Work machine and system for work machine

Abstract

This work machine comprises: a lower traveling body; an upper rotating body that is rotatably mounted on the lower traveling body; a cab that is provided on the upper rotating body; and a control device that determines whether an abnormality is present in an external sound output device disposed outside the cab on the basis of a signal generated from sound that is output from the external sound output device and collected by an external sound collection device disposed outside the cab.

Description

Working Machine and Working Machine System

[0001] The present disclosure relates to a working machine and a working machine system.

[0002] Conventionally, an acoustic processing system suitable for the safety of persons around a machine has been known (see Patent Document 1 below). The acoustic processing system described in Patent Document 1 includes a sound input unit configured by a plurality of microphones that collect sound, a risk level calculation unit that calculates the risk level associated with contact with surrounding persons or objects caused by the operation of the machine, a sound extraction unit that receives a signal output from the sound input unit as an input and outputs a separated signal corresponding to the risk level, and a sound output unit that outputs the separated signal output from the sound extraction unit.

[0003] Japanese Unexamined Patent Application Publication No. 2012-058314

[0004] The acoustic processing system described in Patent Document 1 cannot detect an abnormality of the sound output unit.

[0005] The present disclosure provides a working machine with improved safety.

[0006] According to one aspect of the present disclosure, there is provided a working machine comprising: a lower traveling body; an upper revolving structure that is rotatably mounted on the lower traveling body; an operator's cab provided on the upper revolving structure; and a control device that determines whether there is an abnormality in an external sound output device based on a signal generated from sound collected by an external sound collecting device arranged outside the operator's cab, wherein the sound is output from the external sound output device arranged outside the operator's cab.

[0007] According to the above aspect of the present disclosure, an abnormality of a sound output device that outputs sound outside the working machine can be detected, thereby improving safety.

[0008] Figure 1 is a side view of a work machine according to an embodiment of the present disclosure. Figure 2 is a top view of the work machine shown in Figure 1. Figure 3 is a schematic diagram of an external sound collection device attached to the work machine shown in Figure 1. Figure 4 is a schematic block diagram showing the configuration of the work machine shown in Figure 1. Figure 5 is a plan view showing the configuration of the operator's cabin of the work machine shown in Figure 1. Figure 6 is a conceptual diagram of two-way communication between the operator and worker of the work machine shown in Figure 1. Figure 7 is a functional block diagram of the control device of the work machine shown in Figure 4. Figure 8 is a flowchart showing a first example of abnormality detection processing. Figure 9 is a diagram showing an image displayed on the display device shown in Figure 7. Figure 10 is a flowchart showing a second example of abnormality detection processing. Figure 11 is a flowchart showing a third example of abnormality detection processing. Figure 12 is a top view showing other configurations of the work machine shown in Figure 1. Figure 13 is a schematic diagram of the operating system of the work machine according to an embodiment of the present disclosure. Figure 14 is a schematic diagram showing another configuration example of the operating system of the work machine according to the embodiment. Figure 15 is a schematic diagram showing communication between the work machine and a communication terminal according to the embodiment.

[0009] Embodiments of this disclosure will be described below 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 this disclosure are necessarily essential to the invention. In each drawing, the same or corresponding components are denoted by the same or corresponding reference numerals, and redundant descriptions may be omitted.

[0010] First, the general outline of the work machine 100 will be explained 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.

[0011] The working machine 100 according to the embodiment of this disclosure is a shovel. The working 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 as the working machine 100 is an excavator equipped with a bucket 6 as an end attachment, but it may be an applied machine such as a forestry machine equipped with an end attachment other than a bucket 6.

[0012] In Figure 1, +X represents one direction of the X-axis in the three-dimensional Cartesian coordinate system, and -X represents the other direction of the X-axis. In Figure 2, +Y represents one direction of the Y-axis in the three-dimensional Cartesian coordinate system, and -Y represents the other direction of the Y-axis. In Figure 1, +Z represents one direction of the Z-axis in the three-dimensional Cartesian coordinate system, and -Z represents the other direction of the Z-axis. In Figure 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. Also, 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 mounted on the lower traveling body 1 so as to be rotatable via a slewing mechanism 2, an attachment AT for performing various tasks, and a driver's cab 10 provided on the upper rotating body 3. The driver's cab 10 is also called a cabin or cab.

[0014] The lower travel 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 travel hydraulic motor 2ML, and the right crawler 1CR is driven by a right travel hydraulic motor 2MR. The left travel hydraulic motor 2ML is a travel drive unit that drives the left crawler 1CL as the driven part, and can rotate the left crawler 1CL. The right travel hydraulic motor 2MR is a travel drive unit that drives the right crawler 1CR as the driven part, and can rotate the right crawler 1CR. Note that the travel drive units may also be electric motors.

[0015] Figure 1 illustrates a lower traveling body 1 having a pair of left and right crawlers, but the work machine 100 is not limited to a crawler-type excavator. The work machine 100 may also be a wheeled excavator including a lower traveling body 1 with multiple tires.

[0016] The upper rotating body 3 rotates relative to the lower traveling body 1 when the rotation mechanism 2 is driven by the rotation hydraulic motor 2A. The rotation hydraulic motor 2A is a rotation drive unit that drives the upper rotating body 3 as the driven part, and can change the orientation of the upper rotating body 3. The rotation drive unit may also be an electric motor.

[0017] A boom 4 is rotatably mounted to the front center of the upper slewing body 3, an arm 5 is rotatably mounted to the tip of the boom 4, and a bucket 6 is rotatably mounted 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 attachment AT. The boom 4, arm 5, and bucket 6 are driven by a boom cylinder 7, arm cylinder 8, and bucket cylinder 9, respectively.

[0018] Bucket 6 is an example of a work tool (end attachment). Bucket 6 is used, for example, for excavation work. Depending on the work content, other work tools may be attached to the tip of arm 5 instead of bucket 6. Other work tools may be other types of buckets, such as large buckets, slope buckets, or dredging buckets. Other work tools may also be types of work tools other than buckets, such as agitators, breakers, grapples, or lifting magnets.

[0019] The slewing hydraulic motor 2A, the left travel hydraulic motor 2ML, the right travel hydraulic motor 2MR, the boom cylinder 7, the arm cylinder 8, and the bucket cylinder 9 are hydraulic actuators driven by hydraulic fluid discharged from a hydraulic pump.

[0020] Furthermore, the work machine 100 may have all or part of its driven parts, such as the lower traveling body 1, upper slewing body 3, boom 4, arm 5, and bucket 6, electrically driven. In other words, the work machine 100 may be a hybrid work machine or an electric work machine in which all or part of its driven parts are driven by electric actuators.

[0021] The operator's cab 10 is a compartment where the operator sits and is located on the front left side of the upper rotating body 3. However, the operator's cab 10 may be omitted if the work machine 100 is remotely controlled or if the work machine 100 operates by fully automatic operation.

[0022] A windshield is provided at the front of the driver's cab 10 so that the operator can see the work site. The front of the work machine 100 (upper slewing body 3) corresponds to the side on which the attachment AT is attached to the upper slewing body 3 when the work machine 100 is viewed from directly above along the slewing axis of the upper slewing body 3. The left, right, and rear sides of the work machine 100 (upper slewing body 3) correspond to the left, right, and rear sides as seen from the perspective of the operator seated in the driver's seat inside the driver's cab 10, respectively.

[0023] Furthermore, the work machine 100 is equipped with an information transmission device G1, an external sound collection device M1, an imaging device S6, an external sound output device SP1, a horn speaker SP3, and an alarm speaker SP4.

[0024] The imaging device S6 is installed in the upper rotating body 3 or the operator's cab 10 and captures images of the area around the work machine 100, acquiring image information representing the area around 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.

[0025] The front camera S6F is a camera that captures images in front of the work machine 100 and is mounted on the outside of the operator's cab 10, such as on the roof of the operator's cab 10 or the side of the boom 4. Alternatively, the front camera S6F may be mounted inside the operator's cab 10, such as on the ceiling of the operator's 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 image sensors such as CCD (Charge Coupled Devices) or CMOS (Complementary Metal Oxide Semiconductor), and they output the captured images to the display device D1 (see Figures 4 and 5). The image information captured by the imaging device S6 is also received by the controller 30.

[0026] In the illustrated example, the front camera S6F is mounted on the roof of the driver's cab 10, the left camera S6L is mounted on the upper left end of the upper surface of the upper rotating body 3, the right camera S6R is mounted on the upper right end of the upper surface of the upper rotating body 3, and the rear camera S6B is mounted on the upper rear end of the upper surface of the upper rotating body 3.

[0027] The imaging device S6 may be configured as an object detection device for detecting objects around the work machine 100. These objects may include, for example, people, animals, vehicles, construction machinery, buildings, or holes. The object detection device may be configured to distinguish between people and other objects. That is, the object detection device may be configured to function as a person detection device.

[0028] The object detection device may consist of devices other than a camera. For example, the object detection device may be a LiDAR (Light Detection and Ranging). A LiDAR is, for example, a device capable of measuring the distance between a point cloud of more than one million points within the monitoring range and the LiDAR (laser source). Alternatively, the object detection device may be other devices capable of measuring the distance to an object, such as a stereo camera, a depth image 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 determine the distance and direction of the object by emitting a large number of signals (such as laser light) toward the object and receiving the reflected signals. Alternatively, the object detection device may be a combination of two or more types of devices. For example, the object detection device may be a combination of an imaging device and a LiDAR, or a combination of an imaging device and a millimeter-wave radar, or a combination of an imaging device and a stereo camera.

[0029] The imaging device S6 may consist of at least one of the following: a monocular camera, a stereo camera, a depth image camera, a LiDAR, or a millimeter-wave radar. For example, the imaging device S6 may consist of any combination of the following: a monocular camera only, a stereo camera only, a depth image camera only, a combination of LiDAR and a monocular camera, a combination of LiDAR and a stereo camera, a combination of LiDAR and a depth image camera, a combination of millimeter-wave radar and a monocular camera, a combination of millimeter-wave radar and a stereo camera, a combination of millimeter-wave radar and a depth image camera, etc.

[0030] The external sound collection device M1 is a device that collects sounds from outside the work machine 100, and is also called a microphone. In the illustrated example, the external sound collection device M1 is installed in the upper rotating body 3 or the operator's cab 10, and converts sound (air vibrations) generated around the work machine 100 into mechanical vibrations, and then converts those mechanical vibrations into electrical signals.

[0031] Specifically, the external sound collection device M1 is configured to collect the voices of workers around the work machine 100 and includes, for example, a plurality of microphones detachably attached to different positions on the upper rotating body 3. The plurality of microphones include, for example, a front microphone M1F, a left microphone M1L, a right microphone M1R, and a rear microphone M1B. The external sound collection device M1 may also include, for example, at least one array microphone detachably attached to the upper rotating body 3. An array microphone, also called a microphone array, has a plurality of microphones arranged in an array and configured integrally.

[0032] The front microphone M1F is a microphone that collects sound generated in front of the work machine 100 and is mounted on the outside of the operator's cab 10, such as on the roof of the operator's cab 10 or on the side of the boom 4. Alternatively, the front microphone M1F may be mounted inside the operator's cab 10, such as on the ceiling of the operator's cab 10. The left microphone M1L is a microphone that collects sound generated to the left of the work machine 100, the right microphone M1R is a microphone that collects sound generated to the right of the work machine 100, and the rear microphone M1B is a microphone that collects sound 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 up by the controller 30.

[0033] In the illustrated example, the front microphone M1F is mounted on the roof of the driver's cab 10, the left microphone M1L is mounted on the upper left end of the upper surface of the upper rotating body 3, the right microphone M1R is mounted on the upper right end of the upper surface of the upper rotating body 3, and the rear microphone M1B is mounted on the upper rear end of the upper surface of the upper rotating body 3. In this way, the four external sound collection devices M1 (front microphone M1F, left microphone M1L, right microphone M1R, and rear microphone M1B) are installed at different positions on the upper rotating body 3. Therefore, the controller 30 can detect the direction of the sound source based on the differences in sound collected by each of the four external sound collection devices M1 (for example, differences in volume). Furthermore, if array microphones are used as the external sound collection devices M1, the direction of the sound source can be detected based on, for example, a phase shift or a difference in volume.

[0034] In the illustrated example, each of the four external sound collection devices M1 and each of the four imaging devices S6 are arranged to correspond to one another. Specifically, the front microphone M1F is positioned adjacent to the front camera S6F, the left microphone M1L is positioned adjacent to the left camera S6L, the right microphone M1R is positioned adjacent to the right camera S6R, and the rear microphone M1B is positioned adjacent to the rear camera S6B.

[0035] Furthermore, each microphone, such as the front microphone M1F, left microphone M1L, right microphone M1R, and rear microphone M1B, may be integrally configured with each camera, such as the front camera S6F, left microphone M1L, right microphone M1R, and rear camera S6B. Additionally, the external sound collection device M1 may include an array microphone integrated with the camera.

[0036] The external sound output device SP1 is a device that outputs sound towards the surroundings of the work machine 100. In the illustrated example, the external sound output device SP1 is an omnidirectional speaker 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 forward.

[0037] The horn speaker SP3 is mounted, for example, on the front of the upper slewing body 3, outside the operator's cab 10, and positioned below the boom 4 that constitutes the attachment AT. The horn speaker SP3 includes, for example, a left horn speaker SP3L and a right horn speaker SP3R. The left horn speaker SP3L and the right horn speaker SP3R each generate a horn sound.

