JP2016089559A - Construction machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a construction machine capable of smoothly shifting an operation state in work from manual operation to automatic operation or from the automatic operation to the manual operation.SOLUTION: A hydraulic shovel 1 of this invention having operation levers 7a1-7a4 and 19a1-19a4 instructing behavior of a vehicle body includes a control device 17 receiving an operation signal from the operation levers 7a1-7a4 and 19a1-19a4 and controlling the behavior of the vehicle body, and the control device 17 includes a lever operation determination section 17B for determining whether prescribed operation for shifting from manual operation to automatic operation is performed by the operation levers 7a1-7a4 and 19a1-19a4 or not, and an automatic operation control section 17A for starting control so as to execute the automatic operation of the vehicle body on the condition that execution of the prescribed operation is determined by the lever operation determination section 17B.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a construction machine such as a hydraulic excavator that performs excavation and loading work, and more particularly, to a construction machine that performs a part of work by automatic operation.

  Generally, a hydraulic excavator is known as an example of a construction machine that performs excavation and loading work. This excavator loading and unloading work cycle includes excavation operation for excavating earth and sand, transportation operation for turning from the excavation position to the dump truck bed, dumping operation for dropping earth and sand to the dump truck bed, and the dump truck bed side There is a leaching operation that turns from the back to the excavation position. The excavation and loading work including these series of operations requires improvement in productivity, and it is necessary to efficiently load the earth and sand on the loading platform of the dump truck. Therefore, operator experience and skill are required.

  Since such an operator's experience and skill differ from operator to operator, an automatic control device for a hydraulic excavator that automatically performs excavation and loading work has been proposed in order to fill the difference (for example, Patent Document 1). reference). In the driver's seat of this conventional hydraulic excavator, each switch for mode setting for automatically executing each of a series of operations of excavation and loading work, and each automatic operation is arbitrarily selected by the operator. Each start switch and each end switch for starting and ending (interrupting) are provided, and the hydraulic excavator automatically operates on the track stored in the automatic control device according to the state of each switch It is supposed to be.

JP-A-9-256407

  In the above-described automatic control device for a hydraulic excavator disclosed in Patent Document 1 described above, in order to automatically operate the hydraulic excavator, an operator automatically performs an operation to be executed among excavation loading operations. In addition, it is necessary to operate the start switch and end switch. Therefore, in the series of excavation and loading operations, the operator takes extra time to operate each switch, and the excavator operation is interrupted each time these switches are operated. It may take longer. As described above, in the automatic control device for the hydraulic excavator of the prior art, the operation state during the operation cannot be smoothly shifted from the manual operation to the automatic operation or from the automatic operation to the manual operation, and the work efficiency is lowered. There are concerns.

  The present invention has been made based on such a situation of the prior art, and an object of the present invention is to provide a construction machine that can smoothly shift the operating state during work from manual operation to automatic operation or from automatic operation to manual operation. It is to provide.

  In order to achieve the above object, a construction machine according to the present invention is a construction machine provided with an operating device for instructing the operation of a vehicle body, and receives a control signal from the operating device and controls the operation of the vehicle body. The control device is configured to determine whether or not a predetermined operation for shifting from manual operation to automatic operation has been performed by the operation device, and the predetermined operation is performed by the operation transition determination unit. And an automatic driving control unit that starts control for executing the automatic driving of the vehicle body on the condition that it has been determined to be performed.

  According to the construction machine of the present invention, the operating state during work can be smoothly shifted from manual operation to automatic operation or from automatic operation to manual operation. Problems, configurations, and effects other than those described above will become apparent from the following description of embodiments.

1 is a side view showing a configuration of a hydraulic excavator cited as a first embodiment of a construction machine according to the present invention. It is a functional block diagram which shows the structure of the principal part of 1st Embodiment of this invention. It is a figure which shows the structure inside the cab of FIG. It is a figure explaining the excavation loading work mentioned as an example of the operation | work form of the hydraulic shovel of FIG. It is a figure explaining processing operation of a control device concerning a 1st embodiment of the present invention, and is a flow chart which shows a flow of conveyance operation of excavation loading work. It is a figure explaining processing operation of a control device concerning a 1st embodiment of the present invention, and is a flow chart which shows a flow of leaching operation of excavation loading work. It is a figure explaining processing operation of a control device concerning a 2nd embodiment of the present invention, and is a flow chart which shows a flow of conveyance operation of excavation loading work. It is a figure explaining processing operation of a control device concerning a 2nd embodiment of the present invention, and is a flow chart which shows a flow of leaching operation of excavation loading work. It is a figure explaining processing operation of a control device concerning a 3rd embodiment of the present invention, and is a flow chart which shows a flow of transportation operation, earthing operation, and leaching operation of excavation loading work. It is a figure explaining processing operation of a control device concerning a 4th embodiment of the present invention, and is a flow chart which shows a flow of transportation operation, earthing operation, and leaching operation of excavation loading work. It is a figure explaining processing operation of a control device concerning a 5th embodiment of the present invention, and is a flow chart which shows a flow of excavation operation of excavation loading work. It is a figure explaining processing operation of a control device concerning a 6th embodiment of the present invention, and is a flow chart which shows a flow of excavation operation of excavation loading work. It is a figure explaining processing operation of a control device concerning a 7th embodiment of the present invention, and is a flow chart which shows a flow of earthing operation of excavation loading work. It is a figure explaining processing operation of a control device concerning an 8th embodiment of the present invention, and is a flow chart which shows a flow of earth discharging operation of excavation loading work.

  EMBODIMENT OF THE INVENTION Hereinafter, the form for implementing the construction machine which concerns on this invention is demonstrated based on figures.

[First Embodiment]
The first embodiment of the construction machine according to the present invention is constituted by, for example, a hydraulic excavator 1 shown in FIG. The hydraulic excavator 1 is disposed at a lower portion of the vehicle body, and travels by a crawler belt 2A wound endlessly on the left and right, and travels on the traveling body 2 via a revolving frame 5. The swivel body 3 that can be provided, a swivel device 3A that is interposed between the traveling body 2 and the swivel body 3 and that swivels the swivel body 3, and is attached to the front of the swivel body 3, and rotates in the vertical direction. And a front work machine 4 as a work device that moves and performs work such as excavation.

  As shown in FIG. 2, the turning device 3A includes a turning hydraulic motor 3a that drives the turning body 3, an angle sensor 3a1 that is provided in the turning hydraulic motor 3a and detects a turning angle of the turning body 3, and a turning hydraulic motor. A right turning pressure sensor 3a2 for detecting the right turning pressure 3a and a left turning pressure sensor 3a3 for detecting the left turning pressure of the turning hydraulic motor 3a.

  In FIG. 1, a front work machine 4 has a boom 4A whose base end is rotatably attached to a revolving frame 5 and rotates vertically, and an arm 4B that is rotatably attached to the tip of the boom 4A. The bucket 4C is rotatably attached to the tip of the arm 4B. The front work machine 4 connects the revolving body 3 and the boom 4A, connects the boom cylinder 4a that rotates the boom 4A by extending and contracting, the boom 4A and the arm 4B, and extends and contracts the arm 4B. The arm cylinder 4b that rotates the bucket 4C and the bucket cylinder 4c that connects the arm 4B and the bucket 4C and rotates the bucket 4C by expanding and contracting are provided.

  In FIG. 2, a front work machine 4 is provided in a boom cylinder 4a, and includes an angle sensor 4a1 that detects a rotation angle between the swing body 3 and the boom 4A, and a bottom pressure sensor that detects a bottom pressure of the boom cylinder 4a. 4a2, a rod pressure sensor 4a3 that detects the rod pressure of the boom cylinder 4a, an angle sensor 4b1 that is provided in the arm cylinder 4b and detects a rotation angle between the boom 4A and the arm 4B, and a bottom pressure of the arm cylinder 4b. A bottom pressure sensor 4b2 for detecting, a rod pressure sensor 4b3 for detecting the rod pressure of the arm cylinder 4b, an angle sensor 4c1 provided on the bucket cylinder 4c for detecting a rotation angle between the arm 4B and the bucket 4C, and a bucket cylinder Bottom pressure sensor 4c2 for detecting the bottom pressure of 4c, and bucket cylinder And a rod pressure sensor 4c3 for detecting the rod pressure of c.

  In FIG. 1, the swing body 3 is arranged at the front part of the vehicle body, a driver's cab (cabin) 7 in which the operator is boarded, a counter weight 8 arranged at the rear part of the vehicle body to keep the balance of the weight of the vehicle body, The engine room 9 is disposed between the cab 7 and the counterweight 8 and has an engine 11 (see FIG. 2) described later mounted therein.

  In FIG. 2, the swing body 3 includes an engine 11 as a drive source, a governor 12 that adjusts the fuel injection amount of the engine 11, a rotation speed sensor 13 that detects the rotation speed of the engine 11, and the above-described rotation. And a hydraulic control valve 14 for controlling the flow of pressure oil supplied to the hydraulic actuators 3a, 4a to 4c such as the hydraulic motor 3a, the boom cylinder 4a, the arm cylinder 4b, and the bucket cylinder 4c.

  Furthermore, the swing body 3 is operated by the driving force of the engine 11 and serves as a hydraulic pump 15 that generates hydraulic pressure, a pump capacity adjusting device 16 that adjusts the capacity of the hydraulic pump 15, and the interior of the swing body 3. A control device 17 that transmits / receives various signals to / from external devices and controls the operation of the vehicle body, and an environment recognition device 18 that recognizes the environment around the vehicle body and transmits the recognition result to the control device 17. And.

  For example, a remote operation device 19 for remotely instructing the operation of the vehicle body is installed as a device outside the revolving structure 3 at a location away from the hydraulic excavator 1, and the remote operation device 19 and the control device 17 are wirelessly connected. Each machine (not shown) is mounted inside. Accordingly, signals are transmitted and received between the remote control device 19 and the hydraulic excavator 1 by these wireless devices.

