HS···Horn button KS···Speak button M1···External sound collector M1B···Rear microphone M1F···Front microphone M1L···Left microphone M1R···Right microphone M2, M2C, M2E···Internal sound collector OP···Operator PS···Positioning device PT···Mobile terminal RC··Remote control room RO···Remote operator S1···Boom angle sensor S2···Arm angle sensor S3···Bucket angle sensor S4···Machine tilt sensor S5···Rotation sensor S6···Image capture device S6B···Rear camera S6F···Front camera S6L···Left camera S6R···Right cameraSP1: External sound output device SP1B: Rear speaker SP1F: Front speaker SP1L: Left speaker SP1R: Right speaker SP2, SP2C, SP2E: Internal sound output device SP2L: Left interior speaker SP2R: Right interior speaker SW: Switch SYS: Operation system T1, T2: Communication device TM: Transmitter WK, WK1, WK2: Operators

Claims

1. a lower running body; an upper rotating body rotatably mounted on the lower traveling body; an internal sound collection device that collects the voice of the operator of the work machine; an external sound output device that outputs sound toward the periphery of the work machine; a control device that uses the internal sound collection device and the external sound output device to detect that an operator of a work machine is attempting to converse with a person around the work machine, or that the operator of a work machine is conversing with a person around the work machine using the internal sound collection device and the external sound output device, and notifies people around the work machine of this fact; A work machine comprising:

2. the control device audibly, tactilely, or visually notifies people around the work machine that the work machine operator is about to attempt a conversation with the people around the work machine before the work machine operator speaks or while the work machine operator is speaking; 2. The work machine according to claim 1.

3. Equipped with a talk button, When the talk button is pressed, the internal sound collection device collects sound, and the external sound output device outputs the sound collected by the internal sound collection device toward the periphery of the work machine, When the speech button is pressed, the control device notifies people around the work machine that the operator of the work machine is about to attempt to talk to a person around the work machine.

2. The work machine according to claim 1.

4. The control device does not issue a notification until a predetermined time has elapsed since the previous notification.

2. The work machine according to claim 1.

5. The notification to those around the work machine is realized by outputting a predetermined sound, The predetermined sound is a sound that is distinguished from a horn sound.

2. The work machine according to claim 1.

6. an internal sound output device that outputs sound toward an operator of the work machine; an external sound collecting device that collects sounds around the work machine; 2. The work machine according to claim 1.

7. the control device, when giving an audible notification, disables collection of sound related to the audible notification by the internal sound collection device; 2. The work machine according to claim 1.

8. a person detection device that detects people around the work machine; The control device identifies the position of the person based on the output of the person detection device, and when it detects that the operator of the work machine is attempting to talk to a person around the work machine, it points in the direction of the person and notifies that fact.

2. The work machine according to claim 1.

9. The control device outputs a sound in a direction in which a person is present, or causes a light emitter to emit light in a direction in which a person is present.

9. A work machine according to claim 8.

10. the control device notifies a person other than the person who is conversing with the work machine operator, among the people around the work machine, that the work machine operator is conversing with the person around the work machine; 2. The work machine according to claim 1.

11. While the operator of the work machine is having a conversation with a person around the work machine, the control device continues to notify other people around the work machine other than the person who is having a conversation with the operator of the work machine that the operator of the work machine is having a conversation with the person around the work machine.

11. A work machine according to claim 10.

12. a person detection device that detects people around the work machine; When the control device detects another person in the vicinity of the work machine while the operator of the work machine is having a conversation with a person in the vicinity of the work machine, the control device notifies the operator of the work machine that another person has been detected.

2. The work machine according to claim 1.

13. While a conversation is taking place between the operator of the work machine and a person around the work machine, the control device issues a notification from the work machine to an outside of the work machine that the operator of the work machine is talking to a person around the work machine.

2. The work machine according to claim 1.

14. an internal sound collection device that collects the voice of the operator of the work machine; an external sound output device that outputs sound toward the periphery of the work machine; a control device that uses the internal sound collection device and the external sound output device to detect that the operator of the work machine is attempting to converse with a person outside the work machine, or that the operator of the work machine is conversing with a person in the vicinity of the work machine, and notifies those in the vicinity of the work machine of this fact; A work machine operating system comprising:

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