[0038] The alarm speaker SP4 is mounted, for example, at the rear of the upper rotating body 3, outside the operator's cab 10, and positioned near the left travel hydraulic motor 2ML. The alarm speaker SP4 generates an alarm sound, for example, while the work machine 100 is in motion, to alert workers and others around the work machine 100.

[0039] The information transmission device G1 is a device for informing the outside of the work machine 100 of the status of the work machine 100. In the illustrated example, the information transmission device G1 is installed in the upper rotating body 3 or the operator's cab 10 and is configured to communicate the status of the work machine 100 to workers and others 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.

[0040] The front light bar G1F is a light-emitting device that can visually convey information to workers, etc., who are in front of the work machine 100, and is mounted on the outside of the operator's cab 10, such as on the roof of the operator's cab 10 or on the side of the boom 4. Alternatively, the front light bar G1F may be mounted inside the operator's cab 10, such as on the ceiling of the operator's cab 10. The left light bar G1L is a light-emitting device that can visually convey information to workers, etc., who are to the left of the work machine 100, the right light bar G1R is a light-emitting device that can visually convey information to workers, etc., who are to the right of the work machine 100, and the rear light bar G1B is a light-emitting device that can visually convey information to workers, etc., who are behind the work machine 100. Each of the front light bar G1F, left light bar G1L, right light bar G1R, and rear light bar G1B emits light in response to an electrical signal from the controller 30. In the illustrated example, the light-emitting devices are LED (Light Emitting Diode) lights, but other light-emitting devices such as halogen lamps may also be used. Furthermore, the light-emitting device is a multi-color type, but it may also be a mono-color type.

[0041] In the illustrated example, the front light bar G1F is attached to the roof of the cab 10, the left light bar G1L is attached to the upper left end of the upper surface of the upper rotating body 3, the right light bar G1R is attached to the upper right end of the upper surface of the upper rotating body 3, and the rear light bar G1B is attached to the upper 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 installed at different positions on the upper rotating body 3. Therefore, by operating each of the four information transmission devices G1 separately, the controller 30 can communicate the status of the work machine 100 to workers, etc., located in front of, to the left, to the right, and behind the work machine 100.

[0042] In the illustrated example, each of the four information transmission devices G1 and each of the four external sound collection devices M1 are arranged to correspond to one another. Specifically, the front light bar G1F is positioned adjacent to the front microphone M1F, the left light bar G1L is positioned adjacent to the left microphone M1L, the right light bar G1R is positioned adjacent to the right microphone M1R, and the rear light bar G1B is positioned adjacent to the rear microphone M1B.

[0043] Figure 3 shows an example configuration of an external sound collection device M1 and an information transmission device G1 attached to a work machine 100. Specifically, Figure 3 is a perspective view of a left microphone M1L and a left light bar G1L attached to a roughly rectangular housing. The following explanation, referring to Figure 3, pertains to the combination of the left microphone M1L and the left light bar G1L, but also applies similarly to the combination of the front microphone M1F and the front light bar G1F, the right microphone M1R and the right light bar G1R, and the rear microphone M1B and the rear light bar G1B.

[0044] As shown in FIG. 3, the left microphone M1L and the left light bar G1L are arranged on the left side surface of a substantially rectangular parallelepiped housing so as to face the left side of the work machine 100. With this arrangement, the left microphone M1L can efficiently collect sounds generated on the left side of the work machine 100, and the left light bar G1L can efficiently notify a worker located on the left side of the work machine 100 of the state of the work machine 100. For example, the left microphone M1L can capture the voice uttered by a worker located on the left side of the work machine 100, and the left light bar G1L can notify the worker that the left microphone M1L has captured the worker's voice by emitting light in a predetermined color. In this case, the worker located on the left side of the work machine 100 who has spoken toward the left microphone M1L can confirm that his or her voice has reached the left microphone M1L (that is, the operator of the work machine 100) by seeing the left light bar G1L emitting light in the predetermined color.

[0045] The information transmission device G1 may be provided at an upper portion of each of the four side surfaces of the driver's cab 10. For example, the information transmission device G1 may be configured such that a front light bar G1F is attached to an upper portion of the front surface of the driver's cab 10, the left light bar G1L is attached to an upper portion of the left surface of the driver's cab 10, a right light bar G1R is attached to an upper portion of the right surface of the driver's cab 10, and a rear light bar G1B is attached to an upper portion of the rear surface of the driver's cab 10. Further, the information transmission device G1 may be a single rotating light such as a nicotorch attached to the upper surface of the driver's cab 10, or may be a display device such as a liquid crystal display or an organic EL display.

[0046] The controller 30 is an example of a control device, and is constituted by a computer including, for example, a CPU (Central Processing Unit), a volatile storage device, a non-volatile storage device, and various input / output interfaces. The controller 30 implements various functions by, for example, reading a program from the non-volatile storage device, loading the program into the volatile storage device, and causing the CPU to execute the program. In the illustrated example, the controller 30 is configured to implement various functions and control the work machine 100. The various functions include, for example, a machine guidance function that guides manual operation of the work machine 100 by an operator. The various functions may include a contact avoidance function that automatically or autonomously operates or stops the work machine 100 in order to avoid contact between the work machine 100 and an object existing within a monitoring range around the work machine 100.

[0047] The boom angle sensor S1 detects a boom angle, which is the rotation angle of the boom 4 relative to the upper rotating body 3. The arm angle sensor S2 detects an arm angle, which is the rotation angle of the arm 5 relative to the boom 4. The bucket angle sensor S3 detects a bucket angle, which is the rotation angle of the bucket 6 relative to the arm 5.

[0048] Each of the boom angle sensor S1, the arm angle sensor S2, and the bucket angle sensor S3 may be, for example, a rotary encoder, an acceleration sensor, a 6-axis sensor, an IMU (Inertial Measurement Unit), or the like, or may be a potentiometer using a variable resistor, a cylinder stroke sensor that detects the stroke amount of a hydraulic cylinder, or the like.

[0049] 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 are fetched into the controller 30.

[0050] The machine tilt sensor S4 detects the tilt state of the machine (lower traveling body 1 or upper rotating body 3) relative to the horizontal plane. The machine tilt sensor S4 is, for example, attached to 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 front-rear and left-right directions. The machine tilt sensor S4 may be, for example, an acceleration sensor, a 6-axis sensor, or an IMU. The detection signal corresponding to the tilt angle from the machine tilt sensor S4 is input to the controller 30.

[0051] The rotation sensor S5 outputs information regarding the rotation of the upper rotating body 3. The rotation sensor S5 detects, for example, the rotational 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. The detection signal corresponding to the rotation angle or rotational angular velocity of the upper rotating body 3 detected by the rotation sensor S5 is input to the controller 30.

[0052] The positioning device PS is configured to acquire information regarding the position of the work machine 100. In this embodiment, the positioning device PS is configured to measure the position and orientation of the work machine 100 in a reference coordinate system. Specifically, the positioning device PS is, for example, a GNSS (Global Navigation Satellite System) receiver incorporating an electronic compass, which measures the latitude, longitude, and altitude of the current position of the work machine 100, and also measures the orientation of the work machine 100. The reference coordinate system in this embodiment is, for example, the World Geodetic System. The World Geodetic System is a three-dimensional orthogonal XYZ coordinate system with its origin at the center of gravity of the Earth, with the X-axis pointing in the direction of the intersection of the Greenwich Meridian and the equator, the Y-axis pointing in the direction of 90 degrees east longitude, and the Z-axis pointing in the direction of the North Pole. Detection signals corresponding to the position and orientation of the upper rotating body 3 are received by the controller 30. The function of detecting the orientation of the upper rotating body 3 may be realized by an orientation sensor attached to the upper rotating body 3.

[0053] The communication device T1 is connected to an external communication line and is configured to control communication with equipment located outside the work machine 100. The communication device T1 may also communicate with equipment provided separately from the work machine 100. Equipment provided separately from the work machine 100 may include not only equipment located outside the work machine 100, but also portable terminal devices (portable terminals) brought into the operator's cab 10 by the operator of the work machine 100.

[0054] In this embodiment, the communication device T1 is configured to control communication between the communication device T1 and equipment located outside the work machine 100 via a wireless communication network. The communication device T1 may include, for example, a mobile communication module that supports mobile communication standards such as LTE (Long Term Evolution), 4G (4th Generation), and 5G (5th Generation). The communication device T1 may also include, for example, a satellite communication module for connecting to a satellite communication network. Furthermore, the communication device T1 may include, for example, a Wi-Fi communication module or a Bluetooth® communication module. In addition, if there are multiple connectable communication lines, the communication device T1 may include multiple communication devices T1 according to the type of communication line.

[0055] For example, communication device T1 communicates with external devices such as a remote control room within the work site via a local communication line established at the work site. The local communication line is, for example, a local 5G (so-called local 5G) mobile communication line or a local Wi-Fi network established at the work site. Furthermore, communication device T1 is configured to send and receive information with communication devices installed in the remote control room via a wide-area communication line that includes the work site, i.e., a wide-area network.

[0056] The work machine 100 operates actuators in response to the operation of the operator seated in the cab 10, driving the driven parts such as the lower traveling body 1, the upper slewing body 3, the boom 4, the arm 5, and the bucket 6.

[0057] Alternatively, the work machine 100 may be configured to be remotely operated from outside the work machine 100. When the work machine 100 is remotely operated, the inside of the operator's cab 10 may be unoccupied.

[0058] Furthermore, the work machine 100 may automatically operate the actuators regardless of the operator's actions. This enables the work machine 100 to automatically operate at least a portion of the driven parts, such as the lower traveling body 1, the upper slewing body 3, the boom 4, the arm 5, and the bucket 6, that is, to realize a so-called "machine control function".

[0059] Figure 4 is a schematic diagram showing an example of the configuration of the work machine 100. In Figure 4, the mechanical power transmission system, hydraulic fluid line, pilot line, and electrical control system are indicated by double lines, thick solid lines, thick dashed lines, and dotted lines, respectively.

[0060] 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 slewing hydraulic motor 2A, a left travel hydraulic motor 2ML, a right travel hydraulic motor 2MR, a boom cylinder 7, an arm cylinder 8, and a bucket cylinder 9.

[0061] The engine 11 is an example of a power source for the work machine 100, and is mounted, for example, at the rear of the upper rotating body 3. The power source for the work machine 100 may be a combination of a battery or fuel cell and an electric motor. Specifically, the engine 11 rotates at a constant speed at a preset target rotational speed under direct or indirect control by the controller 30, driving the main pump 14 and the pilot pump 15. The engine 11 is, for example, a diesel engine that uses light oil as fuel. The engine 11 may also be a gasoline engine or a hydrogen engine, etc.

[0062] The regulator 13 controls the discharge rate of the main pump 14. For example, the regulator 13 controls the discharge rate of the main pump 14 by adjusting the angle (tilt angle) of the swash plate of the main pump 14 in response to a control command from the controller 30.

[0063] The main pump 14, for example, is mounted at the rear of the upper rotating body 3, similar to the engine 11, and supplies hydraulic fluid to the control valve unit 17 through the hydraulic fluid line. In the illustrated example, the main pump 14 is a variable displacement hydraulic pump.

[0064] The control valve unit 17 is one of the hydraulic control devices that control the hydraulic system in the work machine 100. In the illustrated example, the control valve unit 17 includes control valves 171 to 176. The control valve unit 17 is configured to selectively supply hydraulic fluid discharged by the main pump 14 to one or more hydraulic actuators through the control valves 171 to 176. The control valves 171 to 176 control the flow rate of hydraulic fluid flowing from the main pump 14 to the hydraulic actuators, and the flow rate of hydraulic fluid flowing from the hydraulic actuators to the hydraulic fluid tank. The hydraulic actuators include a boom cylinder 7, an arm cylinder 8, a bucket cylinder 9, a left-travel hydraulic motor 2ML, a right-travel hydraulic motor 2MR, and a slewing hydraulic motor 2A. Specifically, control valve 171 corresponds to the slewing hydraulic motor 2A, control valve 172 corresponds to the right-travel hydraulic motor 2MR, and control valve 173 corresponds to the left-travel hydraulic motor 2ML. Furthermore, control valve 174 corresponds to bucket cylinder 9, control valve 175 corresponds to boom cylinder 7, and control valve 176 corresponds to arm cylinder 8.

[0065] The pilot pump 15 is an example of a pilot pressure generating device and is configured to supply hydraulic fluid to a hydraulic control device 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 be implemented by the main pump 14. That is, the main pump 14 may have the function of supplying hydraulic fluid to the control valve unit 17 via a hydraulic fluid line, as well as the function of supplying hydraulic fluid to various hydraulic control devices via a pilot line. In this case, the pilot pump 15 may be omitted.

[0066] 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.

[0067] The operating device 26 is a device used by the 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.

[0068] The operation sensor 29 is configured to detect the operator's actions using the operation device 26. In this embodiment, the operation sensor 29 detects the operating direction and amount of operation of the operation device 26 corresponding to each actuator and outputs the detected values ​​to the controller 30. In the illustrated example, the controller 30 can control the opening area of ​​the valve 31 according to the output of the operation sensor 29. The controller 30 then supplies the hydraulic fluid discharged by the pilot pump 15 to the pilot port of the corresponding control valve in the control valve unit 17. The pressure of the hydraulic fluid supplied to each pilot port (pilot pressure) is, in principle, the pressure corresponding to the operating direction and amount of operation of the operation device 26 corresponding to each hydraulic actuator. Thus, the operation device 26 is configured to supply the hydraulic fluid discharged by the pilot pump 15 to the pilot port of the corresponding control valve in the control valve unit 17.

