JP4034898B2 - Self-driving construction machinery - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to an automatic driving construction machine such as an automatic driving excavator, and in particular, an automatic driving construction having a function of causing an automatic driving construction machine to automatically perform an action when an abnormality of the automatic driving construction machine is detected. Related to machinery.
[0002]
[Prior art]
Conventionally, a hydraulic excavator has been known as a representative example of construction machinery, but in recent years, when performing a series of monotonous repetitive operations from excavation to earthmoving with a hydraulic excavator, the operation should be performed by an automatic operation excavator. Is considered. For example, Japanese Patent Application Laid-Open No. 9-195321 discloses a technique for regenerating and repeatedly performing an operation taught to a hydraulic excavator so that the hydraulic excavator automatically performs a series of operations from excavation to earth release. . In this known technology, when performing crushed stone work using a hydraulic excavator, a bulldozer, a hydraulic excavator, and a crushed stone crusher are arranged in series, and the soil collected by the bulldozer is loaded by the hydraulic excavator and swirled to be used for crushed stone. Raise the bucket dump, arm dump, and boom on the hopper of the crusher to release it, crush the released earth and sand with the crusher crusher to obtain the crushed stone, turn it again and load the earth and sand repeatedly Yes.
[0003]
[Problems to be solved by the invention]
By the way, normally, a hydraulic excavator is equipped with several sensors, and constantly monitors for abnormalities in the hydraulic excavator body.For example, when the amount of hydraulic oil or engine oil is monitored, A warning lamp or alarm buzzer on a monitor panel installed in the cab of the excavator is used to warn the operator in the cab of the abnormal state of the excavator. When the operator recognizes an abnormality on the monitor panel, the operator quickly moves the hydraulic excavator to a safe state to remove the abnormality. For example, when there is an abnormality in the hydraulic oil level, the operator moves the hydraulic excavator to a safe posture, stops the engine, and adds hydraulic oil until an appropriate amount is reached.
[0004]
However, in the automatic driving excavator, the operator is automatically driven without entering the cab except when performing the confirming operation for confirming the teaching operation and the teaching point, so that the alarm state is displayed on the monitor panel. The work may continue without being detected. For example, if the automatic operation excavator is operated as it is in the state where hydraulic oil is leaking, it will not only affect the excavator hydraulic system, but will also cause great damage to the environment by spreading the oil around. There is a risk of giving.
[0005]
Also, when an abnormality occurs, the automatic driving excavator may stop in an unstable posture during automatic driving and wait for the operator to get on the excavator and take some action. You have to board with the excavator in an unstable posture, which is dangerous. For this reason, when an abnormality occurs in the excavator, it is necessary to wait in a stable posture such as a posture in which the bucket is grounded. But is there.
[0006]
Also, if an abnormality occurs, if the engine of the automatic excavator is suddenly stopped from the operating state, the engine is burdened, and conversely, if the engine is left in the working state, fuel is consumed wastefully. . Therefore, when an abnormality occurs in the excavator, it is desired to wait in a state where the engine rotation is idle.
[0007]
However, in reality, depending on the abnormal state, it may not be possible to take a stable posture or to wait the engine in an idle state.
[0008]
In view of these various problems, an object of the present invention is to automatically perform an optimal response operation according to an abnormal state when an abnormality is detected in a construction machine main body of an automatic operation construction machine. It is to provide an autonomous driving construction machine.
[0009]
[Means for Solving the Problems]
The present invention employs the following means in order to solve the above problems.
[0010]
Construction machinery Body And this construction machine Body The construction machine detects the abnormal state Body Alarm means to display on the monitor panel provided in the From excavation to earthmoving The construction machine is operated by regenerating a series of operations. Body To repeat Perform automatic operation In an automatic operation construction machine comprising automatic operation control means,
Said During automatic operation In Before receiving the alarm signal input to the monitor panel Self Stop running, afterwards, The construction machine is in a standby posture with the bucket grounded to the ground. Body In Automatically An abnormal time response processing means is provided.
[0015]
Claims 1 In the automatic operation construction machine according to claim 1, the engine speed is set to an idle state after the standby posture is taken.
[0027]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, an embodiment of the present invention will be described with reference to FIGS.
[0028]
FIG. 2 is a side view showing an example of an automatic driving excavator used as an example of an automatic driving construction machine according to the present embodiment and an operation mode thereof.
[0029]
In the figure, 1 is an automatic driving excavator body that excavates debris stored in a stock yard and releases it to a crasher 3 which will be described later, and 2 stores earth and sand transported by a dump truck not shown. A stockyard, 3 is a crusher for crushing debris released by the automatic excavator body 1, 4 is a wheel loader for loading the crushed crushed stone into a transport dump truck (not shown), 5 is a regeneration of the automatic excavator body 1 This is an operation box installed at any place suitable for operation.