  The driver's cab 7 includes a driver's seat 7A (see FIG. 3) on which an operator is seated, four operating levers 7a1 to 7a4 as operating devices for instructing the operation of the vehicle body including the operations of the hydraulic actuators 3a and 4a to 4c. A display device 7b for displaying various types of information related to the operation of the hydraulic excavator 1, an operation lever state detector 7c for outputting a signal corresponding to the operation state of the operation levers 7a1 to 7a4, that is, the operation position of the operation levers 7a1 to 7a4, The operation levers 7a1 to 7a4, the display device 7b, and the operation lever state detection unit 7c are connected to the control device 17. In addition to the operation levers 7a1 to 7a4, the display device 7b, and the operation lever state detection unit 7c, the cab 7 includes, for example, an engine stop button (not shown) for stopping the engine 11, and a control device 17 A power switch (not shown) for switching the power source to the ON state or the OFF state is provided.

  FIG. 3 is a diagram showing in detail each configuration of the operation levers 7a1 to 7a4 and the display device 7b in the cab 7.

  As shown in FIG. 3, the operation levers 7a1 to 7a4 are, for example, gripped by an operator seated in the driver's seat 7A to manually operate the vehicle body, and the operation signals of these operation levers 7a1 to 7a4 Is transmitted to the control device 17.

  The operation lever 7a1 is disposed on the front left side of the driver's seat 7A and is operated in the front-rear direction to cause the crawler belt 2A on the left side of the traveling body 2 to travel in the front-rear direction (left crawler advance / left crawler retreat). The operation lever 7a2 is disposed on the front right side of the driver's seat 7A and is operated in the front-rear direction, thereby causing the crawler belt 2A on the right side of the traveling body 2 to travel in the front-rear direction (right crawler advance / rear crawler retreat).

  The operation lever 7a3 is disposed on the left side of the driver's seat 7A and is operated in the front-rear direction, thereby turning the turning device 3A left and right (right turn / left turn), and by being operated in the left-right direction. Then, the arm 4B is rotated in the vertical direction (arm extension / arm bending). The operation lever 7a4 is disposed on the right side of the driver's seat 7A and is operated in the front-rear direction, thereby rotating the boom 4A in the up-down direction (boom lowering / boom-up) or by operating in the left-right direction. Then, the bucket 4C is rotated in the vertical direction (bucket excavation / bucket release).

  The display device 7b includes a monitor 7b1 that displays information received from the control device 17, a power switch that switches the power of the monitor 7b1 to an ON state or an OFF state, and an image that is displayed on the monitor 7b1 when the power switch is ON. And an operation switch 7b2 such as a changeover switch.

  On the other hand, in FIG. 2, the remote operation device 19 displays various information regarding the operation of the operation levers 19 a 1 to 19 a 4 similar to the operation levers 7 a 1 to 7 a 4 of the cab 7 and the operation of the hydraulic excavator 1, and the environment recognition device 18. A display device 19b that displays the recognition result and presents the state of the environment around the excavator 1, and an operation lever that outputs a signal corresponding to the operation state of the operation levers 19a1 to 19a4, that is, the operation position of the operation levers 19a1 to 19a4 The operation levers 19a1 to 19a4, the display device 19b, and the operation lever state detection unit 19c are connected to the control device 17 via wireless communication. In addition to the operation levers 19a1 to 19a4, the display device 19b, and the operation lever state detection unit 19c, the remote operation device 19 includes, for example, an emergency stop button (not shown) for stopping the engine 11 in an emergency, and the engine An engine operation unit (not shown) for operating the number of revolutions of 11 is provided. The basic configuration of the display device 19b is the same as the configuration of the display device 7b of the cab 7 described above.

  The hydraulic control valve 14 constitutes a hydraulic circuit between the hydraulic pump 15 and the hydraulic actuators 3a, 4a to 4c. Although not shown, the hydraulic control valve 14 is discharged from the hydraulic pump 15 by stroking in a housing forming an outer shell. A spool that adjusts the flow rate and direction of the pressurized oil, and an electromagnetic proportional valve that changes the stroke amount of the spool in accordance with the command value of the command signal of the control device 17.

  The hydraulic pump 15 has, for example, a swash plate (not shown) as a variable displacement mechanism, and controls the flow rate of the discharged pressure oil by adjusting the tilt angle of the swash plate. Further, although not shown, the hydraulic pump 15 includes a discharge pressure sensor that measures the pressure of the discharged pressure oil, a discharge flow sensor that measures the flow rate of the discharged pressure oil, and a tilt of the swash plate of the hydraulic pump 15. A tilt angle sensor or the like for measuring the angle is provided. The hydraulic pump 15 is described as a variable displacement swash plate hydraulic pump. However, the hydraulic pump 15 is not limited to this case, and may be a slant shaft pump or the like as long as it has a function of controlling the flow rate of discharged hydraulic oil. There may be.

  The pump capacity adjusting device 16 adjusts the capacity (displacement volume) of the hydraulic pump 15 based on a command signal output from the control device 17. Specifically, the pump capacity adjusting device 16 is a solenoid 16A that supports the swash plate of the hydraulic pump 15 so as to be tiltable, and an electromagnetic that applies control pressure to the regulator 16A according to the command value of the command signal of the control device 17. And a proportional valve 16B. When the regulator 16A receives the control pressure from the electromagnetic proportional valve 16B, the capacity (displacement volume) of the hydraulic pump 15 is adjusted by changing the tilt angle of the swash plate of the hydraulic pump 15 by this control pressure. 15 torques can be controlled.

  The control device 17 includes a cab 7, a governor 12, a rotation speed sensor 13, a hydraulic control valve 14, a hydraulic pump 15, a pump capacity adjustment device 16, an environment recognition device 18, a remote operation device 19, and angle sensors 3a1, 4a1 to 4c1. , And each pressure sensor 3a2, 3a3, 4a2, 4a3, 4b2, 4b3, 4c2, 4c3. Then, the control device 17 adjusts the governor 12 to control the rotation speed of the engine 11 and receives operation signals from the operation levers 7a1 to 7a4 in the cab 7 or the operation levers 19a1 to 19a4 in the remote operation device 19. By doing so, the command signal with respect to the operation signal of each operation lever 7a1-7a4 or operation lever 19a1-19a4 is transmitted to the electromagnetic proportional valve of the hydraulic control valve 14.

  Therefore, when the operator in the cab 7 operates the operation levers 7a1 to 7a4 or operates the operation levers 19a1 to 19a4 of the remote operation device 19, the operation levers 7a1 to 7a4 or the operation levers 19a1 to 19a4 are controlled from the control device 17. When the command signal for the operation signal is input to the electromagnetic proportional valve of the hydraulic control valve 14, the position of the spool of the hydraulic control valve 14 is switched, and the hydraulic oil that has flowed from the hydraulic pump 15 through the hydraulic control valve 14 becomes hydraulic actuator. 3a and 4a-4c. As a result, the hydraulic actuators 3 a and 4 a to 4 c are driven by the pressure oil supplied from the hydraulic pump 15 via the hydraulic control valve 14.

  The environment recognition device 18 recognizes the shape of earth and sand as excavated material excavated by the excavator 1, recognizes obstacles around the excavator 1, recognizes the position of a dump truck 101 (see FIG. 4) described later, and dumps Recognition of the earthing position on the loading platform 102 (see FIG. 4) of the truck 101 and recognition of the loading state of the loading platform 102 are performed. In addition, the environment recognition device 18 includes, for example, a plurality of cameras that are provided on the vehicle body and shoot around the vehicle body, and images captured by these cameras are displayed on the display device 19 b of the remote operation device 19. The environment recognition device 18 may be configured by, for example, a radar, a GPS, or the like instead of the camera, or may be another device as long as the same effect as those can be obtained. Good. Further, the environment recognition device 18 may not perform all of the above-described recognition but may perform a part of the above-described recognition.

  Here, excavation loading work performed by the hydraulic excavator 1 will be described in detail with reference to FIG. FIG. 4 is a diagram illustrating a state in which the excavated material excavated by the hydraulic excavator 1 is loaded on the loading platform 102 of the dump truck 101.

  As shown in FIG. 4, as a cycle of excavation and loading work, excavation operation A for excavating earth and sand with bucket 4C of excavator 1, swiveling body 3 dumps from the excavation position while holding the earth and sand excavated by bucket 4C. A transport operation B that turns to the loading platform 102 side of the truck 101, a soil removal operation C that drops earth and sand from the bucket 4C to the loading platform 102 of the dump truck 101, and a leaching operation D that turns from the loading platform 102 side of the dump truck 101 and returns to the excavation position. is there.

  When the load on the loading platform 102 reaches a predetermined amount, the dump truck 101 transports the loaded earth and sand to a collection place (not shown). Then, another (empty) dump truck 101 on which nothing is loaded on the loading platform 102 arrives in the vicinity of the excavator 1, and the excavation and loading operation by the excavator 1 is performed again. As described above, since a series of operations A to D of the excavation and loading work are repeatedly performed, the excavation and loading work is required to improve productivity, and it is necessary to efficiently load earth and sand on the loading platform 102 of the dump truck 101. Operator experience and skills are required.

  In particular, the transport operation B and the leaching operation D among the series of operations A to D of the excavation and loading work are used by the operator so as not to come in contact with the obstacles around the loading platform 102 of the dump truck 101 and the hydraulic excavator 1. Since this is an operation, if the operator carefully operates the operation levers 7a1 to 7a4, the operation may take time and productivity may be reduced. Further, when the swivel 3 of the excavator 1 or the front work machine 4 is brought into contact with the loading platform 102 of the dump truck 101, the excavator 1 and the dump truck 101 may be damaged.