[0069] Furthermore, the directional control valves that drive each hydraulic actuator, which are built into the control valve unit 17, may be of the electromagnetic solenoid type. In this case, the operating signal output from the operating device 26 may be directly input to the control valve unit 17 (i.e., to the electromagnetic solenoid type directional control valve).

[0070] The operating device 26 may also be a hydraulic pilot type. Specifically, the operating device 26 uses hydraulic fluid supplied from the pilot pump 15 through the pilot line to output a pilot pressure corresponding to the operation to the secondary pilot line. The secondary pilot line is then connected to the control valve unit 17. As a result, the control valve unit 17 can receive pilot pressure corresponding to the operation of various driven elements (hydraulic actuators) in the operating device 26. Therefore, the control valve unit 17 can drive each hydraulic actuator according to the operation performed on the operating device 26 by the operator or the like. In this case, an operation sensor 29 capable of acquiring information about the operating state of the operating device 26 is provided, and the output of the operation sensor 29 is taken up by the controller 30. As a result, the controller 30 can grasp the operating state of the operating device 26. The operation sensor 29 is, for example, a pressure sensor that acquires information about the pilot pressure (operating pressure) of the secondary pilot line of the operating device 26.

[0071] Furthermore, some or all of the hydraulic actuators may be replaced with electric actuators. In this case, for example, the controller 30 may output operation commands to the electric actuator or a driver that drives the electric actuator, etc., according to the operation content of the operating device 26 or the content of the remote operation defined by the remote operation signal. Alternatively, the electric actuator may be configured to be operable by the operating device 26 when an operation signal is input from the operating device 26 to the electric actuator or driver, etc.

[0072] Furthermore, if the work machine 100 is operated exclusively by remote control or exclusively by a fully automatic operation function, the operating device 26 may be omitted.

[0073] Valve 31 functions as a control valve for machine control. Valve 31 is located in the pipeline connecting the pilot pump 15 and the pilot port of the control valve in the control valve unit 17, and is configured to change the flow area of ​​the pipeline. In the illustrated example, valve 31 is a solenoid valve that operates in response to a control command output by the controller 30. Therefore, the controller 30 can adjust the pilot pressure acting on the pilot port of the control valve by valve 31, independently of the operation of the operating device 26 by the operator.

[0074] With this configuration, the controller 30 can operate the hydraulic actuator corresponding to a specific operating device 26 even when no operation is being performed on that specific operating device 26.

[0075] Furthermore, the controller 30 may control the valve 31 to realize an automatic operation function for the work machine 100. Specifically, the controller 30 outputs an operation command corresponding to the automatic operation function to the valve 31. In this way, the controller 30 can realize the operation of the work machine 100 using the automatic operation function.

[0076] Furthermore, the controller 30 may control the valve 31 to enable remote operation of the work machine 100. Specifically, the controller 30 outputs an operation command to the valve 31 corresponding to the content of the remote operation specified by the remote operation signal received from the remote operation room via the communication device T1. As a result, the controller 30 causes the valve 31 to supply a pilot pressure corresponding to the content of the remote operation to the control valve unit 17, thereby enabling the operation of the work machine 100 based on the operator's remote operation.

[0077] In this embodiment, we will describe a case in which the engine 11 is used as the drive source, and the hydraulic pump is operated by the driving force generated by the engine 11 to perform the operation of the attachment AT, the rotation of the upper rotating body 3, and the driving motion. However, this embodiment is not limited to the engine 11 as the drive source, and a motor may also be used as the drive source. In other words, the control described in this embodiment may be applied to a so-called electric excavator in which the motor, which is the drive source, is driven by power supplied from a battery, or it may be applied to a hybrid excavator equipped with multiple drive sources including the engine 11 and a motor.

[0078] 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 speech 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.

[0079] The controller 30 is configured to output control commands to the regulator 13 as needed, thereby changing the discharge amount of the main pump 14. The controller 30 may also be configured to perform control related to a machine guidance function that guides the manual operation of the work machine 100 by the operator through the operating 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 the operator through the operating device 26.

[0080] Furthermore, some of the functions of controller 30 may be implemented by other controllers (control devices). In other words, the functions of controller 30 may be implemented in a manner distributed among multiple controllers. For example, machine guidance functions and machine control functions may be implemented by dedicated controllers (control devices).

[0081] Now, with reference to Figure 5, the interior of the driver's cab 10 will be described. Figure 5 is a top view of the interior of the driver's cab 10. The work machine 100 is equipped with a driver's seat 50, an operating device 26, and a display device D1, etc., which are located inside the driver's cab 10. An access door is provided on the left side of the driver's seat 50. The operator can open the access door and enter the interior of the driver's cab 10.

[0082] The driver's seat 50 is located in the center of the driver's cab 10 when viewed from above. The driver's seat 50 includes a seat 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.

[0083] A left console 54L is located to the left of the driver's seat 50, and a right console 54R is located to the right. The left console 54L and the right console 54R extend along the front-to-back direction. The driver's seat 50 is slidable in the front-to-back direction. The driver's seat 50 may also be configured to slide in the front-to-back direction together with the left console 54L and the right console 54R.

[0084] The left armrest 53L is positioned on top of the left console 54L. The right armrest 53R is positioned on top of the right console 54R. In a top view, the left armrest 53L is positioned to cover a portion of the left console 54L. In a top view, the right armrest 53R is positioned to cover a portion of the right console 54R.

[0085] The operating device 26 includes a left operating lever 26L, a right operating lever 26R, a left travel pedal 26PL, a right travel pedal 26PR, a left travel lever 26DL, and a right travel lever 26DR. The left operating lever 26L is located at the front of the left console 54L. Similarly, the right operating lever 26R is located at the front of the right console 54R. An operator seated in the driver's seat 50 can operate the left operating lever 26L while grasping it with their left hand, and can operate the right operating lever 26R while grasping it with their right hand. An operator seated in the driver's seat 50 can drive the arm cylinder 8 and the slewing hydraulic motor 2A by operating the left operating lever 26L with their left hand. An operator seated in the driver's seat 50 can also drive the boom cylinder 7 and the bucket cylinder 9 by operating the right operating lever 26R with their right hand. The bases of the left operating lever 26L and the right operating lever 26R are covered by lever boots 27.

[0086] The left drive pedal 26PL and the right drive 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 drive hydraulic motor 2ML by operating the left drive pedal 26PL with their left foot. An operator seated in the driver's seat 50 can also operate the right drive hydraulic motor 2MR by operating the right drive pedal 26PR with their right foot.

[0087] The left travel lever 26DL and the right travel lever 26DR are positioned 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 surface 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 grasping the left travel lever 26DL with their left hand, similar to operation via the left travel pedal 26PL. Similarly, an operator seated in the driver's seat 50 can drive the right travel hydraulic motor 2MR by grasping the right travel lever 26DR with their right hand, similar to operation via the right travel pedal 26PR. Furthermore, the left travel lever 26DL and the right travel lever 26DR are positioned so that an operator can simultaneously operate both the left travel lever 26DL and the right travel lever 26DR with one hand.

[0088] The display device D1 is located in a place easily visible to the operator seated in the driver's cab 10 and displays various image information under the control of the controller 30. In the illustrated example, the display device D1 is located to the right front of the driver's seat 50 and is connected to the controller 30 via a dedicated line. The display device D1 displays various image information. The display device D1 includes a display screen that displays information such as the working conditions or operating status of the work machine 100. The operator seated in the driver's seat 50 can perform work with the work machine 100 while checking the various information displayed on the display device D1. The display device D1 may also be provided with an input device D2.

[0089] The input device D2 is located within reach of the operator seated in the driver's seat 50 and receives various operation inputs from the operator, outputting signals corresponding to the operation inputs to the controller 30. The input device D2 includes a touch panel mounted on the display of the display device D1 which displays various image information, a knob switch provided at the tip of one or more of the operation levers included in the operation device 26, or a button switch, lever, toggle switch, or rotary dial installed around the display device D1. Signals corresponding to the content of operations on the input device D2 are received by the controller 30.

[0090] A gate bar 55 is attached to the front of the front end of the left console 54L. The gate bar 55 operates in conjunction with the operation of the gate lock lever GL provided on the left console 54L. The gate bar 55 is mounted on the internal frame of the left console 54L so as to be able to move up and down around an axis that extends in the left-right direction at its upper end.

[0091] The gate lock lever GL is a mechanical input operating part for switching between a state in which the work machine 100 can be operated by the operating device 26 (operable state) and a state in which the work machine 100 cannot be operated by the operating device 26 (unoperable state). In the illustrated example, the gate lock lever GL is configured so that the operator can switch between a first operating position that realizes the unoperable state and a second operating position that realizes the operable state. The controller 30 switches between the operable state and the unoperable state according to the operating state of the gate lock lever GL. In the illustrated example, the controller 30 switches between the operable state and the unoperable state of the work machine 100 by electrically switching between a connected state and a disconnected state of the pilot line according to the operating state of the gate lock lever GL.

[0092] Furthermore, when the gate lock lever GL is in the second operating position, the gate bar 55 is raised forward (passage prohibited) as shown in Figure 5, preventing the operator from passing through the passenger door. On the other hand, when the gate lock lever GL is in the first operating position, the gate bar 55 is retracted inside the left console 54L so as not to obstruct the operator from passing through the passenger door (passage permitted).

[0093] With this configuration, the operator cannot operate the work machine 100 unless the gate lock lever GL is set to the second operating position, preventing passage of the gate bar 55. Therefore, this configuration prevents the work machine 100 from moving unintentionally even if the operator accidentally touches the operating device 26 when getting on or off the machine. Thus, this configuration can improve the safety of the work machine 100.

[0094] Furthermore, the work machine 100 may be configured to 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 no-passing state. In other words, the work machine 100 may be configured so that the engine 11 cannot be started when the gate lock lever GL is in the first operating position and the gate bar 55 is in a pass-permitting state.

[0095] A switch SW is installed on the right console 54R. To the right of the right console 54R is the window-side console 56. The window-side console 56 extends along the entire length of the driver's cab 10 in the front-to-back direction and is installed parallel to the right console 54R. The display device D1 is installed at the front of the window-side console 56. The window-side console 56 is equipped with an external volume dial DL1, an internal volume dial DL2, an internal sound collection device M2, and a radio tuner, etc. The radio tuner, etc. may also be installed on the left console 54L or the right console 54R.

[0096] The internal sound collection device M2 is a device that collects sounds generated inside the driver's cab 10. In the illustrated example, the internal sound collection device M2 is an indoor microphone and is configured to collect the voices of the operators inside the driver's cab 10. The internal sound collection device M2 outputs a signal generated from the sounds collected inside the driver's cab 10 to the controller 30.

[0097] The horn button HS is a button operated by the operator of the work machine 100 when sounding the horn. In the illustrated example, the horn button HS is a knob switch located at the tip of the left operating lever 26L.

[0098] The speech button KS is a button operated by the operator of the work machine 100 when speaking to workers around the work machine 100. In the illustrated example, the speech button KS is a knob switch located at the tip of the right operating lever 26R.

[0099] The speech button KS is an operating unit connected to the controller 30, which is a control device. Based on the operation state of the speech button KS, the controller 30 switches between a state in which the operator OP of the work machine 100 speaks to a target person such as a worker WK in the vicinity of the work machine 100, and a state in which that target person speaks to the operator OP of the work machine 100 (see Figure 6). In the state in which the operator OP speaks to the target person, the sound based on the signal generated from the sound collected by the internal sound collection device M2 is output from the external sound output device SP1. In the state in which the target person speaks to the operator OP, the sound based on the signal generated from the sound collected by the external sound collection device M1 is output from the internal sound output device SP2.

[0100] The internal sound output device SP2 is a device that outputs sound to the operator inside the driver's cab 10 and is installed inside the driver's cab 10. The internal sound output device SP2 converts the electrical signal input from the controller 30 into physical sound (air vibration) and outputs it. The internal sound output device SP2 may be installed in any location, for example, near the display device D1, near the input device D2, or near the passenger door of the driver's cab 10. In the illustrated example, the internal sound output device SP2 includes a left in-cab speaker SP2L mounted on the upper left corner of the rear wall of the driver's cab 10 and a right in-cab speaker SP2R mounted on the upper right corner of the rear wall of the driver's cab 10. The internal sound output device SP2 may also be headphones or earphones worn by the operator. In this case, the headphones or earphones are connected to communicate with the controller 30 via, for example, Bluetooth®.

[0101] The external volume dial DL1 is configured to adjust the volume of the sound output by the external sound output device SP1. In addition, the volume of the sound output by each of the external sound output devices SP1 may be further adjusted using a device other than the external volume dial DL1, such as a touch panel attached to the display device D1.

[0102] The external volume dial DL1 may be configured to rotate infinitely in both clockwise and counterclockwise directions. This is to accommodate cases where volume adjustment using the external volume dial DL1 and volume adjustment using a device other than the external volume dial DL1 are used in combination.

[0103] The internal volume dial DL2 is configured to adjust the volume of the sound output by the internal sound output device SP2. In addition, the volume of the sound output by each of the internal sound output devices SP2 may be further adjusted using a device other than the internal volume dial DL2, such as a touch panel attached to the display device D1.