[0030]
The automatic driving excavator body 1 includes a traveling body 10, a revolving body 11 that is turnably provided on the traveling body 10, a boom 12 that is turnably provided on the revolving body 11, and a pivot that rotates to the tip of the boom 12. An arm 13 that can be provided, a bucket 14 that is provided rotatably at the tip of the arm 13, and cylinders 15, 16, and 17 for rotating the boom 12, the arm 13, and the bucket 14, respectively. An engine 80 which is the power of the automatic driving excavator body 1, a main body control unit 82 for controlling functions other than the automatic driving of the automatic driving shovel main body 1, an automatic driving controller 6 for performing various controls for performing automatic driving, Signals are transmitted and received between the teaching operation unit 9 that performs the teaching operation, the electromagnetic control valve 81 that controls the amount of oil that the automatic operation controller 6 sends to each cylinder, and the operation box 5. Cormorant and a radio 61..
[0031]
Further, the automatic driving excavator body 1 includes an angle sensor 111 that detects a turning angle of the swing body 11, an angle sensor 112 that detects a rotation angle between the swing body 11 and the boom 12, and a rotation of the boom 12 and the arm 13. An angle sensor 113 for detecting the angle and an angle sensor 114 for detecting the rotation angle of the arm 13 and the bucket 14 are provided.
[0032]
The crasher 3 includes a traveling body 30, a hopper 31, and a conveyor 32, and 33 indicates debris crushed by the crasher 3.
[0033]
The operation box 5 includes an emergency stop button 52, a regeneration operation unit 53 for performing a regeneration operation, an engine operation unit 54 for operating the engine speed of the automatic driving shovel body 1, and the automatic driving shovel body 1. And a wireless device 51 that transmits and receives signals to and from the wireless device 61.
[0034]
FIG. 1 is a block diagram showing an outline of the configuration of the in-vehicle device 7 and the operation box 5 mounted on the automatic driving excavator body 1 shown in FIG. In FIG. 1, the same reference numerals as those shown in FIG. 2 denote the same parts.
[0035]
In the figure, 55 is a command generation unit that generates a command from the reproduction operation unit 53, the engine operation unit 54 or the emergency stop button 52 as a command, and 51 is a command that generates various commands generated by the command generation unit 55. It is a radio for transmitting to. The engine operation unit 54 includes a stop button 541, an UP button 642, and a DOWN button 543, and the reproduction operation unit 53 includes a start button 531 and a stop button 532.
[0036]
6 is the automatic operation controller, in which 70 is a teaching processing unit that stores the current position of the automatic driving excavator main body 1 as a teaching position in a teaching position storage unit 71 described later by an operation from the teaching operation unit 9. Is a teaching position storage unit that stores teaching data at the time of reproduction or standby position movement by the teaching processing unit 70, 65 is a reproduction command storage unit that stores reproduction commands for sequentially executing the procedure of the reproduction operation, and 66 is a standby position A standby position movement command storage unit for storing standby position commands for sequentially executing the procedure of the movement operation, 67 interprets a reproduction command or a standby position movement command and outputs predetermined teaching position data from the teaching position storage unit 71. A command interpreter unit for instructing 72, a teaching position output processing unit for outputting teaching position data, and 73 for an automatic driving excavator Servo preprocessing unit 74 generates and outputs teaching position data output from teaching position output processing unit 72 by interpolation so that the operation of body 1 operates smoothly, 74 is a servo preprocessing A driving signal for controlling the automatic driving excavator body 1 to a predetermined position by comparing the teaching position data after interpolation output from the unit 73 with current position data output from a current position calculating unit 75 described later is electromagnetic. A servo control unit that outputs to the control valve 81, 61 is a radio that receives a command transmitted from the operation box 5, 62 is a playback start / stop processing unit 63 that will be described later, or an engine control. A command receiving unit 63 that outputs to the unit 64 or outputs a command from the teaching operation unit 9 to the teaching processing unit 70, and 63 is transmitted from the reproduction operation unit 53. A playback start / stop processing unit 69 for inputting a command and outputting a playback start command or a playback stop command to the command interpreter unit 67, is output from the teaching position output processing unit 72, the servo preprocessing unit 73, and the servo control unit 74. An abnormal processing determination / processing unit 68 for branching an abnormal signal or an alarm signal input to the monitor panel 85 (to be described later) and inputting an alarm signal taken into the automatic operation controller 6 to perform abnormal processing. An abnormality processing storage unit 64 that stores an abnormality processing procedure for each factor, and an engine control unit 64 that makes the engine idle or stops by operation of the engine operation unit 54 or abnormality processing.
[0037]
83 is a fuel solenoid valve for supplying fuel to the engine, 84 is an engine stop relay for forcibly cutting the control signal of the fuel solenoid valve and stopping the engine, and 85 is installed in the cab of the automatic driving excavator body 1. , A monitor panel for displaying the state of various alarm sensors described later, 86 an alarm sensor for detecting an abnormality of the excavator body other than automatic operation, and 87 an engine control performed on the automatic operation controller 6 side, or an engine described later A switch 88 that switches whether to perform the setting on the setting dial 88 side is an engine setting dial that is installed in the cab of the automatic excavator body 1 and performs normal engine settings.
[0038]
When the reception signal from the wireless device 51 is interrupted or the wireless device 61 fails and cannot be received, the wireless device 61 detects the state and sends the detection signal to the reproduction start / stop processing unit 63. Then, a stop signal is transmitted from the playback start / stop processing unit 63 to the command interpreter unit 67 to stop the operation of the automatic driving excavator body 1.