  On the other hand, when the operator operates the operation levers 19a1 to 19a4 of the remote control device 19 at a place away from the excavator 1, and performs excavation and loading work, the display device 19b presents the status of the environment around the excavator 1 Even if the information necessary for the operation of the operator is insufficient, or if transmission of video or signals is delayed, the work efficiency may be reduced.

  Therefore, in the first embodiment of the present invention, as shown in FIG. 2, the control device 17 performs an automatic operation for automatically operating the transport operation B and the leaching operation D out of a series of operations A to D of the excavation loading work. A predetermined operation for shifting from manual operation to automatic operation (automatic operation mode) is performed by the automatic operation control unit 17A to be performed and the operation levers 7a1 to 7a4 of the cab 7 or the operation levers 19a1 to 19a4 of the remote operation device 19. The lever operation determination unit 17B as an operation transition determination unit for determining whether the excavation operation has been performed, the excavation end determination unit 17C for determining whether the excavation operation A by manual operation has been completed, and the earth and sand excavated by the front work machine 4 are released. It includes a later-described earth release determination unit that determines whether or not the soil is in a possible state. And the control apparatus 17 is made to start the control for performing the automatic driving | running | working of a vehicle body on the condition that it determined with the above-mentioned predetermined operation having been performed by the lever operation determination part 17B.

  Specifically, for example, the control device 17 determines that the predetermined operation described above has been performed by the lever operation determination unit 17B, and further determines that the excavation operation A by manual operation has ended by the excavation end determination unit 17C. Until the operation lever 7a3 or the operation lever 19a3 is operated in the right turn operation direction or the left turn operation direction (front-rear direction). Continue manual operation.

  On the other hand, for example, even when it is determined that the predetermined operation is performed by the lever operation determination unit 17B, the control device 17 determines that the excavation operation A by manual operation is not completed by the excavation end determination unit 17C. Or when it is determined by the earthing determination unit that the situation is not possible, the manual operation is continued regardless of the operation of the operation levers 7a1 to 7a4 and 19a1 to 19a4.

  Based on the recognition result of the environment recognizing device 18, the automatic operation control unit 17A calculates a target excavation position and earthing position and target trajectories of the boom 4A, the arm 4B, and the bucket 4C. Then, the automatic operation control unit 17A feeds back the detection signals of the angle sensors 3a1, 4a1 to 4c1 and the pressure sensors 3a2, 3a3, 4a2, 4a3, 4b2, 4b3, 4c2, 4c3 of the hydraulic actuators 3a, 4a-4c, Each hydraulic actuator is operated via a hydraulic control valve 14 so as to operate in the excavation position and earthing position calculated by the swing body 3 and the front work machine 4 of the excavator 1 and the target trajectory of the boom 4A, arm 4B, and bucket 4C. 3a and 4a-4c are controlled.

  As the predetermined operation described above, the lever operation determination unit 17B moves, for example, the operation lever 7a3 in the right turn operation direction (forward direction) or the left turn operation direction (rear direction) to return to the neutral position in advance. When a detection signal corresponding to a repetitive operation such as repeating twice in a set short time is received from the operation lever state detection unit 7c of the cab 7, it is determined that an operation for shifting to the automatic operation mode has been performed. As a result, it is not necessary to provide a new device for starting the automatic operation of the vehicle body, so the operator in the cab 7 can easily change the operation state of the hydraulic excavator 1 from the manual operation to the automatic operation mode using the operation lever 7a3. Can be migrated to. The lever operation determination unit 17B is not limited to this case. For example, the operation lever 7a3 is operated in the right turn operation direction or the left turn operation direction in a state where the other operation lever 7a4 is not operated. May be determined as an operation for shifting to the automatic operation mode. In the transporting operation B and the reaching operation D, usually, a combined operation combining an operation of turning the turning body 3 to the right or left using the operation levers 7a3 and 7a4 and an operation of turning the boom 4A in the vertical direction is performed. Since it is often performed, it is possible to determine that the operation of the operation lever 7a3 in the right turn operation direction or the left turn operation direction is an operation to shift to the automatic operation mode.

  Further, for example, an automatic button (not shown) is provided on the operation lever 7a3, and the operator operates the operation lever 7a3 in the right turn operation direction or the left turn operation direction while pressing the automatic button. When the operation determination unit 17B receives the operation signal of the automatic button and at the same time receives the detection signal corresponding to the operation of the operation lever 7a3 from the operation lever state detection unit 7c of the cab 7, the operation shifts to the automatic operation mode. You may judge. These determinations also apply to the operation of the operation levers 19a1 to 19a4 of the remote control device 19. As described above, it is desirable that the predetermined operation for shifting to the automatic operation mode is an operation of the operation lever 7a3 that is not performed in the normal operation, but the operation other than the above using the operation levers 7a1 to 7a4. There may be.

  The excavation end determination unit 17C, for example, when the bucket 4C excavates based on the pressure detected by the pressure sensors 3a2, 3a3, 4a2, 4a3, 4b2, 4b3, 4c2, 4c3 of the hydraulic actuators 3a, 4a to 4c. The reaction force received from the ground or the like is estimated, and the state of the bucket 4C is measured based on the angles detected by the angle sensors 3a1, 4a1 to 4c1 of the hydraulic actuators 3a and 4a to 4c. Then, the excavation end determination unit 17C, for example, the estimated reaction force becomes smaller than a predetermined value, and the opening surface 4C1 (see FIG. 1) of the bucket 4C is horizontal or near the horizontal (for example, the inclination θ of the opening surface 4C1 with respect to the horizontal surface). Is greater than 0 degrees and less than 30 degrees), it is determined that the excavation operation A by manual operation has ended. The excavation end determination unit 17C is not limited to this case, and for example, when the estimated reaction force is smaller than a predetermined value, or when the bucket 4C is in a horizontal or near-horizontal state. Further, it may be determined that the excavation operation A by manual operation has been completed, and other configurations such as determination based on the height of the bucket 4C may be used as long as the same action and effect are obtained.

  The above-mentioned earth release determination unit determines, for example, whether or not the dump truck 101 as the earth release target has reached the vicinity of the excavator 1 based on the recognition result of the position of the dump truck 101 by the environment recognition device 18. The dump truck arrival determination unit 17D is included. For example, the dump truck arrival determination unit 17D calculates the distance between the excavator 1 and the dump truck 101 from the image of the camera that is the environment recognition device 18, and when the calculated distance is less than a predetermined distance, the dump truck 101 Is determined to have reached the vicinity of the excavator 1, and when the calculated distance is equal to or greater than a predetermined distance, it is determined that the dump truck 101 has not reached the vicinity of the excavator 1. Therefore, when the front work machine 4 releases the earth and sand, if the dump truck arrival determination unit 17D determines that the dump truck 101 is not recognized, the manual operation is performed, so the dump truck 101 is recognized. The earth release operation C can be kept on standby until Thereby, earth can be appropriately discharged to the target earthing position.

  In the hydraulic excavator 1 configured as described above, as described above, the hydraulic actuators 3 a and 4 a to 4 c of the hydraulic excavator 1 are controlled by the control device 17 via the hydraulic control valve 14. There are mainly three command signals transmitted from the control device 17 to the hydraulic control valve 14, which relate to the operation levers 7a1 to 7a4 of the cab 7, the operation levers 19a1 to 19a4 of the remote operation device 19, and the automatic operation control unit 17A. Is. Which of these three command signals is used for control is selected by the control device 17. When the control device 17 receives the operation signals of the operation levers 7a1 to 7a4 and 19a1 to 19a4 and operates the hydraulic excavator 1, the control device 17 performs manual operation, receives the recognition result of the environment recognition device 18 and receives the operation result of the hydraulic excavator 1. When the is operated, automatic operation is performed.

  Next, of the excavation and loading work of the hydraulic excavator 1, the conveyance operation B in which the automatic operation is performed by the automatic operation control unit 17A after the excavation operation A in which the manual operation is performed will be described in detail with reference to FIG. .

  First, the lever operation determination unit 17B determines whether an operation for shifting to the automatic operation mode has been performed by the operation lever 7a3 of the cab 7 or the operation lever 19a3 of the remote control device 19 ((step (hereinafter referred to as S)). 501) At this time, the operator does not perform the operation of moving the operation levers 7a3 and 19a3 in the right turn operation direction and the left turn operation direction to return them to the neutral position, and the lever operation determination unit 17B enters the automatic operation mode. If it is determined that the operation for shifting is not performed (S501 / NO), the manual operation state is maintained without shifting to the automatic operation mode, and the processing operation of S501 is repeated.

  In S501, when the operator repeats the operation of moving the operation lever 7a3 or the operation lever 19a3 in the right turn operation direction or the left turn operation direction to return to the neutral position twice in a short time, the lever operation determination unit 17B If it is determined that an operation for shifting to the automatic operation mode has been performed (S501 / YES), the excavation end determination unit 17C determines whether or not the excavation operation A by manual operation has ended (S502). At this time, when the reaction force from the ground is a predetermined value or more, or when the opening surface 4C1 of the bucket 4C is greatly inclined from the horizontal plane, the excavation end determination unit 17C determines that the excavation operation A has not ended. (S502 / NO), the manual operation state is maintained without shifting to the automatic operation mode, and the processing operation from S501 is repeated.

  Thus, even if the operator performs an operation to shift to the automatic operation mode using the operation lever 7a3 or the operation lever 19a3 in S501, the manual operation is continued until the excavation end determination unit 17C determines that the excavation operation A is completed. Since the excavator 1 is not automatically operated during the excavation operation A, the operator can proceed with the work while judging the work status. It is possible to proceed to the processing operation of S503.