[0104] The internal volume dial DL2 may be configured to rotate infinitely in both clockwise and counterclockwise directions. This is to accommodate cases where volume adjustment using the internal volume dial DL2 and volume adjustment using a device other than the internal volume dial DL2 are used in combination.

[0105] A switch SW is an example of an operating device for switching the operating state of the conversation function. In the illustrated example, the switch SW is located on the upper surface of the right console 54R. However, the switch SW may also be one of the input devices D2, implemented by a touch panel on the display device D1, or a knob switch.

[0106] The conversation function is a function that enables conversation between the operator OP of the work machine 100 and the workers WK who are around the work machine 100, as shown in Figure 6. Figure 6 is a perspective view of the work machine 100 on which the operator OP is riding and the workers WK who are to the left front of the work machine 100. Figure 6 shows how the operator OP's voice is collected by the internal sound collection device M2 and output from the external sound output device SP1, and how the workers WK's voice is collected by the external sound collection device M1 and output from the internal sound output device SP2.

[0107] Furthermore, in the work machine 100 shown in Figure 6, the information transmission device G1 is installed on the upper part of each of the four sides of the operator's cab 10. The front light bar G1F, installed on the upper part of the front of the operator's cab 10, emits green light, and the left light bar G1L, installed on the upper part of the left side of the operator's cab 10, emits white light. In Figure 6, the front light bar G1F, which emits green light, is marked with a dot pattern. When operator WK sees the front light bar G1F emitting green light, they can recognize that their voice is being detected by the front microphone M1F. Note that in Figure 6, other devices such as the imaging device S6 are omitted from the illustration for clarity.

[0108] The operating states of the conversation function include an ON state (shown in Figure 6) in which conversation is possible between the operator OP and the worker WK, and an OFF state in which conversation is not possible between the operator OP and the worker WK. However, the operating states of the conversation function may additionally include at least one of the following: an Audible State (relating 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 a Speakable State (relating 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.

[0109] Specifically, when the switch SW is operated and the conversation function is switched 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 for use. Conversely, when the switch SW is operated and the conversation function is switched 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.

[0110] Furthermore, when the switch SW is operated and the conversation function is switched to the audible state, the external sound collection device M1 and the internal sound output device SP2 become usable. Also, when the switch SW is operated and the conversation function is switched to the speech-ready state, the external sound output device SP1 and the internal sound collection device M2 become usable.

[0111] In the illustrated example, operator OP speaks while pressing the speech button KS when the internal sound collection device M2 is available. The controller 30 then outputs a sound based on the signal generated from the sound collected by the internal sound collection device M2 to the external sound output device SP1. This allows operator OP to speak to worker WK using the internal sound collection device M2 and the external sound output device SP1.

[0112] Furthermore, the operator OP waits without pressing the speech button KS when the external sound output device SP1 is available. Then, the controller 30 outputs a sound based on the signal generated from the sound collected by the external sound collection device M1 to the internal sound output device SP2. As a result, the operator OP can hear the sounds around the work machine 100, including the voice of the worker WK, using the external sound collection device M1 and the internal sound output device SP2.

[0113] In the illustrated example, the four external sound collection devices M1 (front microphone M1F, left microphone M1L, right microphone M1R, and rear microphone M1B) are installed at different positions on the upper rotating body 3. Specifically, the front microphone M1F is mounted on the roof of the cab 10, the left microphone M1L is mounted on the upper left end of the upper surface of the upper rotating body 3, the right microphone M1R is mounted on the upper right end of the upper surface of the upper rotating body 3, and the rear microphone M1B is mounted on the upper rear end of the upper surface of the upper rotating body 3. However, the four external sound collection devices M1 may also be configured to be mounted on the roof of the cab 10. Specifically, the front microphone M1F may be mounted on the front end of the roof of the cab 10, the left microphone M1L may be mounted on the left end of the roof of the cab 10, the right microphone M1R may be mounted on the right end of the roof of the cab 10, and the rear microphone M1B may be mounted on the rear end of the roof of the cab 10. If an array microphone is used as the external sound collection device M1, the array microphone can be mounted on the roof of the cab 10.

[0114] Furthermore, the external sound output device SP1 is mounted on the roof of the driver's cab 10, and the internal sound collection device M2 is mounted inside the driver's cab 10. In this case, the array microphone as the external sound collection device M1, the external sound output device SP1, and the internal sound collection device M2 may be arranged in a straight line from front to rear. By arranging them in this way, the wiring for connecting the external sound collection device M1, the external sound output device SP1, and the internal sound collection device M2 can be made more efficient.

[0115] Furthermore, multiple audio devices (external sound collector M1, external sound output device SP1, internal sound output device SP2, and internal sound collector M2) for realizing conversational functionality may be connected by daisy-chain connection. In addition, the internal sound output device SP2 may be configured as a speaker array including a left internal speaker and a right internal speaker.

[0116] For example, the controller 30, the internal sound collection device M2, and the speaker array serving as the internal sound output device SP2 are located inside the driver's cab 10, while the external sound output device SP1 and the array microphone serving as the external sound collection device M1 are located outside the driver's cab 10. The controller 30, the internal sound collection device M2, the speaker array serving as the internal sound output device SP2, the external sound output device SP1, and the array microphone serving as the external sound collection device M1 are connected in series by daisy-chaining. Some of the audio equipment may be individually connected to the controller 30.

[0117] In a configuration where each of multiple audio devices is individually connected to the controller 30, there is a problem in that the length of the cables connecting each audio device to the controller 30 becomes long. Furthermore, a configuration in which each of multiple audio devices is individually connected to the controller 30 requires the routing of many cables, which limits the flexibility of the cable routing layout.

[0118] In contrast, connecting multiple audio devices via daisy-chaining has the effect of shortening the length of the cables used to connect the multiple audio devices necessary for conversational functionality. Furthermore, this configuration offers greater flexibility in the cable routing layout used to connect the multiple audio devices necessary for conversational functionality. Additionally, this configuration makes it easier to add or remove audio devices.

[0119] Next, with reference to Figure 7, the operation of the controller 30 of the work machine 100 according to this embodiment will be explained. Figure 7 is a functional block diagram of the controller 30 of the work machine 100 shown in Figure 4.

[0120] In the work machine 100 of this embodiment, the controller 30 also functions as a control device that determines whether or not there is an abnormality in the external sound output device SP1 based on signals AS1F, AS1L, AS1R, and AS1B generated from predetermined sounds collected by the external sound collection device M1. The controller 30 may be composed of multiple control devices or of a single control device.

[0121] The controller 30 includes, for example, an external signal processing unit 301, an internal signal processing unit 302, a signal output unit 303, and an abnormality determination unit 304, as shown in Figure 7. Each of these parts of the controller 30 represents, for example, each function of the controller 30. Specifically, each function of the controller 30 is realized, for example, by the CPU of the controller 30 reading a program stored in a non-volatile memory device, loading it into a volatile memory device, and executing it.

[0122] The external signal processing unit 301 acquires and processes signals AS1F, AS1L, AS1R, and AS1B generated from the sounds surrounding the work machine 100 collected by an external sound collection device M1 located outside the operator's cab 10 of the work machine 100. The external signal processing unit 301 outputs the processed signal PS1 to the signal output unit 303. The processing performed by the external signal processing unit 301 on the sound signals AS1F, AS1L, AS1R, and AS1B acquired from the external sound collection device M1 includes, for example, noise reduction processing.

[0123] The internal signal processing unit 302 acquires and processes a signal AS2 generated from sounds inside the operator's cab 10 (such as the operator's voice) collected by an internal sound collection device M2 located inside the operator's cab 10 of the work machine 100. The internal signal processing unit 302 outputs the processed signal PS2 to the signal output unit 303. The processing performed on the sound signal AS2 acquired by the internal signal processing unit 302 includes, for example, noise reduction processing.

[0124] The signal output unit 303 outputs output signals OS2L and OS2R, based on the signal PS1 input from the external signal processing unit 301, to the internal sound output device SP2 located inside the driver's cab 10. The signal output unit 303 amplifies or attenuates the output signals OS2L and OS2R in response to the operation of the internal volume dial DL2 by the operator OP. This allows the sound based on the sound signals AS1F, AS1L, AS1R, and AS1B collected outside the driver's cab 10 to be output at an appropriate volume from the internal sound output device SP2 located inside the driver's cab 10 and heard by the operator OP.

[0125] Furthermore, the signal output unit 303 outputs an output signal OS1 based on the signal PS2 input from the internal signal processing unit 302 to an external sound output device SP1 located outside the driver's cab 10. The signal output unit 303 amplifies or attenuates the output signal OS1 in response to the operation of the external volume dial DL1 by the operator OP. This allows the sound based on the sound signal AS2 collected inside the driver's cab 10 to be output at an appropriate volume from the external sound output device SP1 located outside the driver's cab 10, making it audible to workers WK and others around the work machine 100.

[0126] The abnormality determination unit 304 determines whether or not there is an abnormality in the external sound output device SP1 based on the signals AS1F, AS1L, AS1R, and AS1B generated from predetermined test sounds collected by the external sound collection device M1. In order to determine whether or not there is an abnormality in the external sound output device SP1, the abnormality determination unit 304 outputs predetermined test sounds from the external sound output device SP1. As test sounds for determining whether or not there is an abnormality in the external sound output device SP1, the abnormality determination unit 304 uses, for example, a sound in a predetermined frequency band, a sound whose frequency band changes over time, or a sound which is a mixture of sounds from multiple frequency bands.

[0127] The abnormality determination unit 304 determines whether or not there is an abnormality in the external sound output device SP1 at a predetermined timing. In other words, the abnormality determination unit 304 may determine whether or not there is an abnormality in the external sound output device SP1 based on the signals AS1F, AS1L, AS1R, and AS1B generated from the test sound collected by the external sound collection device M1 after the external sound output device SP1 has output a predetermined test sound at a predetermined timing.

[0128] The predetermined timing may include a predetermined timing when safety is ensured, or a predetermined timing before the start of work. Safety being ensured includes, for example, a state in which the engine 11 is running and the gate bar 55 is closed to prevent passage, a state in which image information of the surroundings of the work machine 100 is displayed on the display device D1, a state in which the imaging device S6 does not detect any people around the work machine 100, a state in which the operating lever is not operated, or a state in which the work machine 100 does not operate even if the operating lever is operated. Before the start of work includes a state in which the engine 11 is running and the gate bar 55 is closed to prevent passage, a state in which the operating lever is not operated, or a state in which the engine 11 is idling.

[0129] The predetermined timing includes, for example, at least one of the following: when a predetermined action is performed, when a predetermined operation is performed, or when a predetermined time has elapsed since the last determination of whether or not there is an abnormality. The predetermined action may include, for example, sounding the horn or automatically turning on the conversation function. The predetermined operation may include starting the engine 11, operating the horn button HS, manually turning on the conversation function, or manually starting the abnormality determination process.

[0130] The action of sounding the horn may include sounding the horn for the first time after starting the engine 11. For example, the safety manual for the work machine 100 may stipulate that the horn be sounded when starting the engine 11 of the work machine 100.

[0131] The operation to initiate the abnormality detection process may be performed, for example, by the operator. The operation to initiate the abnormality detection process may be, for example, an operation on the screen displayed on the display device D1, or an operation on a switch provided inside the operator's cab 10. The operator may initiate the abnormality detection process at the timing specified in the construction safety manual for the work machine 100, or at any timing at which they sense an abnormality in the conversation function.

[0132] The abnormality determination unit 304 determines whether or not there is an abnormality in the external sound output device SP1 based on the difference between the test sound signal OS1 output from the external sound output device SP1 and the signals AS1F, AS1L, AS1R, AS1B generated from the test sound collected by the external sound collection device M1. For example, the abnormality determination unit 304 determines whether or not there is an abnormality in the external sound output device SP1 by comparing the difference between a first feature extracted from signal OS1 and a second feature extracted from signals AS1F, AS1L, AS1R, AS1B with a threshold. For example, the abnormality determination unit 304 determines that there is an abnormality in the external sound output device SP1 if the difference between the first feature and the second feature exceeds the threshold. The features extracted from the signal may include, for example, frequency, volume (sound pressure level), phase, amplitude, or their time changes.

[0133] The abnormality determination unit 304 may determine whether or not there is an abnormality in the external sound collection device M1 based on the signals AS1F, AS1L, AS1R, and AS1B generated from predetermined sounds collected by the external sound collection device M1. Furthermore, if the abnormality determination unit 304 determines that there is no abnormality in the external sound collection device M1, it may also determine whether or not there is an abnormality in the external sound output device SP1.

[0134] The abnormality determination unit 304 uses, for example, the sound of the engine 11, the horn sound of the horn speaker SP3, or the sound of the engine 11 idling as a predetermined sound for determining whether or not there is an abnormality in the external sound collection device M1. The abnormality determination unit 304 may also use, for example, the horn sound of the horn speaker SP3, the alarm sound output from the alarm speaker SP4, or the test sound output from the external sound output device SP1 as a predetermined sound.

[0135] Next, with reference to Figure 8, the abnormality detection process performed by the controller 30 will be described. Figure 8 is a flowchart showing an example of the abnormality detection process. The abnormality detection process shown in Figure 8 is repeatedly executed at predetermined time intervals while the work machine 100 is in operation.