  In S502, when the reaction force from the ground becomes less than a predetermined value and the opening surface 4C1 of the bucket 4C becomes horizontal or near horizontal, the excavation end determination unit 17C determines that the excavation operation A has ended ( (S502 / YES), the dump truck arrival determination unit 17D determines whether or not the dump truck 101 has reached the vicinity of the excavator 1 (S503). At this time, if the distance between the hydraulic excavator 1 and the dump truck 101 is equal to or greater than a predetermined distance, the dump truck arrival determination unit 17D determines that the dump truck 101 has not reached the vicinity of the hydraulic excavator 1 (S503 / NO). ), The manual operation state is maintained without shifting to the automatic operation mode, and the processing operation from S501 is repeated. Accordingly, only when the dump truck 101 is stopped near the excavator 1, it is possible to move to the transporting operation B, so that the earth and sand can be appropriately discharged to the target discharging position. When the dump truck arrival determination unit 17D determines that the dump truck 101 has not reached the vicinity of the excavator 1, information indicating that the dump truck 101 has not stopped is displayed on the display device 7b or the display device 19b. Is displayed.

  In S503, when the distance between the excavator 1 and the dump truck 101 is less than the predetermined distance, the dump truck arrival determination unit 17D determines that the dump truck 101 has reached the vicinity of the hydraulic excavator 1 (S503 / YES). ), The control device 17 shifts the operation state of the excavator 1 from the manual operation to the automatic operation mode (S504). And the control apparatus 17 confirms the presence or absence of reception of the operation signal from the operation levers 7a1 to 7a4, 19a1 to 19a4, and the operation direction of the right turn or the left turn of the operation lever 7a3 or the operation lever 19a3 by the operator. It is determined whether or not there is an operation on (S505). At this time, for example, the control device 17 does not operate the operation levers 7a3 and 19a3 in the right turn operation direction or the left turn operation direction within a predetermined time after shifting to the automatic operation mode in S504. If it determines (S505 / NO), it will transfer to manual operation, without starting automatic operation (S508), and the processing operation from S501 will be repeated.

  In S505, when the control device 17 determines that there is an operation in the right turn operation direction or the left turn operation direction of the operation lever 7a3 or the operation lever 19a3 (S505 / YES), the automatic operation control unit 17A The recognition result of the recognition device 18 is received, and the target release from the recognition of the obstacle around the excavator 1, the recognition of the position of the dump truck 101, and the recognition of the release position of the dump truck 101 on the loading platform 102. The position and target trajectories of the boom 4A, arm 4B, and bucket 4C in the transport operation B are calculated.

  The automatic operation control unit 17A allows the operator's operation levers 7a3 and 7a4 or the operation lever 19a3 so that the movement of the front work machine 4 matches the target earthing position and the target trajectory of the boom 4A, arm 4B, and bucket 4C. , 19a4, the command signal corresponding to the operation signal is corrected. Then, the automatic operation control unit 17A transmits the corrected command signal to the hydraulic control valve 14 and starts automatic operation, thereby turning while supporting the operation of the operation levers 7a3, 7a4 or the operation levers 19a3, 19a4 of the operator. The body 3 is turned, and the excavated earth and sand are transported to the loading platform 102 of the dump truck 101 (S506). In S504, in the state of shifting to the automatic operation mode, even if there is an operation other than the operation to turn right or left, the operation shifts to manual operation.

  Thereby, even if the operator's work experience is shallow, a sufficient work amount can be secured, so that high efficiency can be obtained for the transport operation B. Moreover, since the automatic operation in the transport operation B is performed only when the operator operates the operation levers 7a3 and 7a4 or the operation levers 19a3 and 19a4, the operation can be performed at the timing intended by the operator, which is convenient for the operator. Can be improved. In the automatic operation by the automatic operation control unit 17A in S506, information indicating that the automatic operation is performed is displayed on the display device 7b or the display device 19b. Thereby, the operator can operate the operation levers 7a3 and 7a4 or the operation levers 19a3 and 19a4 without feeling uncomfortable.

  Next, the control device 17 receives the recognition result of the environment recognition device 18, and determines whether or not the bucket 4C has reached the target earthing position (S507). At this time, if the control device 17 determines that the bucket 4C has not reached the target release position (S507 / NO), the processing operation from S505 is repeated. In S507, when the control device 17 determines that the bucket 4C has reached the target release position (S507 / YES), the automatic operation is stopped and the operation is shifted to the manual operation (S508), and the processing operation from S501 is performed. Repeated.

  Next, in the excavation and loading work of the hydraulic excavator 1, the leaching operation D in which the automatic operation is performed by the automatic operation control unit 17A after the earthing operation C in which the manual operation is performed will be described in detail with reference to FIG. To do.

  First, the lever operation determination part 17B determines whether operation which transfers to automatic operation mode was performed by the operation lever 7a3 or the operation lever 19a3 (S601). At this time, the operator does not move the control levers 7a3 and 19a3 in the right turn operation direction and the left turn operation direction to return to the neutral position, and the lever operation determination unit 17B performs the operation to shift to the automatic operation mode. If it is determined that the operation is not performed (S601 / NO), the manual operation state is maintained without shifting to the automatic operation mode, and the processing operation of S601 is repeated.

  In S601, when the operator repeats the operation of moving the operation lever 7a3 or the operation lever 19a3 in the right turn operation direction or the left turn operation direction to return to the neutral position twice in a short time, the lever operation determination unit 17B When it is determined that an operation for shifting to the automatic operation mode is performed (S601 / YES), the control device 17 shifts the operation state of the excavator 1 from the manual operation to the automatic operation mode (S602). And the control apparatus 17 confirms the presence or absence of reception of the operation signal from the operation levers 7a1 to 7a4, 19a1 to 19a4, and the operation direction of the right turn or the left turn of the operation lever 7a3 or the operation lever 19a3 by the operator. It is determined whether or not there is an operation on (S603). At this time, for example, if the control device 17 does not operate the operation levers 7a3 and 19a3 in the right turn operation direction and the left turn operation direction within a predetermined time after shifting to the automatic operation mode in S602. If it determines (S603 / NO), it will transfer to manual operation, without starting automatic driving | operation (S606), and the processing operation from S601 will be repeated.

  In S602, when the control device 17 determines that there is an operation in the right turn operation direction or the left turn operation direction of the operation lever 7a3 or the operation lever 19a3 (S603 / YES), the automatic operation control unit 17A The recognition result of the recognition device 18 is received, the target excavation position is set based on the recognition of the shape of the earth and sand, the recognition of the obstacle around the hydraulic excavator 1, and the recognition of the position of the dump truck 101, and in the transport operation B The target trajectories of the boom 4A, arm 4B, and bucket 4C are calculated. The excavation position set by the automatic operation control unit 17A is a recommended excavation position for the excavation operation A performed in the next processing operation, and is set based on the shape of earth and sand, the distance between the excavator 1 and the dump truck 101, and the like. The

  The automatic operation control unit 17A controls the operation levers 7a3 and 7a4 of the operator or the operation lever 19a3 so that the movement of the front work machine 4 matches the target excavation position and the target trajectories of the boom 4A, arm 4B, and bucket 4C. The command signal corresponding to the operation signal 19a4 is corrected. Then, the automatic operation control unit 17A transmits the corrected command signal to the hydraulic control valve 14, thereby turning the swing body 3 while supporting the operation of the operation levers 7a3 and 7a4 or the operation levers 19a3 and 19a4 by the operator. The bucket 4C is moved to the excavation position (S604). Thereby, the effect similar to the conveyance operation | movement B mentioned above can be acquired.

  Next, the control device 17 receives the recognition result of the environment recognition device 18, and determines whether or not the bucket 4C has reached the target excavation position (S605). At this time, if the control device 17 determines that the bucket 4C has not reached the target excavation position (S605 / NO), the processing operation from S603 is repeated. In S605, when the control device 17 determines that the bucket 4C has reached the target excavation position (S605 / YES), it stops the automatic operation and shifts to the manual operation (S606), and the processing operation from S601 is repeated. It is.

  According to the first embodiment of the present invention configured as described above, the operator can move the operation lever 7a3 or the operation lever 19a3 in the right turn operation direction or the left turn operation direction to return to the neutral position in a short time. By repeating the operation twice, the automatic operation of the hydraulic excavator 1 is started or not started depending on whether or not the operation levers 7a3 and 19a3 are operated after the operation state of the hydraulic excavator 1 shifts from the manual operation to the automatic operation mode. can do. In this way, in the transport operation B and the leaching operation D of excavation and loading work of the hydraulic excavator 1, it is possible to easily switch the driving state of the vehicle body only by operating the operation lever 7a3 or the operation lever 19a3 for moving the vehicle body. As a result, the operation state during excavation and loading work can be smoothly shifted from manual operation to automatic operation or from automatic operation to manual operation while reducing the burden on the operator, so that work efficiency can be improved.

  And 1st Embodiment of this invention can reduce an operator's fatigue by the automatic driving | operation by the automatic driving | operation control part 17A, even if it repeats performing a series of operation | movement AD of the excavation loading work of the hydraulic shovel 1. . In addition, when the operator operates the operation levers 19a1 to 19a4 at a place away from the hydraulic excavator 1 to perform the transport operation B and the leaching operation D of the excavation loading work, information necessary for the operator's operation is insufficient. Alternatively, even if transmission delay of video and signals occurs, the work efficiency can be maintained by the automatic operation by the automatic operation control unit 17A, and the work can be progressed stably. As mentioned above, since 1st Embodiment of this invention can implement | achieve the stable operation | movement of the hydraulic shovel 1, productivity of excavation loading work can be improved.

  In the first embodiment of the present invention, the control device 17 determines that a predetermined operation for shifting to the automatic operation mode has been performed by the lever operation determination unit 17B, and further, the excavation operation by manual operation is performed by the excavation end determination unit 17C. After it is determined that A has ended and the dump truck arrival determination unit 17D determines that the dump truck 101 has reached the vicinity of the hydraulic excavator 1, the operation lever 7a3 or the operation lever 19a3 is turned clockwise. Although the description has been given of the case where the manual operation is continued until the operation is performed in the operation direction or the left turn operation direction, the operation lever 7a1 to 7a4 or the other operation using the operation levers 19a1 to 19a4 is not limited thereto. Thus, it may be determined whether or not automatic driving is started.