[0136] In step S101, the abnormality determination unit 304 of the controller 30 determines whether or not a predetermined timing has been reached. For example, the abnormality determination unit 304 may acquire detection results from various sensors provided on the work machine 100 and determine whether or not a predetermined operation has been performed based on the detection results. For example, the abnormality determination unit 304 may acquire operation signals output from the operating device 26 and determine whether or not a predetermined operation has been performed based on the operation signals. For example, the abnormality determination unit 304 may acquire the time when the previous abnormality determination process was executed and determine whether or not a predetermined time has elapsed.

[0137] If the abnormality determination unit 304 determines that the predetermined timing is met (YES), it proceeds to step S102. On the other hand, if the abnormality determination unit 304 determines that the predetermined timing is not met (NO), it terminates the abnormality determination process.

[0138] In step S102, the signal output unit 303 of the controller 30 controls the output of a predetermined test sound from the external sound output device SP1. For example, the signal output unit 303 generates a test sound signal OS1 and sends it to the external sound output device SP1. The external sound output device SP1 plays the predetermined test sound based on the signal OS1 received from the signal output unit 303. The volume of the test sound may be predetermined, or the operator may adjust it to any volume.

[0139] The signal output unit 303 may generate a test sound signal OS1 based on information about test sounds pre-registered in the non-volatile memory device of the controller 30. The information about test sounds may include, for example, acoustic data of the test sound, or characteristic data of the test sound (e.g., frequency, volume, length, waveform, or their time variations). The signal output unit 303 stores the test sound signal OS1 in the non-volatile memory device of the controller 30.

[0140] In step S103, the external sound collection device M1 collects the test sound output from the external sound collection device M1. Based on the collected test sound, the external sound collection device M1 generates signals AS1F, AS1L, AS1R, and AS1B. The external signal processing unit 301 of the controller 30 acquires the signals AS1F, AS1L, AS1R, and AS1B generated from the test sound collected by the external sound collection device M1. The external signal processing unit 301 stores the signals AS1F, AS1L, AS1R, and AS1B in the non-volatile memory device of the controller 30.

[0141] In step S104, the abnormality detection unit 304 of the controller 30 reads the test sound signal OS1 and signals AS1F, AS1L, AS1R, and AS1B stored in the non-volatile memory device of the controller 30. The abnormality detection unit 304 extracts a first feature from the test sound signal OS1. The abnormality detection unit 304 also extracts a second feature from signals AS1F, AS1L, AS1R, and AS1B.

[0142] In step S105, the abnormality determination unit 304 of the controller 30 calculates the difference between the first feature and the second feature generated in step S104. Based on the difference between the first feature and the second feature, the abnormality determination unit 304 determines whether or not there is an abnormality in the external sound output device SP1. For example, the abnormality determination unit 304 may determine that there is an abnormality in the external sound output device SP1 if the difference between the first feature and the second feature exceeds a predetermined threshold.

[0143] If the abnormality determination unit 304 determines that there is an abnormality in the external sound output device SP1 (YES), it proceeds to step S106. On the other hand, if the abnormality determination unit 304 determines that there is no abnormality in the external sound output device SP1 (NO), it proceeds to step S107.

[0144] In step S106, the abnormality detection unit 304 of the controller 30 outputs a signal OSG to the display device D1 indicating that an abnormality has been detected in the external sound output device SP1. Based on the signal OSG output from the abnormality detection unit 304, the display device D1 displays a message in the result display area 424c of the abnormality detection display area 424 that an abnormality has been detected in the external sound output device SP1.

[0145] In step S107, the abnormality detection unit 304 of the controller 30 outputs a signal OSG to the display device D1 indicating that no abnormality was detected in the external sound output device SP1. Based on the signal OSG output from the abnormality detection unit 304, the display device D1 displays a message in the result display area 424c of the abnormality detection display area 424 that no abnormality was detected in the external sound output device SP1.

[0146] Next, with reference to Figure 9, an example of the display on the display device D1 will be described. Figure 9 shows the image displayed on the display device D1 shown in Figure 7.

[0147] The display device D1 of the work machine 100 has an image display unit 142. The image display unit 142 displays a display screen 185 that includes a date and time display area 142a, a driving mode display area 142b, an attachment display area 142c, a fuel consumption display area 142d, an engine control status display area 142e, an engine operating time display area, a coolant temperature display area 142g, a fuel level display area 142h, a rotation speed level display area 142i, a urea solution level display area 142j, a hydraulic oil temperature display area 142k, a work machine status display area 421, a first image display area 422, a second image display area 423, and an abnormality determination display area 424, according to the control from the controller 30.

[0148] The driving mode display area 142b, the attachment display area 142c, the engine control status display area 142e, and the rotation speed level display area 142i are areas that display setting status information, which is information related to the setting status of the work machine 100. The fuel consumption display area 142d, the engine operating time display area, the coolant temperature display area 142g, the fuel level display area 142h, the urea solution level display area 142j, and the hydraulic oil temperature display area 142k are areas that display operating status information, which is information representing the operating status of the work machine 100 based on the detection results of various sensors.

[0149] The date and time display area 142a is an area that displays the current date and time. The driving mode display area 142b is an area that displays the current driving mode. The attachment display area 142c is an area that displays an image representing the attachment currently installed. The fuel consumption display area 142d is an area that displays fuel consumption information calculated by the controller 30. The fuel consumption display area 142d includes an average fuel consumption display area 142d1 that displays lifetime average fuel consumption or section average fuel consumption, and an instantaneous fuel consumption display area 142d2 that displays instantaneous fuel consumption.

[0150] The engine control status display area 142e is an area that displays the control status of the engine 11. The engine operating time display area is an area that displays the cumulative operating time of the engine 11. The coolant temperature display area 142g is an area that displays the current temperature status of the engine coolant. The fuel level display area 142h is an area that displays the remaining amount of fuel stored in the fuel tank.

[0151] The rotational speed level display area 142i is an area that displays an image of the current level of the engine 11 set by the dial. The rotational speed level display area 142i displays a number indicating the selected level. A "1" displayed in the rotational speed level display area 142i indicates that the selected rotational speed level is "Level 1". A number "n" displayed in the rotational speed level display area 142i indicates that the selected rotational speed level is "Level n". "n" is a natural number. When the operator rotates the dial, the number displayed in the rotational speed level display area 142i changes.

[0152] The urea solution remaining amount display area 142j is an area that displays the remaining amount of urea solution stored in the urea solution tank as an image. The hydraulic oil temperature display area 142k is an area that displays the temperature of the hydraulic oil in the hydraulic oil tank.

[0153] The work machine status display area 421 is an area that displays information representing the positional relationship between the work machine 100 and a person detected in the vicinity of the work machine 100.

[0154] The work machine status display area 421 is a display area that represents the real space centered on the work machine 100 at a predetermined scale. In the work machine status display area 421, a work machine icon 421b indicating the presence of the work machine 100 is placed at the center of the area.

[0155] In addition to the work machine status display area 421, the work machine icon 421b representing the work machine 100, the direction indicator icon 421a indicating the direction in which the work machine 100 can move, and the person detection icons 421e, 421f, and 421g representing people detected around the work machine 100 are displayed simultaneously. The area of ​​the work machine status display area 421 other than the work machine icon 421b, the direction indicator icon 421a, and the person detection icons 421e, 421f, and 421g (in other words, the background) may be represented by a single color (for example, black).

[0156] The work machine icon 421b is an icon that combines an image representing the upper rotating body 3 and an image representing the lower traveling body 1, according to the positional relationship between the upper rotating body 3 and the lower traveling body 1 based on the rotation angle.

[0157] The direction indicator icon 421a shows the direction in which the work machine 100 travels when the travel lever is tilted forward, in the shape of a triangle. Note that this embodiment shows an example of an icon that represents the direction in which the work machine 100 travels when the travel lever is tilted forward, and any shape is acceptable as long as it represents the direction in which the work machine 100 can move.

[0158] The person detection icons 421e, 421f, and 421g represent people detected by the image information captured by the imaging device S6. Specifically, the person detection icons 421e, 421f, and 421g are positioned based on the location information of the person received from the controller 30. For example, the person detection icons 421e, 421f, and 421g are positioned relative to the work machine 100, at a location obtained by multiplying the direction and distance of the detected person by a predetermined scale ratio.

[0159] Thus, the positional relationship between the work machine icon 421b and the person detection icons 421e, 421f, and 421g corresponds to the positional relationship between the work machine 100 in real space and the people present around the work machine 100.

[0160] If there are people around the work machine 100 but external sounds are not output from the internal sound output device SP2, the positional relationship between the work machine 100 and the people around it can be made known to the operator of the work machine 100 by displaying the positions of the work machine 100 and the people around it on the display device D1.

[0161] In the illustrated example, the work machine status display area 421 displays an icon image showing the work machine 100 and people around the work machine 100 as icons. However, the work machine status display area 421 may also display an overhead view image. The overhead view image may be, for example, an image generated by combining image information captured by an imaging device S6 installed on the work machine 100, or it may be an image taken from above the work machine 100, for example, by a drone.

[0162] The work machine status display area 421 displays a first circular area 421c and a second circular area 421d, which are determined based on the distance from the work machine 100.

[0163] In the illustrated example, the first circular area 421c and the second circular area 421d are represented as circles that allow the operator to recognize the relative distance from the work machine 100, with the work machine icon 421b as the reference point.

[0164] The image display unit 142 displays the working machine status display area 421, as well as image information captured by the imaging device S6. By checking the working machine status display area 421 along with the image information, the operator can recognize the specific situation around the working machine 100. This improves safety.

[0165] In the illustrated example, the first image display area 422 and the second image display area 423 are areas for displaying image information captured by the imaging device S6. The first image display area 422 displays the rightward image. The second image display area 423 displays the rearward image. The rightward image is an image showing the space to the right of the work machine 100 and includes an image 422c of the upper right edge of the upper rotating body 3. The rightward image is a real viewpoint image generated by the display control unit 307 and is generated based on an image acquired by the camera S6R. The rearward image is an image showing the space behind the work machine 100 and includes an image 423c of the counterweight. The rearward image is a real viewpoint image generated by the display control unit 307 and is generated based on an image acquired by the camera S6B.

[0166] The first image display area 422 is displayed to the right of the work machine status display area 421. The second image display area 423 is displayed below the work machine status display area 421. In this embodiment, the area above the image display unit 142 corresponds to the front of the upper rotating body 3. In other words, the second image display area 423 is displayed at a position corresponding to the rear of the work machine status display area 421. That is, the image display unit 142 displays the image information captured by the imaging device S6 in the direction in which the imaging device S6 captured the image, with the work machine status display area 421 as the reference. In this embodiment, since the image information captured in the direction in which the imaging device captured the image is displayed with the work machine status display area 421 as the reference, the operator can intuitively recognize which direction the image information represents when referring to it. Therefore, safety can be improved.

[0167] Furthermore, if the controller 30 detects a person in one or more of the right-facing and rear-facing images, the display control unit 307 superimposes a frame indicating the area where the person was detected onto the image in the right-facing or rear-facing view from which the person was detected. As a result, frame 422b is displayed on the right-facing image of the first image display area 422, and frame 423b is displayed on the rear-facing image of the second image display area 423. Then, a person icon 422a is displayed within frame 422b, and a person icon 423a is displayed within frame 423b.

[0168] The abnormality detection display area 424 is an area that displays information related to the abnormality detection process. In the illustrated example, the abnormality detection display area 424 displays a start button 424a, a sound display area 424b, and a result display area 424c.

[0169] The start button 424a is a button for manually starting the abnormality detection process. The start button 424a may be controlled to be unpressable if an abnormality in the external sound collection device M1 is detected. An abnormality in the external sound collection device M1 can be detected by any method. For example, an abnormality in the external sound collection device M1 may be determined based on a signal generated from a predetermined sound collected by the external sound collection device M1. Alternatively, for example, an abnormality in the external sound collection device M1 may be determined based on the presence or absence of an error code output by the external sound collection device M1.

[0170] The sound display area 424b displays the signal waveform 424b1 of the test sound output from the external sound output device SP1 and the signal waveform 424b2 of the test sound collected by the external sound collection device M1, superimposed on each other. The sound display area 424b should be displayed in a manner that allows for comparison between the signal waveforms 424b1 and 424b2. In the illustrated example, the sound display area 424b shows an example where the signal waveform of the test sound is displayed with time on the horizontal axis and volume on the vertical axis, but the sound display area 424b may also display, for example, a spectrogram of the test sound. If a spectrogram is displayed in the sound display area 424b, abnormalities occurring only in a specific frequency band can be easily visualized.

[0171] The result display area 424c is an area for displaying the results of the abnormality detection process. The result display area 424c may display a message indicating that an abnormality has been detected in the external sound output device SP1, a message indicating that no abnormality has been detected in the external sound output device SP1, or a message indicating that an abnormality has been detected in the external sound collection device M1, as a result of the abnormality detection process. If an abnormality is detected, the result display area 424c may further display a message indicating the details of the abnormality.

[0172] Next, with reference to Figure 10, a modified example of the abnormality detection process will be described. Figure 10 is a flowchart showing a second example of the abnormality detection process. The second example of the abnormality detection process is an example of an abnormality detection process that determines an abnormality in the external sound collection device M1 before determining an abnormality in the external sound output device SP1.

[0173] The second example of the abnormality detection process differs from the first example of the abnormality detection process (see Figure 8) in that steps S201 to S204 are added. Steps S201 to S204 are executed, for example, after step S101 is executed and before step S102 is executed.