  For example, the control device 17 determines that the above-described predetermined operation has been performed by the lever operation determination unit 17B, and further determines that the excavation operation A by manual operation has ended by the excavation end determination unit 17C, and the dump truck After the arrival determination unit 17D determines that the dump truck 101 has reached the vicinity of the excavator 1, the operation lever 7a3 or the operation lever 19a3 is turned in the right turn operation direction or the left turn operation direction. When the front work machine 4 is operated around the rotation axis of the body 3 in the direction in which the loading platform 102 of the dump truck 101 is located, that is, in the direction in which the turning distance of the revolving body 3 to the earthing position is closer, the automatic operation is performed. If the operation levers 7a3 and 19a3 are not operated in the direction, the automatic operation may be started and the operation may be shifted to the manual operation.Thereby, since the turning body 3 can prevent turning automatically in the direction opposite to the direction intended by the operator among the right turning direction and the left turning direction, the operator does not feel uncomfortable. A transporting operation B and a reaching operation D can be performed.

  At this time, if there is a loading platform 102 of the dump truck 101 immediately behind the excavator 1, for example, the control lever 7a3 or the operation lever 19a3 is operated in a clockwise direction and a counterclockwise operation direction. If the operation levers 7a3 and 19a3 are not operated in the right turn operation direction and the left turn operation direction, the automatic operation is not started and the manual operation is started. It is good to move to.

[Second Embodiment]
In the first embodiment of the present invention, when it is determined by the lever operation determination unit 17B that the operation for shifting to the automatic operation mode has been performed, the control device 17 operates the operation direction in which the operation lever 7a3 or the operation lever 19a3 turns right. Or the case where manual operation was continued until it was operated in the operation direction of the left turn was demonstrated. In contrast, in the second embodiment of the present invention, the control device 17 determines, for example, that the operation for shifting to the automatic operation mode has been performed by the lever operation determination unit 17B, and after the operation has shifted to the automatic operation mode, If any of the levers 7a1 to 7a4 and 19a1 to 19a4 is operated, the automatic operation is stopped and the automatic operation is shifted to the manual operation. If the operation levers 7a1 to 7a4 and 19a1 to 19a4 are not operated, the automatic operation is performed. I try to continue. The other configurations of the second embodiment are the same as the configurations of the first embodiment described above, and the same or corresponding parts as those of the first embodiment are denoted by the same reference numerals, and redundant description is omitted. doing.

  Hereinafter, in the excavation and loading work of the excavator 1 according to the second embodiment of the present invention, the conveyance operation B in which the automatic operation by the automatic operation control unit 17A is performed after the excavation operation A in which the manual operation is performed is illustrated in FIG. Will be described in detail with reference to FIG. Note that the processing operations of S701 to S704, S708, and S709 are the same as the processing operations of S501 to S504, S507, and S508 shown in FIG. 5 described above, and thus redundant description is omitted.

  As shown in FIG. 7, when the processing operation of S704 is performed, the automatic operation control unit 17A transmits a command signal to the hydraulic control valve 14 so that the swing body 3 can avoid the obstacle while the bucket 4C avoids the obstacle. The turned and excavated earth and sand are automatically conveyed to the loading platform 102 of the dump truck 101 (S705).

  Next, the control device 17 confirms whether or not an operation signal is received from the operation levers 7a1 to 7a4 and 19a1 to 19a4, and determines whether any of the operation levers 7a1 to 7a4 and 19a1 to 19a4 is operated by the operator. Determination is made (S706). At this time, if the control device 17 determines that any of the operation levers 7a1 to 7a4 and 19a1 to 19a4 is operated (S706 / YES), the processing operation of S709 is performed. Thereby, when it becomes necessary to perform work manually during the automatic operation of the transport operation B, the operator can manually operate the hydraulic excavator 1 by operating the operation levers 7a1 to 7a4 or the operation levers 19a1 to 19a4. Therefore, the convenience of the operator in the work can be improved.

  In S706, when the control device 17 determines that there is no operation of the operation levers 7a1 to 7a4 and 19a1 to 19a4 (S706 / NO), the automatic operation control unit 17A continues to transmit a command signal to the hydraulic control valve 14 and automatically The operation is continued (S707), and the processing operation of S708 is performed.

  Next, in the excavation and loading work of the excavator 1 according to the second embodiment of the present invention, the leaching operation D in which the automatic operation by the automatic operation control unit 17A is performed after the earthing operation C in which the manual operation is performed. This will be described in detail with reference to FIG. Note that the processing operations of S801, S802, S806, and S807 are the same as the processing operations of S601, S602, S605, and S606 shown in FIG.

  As shown in FIG. 8, when the processing operation of S802 is performed, the automatic operation control unit 17A receives the recognition result of the environment recognition device 18, recognizes the shape of earth and sand, and detects obstacles around the excavator 1. The target excavation position is set from the recognition and the recognition of the position of the dump truck 101, and the target trajectories of the boom 4A, the arm 4B, and the bucket 4C in the reaching operation D are calculated. The excavation position set by the automatic operation control unit 17A is a recommended excavation position for the excavation operation A performed in the next processing operation, and is set based on the shape of earth and sand, the distance between the excavator 1 and the dump truck 101, and the like. The

  The automatic operation control unit 17A transmits a command signal to the hydraulic control valve 14, thereby turning the swing body 3 while the bucket 4C avoids an obstacle and moving the bucket 4C to the excavation position (S803). In the automatic operation by the automatic operation control unit 17A in S803, information indicating that the automatic operation is being performed is displayed on the display device 7b or the display device 19b. Thus, the operator does not feel uncomfortable and it is not necessary to operate the operation levers 7a1 to 7a4 and 19a1 to 19a4 while the automatic operation is being performed. Therefore, the operation levers 7a1 to 7a4 and 19a1 to 19a4 are operated. The operator's fatigue can be reduced and stable operation of the hydraulic excavator 1 can be realized.

  Next, the control device 17 confirms whether or not an operation signal is received from the operation levers 7a1 to 7a4 and 19a1 to 19a4, and determines whether any of the operation levers 7a1 to 7a4 and 19a1 to 19a4 is operated by the operator. Determination is made (S804). At this time, when the control device 17 determines that any of the operation levers 7a1 to 7a4 and 19a1 to 19a4 is operated (S804 / YES), the processing operation of S807 is performed. Thereby, the effect similar to the conveyance operation B of 2nd Embodiment mentioned above can be acquired.

  In S804, when the control device 17 determines that there is no operation of the operation levers 7a1 to 7a4 and 19a1 to 19a4 (S804 / NO), the automatic operation control unit 17A continues to transmit a command signal to the hydraulic control valve 14 and automatically The operation is continued (S805), and the processing operation of S806 is performed. Also in the second embodiment of the present invention configured as described above, the same effects as those of the first embodiment described above can be obtained.

[Third Embodiment]
The third embodiment of the present invention differs from the above-described first embodiment in that the first embodiment is a series of operations A to D of excavation and loading work of the hydraulic excavator 1 as shown in FIGS. While the automatic operation was performed for the transporting operation B and the reaching operation D among them, the third embodiment is a series of operations A to D of excavation and loading work of the hydraulic excavator 1 as shown in FIG. Among them, automatic operation is performed for the transporting operation B, the earthing operation C, and the reaching operation D. The other configurations of the third embodiment are the same as the configurations of the first embodiment described above, and the same or corresponding parts as those of the first embodiment are denoted by the same reference numerals, and redundant description is omitted. doing.

  Next, in the excavation and loading work of the excavator 1 according to the third embodiment of the present invention, the transport operation B in which the automatic operation is performed by the automatic operation control unit 17A after the excavation operation A in which the manual operation is performed, and earthing The operation C and the reaching operation D will be described in detail with reference to FIG.

  As shown in FIG. 9, first, the control device 17 determines whether or not it is the first transport operation B, earth release operation C, and leaching operation D in which the automatic operation by the automatic operation control unit 17A is performed (S901). Here, the first time is to load the earth and sand on the loading platform 102 of the (empty) dump truck 101 where nothing is loaded. The control device 17 resets the number of loadings to the loading platform 102 and sets it for the first time each time the dump truck 101 is replaced with an (empty) dump truck 101 in which nothing is loaded on the loading platform 102.

  In S901, when the control device 17 determines that the first transport operation B, the earthing operation C, and the leaching operation D in which the automatic operation is performed by the automatic operation control unit 17A (S901 / YES), the lever operation determination unit 17B Then, it is determined whether or not an operation for shifting to the automatic operation mode has been performed by the operation lever 7a3 of the cab 7 or the operation lever 19a3 of the remote operation device 19 (S902). At this time, the operator does not perform the operation of moving the operation levers 7a3 and 19a3 in the right turn operation direction and the left turn operation direction to return to the neutral position, and the lever operation determination unit 17B performs the operation of shifting to the automatic operation mode. If it is determined that it has not been performed (S902 / NO), the manual operation state is maintained without shifting to the automatic operation mode, and the processing operation from S901 is repeated.

  In S901, the control device 17 determines that it is not the first transport operation B, earthing operation C, and leaching operation D in which automatic operation is performed by the automatic operation control unit 17A (S901 / NO), or in S902, the operator The lever operation determination unit 17B shifts to the automatic operation mode by repeating the operation of moving the operation lever 7a3 or the operation lever 19a3 in the right turn operation direction or the left turn operation direction to return to the neutral position twice in a short time. When it is determined that the operation to be performed has been performed (S902 / YES), the excavation end determination unit 17C determines whether the excavation operation A by manual operation has ended (S903). At this time, when the reaction force from the ground is a predetermined value or more, or when the opening surface 4C1 of the bucket 4C is greatly inclined from the horizontal plane, the excavation end determination unit 17C determines that the excavation operation A has not ended. However, the manual operation state is maintained without shifting to the automatic operation mode (S903 / NO), and the processing operation from S901 is repeated.

  As described above, even if the operator performs an operation to shift to the automatic operation mode using the operation lever 7a3 or the operation lever 19a3 in S902, the manual operation is continued until the excavation end determination unit 17C determines that the excavation operation A is completed. Since the excavator 1 is not automatically operated during the excavation operation A, the operator can proceed with the work while judging the work status. It is possible to proceed to the processing operation of S903.

  In S903, when the reaction force from the ground becomes less than a predetermined value and the opening surface 4C1 of the bucket 4C becomes horizontal or near horizontal, the excavation end determination unit 17C determines that the excavation operation A has ended ( (S903 / YES), the dump truck arrival determination unit 17D determines whether or not the dump truck 101 has reached the vicinity of the excavator 1 (S904). At this time, if the distance between the hydraulic excavator 1 and the dump truck 101 is equal to or greater than a predetermined distance, the dump truck arrival determination unit 17D determines that the dump truck 101 has not reached the vicinity of the hydraulic excavator 1 (S904 / NO). ), The manual operation state is maintained without shifting to the automatic operation mode, and the processing operation from S901 is repeated.

  Therefore, only when the dump truck 101 is stopped near the excavator 1, it is possible to move to the transporting operation B, so that the excavated material can be appropriately discharged to the target discharging position. When the dump truck arrival determination unit 17D determines that the dump truck 101 has not reached the vicinity of the excavator 1, information indicating that the dump truck 101 has not stopped is displayed on the display device 7b or the display device 19b. Is displayed.

  In S904, when the distance between the excavator 1 and the dump truck 101 is less than the predetermined distance and the dump truck arrival determination unit 17D determines that the dump truck 101 has reached the vicinity of the hydraulic excavator 1 (S904 / YES) The control device 17 shifts the operation state of the hydraulic excavator 1 from the manual operation to the automatic operation mode (S905). And the control apparatus 17 confirms the presence or absence of reception of the operation signal from the operation levers 7a1 to 7a4, 19a1 to 19a4, and the operation direction of the right turn or the left turn of the operation lever 7a3 or the operation lever 19a3 by the operator. It is determined whether or not there is an operation on (S906). At this time, for example, if the control device 17 does not operate the operation levers 7a3 and 19a3 in the right turn operation direction and the left turn operation direction within a predetermined time after shifting to the automatic operation mode in S905. If it determines (S906 / NO), it will transfer to manual operation, without starting automatic driving | operation (S909), and the processing operation from S901 will be repeated.

  In S906, when the control device 17 determines that there is an operation in the right turn operation direction or the left turn operation direction of the operation lever 7a3 or the operation lever 19a3 (S906 / YES), the automatic operation control unit 17A The recognition result of the recognition device 18 is received, the shape of the earth and sand is recognized, the obstacle around the excavator 1 is recognized, the position of the dump truck 101 is recognized, and the discharge position of the dump truck 101 on the loading platform 102 is recognized. The target earthing position and excavation position, and the target trajectories of the boom 4A, the arm 4B, and the bucket 4C in the transporting operation B and the reaching operation D are calculated.

  The automatic operation control unit 17A allows the operator's operation levers 7a3, 7a4 or the operator's operation levers 7a3, 7a4 or The command signal corresponding to the operation signal of the operation levers 19a3 and 19a4 is corrected. Then, the automatic operation control unit 17A transmits the corrected command signal to the hydraulic control valve 14 to start the automatic operation, and supports the operator's operation of the operation levers 7a3, 7a4 or the operation levers 19a3, 19a4 while the swing body 3 , The excavated earth and sand are transported to the loading platform 102 of the dump truck 101, and then the bucket 4C drops the earth and sand at the target discharging position, and the rotating body 3 is rotated again to move the bucket 4C to the excavating position. (S907). Thereby, the effect similar to the conveyance operation B of 1st Embodiment mentioned above can be acquired.

  Next, the control device 17 receives the recognition result of the environment recognition device 18, and determines whether or not the bucket 4C has reached the target excavation position (S908). At this time, if the control device 17 determines that the bucket 4C has not reached the target excavation position (S908 / NO), the processing operation from S906 is repeated. In S908, when the control device 17 determines that the bucket 4C has reached the target excavation position (S908 / YES), it stops the automatic operation and shifts to the manual operation (S909), and the processing operation from S901 is repeated. It is.

  According to the third embodiment of the present invention configured as described above, the same effect as that of the first embodiment described above can be obtained, and the earth and sand can be put on the loading platform 102 of the (empty) dump truck 101 on which nothing is loaded. Is loaded, it is necessary to determine whether or not there is an operation for shifting to the automatic operation mode by the operation lever determination unit 17B. In the second and subsequent processing operations in which the earthing operation C is performed once, the loading platform 102 is It is only necessary to perform the processing operation of S903 without determining the operation to shift to the automatic operation mode by the operation lever determination unit 17B until the soil is filled with earth and sand. Thereby, since the operation state during excavation and loading work can be more smoothly shifted from manual operation to automatic operation or from automatic operation to manual operation, the productivity of excavation and loading work can be sufficiently increased.

[Fourth Embodiment]
In the third embodiment of the present invention, the control device 17 determines that the operation of shifting to the automatic operation mode is performed by the lever operation determination unit 17B, and then the operation direction of the operation lever 7a3 or the operation lever 19a3 turning right. Or the case where manual operation was continued until it was operated in the operation direction of the left turn was demonstrated. On the other hand, in the fourth embodiment of the present invention, the control device 17 determines that the operation for shifting to the automatic operation mode is performed by the lever operation determination unit 17B, for example, and then moves to the automatic operation mode. When any of the levers 7a1 to 7a4 and 19a1 to 19a4 is operated, the automatic operation is stopped and the automatic operation mode is shifted to the manual operation. If the operation levers 7a1 to 7a4 and 19a1 to 19a4 are not operated, the automatic operation is performed. To continue. The configuration of the other fourth embodiment is the same as the configuration of the third embodiment described above, and the same or corresponding parts as those of the third embodiment are denoted by the same reference numerals, and redundant description is omitted. doing.

  Hereinafter, among the excavation and loading work of the excavator 1 according to the fourth embodiment of the present invention, the transportation operation B and the earthing operation in which the automatic operation control unit 17A performs the automatic operation after the excavation operation A in which the manual operation is performed. C and the reaching operation D will be described in detail with reference to FIG. Note that the processing operations of S1001 to S1005, S1009, and S1010 are the same as the processing operations of S901 to S905, S908, and S909 shown in FIG. 9 described above, and thus redundant description is omitted.

  As shown in FIG. 10, when the processing operation of S1005 is performed, the automatic operation control unit 17A transmits a command signal to the hydraulic control valve 14 so that the swing body 3 can avoid the obstacle while the bucket 4C avoids the obstacle. After turning automatically and carrying the excavated earth and sand automatically to the loading platform 102 of the dump truck 101, the earth and sand are automatically dropped at the target earthing position of the bucket 4C, and the revolving body 3 automatically turns again and the bucket 4C Is moved to the excavation position (S1006).

  Next, the control device 17 confirms whether or not an operation signal is received from the operation levers 7a1 to 7a4 and 19a1 to 19a4, and determines whether any of the operation levers 7a1 to 7a4 and 19a1 to 19a4 is operated by the operator. Determination is made (S1007). At this time, if the control device 17 determines that any of the operation levers 7a1 to 7a4 and 19a1 to 19a4 is operated (S1007 / YES), the processing operation of S1010 is performed. Thereby, the effect similar to the conveyance operation B of 2nd Embodiment mentioned above can be acquired.

  In S1007, when the control device 17 determines that there is no operation of the operation levers 7a1 to 7a4 and 19a1 to 19a4 (S1007 / NO), the automatic operation control unit 17A continues to transmit a command signal to the hydraulic control valve 14 and automatically The operation is continued (S1008), and the processing operation of S1009 is performed. Also in the fourth embodiment of the present invention configured as described above, the same operational effects as those of the third embodiment described above can be obtained.

[Fifth Embodiment]
The fifth embodiment of the present invention differs from the first embodiment described above in that the first embodiment is a series of operations A to D of excavation and loading work of the excavator 1 as shown in FIGS. In contrast to the automatic operation performed by the automatic operation control unit 17A for the transport operation B and the leaching operation D, the fifth embodiment performs excavation and loading work of the excavator 1 as shown in FIG. The automatic operation control unit 17A performs automatic operation on the excavation operation A in the series of operations A to D.

  In this case, as a predetermined operation for shifting to the automatic operation mode, the operation lever determination unit 17B moves, for example, the operation lever 7a4 in the bucket excavation operation direction (left direction) to return to the neutral position. When a detection signal corresponding to a repetitive operation such as repeating twice in time is received from the operation lever state detector 7c of the cab 7, it is determined that an operation for shifting to the automatic operation mode has been performed. The lever operation determination unit 17B is not limited to this case. For example, when there is no operation of the other operation lever 7a3 and the operation lever 7a4 is operated in the bucket excavation operation direction, the lever operation determination unit 17B enters the automatic operation mode. You may determine with operation to transfer.