[0174] In step S201, the external signal processing unit 301 of the controller 30 acquires signals AS1F, AS1L, AS1R, and AS1B generated from predetermined sounds collected by the external sound collection device M1. The external signal processing unit 301 stores the signals AS1F, AS1L, AS1R, and AS1B in the non-volatile memory device of the controller 30. The non-volatile memory device of the controller 30 stores the signals AS1F', AS1L', AS1R', and AS1B' generated from predetermined sounds collected by the external sound collection device M1 when no abnormality of the external sound collection device M1 is detected. When no abnormality of the external sound collection device M1 is detected, this may include, for example, cases in which no abnormality of the external sound collection device M1 was detected in an abnormality determination process performed in the past.

[0175] In step S202, the abnormality determination unit 304 of the controller 30 reads the signals AS1F, AS1L, AS1R, AS1B, and AS1F', AS1L', AS1R', AS1B' stored in the non-volatile memory device of the controller 30. The abnormality determination unit 304 extracts a first feature from the signals AS1F, AS1L, AS1R, AS1B. The abnormality determination unit 304 also extracts a second feature from the signals AS1F', AS1L', AS1R', AS1B'.

[0176] In step S203, the abnormality determination unit 304 of the controller 30 calculates the difference between the first feature and the second feature generated in step S202. Based on the difference between the first feature and the second feature, the abnormality determination unit 304 determines whether or not there is an abnormality in the external sound collection device M1. For example, the abnormality determination unit 304 may determine that there is an abnormality in the external sound collection device M1 if the difference between the first feature and the second feature exceeds a predetermined threshold.

[0177] If the external sound collection device M1 is found to be abnormal (YES), the abnormality determination unit 304 proceeds to step S204. On the other hand, if the external sound collection device M1 is found to be normal (NO), the abnormality determination unit 304 proceeds to step S102.

[0178] In step S204, the abnormality detection unit 304 of the controller 30 outputs a signal OSG to the display device D1 indicating that an abnormality has been detected in the external sound collection device M1. Based on the signal OSG output from the abnormality detection unit 304, the display device D1 displays a message in the result display area 424c of the abnormality detection display area 424 that an abnormality has been detected in the external sound collection device M1.

[0179] In the second example of abnormality detection processing, an example was described in which an abnormality in the external sound collection device M1 is determined based on a signal generated from a predetermined sound collected by the external sound collection device M1. However, any method can be used to determine if an abnormality in the external sound collection device M1 is occurring. For example, an abnormality in the external sound collection device M1 may be determined based on an error code output by the external sound collection device M1.

[0180] Furthermore, in the second example of the abnormality detection process, an example was described in which the presence or absence of an abnormality in the external sound output device SP1 is determined when it is determined that there is no abnormality in the external sound collection device M1. However, it is also possible to determine the presence or absence of an abnormality in the external sound output device SP1 without determining whether there is an abnormality in the external sound collection device M1. For example, if it is determined that there is no abnormality in the external sound collection device M1 at a different time than the abnormality detection process, it is possible to determine the presence or absence of an abnormality in the external sound output device SP1 without determining whether there is an abnormality in the external sound collection device M1.

[0181] Next, with reference to Figure 11, other variations of the abnormality detection process will be described. Figure 11 is a flowchart showing a third example of the abnormality detection process. The third example of the abnormality detection process is an example of an abnormality detection process that adjusts a test sound for determining an abnormality in the external sound output device SP1 based on the surrounding conditions of the work machine 100.

[0182] The third example of the abnormality detection process differs from the first example of the abnormality detection process (see Figure 8) in that steps S301 and S302 are added. Steps S301 and S302 are executed, for example, after step S101 is executed and before step S102 is executed.

[0183] In step S301, the external signal processing unit 301 of the controller 30 acquires the signals AS1F, AS1L, AS1R, and AS1B generated by the external sound collection device M1. The external signal processing unit 301 stores the signals AS1F, AS1L, AS1R, and AS1B generated from the sound collected by the external sound collection device M1 in the non-volatile memory device of the controller 30.

[0184] The abnormality detection unit 304 of the controller 30 reads signals AS1F, AS1L, AS1R, and AS1B from the controller 30's non-volatile storage device. The abnormality detection unit 304 extracts sound characteristics (e.g., volume) from signals AS1F, AS1L, AS1R, and AS1B. Based on the sound characteristics, the abnormality detection unit 304 measures the noise level.

[0185] In step S302, the abnormality detection unit 304 of the controller 30 sets the volume of the test sound based on the noise level measured in step S301. For example, the abnormality detection unit 304 may set the volume of the test sound to be high when the noise level is high. Alternatively, for example, the abnormality detection unit 304 may set the volume of the test sound to be low when the noise level is low. If the volume of the test sound is increased when the noise level around the work machine 100 is high, the characteristics of the test sound can be clearly extracted from the sound collected by the external sound collection device M1. If the volume of the test sound is high when the noise level around the work machine 100 is low, the test sound itself may become noise, so reducing the volume of the test sound can reduce the noise around the work machine 100.

[0186] In step S302, if the noise level is above a predetermined threshold, the subsequent processing may be skipped and the abnormality detection process may be terminated. For example, if the noise level around the work machine 100 is too high, the external sound collection device M1 may not be able to clearly collect the sound output from the external sound output device SP1, which reduces the accuracy of the abnormality detection.

[0187] In this way, the work machine 100 according to this embodiment comprises a lower traveling body 1, an upper rotating body 3 rotatably mounted on the lower traveling body 1, a driver's cab 10 provided on the upper rotating body 3, and a controller 30 that determines whether or not there is an abnormality in the external sound output device SP1 based on a signal generated from sound output from the external sound output device SP1 located outside the driver's cab 10 and collected by an external sound collection device M1 located outside the driver's cab 10. According to this embodiment, safety is improved because the operator can detect an abnormality in the external sound output device SP1 while inside the driver's cab 10.

[0188] The controller 30 may determine whether or not there is an abnormality in the external sound output device SP1 at a predetermined timing. According to this embodiment, an abnormality in the external sound output device SP1 can be detected at any timing.

[0189] The predetermined timing may include at least one of the following: when a predetermined action is performed, or when a predetermined operation is performed. According to this embodiment, an abnormality in the external sound output device SP1 can be detected in response to any action or operation.

[0190] The external sound output device SP1 may output a predetermined sound at a predetermined timing. The external sound collection device M1 may collect the sound output from the external sound output device SP1. The controller 30 may determine whether or not there is a malfunction in the external sound output device SP1 based on the signal generated from the sound collected by the external sound collection device M1. According to this embodiment, the presence or absence of a malfunction in the external sound output device SP1 can be determined by collecting a predetermined sound output from the external sound output device SP1 at any timing using the external sound collection device M1.

[0191] The controller 30 may determine that there is an abnormality in the external sound output device SP1 when the difference between the signal of a predetermined sound output from the external sound output device SP1 and the signal generated from the predetermined sound collected by the external sound collection device M1 exceeds a threshold. According to this embodiment, an abnormality in the external sound output device SP1 can be accurately determined based on the characteristics of the sound output from the external sound output device SP1 and the characteristics of the sound collected by the external sound collection device M1.

[0192] The work machine 100 is equipped with a display device D1 in the operator's cab 10, and the display device D1 may display the result of the abnormality detection of the external sound output device SP1. According to this embodiment, the operator can easily check whether there is an abnormality in the external sound output device SP1 via the display device D1. In addition, since the display device D1 displays image information of the surroundings of the work machine 100, the operator can check whether there is an abnormality in the external sound output device SP1 while checking the image information of the surroundings of the work machine 100, thereby improving the safety of the work machine 100.

[0193] The work machine 100 may further include an internal sound output device SP2 located inside the driver's cab 10 and an internal sound collection device M2 located inside the driver's cab 10. The controller 30 may be capable of outputting sound collected by the external sound collection device M1 from the internal sound output device SP2, and also capable of outputting sound collected by the internal sound collection device M2 from the external sound output device SP1. According to this embodiment, it is possible to determine whether or not there is a malfunction in the external sound output device SP1 that outputs sound from inside the driver's cab 10 to the outside of the driver's cab 10, so that sound from inside the driver's cab 10 can be reliably transmitted to the outside of the driver's cab 10.

[0194] The controller 30 may determine whether there is an abnormality in the external sound collection device M1 based on the signal generated from the sound collected by the external sound collection device M1. If the controller 30 determines that there is no abnormality in the external sound collection device M1, it may then determine whether there is an abnormality in the external sound output device SP1. According to this embodiment, since the presence or absence of an abnormality in the external sound output device SP1 is determined after confirming that there is no abnormality in the external sound collection device M1, the reliability of the determination result regarding the presence or absence of an abnormality in the external sound output device SP1 is improved.

[0195] [Other Embodiments] As other embodiments, a sound output function for enabling two-way conversation by the operator and a switch for whether or not to speak to the worker will be described.

[0196] The internal volume dial DL2 not only adjusts the volume output from the internal sound output device SP2, but also has a push-button switch function. Depending on whether the internal volume dial DL2 in this embodiment is pressed or not, the sound output can be switched on or off.

[0197] The switch SW is a button used to toggle the sound output function on and off depending on how it is pressed. The specific function of the switch SW is as described above, so we will omit further explanation.

[0198] The controller 30 of the work machine 100 turns on the sound output function when it receives a signal from the switch SW indicating that it has been pressed, while the sound output function is in the off state.

[0199] The external volume dial DL1 not only adjusts the volume of sound output from the external sound output device SP1, but also functions as a push-button switch. Depending on whether the external volume dial DL1 in this embodiment is pressed, it switches whether or not to speak to workers around the work machine 100. In other words, pressing the external volume dial DL1 functions as a speech button similar to the speech button KS of the knob switch shown in Figure 5.

[0200] In other words, the controller 30 of the work machine 100 is capable of outputting sound collected by the internal sound collection device M2 (including the voice spoken by the operator OP) from the external sound output device SP1 when it receives a signal indicating that the external volume dial DL1 (speech button) has been pressed.

[0201] Furthermore, when the controller 30 of the work machine 100 is in the ON state of the sound output function, if it receives a signal indicating that the internal volume dial DL2 has been pressed, it mutes the output sound. As a result, the controller 30 stops the control that outputs the sound collected by the external sound collection device M1 (including the voices of workers WK present around the work machine 100) from the internal sound output device SP2.

[0202] In this embodiment, the conditions under which the sound output function becomes available are not limited and may be determined according to the embodiment.

[0203] For example, the controller 30 of the work machine 100 can switch the sound output function on and off in response to a signal from the switch SW, but only when the drive source 11 of the work machine 100 is operating, and can also switch whether or not to speak to the worker in response to a signal indicating that the external volume dial DL1 has been pressed. Therefore, when the drive source 11 of the work machine 100 is operating, the controller 30 can control the output of sound collected by the external sound collection device M1 from the internal sound output device SP2, and also control the output of sound collected by the internal sound collection device M2 from the external sound output device SP1. When the drive source 11 is not operating, the controller 30 suppresses the control of outputting sound collected by the external sound collection device M1 from the internal sound output device SP2, and also suppresses the control of outputting sound collected by the internal sound collection device M2 from the external sound output device SP1. In this embodiment, two-way conversation is possible when the drive source 11 of the work machine 100 is operating. Therefore, the operator can improve work efficiency by communicating with people around the work machine 100 while the work machine 100 is in operation. Furthermore, the controller 30 can reduce power consumption by limiting the use of the sound output function to when the drive source 11 of the work machine 100 is operating.

[0204] Another example is that the controller 30 of the work machine 100 can switch the sound output function on and off in response to a signal from the switch SW, but only when the work machine 100 is in the key-on state (including when the drive source 11 of the work machine 100 is operating), and can also switch whether or not to speak to the worker in response to a signal indicating that the external volume dial DL1 has been pressed. In other words, the work machine 100 can turn on the sound output function and speak to the worker when power is supplied to peripheral equipment (e.g., air conditioner, radio tuner, etc.) installed on the work machine 100. Therefore, the controller 30 can control the output of sound collected by the external sound collection device M1 from the internal sound output device SP2, and also control the output of sound collected by the internal sound collection device M2 from the external sound output device SP1, when the key-on state is in which power is supplied to peripheral equipment (e.g., air conditioner, radio tuner, etc.) installed on the work machine 100. Furthermore, when the key is off, the controller 30 suppresses the control to output the sound collected by the external sound collection device M1 from the internal sound output device SP2, and also suppresses the control to output the sound collected by the internal sound collection device M2 from the external sound output device SP1. In this embodiment, two-way communication is possible when the work machine 100 is in the key-on state. Therefore, the operator can easily communicate with people around the work machine 100 when the work machine 100 is not performing work, for example, during pre-work meetings, thereby improving work efficiency.

[0205] As another example, the controller 30 of the work machine 100 may be configured to switch the sound output function on and off in response to a signal from the switch SW, but only when the gate lock lever GL of the work machine 100 is in the second operating position and the gate bar 55 is in a pass-prohibition state, and to switch whether or not to speak to the worker in response to a signal indicating that the external volume dial DL1 has been pressed. Furthermore, the controller 30 of the work machine 100 may be configured to switch the sound output function on and off in response to a signal from the switch SW when the gate lock lever GL of the work machine 100 is in the first operating position and the gate bar 55 is in a pass-through state, and to switch whether or not to speak to the worker in response to a signal indicating that the external volume dial DL1 has been pressed.