  Further, for example, an automatic button (not shown) is provided on the operation lever 7a4, and the lever operation determination unit 17B is automatically operated by operating the operation lever 7a4 in the operation direction of bucket excavation while pressing the automatic button. When the detection signal corresponding to the operation of the operation lever 7a4 is received from the operation lever state detection unit 7c of the cab 7 at the same time when the operation signal of the button is received, it may be determined that the operation is shifted to the automatic operation mode. These determinations also apply to the operation of the operation levers 19a1 to 19a4 of the remote control device 19. As described above, the predetermined operation for shifting to the automatic operation mode is preferably an operation of the operation levers 7a3 and 7a4 that is not performed in the normal operation, but other than the above using the operation levers 7a1 to 7a4. It may be an operation. The other configurations of the fifth embodiment are the same as the configurations of the first embodiment described above, and the same or corresponding parts as those of the first embodiment are denoted by the same reference numerals, and redundant description is omitted. doing.

  Next, in the excavation loading work of the hydraulic excavator 1 according to the fifth embodiment of the present invention, the excavation operation A in which the automatic operation control unit 17A performs automatic operation after the leaching operation D in which manual operation is performed is illustrated in FIG. 11 will be described in detail.

  As shown in FIG. 11, first, the lever operation determination unit 17B determines whether an operation for shifting to the automatic operation mode has been performed by the operation lever 7a4 of the cab 7 or the operation lever 19a4 of the remote operation device 19 (S1101). ). At this time, when the operator does not perform the operation of moving the operation levers 7a4 and 19a4 in the bucket excavation operation direction to return to the neutral position, and the lever operation determination unit 17B determines that the operation to shift to the automatic operation mode is not performed. (S1101 / NO), the manual operation state is maintained without shifting to the automatic operation mode, and the processing operation of S1101 is repeated.

  In S1101, when the operator repeats the operation of moving the operation lever 7a4 or the operation lever 19a4 in the bucket excavation operation direction to return to the neutral position twice in a short time, the lever operation determination unit 17B causes the operation to shift to the automatic operation mode. If it is determined that the excavation operation has been performed (S1101 / YES), the control device 17 receives the recognition result of the environment recognition device 18 and determines whether or not to permit the start of the excavation operation A based on the recognition of the shape of the earth and sand. Whether or not it is all right is determined (S1102). At this time, if the control device 17 does not permit the start of the excavation operation A, that is, if it is determined that excavation is not okay (1102 / NO), the control device 17 maintains the manual operation state without shifting to the automatic operation mode, and in S1101 The processing operation is repeated.

  In S1102, if the control device 17 permits the start of the excavation operation A, that is, if it is determined that the excavation is safe (S1102 / YES), the control device 17 automatically changes the operating state of the excavator 1 from manual operation. The operation mode is changed (S1103). And the control apparatus 17 confirms the presence or absence of reception of the operation signal from the operation levers 7a1 to 7a4, 19a1 to 19a4, and whether or not there is an operation of the operation lever 7a4 or the operation lever 19a4 in the operation direction of bucket excavation by the operator. Is determined (S1104). At this time, for example, when the control device 17 determines that there is no operation in the operation direction of bucket excavation of the operation levers 7a4 and 19a4 within a predetermined time after the shift to the automatic operation mode in S1103 (S1104). / NO), the operation is shifted to the manual operation without starting the automatic operation (S1107), and the processing operation from S1101 is repeated.

  In S1104, when the control device 17 determines that there is an operation in the operation direction of the bucket excavation of the operation lever 7a4 or the operation lever 19a4 (S1104 / YES), the automatic operation control unit 17A displays the recognition result of the environment recognition device 18 as a result. The target excavation position and the target trajectories of the boom 4A, the arm 4B, and the bucket 4C in the excavation operation A are calculated from the recognition of the shape of the earth and sand. The automatic operation control unit 17A controls the operation levers 7a3 and 7a4 of the operator or the operation lever 19a3 so that the movement of the front work machine 4 matches the target excavation position and the target trajectories of the boom 4A, arm 4B, and bucket 4C. The command signal corresponding to the operation signal 19a4 is corrected.

  Then, the automatic operation control unit 17A transmits the corrected command signal to the hydraulic control valve 14 and starts automatic operation, thereby supporting the operation of the operation levers 7a3, 7a4 or the operation levers 19a3, 19a4 by the operator. Is excavated with the bucket 4C (S1105). Thereby, the effect similar to the conveyance operation B of 1st Embodiment mentioned above can be acquired.

  Next, the excavation end determination unit 17C determines whether the excavation operation A has ended (S1106). At this time, if the excavation end determination unit 17C determines that the excavation operation A has not ended (S1106 / NO), the processing operation from S1104 is repeated. In S1106, when the excavation end determination unit 17C determines that the excavation operation A has ended (S1106 / YES), the automatic operation is stopped and the operation shifts to the manual operation (S1107), and the processing operation from S1101 is repeated. Also in the fifth embodiment of the present invention configured as described above, the same operational effects as those of the first embodiment described above can be obtained.

[Sixth Embodiment]
In the fifth embodiment of the present invention, the control device 17 determines that the operation to shift to the automatic operation mode has been performed by the lever operation determination unit 17B, and then the operation lever 7a4 or the operation lever 19a4 moves in the bucket excavation operation direction. The case where the manual operation is continued until it is operated has been described. On the other hand, in the sixth embodiment of the present invention, the control device 17 determines that the operation for shifting to the automatic operation mode is performed by the lever operation determination unit 17B, for example, and then moves to the automatic operation mode. If any of the levers 7a3, 7a4, 19a3, 19a4 is operated, the automatic operation is stopped and the automatic operation mode is shifted to the manual operation. If the operation levers 7a3, 7a4, 19a3, 19a4 are not operated, the automatic operation is performed. To continue. The other configurations of the sixth embodiment are the same as the configurations of the fifth embodiment described above, and the same or corresponding parts as those of the configuration of the fifth embodiment are denoted by the same reference numerals and redundant description is omitted. doing.

  Hereinafter, among excavation and loading operations of the excavator 1 according to the sixth embodiment of the present invention, the excavation operation A in which the automatic operation by the automatic operation control unit 17A is performed after the leaching operation D in which the manual operation is performed is illustrated in FIG. Will be described in detail with reference to FIG. Note that the processing operations of S1201 to S1203, S1207, and S1208 are the same as the processing operations of S1101 to S1103, S1106, and S1107 shown in FIG. 11 described above, and thus redundant description is omitted.

  As shown in FIG. 12, when the processing operation of S1203 is performed, the automatic operation control unit 17A transmits a command signal to the hydraulic control valve 14, whereby the boom 4A, the arm 4B, and the bucket 4C are moved to the target trajectory. The earth and sand are automatically excavated by the bucket 4C (S1204).

  Next, the control device 17 confirms whether or not an operation signal is received from the operation levers 7a1 to 7a4 and 19a1 to 19a4, and determines whether any of the operation levers 7a1 to 7a4 and 19a1 to 19a4 is operated by the operator. Determination is made (S1205). At this time, if the control device 17 determines that any of the operation levers 7a1 to 7a4 and 19a1 to 19a4 is operated (S1205 / YES), the processing operation of S1208 is performed. Thereby, the effect similar to the conveyance operation B of 2nd Embodiment mentioned above can be acquired.

  In S1205, when the control device 17 determines that there is no operation of the operation levers 7a1 to 7a4 and 19a1 to 19a4 (S1205 / NO), the automatic operation control unit 17A continues to transmit a command signal to the hydraulic control valve 14 and automatically The operation is continued (S1206), and the processing operation of S1207 is performed. Also in the sixth embodiment of the present invention configured as described above, the same operational effects as those of the fifth embodiment described above can be obtained.

[Seventh Embodiment]
The seventh embodiment of the present invention differs from the first embodiment described above in that the first embodiment is a series of operations A to D of excavation and loading work of the excavator 1 as shown in FIGS. In contrast to the automatic operation by the automatic operation control unit 17A for the transport operation B and the leaching operation D, the seventh embodiment performs excavation and loading work of the excavator 1 as shown in FIG. The automatic operation is performed by the automatic operation control unit 17A for the earth releasing operation C in the series of operations A to D.

  In this case, as a predetermined operation for shifting to the automatic operation mode, the operation lever determination unit 17B moves, for example, the operation lever 7a4 in the operation direction (right direction) for opening the bucket to return to the neutral position. When a detection signal corresponding to a repetitive operation such as repeating twice in time is received from the operation lever state detector 7c of the cab 7, it is determined that an operation for shifting to the automatic operation mode has been performed. The lever operation determination unit 17B is not limited to this case. For example, when there is no operation of the other operation lever 7a3 and the operation lever 7a4 is operated in the operation direction of opening the bucket, the lever operation determination unit 17B enters the automatic operation mode. You may determine with operation to transfer.

  Further, for example, an automatic button (not shown) is provided on the operation lever 7a4, and the lever operation determination unit 17B is automatically operated by operating the operation lever 7a4 in the operation direction for opening the bucket while the operator presses the automatic button. At the same time when the operation signal of the button is received, when the detection signal corresponding to the operation of the operation lever 7a4 is received from the operation lever state detection unit 7c of the operation lever 7a4, it may be determined that the operation is shifted to the automatic operation mode. These determinations also apply to the operation of the operation levers 19a1 to 19a4 of the remote control device 19. As described above, the predetermined operation for shifting to the automatic operation mode is preferably an operation of the operation levers 7a3 and 7a4 that is not performed in the normal operation, but other than the above using the operation levers 7a1 to 7a4. It may be an operation. The other configurations of the seventh embodiment are the same as the configurations of the first embodiment described above, and the same or corresponding parts as those of the first embodiment are denoted by the same reference numerals, and redundant description is omitted. doing.

  Next, in the excavation and loading work of the excavator 1 according to the seventh embodiment of the present invention, the earthing operation C in which the automatic operation by the automatic operation control unit 17A is performed after the transport operation B in which the manual operation is performed. This will be described in detail with reference to FIG.