[0206] As a further example, the controller 30 of the work machine 100 can switch the sound output function on and off in response to a signal from the internal volume dial DL2, even when the work machine 100 is in the key-off state, in other words, when the drive source 11 is not operating and power is not being supplied to peripheral equipment installed on the work machine 100. In other words, the controller 30 can control the output of sound collected by the external sound collection device M1 from the internal sound output device SP2, and also control the output of sound collected by the internal sound collection device M2 from the external sound output device SP1, regardless of whether the key is on or off. In this embodiment, the work machine 100 enables two-way conversation at any time. Therefore, situations such as the operator speaking but not being heard by those around them can be suppressed, making communication easier.

[0207] Next, with reference to Figure 12, another configuration example of the work machine 100 will be described. Figure 12 is a top view of another configuration example of the work machine 100. The work machine 100 shown in Figure 12 differs from the work machine 100 shown in Figure 1 in that the external sound output device SP1 is composed of four speakers (front speaker SP1F, left speaker SP1L, right speaker SP1R, and rear speaker SP1B). In the work machine 100 shown in Figure 1, the external sound output device SP1 is composed of a single omnidirectional speaker installed above the operator's cab 10.

[0208] With this configuration, the work machine 100 shown in Figure 12 can, for example, output sound towards an operator WK in front of the work machine 100 without outputting sound towards an operator WK to the left, right, or rear of the work machine 100, by turning on the front speaker SP1F (to enable sound output) and turning off the left speaker SP1L, right speaker SP1R, and rear speaker SP1B (to disable sound output).

[0209] Furthermore, in the example shown in Figure 12, a front camera S6F and a front microphone M1F are provided adjacent to the front speaker SP1F, and a front light bar G1F is provided on the housing of the front microphone M1F. Also, 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. Also, 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. Also, 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.

[0210] With this configuration, the work machine 100 can turn on (make the light bar that corresponds to the speaker that is turned on) and turn off (make the light bar that corresponds to the speaker that is turned off)

[0211] The external sound output device SP1 may consist of one or more parametric speakers. A parametric speaker is an ultrasonic speaker that can selectively transmit sound to people within a specific narrow range. A parametric speaker can transmit sound to any desired location.

[0212] In the work machine 100 shown in Figure 12, the controller 30 may detect workers WK around the work machine 100 based on the image captured by the imaging device S6 and identify the positions of the workers WK. If there are multiple workers WK around the work machine 100, the controller 30 may distinguish between those being spoken to (workers WK who are speaking) and those not being spoken to (workers WK who are not speaking) based on the output of the four external sound collection devices M1. The controller 30 may also distinguish between those being spoken to (workers WK facing the work machine 100) and those not being spoken to (workers WK not facing the work machine 100) based on the image captured by the imaging device S6. The controller 30 may also turn on the speaker and light bar that are facing the workers WK. For example, if there is a worker WK (who is 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 also turn on the rear light bar G1B while keeping the front light bar G1F, left light bar G1L, and right light bar G1R off. Such a function may be implemented in the work machine 100 shown in Figures 1 to 5.

[0213] This configuration allows the controller 30 to output sound in the direction where worker WK is located, without outputting sound in the direction where worker WK is not located. Therefore, worker WK can easily recognize whether they are being spoken to or not.

[0214] Next, with reference to Figure 13, an example of the configuration of the operation system SYS according to the present disclosure will be described. Figure 13 is a schematic diagram showing an example of the configuration of the operation system SYS. As shown in Figure 13, the operation system SYS includes a work machine 100, a remote control room RC, and a management center MC. Note that the detailed configuration of the work machine 100 is omitted from Figure 13. This is because the work machine 100 shown in Figure 13 has the same configuration as the work machine 100 shown in Figure 1 or Figure 12.

[0215] The work machine 100, the remote control room RC, and the management center MC are connected to each other so that data can be sent and received via a communication network NW. Alternatively, the work machine 100, the remote control room RC, and the management center MC may be connected to each other so that data can be sent and received directly without using 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.

[0216] The work machine 100 is equipped with sensors capable of recognizing the position and shape of objects present at the work site in three dimensions. For example, the work machine 100 is equipped with a spatial recognition device. Therefore, the work machine 100 can transmit the results of three-dimensional measurements of the work site to the remote control room RC.

[0217] The spatial recognition device is a device for recognizing the space surrounding the work machine 100. In the illustrated example, the spatial recognition device is a LiDAR. The LiDAR measures the distance between each of more than one million points within the monitoring range and the LiDAR itself. Note that the spatial recognition device can be any device capable of measuring the distance to an object. For example, the spatial recognition device may be a stereo camera, or a combination of an imaging device S6 and a ranging device such as a millimeter-wave radar.

[0218] The operating system SYS may include one work machine 100 or multiple work machines. If the system includes multiple work machines 100, the remote operator RO of a particular work machine 100 can obtain information about the work site obtained by that particular work machine 100, as well as information about the work site obtained by one or more other work machines 100.

[0219] The remote control room RC is equipped with a communication device T2, a remote controller 40, an operating device 26E, an operating 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 has an operating seat DS where the remote operator RO sits to remotely control the work machine 100.

[0220] The communication device T2 is configured to communicate with the communication device T1 attached to the work machine 100.

[0221] The remote controller 40 is an arithmetic unit that performs various calculations. In this embodiment, the remote controller 40 is composed of a microcomputer including a CPU and memory. The various functions of the remote controller 40 are realized by the CPU executing a program stored in memory.

[0222] 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 inspect the area around the work machine 100. In the illustrated example, the display device D1E is a liquid crystal display that displays images captured by the imaging device S6 mounted on the work machine 100. The display device D1E may also be a display or projector that enables naked-eye stereoscopic viewing, or it may be VR goggles or the like.

[0223] 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 the sounds emitted at the work site. The internal sound output device SP2E may be configured to output sound captured by an external sound collection device M1 installed outside the driver's cab 10, or it may be configured to output sound captured by an internal sound collection device M2 installed inside the driver's cab 10. In this case, the internal sound collection device M2 may be installed at a position corresponding to the ear position of the operator seated in the driver's seat 50 inside the driver's cab 10. The internal sound output device SP2E may be a stationary device such as a speaker, or 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 noise-canceling capabilities, spatial audio capabilities (3D sound capabilities), or bone conduction capabilities.

[0224] The operating device 26E is equipped with an operation sensor 43 for detecting the operation of the operating device 26E. The operation sensor 43 is, for example, a tilt sensor that detects the tilt angle of the operating lever, or an angle sensor that detects the oscillation angle of the operating lever around its pivot axis. The operation sensor 43 may also consist of other sensors such as a pressure sensor, a current sensor, a voltage sensor, or a distance sensor. The operation sensor 43 outputs information regarding the detected operation of the operating device 26E to the remote controller 40. The remote controller 40 generates an operation signal based on the received information and transmits the generated operation signal to the work machine 100. The operation sensor 43 may also be configured to generate the operation signal. In this case, the operation sensor 43 may output the operation signal to the communication device T2 without going 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.

[0225] The control center MC is a facility equipped with various devices for managing the remote operation of the work machine 100 located at the work site, or by a remote operator RO located in the remote control room RC. In the illustrated example, the control center MC is installed at a distance from both the work site of the work machine 100 and the remote control room RC. The control center MC is equipped with a management device 200, an internal sound collection device M2C, and an internal sound output device SP2C.

[0226] The management device 200 is an example of a control device, and is, for example, a server computer (a so-called cloud server) or an edge server. The management device 200 is typically a fixed terminal device, but may also be a portable terminal device (for example, a laptop computer, tablet, or smartphone).

[0227] With this configuration, a manager in the control center MC can, for example, use a sound collection device (external sound collection device M1 or internal sound collection device M2) and an internal sound output device SP2C attached to the work machine 100 to hear sounds emitted at the work site. Also, a manager in the control center MC can, for example, use an internal sound collection device M2E and an internal sound output device SP2C installed in the remote control room RC to hear sounds emitted in the remote control room RC. Furthermore, a manager in the control center MC can, for example, use an internal sound collection device M2C and an external sound output device SP1 attached to the work machine 100 to transmit their own voice to workers WK around the work machine 100. Also, a manager in the control center MC can, for example, use an internal sound collection device M2C and an internal sound output device SP2 attached to the work machine 100 to transmit their own voice to the operator OP of the work machine 100. For example, an administrator at the control center (MC) can use an internal sound collection device (M2C) and an internal sound output device (SP2E) installed in the remote control room (RC) to transmit their own voice to the remote operator (RO) in the remote control room (RC).

[0228] The operation of the SYS operating system for the work machine according to this embodiment will be described below.

[0229] The operating system SYS for the work machine of this embodiment comprises a work machine 100 and a remote controller 40. The work machine 100 comprises a lower traveling body 1, an upper rotating body 3 that is rotatably mounted on the lower traveling body 1, and an external sound collection device M1 attached to the upper rotating body 3. The remote controller 40 is a control device that determines whether or not there is an abnormality in the external sound collection device M1 based on signals AS1F, AS1L, AS1R, and AS1B generated from predetermined sounds collected by the external sound collection device M1.

[0230] With this configuration, the operating system SYS for the work machine of this embodiment can detect abnormalities in the external sound output device SP1 that emits sound around the work machine 100 by collecting a predetermined sound output from the external sound output device SP1 with the external sound collection device M1. This makes it easy to detect abnormalities in the external sound output device SP1 that would be difficult to detect unless one is in the vicinity of the operator's cab 10, and enables immediate response when an abnormality occurs in the external sound output device SP1. Therefore, it becomes possible to more reliably transmit sounds emitted from the work machine 100 towards workers WK and other work machines in the vicinity of the work machine 100 via the external sound output device SP1. Accordingly, this embodiment provides an operating system SYS for a work machine that can detect abnormalities in the external sound output device SP1 that emits sound outside the work machine 100.

[0231] [Another Configuration Example of the Operating System] In the above-described embodiment, an example was given in which the external sound collection device M1 and the external sound output device SP1 are provided on the upper rotating body 3. However, the above-described embodiment is not limited to the configuration in which the external sound collection device M1 and the external sound output device SP1 are provided on the upper rotating body 3. In the seventh embodiment, an example will be described in which the external sound collection device and the external sound output device are provided at a location away from the work machine 100.

[0232] Referring to Figure 14, an example configuration of the operation system SYS1 (another example of a system for a work machine) according to the present disclosure will be described. Figure 14 is a schematic diagram showing an example configuration of the operation system SYS1 for the work machine 100A according to the present disclosure. As shown in Figure 14, the operation system SYS1 includes the work machine 100A, a stationary microphone 1501, a stationary speaker 1502, a drone 1503, and an autonomous mobile robot 1504.

[0233] The work machine 100A may have the same configuration as the work machine 100 shown in Figure 1 or Figure 12, or it may be configured such that one or more of the external sound collection device M1 and the external sound output device SP1 are removed from the work machine 100. In other words, this embodiment describes a case in which two-way conversation can be achieved even with a work machine 100A that is not provided with one or more of the external sound collection device M1 and the external sound output device SP1.

[0234] The stationary microphone 1501 is a sound collection device installed at the work site and can be connected to the work machine 100A wirelessly or via a wired connection. The stationary microphone 1501 transmits an audio signal indicating the collected sound to the work machine 100.

[0235] The stationary speaker 1502 is a sound output device installed at the work site and can be connected to the work machine 100 wirelessly or by wire. The stationary speaker 1502 outputs sound indicated by the sound signal received from the work machine 100A.

[0236] The autonomous mobile robot 1504 is equipped with a sound collection device 1504A and a sound output device 1504B, and can be connected to the work machine 100 wirelessly or via a wired connection. The autonomous mobile robot 1504 transmits an audio signal indicating the sound collected by the sound collection device 1504A to the work machine 100A. The autonomous mobile robot 1504 also outputs the sound indicated by the audio signal received from the work machine 100 from the sound output device 1504B.

[0237] The autonomous mobile robot 1504 is capable of moving within the area of ​​the work site. This embodiment does not limit the movement patterns of the autonomous mobile robot 1504. For example, if the autonomous mobile robot 1504 is equipped with a camera (an example of a detection device) (not shown), the autonomous mobile robot 1504 may identify the location of the work machine 100A based on the image information captured by the camera, and move to follow the work machine 100A when the work machine 100A moves. Alternatively, the autonomous mobile robot 1504 may follow the work machine 100A so that the signal strength in communication with the work machine 100A is above a predetermined threshold. Furthermore, the autonomous mobile robot 1504 may identify the location of a worker based on the image information captured by the camera, and move to a position where the worker's voice can be collected.

[0238] The drone 1503 is equipped with a sound collection device 1503A and a sound output device 1503B, and can be connected to the work machine 100A wirelessly or via a wired connection. The drone 1503 transmits an audio signal indicating the sound collected by the sound collection device 1503A to the work machine 100A. The drone 1503 also outputs the sound indicated by the audio signal received from the work machine 100A from the sound output device 1503B.

[0239] The drone 1503 is configured to fly within the area of ​​the work site. This embodiment does not restrict the movement of the drone 1503; it may move in accordance with the work machine 100A, similar to the autonomous mobile robot 1504, or it may move to a position where it can collect the voice of the worker. Since the drone 1503 is in flight, it can move regardless of the terrain or obstacles at the work site.

[0240] The number of each of the stationary microphones 1501, stationary speakers 1502, drones 1503, and autonomous mobile robots 1504 installed at the work site may be one or multiple.

[0241] The work machine 100A is equipped with a controller 30, similar to the work machine 100. The controller 30 enables the transmission and reception of information with the stationary microphone 1501, stationary speaker 1502, drone 1503, and autonomous mobile robot 1504 using the communication device T1.