  As shown in FIG. 13, first, the lever operation determination unit 17B determines whether an operation for shifting to the automatic operation mode has been performed by the operation lever 7a4 of the cab 7 or the operation lever 19a4 of the remote operation device 19 (S1301). ). At this time, if the operator does not perform the operation of moving the operation levers 7a4 and 19a4 in the bucket opening operation direction to return to the neutral position, the lever operation determination unit 17B determines that the operation to shift to the automatic operation mode is not performed. (S1301 / NO), the state of manual operation is maintained without shifting to the automatic operation mode, and the processing operation of S1301 is repeated.

  In S1301, when the operator repeats the operation of moving the operation lever 7a4 or the operation lever 19a4 in the operation direction for opening the bucket to return to the neutral position twice in a short time, the lever operation determination unit 17B performs an operation for shifting to the automatic operation mode. If it is determined that the operation has been performed (S1301 / YES), the control device 17 receives the recognition result of the environment recognition device 18 and permits the start of the earth release operation C based on the recognition of the position of the loading platform 102 of the dump truck 101. It is determined whether or not it is okay to release the earth (S1302). At this time, if the control device 17 does not allow the start of the earthing operation C, that is, it is determined that the earthing is not okay (1302 / NO), the control device 17 maintains the manual operation state without shifting to the automatic operation mode, The processing operation from S1301 is repeated.

  In S1302, when the control device 17 permits the start of the earthing operation C, that is, it is determined that the earthing is safe (S1302 / YES), the control device 17 sets the operation state of the excavator 1 manually. To the automatic operation mode (S1303). Then, the control device 17 confirms whether or not an operation signal is received from the operation levers 7a1 to 7a4 and 19a1 to 19a4, and whether or not there is an operation by the operator in the operation direction of opening the bucket of the operation lever 7a4 or the operation lever 19a4. Is determined (S1304). At this time, for example, the control device 17 determines that there is no operation in the operation direction of opening the bucket of the operation levers 7a4 and 19a4 within a predetermined time after the shift to the automatic operation mode in S1303 (S1304). / NO), it shifts to manual operation without starting automatic operation (S1307), and the processing operation from S1301 is repeated.

  In S1304, when the control device 17 determines that there is an operation in the operation direction for opening the bucket of the operation lever 7a4 or the operation lever 19a4 (S1304 / YES), the automatic operation control unit 17A displays the recognition result of the environment recognition device 18 as a result. It receives and calculates the target earthing position from the recognition of the position of the loading platform 102 of the dump truck 101 and the target trajectory of the boom 4A, arm 4B, and bucket 4C in the earthing operation C. The automatic operation control unit 17A allows the operator's operation levers 7a3 and 7a4 or the operation lever 19a3 so that the movement of the front work machine 4 matches the target earthing position and the target trajectory of the boom 4A, arm 4B, and bucket 4C. , 19a4, the command signal corresponding to the operation signal is corrected.

  Then, the automatic operation control unit 17A transmits the corrected command signal to the hydraulic control valve 14 and starts automatic operation, thereby supporting the operation of the operation levers 7a3, 7a4 or the operation levers 19a3, 19a4 by the operator. Is dropped from the bucket 4C to the loading platform 102 of the dump truck 101 (S1305). Thereby, the effect similar to the conveyance operation B of 1st Embodiment mentioned above can be acquired.

  Next, the control device 17 receives the recognition result of the environment recognition device 18, and determines whether or not the earth releasing operation C is completed from the recognition of the loading state of the loading platform 102 of the dump truck 101 (S1306). At this time, if the controller 17 determines that the earthing operation C has not ended (S1306 / NO), the processing operation from S1304 is repeated. If the controller 17 determines in S1306 that the earth releasing operation C has ended (S1306 / YES), it stops the automatic operation and shifts to manual operation (S1307), and the processing operation from S1301 is repeated. Also in the seventh embodiment of the present invention configured as described above, the same operational effects as those of the first embodiment described above can be obtained.

[Eighth Embodiment]
In the seventh embodiment of the present invention, the control device 17 determines that the operation to shift to the automatic operation mode has been performed by the lever operation determination unit 17B, and then the operation lever 7a4 or the operation lever 19a4 moves in the operation direction of opening the bucket. The case where the manual operation is continued until it is operated has been described. On the other hand, in the eighth embodiment of the present invention, the control device 17 determines that the operation for shifting to the automatic operation mode has been performed by the lever operation determination unit 17B, for example, and then moves to the automatic operation mode. When any of the levers 7a1 to 7a4 and 19a1 to 19a4 is operated, the automatic operation is stopped and the automatic operation mode is shifted to the manual operation. If the operation levers 7a1 to 7a4 and 19a1 to 19a4 are not operated, the automatic operation is performed. To continue. The other configuration of the eighth embodiment is the same as the configuration of the seventh embodiment described above, and the same or corresponding parts as those of the seventh embodiment are denoted by the same reference numerals, and redundant description is omitted. doing.

  Hereinafter, regarding excavation and loading work of the hydraulic excavator 1 according to the eighth embodiment of the present invention, regarding the earth release operation C in which the automatic operation by the automatic operation control unit 17A is performed after the transport operation B in which the manual operation is performed. 14 will be described in detail. Note that the processing operations of S1401 to S1403, S1407, and S1408 are the same as the processing operations of S1301 to S1303, S1306, and S1307 shown in FIG. 13 described above, and thus redundant description is omitted.

  As illustrated in FIG. 14, when the processing operation of S1403 is performed, the automatic operation control unit 17A of the control device 17 transmits a command signal to the hydraulic control valve 14, thereby causing the boom 4A, the arm 4B, and the bucket. 4C operates along the target trajectory, and the earth and sand are automatically dropped from the bucket 4C onto the loading platform 102 of the dump truck 101 (S1404).

  Next, the control device 17 confirms whether or not an operation signal is received from the operation levers 7a1 to 7a4 and 19a1 to 19a4, and determines whether any of the operation levers 7a1 to 7a4 and 19a1 to 19a4 is operated by the operator. Determination is made (S1405). At this time, if the control device 17 determines that any of the operation levers 7a1 to 7a4 and 19a1 to 19a4 is operated (S1405 / YES), the processing operation of S1408 is performed. Thereby, the effect similar to the conveyance operation B of 2nd Embodiment mentioned above can be acquired.

  In S1405, when the control device 17 determines that there is no operation of the operation levers 7a1 to 7a4 and 19a1 to 19a4 (S1405 / NO), the automatic operation control unit 17A continues to transmit a command signal to the hydraulic control valve 14 and automatically The operation is continued (S1406), and the processing operation of S1407 is performed. Also in the eighth embodiment of the present invention configured as described above, it is possible to obtain the same operational effects as those of the seventh embodiment described above.

  In addition, this embodiment mentioned above was described in detail in order to demonstrate this invention easily, and is not necessarily limited to what is provided with all the demonstrated structures. Further, a part of the configuration of an embodiment can be replaced with the configuration of another embodiment, and the configuration of another embodiment can be added to the configuration of an embodiment.

  Further, in the first to eighth embodiments of the present invention, the excavator 1 explained the case where the excavator 1 dropped earth and sand on the loading platform 102 of the dump truck 101 as a discharge object in the excavation and loading work. Instead, for example, earth and sand may be dropped to a place other than the loading platform 102 of the dump truck 101 such as a predetermined earth and sand loading place as a target for earth release.

1 Excavator (construction machine)
DESCRIPTION OF SYMBOLS 3 Revolving body 3a Turning hydraulic motor 4 Front work machine (working device)
4A Boom 4a Boom cylinder 4B Arm 4b Arm cylinder 4C Bucket 4C1 Open surface 4c Bucket cylinder 7 Operation room 7a1-7a4 Operation lever 7c Operation lever state detection unit 11 Engine 14 Hydraulic control valve 15 Hydraulic pump 17 Controller 17A Automatic operation control unit 17B Lever operation determination unit (operation transition determination unit)
17C Excavation completion determination unit 17D Dump truck arrival determination unit (excavation determination unit)
18 Environment recognition device 19 Remote operation device 19a1 to 19a4 Operation lever 19c Operation lever state detection unit

Claims (5)

In a construction machine equipped with an operation device that instructs the operation of the vehicle body,
A control device that receives an operation signal from the operation device and controls the operation of the vehicle body;
This controller is
An operation transition determination unit that determines whether or not a predetermined operation for shifting from manual operation to automatic operation has been performed by the operation device;
A construction machine comprising: an automatic operation control unit that starts control for executing the automatic operation of the vehicle body on the condition that the predetermined operation is determined by the operation transition determination unit. The construction machine according to claim 1,
The vehicle body includes a working device that performs excavation operation,
The controller is
An excavation end determination unit for determining whether or not the excavation operation by the working device is completed;
A soil release determining unit that determines whether the earth and sand excavated by the working device is in a state where it can be released,
Even if it is determined that the predetermined operation has been performed by the operation transition determination unit, when the excavation end determination unit determines that the excavation operation by manual operation has not been completed, or by the earth release determination unit A construction machine characterized in that, when it is determined that it is not possible to unload, the manual operation is continued regardless of the operation of the operation device. In the construction machine according to claim 1 or 2,
The control device continues the manual operation until the operation device is operated after the operation transition determination unit determines that the predetermined operation has been performed. In the construction machine according to claim 1 or 2,
The control device determines that the predetermined operation has been performed by the operation transition determination unit, and after the transition to the automatic operation, when the operation device is operated, the automatic operation is stopped and the automatic operation is stopped. The construction machine moves to the manual operation and continues the automatic operation if the operation device is not operated. The construction machine according to claim 2,
The operating device is:
An operating lever for manual operation,
An operation lever state detection unit that outputs a signal corresponding to the operation state of the operation lever;
The construction machine is characterized in that the predetermined operation is an operation in which an operation of moving the operation lever in a specific direction to return to a neutral position is repeated a plurality of times within a preset time.