[0242] In other words, the controller 30 according to this embodiment controls the transmission of an audio signal indicating sound collected by the internal sound collection device M2 to an audio output device located away from the work machine 100A via the communication device T1, and controls the output of the sound indicated by the audio signal received from the sound collection device located away from the work machine 100A via the communication device from the internal audio output device SP2.

[0243] For example, the controller 30 transmits an audio signal indicating the sound collected by the internal sound collection device M2 to at least one of the stationary speaker 1502, the drone 1503, and the autonomous mobile robot 1504.

[0244] In another example, the controller 30 receives sound signals from at least one of the stationary microphone 1501, the drone 1503, and the autonomous mobile robot 1504, and outputs the sound indicated by the received sound signals from the internal sound output device SP2.

[0245] The sound collection and sound output devices installed at the work site are not limited to the embodiments described above. For example, a monitoring device for monitoring the work site may be equipped with a sound collection device and a sound output device in addition to a spatial recognition device (e.g., an imaging device).

[0246] By the way, if the work site is large, multiple units of each of the stationary microphone 1501, stationary speaker 1502, drone 1503, and autonomous mobile robot 1504 will be installed. Furthermore, the number of work machines 100A present at the work site will also increase. In this case, if all of the stationary speakers 1502, drones 1503, and autonomous mobile robots 1504 present at the work site output sound signals received from the work machines 100A, it will be difficult for people at the work site to recognize which work machine 100A the sound is coming from.

[0247] Therefore, the work machine 100A according to this embodiment can establish communication with at least one of the stationary microphone 1501, stationary speaker 1502, drone 1503, and autonomous mobile robot 1504 present at the work site, and enable two-way conversation, only when predetermined conditions are met. In this embodiment, for example, communication is established and two-way conversation is achieved with each of the stationary microphone 1501, stationary speaker 1502, drone 1503, and autonomous mobile robot 1504 that is determined to be within a predetermined distance from the work machine 100A.

[0248] The method for determining whether equipment present at the work site is within a predetermined distance from the work machine 100A can be any method, not limited to well-known methods. For example, if equipment is visible in the image information captured by the imaging device S6, the distance to the equipment can be determined from its size and position. In this case, it is also conceivable to attach a sticker or the like with a two-dimensional code to the equipment. The controller 30 can recognize information about the equipment visible in the image information (e.g., unique information about the equipment, address information of the connection destination, etc.) from the two-dimensional code visible in the image information.

[0249] Another example involves the controller 30 of the work machine 100A pre-storing the location information of the stationary microphone 1501 and the stationary speaker 1502. The controller 30 then determines, based on the position measured by the positioning device PS, whether the stationary microphone 1501 and the stationary speaker 1502 are within a predetermined range. Furthermore, there is a method in which the stationary microphone 1501, the stationary speaker 1502, the drone 1503, and the autonomous mobile robot 1504 each periodically transmit location information to the work machine 100A.

[0250] Furthermore, this embodiment does not limit the conditions for achieving at least one of sound output and sound collection to those that satisfy the condition of being within a predetermined distance. For example, if there are multiple work machines 100A, the closest work machine 100A among the multiple work machines 100A may establish communication with equipment for realizing the sound output function (e.g., a stationary microphone 1501, a stationary speaker 1502, a drone 1503, or an autonomous mobile robot 1504) in order to achieve at least one of sound output and sound collection. Moreover, a priority order may be set for each of the multiple work machines 100A. The equipment for realizing the sound output function (e.g., a stationary microphone 1501, a stationary speaker 1502, a drone 1503, or an autonomous mobile robot 1504) may establish communication with the work machine 100A with the highest priority among the multiple work machines 100A in order to achieve at least one of sound output and sound collection.

[0251] Furthermore, this embodiment does not limit the targets for transmitting and receiving sound signals with the work machine 100A to the stationary microphone 1501, stationary speaker 1502, drone 1503, and autonomous mobile robot 1504 shown in Figure 14. For example, the work machine 100A may transmit and receive sound signals with a communication terminal owned by a person.

[0252] In this embodiment, an example was described in which the controller 30 controls the output of a sound output device located outside the driver's cab by transmitting a sound signal to a device having a sound output device located at a distance from the work machine 100A. In this embodiment, even if the work machine 100A is not equipped with an external sound output device SP1 and an external sound collection device M1, two-way conversation can be realized between the operator on board the work machine 100A and a person located outside the work machine 100A.

[0253] Furthermore, in this embodiment, since a sound collection device and a sound output device located at a distance from the work machine 100A are used, compared to the case where an external sound output device SP1 and an external sound collection device M1 provided on the work machine 100A are used, the influence of noise and other factors is suppressed when transmitting voice to a person outside and when collecting voice from a person outside, making two-way conversation easier.

[0254] In this embodiment, the case where an operator is on board the work machine 100A has been described, but it is not limited to cases where an operator is on board the work machine 100A. Even when a remote operator RO operates the work machine 100A from a remote control room RC, two-way communication may be achieved using a sound output device and a sound collection device installed at a distance from the work machine 100A, as shown in this embodiment. In other words, it is sufficient that a function is provided to transmit sounds between the respective areas by sound collection devices and sound output devices installed in the area where the operator operating the work machine is located and the area outside the work machine.

[0255] Various embodiments are possible for the internal sound collection device, external sound collection device, internal sound output device, and external sound output device described in the above-described embodiment.

[0256] For example, internal sound collection devices positioned to acquire sounds emitted by the operator include internal sound collection devices M2, M2C, and M2E. Furthermore, internal sound collection devices positioned near the operator's mouth to acquire sounds emitted by the operator also include internal sound collection devices M2, M2C, and M2E. Additionally, internal sound collection devices positioned in the direction the operator faces when they wish to communicate also include internal sound collection devices M2, M2C, and M2E.

[0257] For example, an external sound collection device installed in a position capable of acquiring sounds generated at a work site where a work machine is performing work includes external sound collection devices M1 (M1F, M1R, M1L, M1B), 1501, 1503A, and 1504A. For example, an external sound collection device installed in a position capable of acquiring sounds emitted by people present at a work site where a work machine is performing work includes external sound collection devices M1 (M1F, M1R, M1L, M1B), 1501, 1503A, and 1504A. An external sound collection device installed in a position capable of acquiring sounds emitted by workers who wish to perform work in cooperation with the work machine 100 includes external sound collection devices M1 (M1F, M1R, M1L, M1B), 1501, 1503A, and 1504A.

[0258] For example, internal sound output devices positioned so that the operator can hear the outputted sound include internal sound output devices SP2 (SP2R, SP2L), SP2C, and SP2E. Furthermore, internal sound output devices positioned near each of the operator's ears so that the operator can hear the outputted sound include internal sound output devices SP2 (SP2R, SP2L), SP2C, and SP2E.

[0259] For example, an external sound output device installed in a position that allows a person present at the work site where the work machine is performing work to hear the voice emitted by the operator of the work machine includes external sound output devices SP1, 1502, 1503B, and 1504B. An external sound output device installed in a position that allows a worker who wants to perform work in conjunction with the work machine to hear the voice emitted by the operator of the work machine includes external sound output devices SP1, 1502, 1503B, and 1504B.

[0260] Figure 15 is a schematic diagram showing the communication between the work machine 100A and the communication terminals according to this embodiment. As shown in Figure 15, the work machine 100A is connected to four communication terminals 1701 to 1704 in a communication-enabled manner.

[0261] For example, the work machine 100A is capable of controlling the output of sounds collected by each of the four communication terminals 1701 to 1704 from the internal sound output device SP2, and also enables control of the output of sounds collected by the internal sound collection device M2 from each of the four communication terminals 1701 to 1704.

[0262] The communication terminal 1701 is a terminal owned by the site supervisor located in the office that monitors the work site. The operator of the work machine 100A can communicate two-way with the site supervisor by sending and receiving sound signals between the work machine 100A and the communication terminal 1701. Therefore, the operator of the work machine 100A can understand the work plan set by the site supervisor or the situation at the work site.

[0263] The communication terminal 1702 is owned by the operator of another work machine 100B located at the work site. By sending and receiving sound signals between work machine 100A and the communication terminal 1702, two-way communication can be achieved between the operator of work machine 100A and the operator of work machine 100B. Therefore, coordinated work between work machine 100A and work machine 100B is possible. Furthermore, the operator of work machine 100A can ask questions, provide education or guidance regarding the operation of work machine 100B to the operator of work machine 100B.

[0264] The communication terminal 1703 is owned by the driver of the dump truck 1713 operating at the work site. By transmitting and receiving sound signals between the work machine 100A and the communication terminal 1703, two-way communication is enabled between the operator of the work machine 100A and the driver of the dump truck 1713. Therefore, coordinated work between the work machine 100A and the driver of the dump truck 1713 is made possible.

[0265] The communication terminal 1704 is a terminal owned by a worker performing work at the work site. By transmitting and receiving sound signals between the work machine 100A and the communication terminal 1704, two-way communication is enabled between the operator of the work machine 100A and the worker. Therefore, coordinated work between the work machine 100A and the worker is made possible.

[0266] In this embodiment, even if the work machine 100A is not equipped with an external sound output device SP1 and an external sound collection device M1, two-way conversation can be realized between the operator riding on the work machine 100A and a person located outside the work machine 100A.

[0267] Furthermore, in this embodiment, since a sound collection device and a sound output device located at a distance from the work machine 100A are used, compared to the case where an external sound output device SP1 and an external sound collection device M1 provided on the work machine 100A are used, the influence of noise and other factors is suppressed when transmitting voice to a person outside and when collecting voice from a person outside, making two-way conversation easier.

[0268] In this embodiment, the case where an operator is on board the work machine 100A has been described, but it is not limited to cases where an operator is on board the work machine 100A. Even when a remote operator RO operates the work machine 100A from a remote control room RC, two-way communication may be achieved using a sound output device and a sound collection device located at a distance from the work machine 100A, as shown in this embodiment.

[0269] Preferred embodiments of the present disclosure have been described above. However, the inventions of the present disclosure are not limited to the embodiments described above. Various modifications, substitutions, etc., can be applied to the embodiments described above without departing from the scope of the inventions of the present disclosure. Furthermore, each of the features described with reference to the embodiments described above may be combined as appropriate, as long as they do not contradict each other technically.

[0270] This application claims priority to Japanese Patent Application No. 2025-037848, filed with the Japan Patent Office on 10 March 2025, which is incorporated herein by reference to its entire contents.

[0271] 1 Lower traveling body 3 Upper rotating body 10 Driver's cab 11 Engine 30 Controller (control device) 40 Remote controller (control device) 100 Working machine 301 External signal processing unit 302 Internal signal processing unit 303 Signal output unit 304 Anomaly detection unit AS1B Signal AS1F Signal AS1L Signal AS1R Signal AS2 Signal D1 Display device D2 Input device KS Speech button M1 External sound collection device M1B Rear microphone M1F Front microphone M1L Left microphone M1R Right microphone M2 Internal sound collection device OP Operator RO Remote operator (operator) S6B Rear camera S6F Front camera S6L Left camera S6R Right camera SP1 External sound output device SP2 Internal sound output device SP2E Internal sound output device SP3 Horn speaker SP4 Alarm speaker SYS Operating system for work machinery

Claims

1. A work machine comprising: a lower traveling body; an upper rotating body rotatably mounted on the lower traveling body; a driver's cab provided on the upper rotating body; and a control device that determines whether or not there is an abnormality in the external sound output device based on a signal generated from sound output from an external sound output device located outside the driver's cab and collected by an external sound collection device located outside the driver's cab.

2. The control device determines whether or not there is an abnormality in the external sound output device at a predetermined timing, the work machine according to claim 1.

3. The work machine according to claim 2, wherein the predetermined timing includes at least one of the following: when a predetermined action is performed, when a predetermined operation is performed, or when a predetermined time has elapsed since determining whether or not there is an abnormality.

4. The work machine according to claim 2, wherein the external sound output device outputs a predetermined sound at a predetermined timing, the external sound collection device collects the predetermined sound output from the external sound output device, and the control device determines whether or not there is an abnormality in the external sound output device based on a signal generated from the predetermined sound collected by the external sound collection device.

5. The work machine according to claim 4, wherein the control device determines that there is an abnormality when the difference between the predetermined sound signal output from the external sound output device and the signal generated from the sound collected by the external sound collection device exceeds a threshold.

6. The work machine according to claim 1, further comprising a display device provided in the operator's cab, wherein the display device displays the result of the abnormality determination.

7. The work machine according to any one of claims 1 to 6, further comprising: an internal sound output device disposed inside the driver's cab; and an internal sound collection device disposed inside the driver's cab, wherein the control device is capable of outputting sound collected by the external sound collection device from the internal sound output device, and is capable of outputting sound collected by the internal sound collection device from the external sound output device.

8. The control device determines whether there is an abnormality in the external sound collection device based on a signal generated from the sound collected by the external sound collection device, and if it determines that there is no abnormality in the external sound collection device, it determines whether there is an abnormality in the external sound output device, according to any one of claims 1 to 6.

9. A work machine system comprising: a lower traveling body and an upper rotating body rotatably mounted on the lower traveling body; an external sound collection device disposed outside the work machine; an external sound output device disposed outside the work machine; and a control device that determines whether or not there is an abnormality in the external sound output device based on a signal generated from the sound output from the external sound output device and collected by the external sound collection device.

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