[0039]
FIG. 3 is a diagram illustrating an example of teaching position data stored in the teaching position storage unit 71.
[0040]
In the same figure, P1 to Pn correspond to the labels P1 to Pn of the MOVE shown in FIG. 4 to be described later, and the boom angle and arm angle that each part of the automatic driving excavator body 1 corresponding to each label P1 to Pn should take. Each value of bucket angle and turning angle is set.
[0041]
FIG. 4 is a diagram illustrating an example of a reproduction command stored in the reproduction command storage unit 65.
[0042]
In the figure, L1 represents not a command but a row label.
[0043]
V is a command for designating the moving speed at each teaching position. The larger the numerical value, the faster the moving speed is, and it is expressed in% when the maximum speed is 100.
[0044]
PAC (positional accuracy) is a command that specifies the positioning accuracy that determines the reach of each teaching position during the regenerative operation of an automatic driving excavator, and it is not easy to completely reproduce all the teaching positions taught From this point, the automatic driving excavator is used to determine that the teaching position has been reached when it reaches within the positioning accuracy shown in this numerical value. The larger the numerical value, the higher the accuracy required for the regenerating operation. As a result, the automatic driving excavator operates to decelerate or stop at each teaching position. If the numerical value is small, the positioning becomes loose and the automatic excavator operates so as to smoothly move each teaching position.
[0045]
MOVE is a command for instructing movement to a designated teaching position, and P1 to Pn are labels indicating angle information of each joint of the MOVE command. For example, MOVE P1 indicates that the teaching position data stored in the teaching position storage unit 71 should be moved to the position No. P1 shown in FIG.
[0046]
GOTO L1 is a command for instructing to start again from the row label L1.
[0047]
Here, the interpolation processing in the servo preprocessing unit 73 will be described.
[0048]
The servo preprocessing unit 73 first captures and holds the current position data A, which is current position data, via the angle sensors 111 to 114, the current position calculation unit 75, and the servo control unit 74. Next, the target teaching position data B is read from the teaching position output processing unit 72. Here, for example, a difference of 1/10 of the difference C between them is calculated, and the position data of the current position data A + the difference C / 10 is output to the servo controller 74 to perform servo control. Next, the servo preprocessing unit 73 outputs the current position data A + difference 2C / 10 to the servo control unit 74 to perform servo control. Thereafter, the same processing is repeated, and the current position data A + difference C (= teaching position data B) is output to the servo control unit 74, and the interpolation processing for the teaching position data B is completed. In the same manner, interpolation processing is performed every time each teaching position data is output.
[0049]
5 and 6 are diagrams illustrating an example of the abnormality processing table stored in the abnormality processing storage unit 68. FIG.
[0050]
In FIG. 5, the alarm content indicates the type of alarm corresponding to various signals obtained by branching the alarm signal input to the monitor panel, and the abnormality processing pattern is an abnormality to be taken according to the type of alarm content. Indicates the type of processing.
[0051]
In FIG. 6, the processing procedure and the processing content represent a processing procedure to be taken according to the type of the selected abnormal processing pattern and a corresponding operation to be taken by the automatic excavator body in each procedure.
[0052]
Here, the “automatic operation stop” process is executed when the abnormality determination / processing unit 69 instructs the command interpreter 67 to stop the execution of the reproduction command.
[0053]
The “standby position movement” is taken from the fact that it is desirable for safety that the automatic driving excavator keeps the standby posture with the bucket grounded until the operator performs some action from the occurrence of the abnormality. The command interpreter 67 reads out and interprets the standby position movement command stored in the standby position movement command storage 66 in a sequential manner in response to a command from the abnormality determination / processing unit 69, and then performs the same processing as during reproduction to perform automatic operation. The excavator body 1 is moved to the standby position.
[0054]
The “engine idle” is to keep the idle state except in the case of an emergency because the engine is burdened when the engine is suddenly stopped from the operation state, and the process is as follows. Normally, the engine speed is controlled by the main body control unit 82 by reading the output signal of the engine setting dial 88. During automatic operation, the switch 87 is tilted to the engine control unit 64 side. The engine control unit 64 outputs a signal to the main body control unit 82 instead of the engine setting dial 88, and the main body control unit 82 reads the signal and controls the engine. At the time of abnormality processing, the abnormality determination / processing unit 69 sends an engine idle command to the engine control unit 64, and the engine control unit 64 outputs a signal corresponding to the engine idle state to the main body control unit 82. Control rotation to idle.
[0055]
In the “engine stop” process, the abnormality determination / processing unit 69 outputs an engine stop command to the engine control unit 64, and the engine control unit 64 turns off the engine stop relay 84 to supply fuel to the engine. Is cut off and the fuel supply to the engine is stopped.
[0056]
Next, processing contents taken corresponding to each alarm content will be described using each table shown in FIG. 5 and FIG.
[0057]
The alarm of “hydraulic oil level error” is output when the level switch installed in the hydraulic oil tank detects that the hydraulic oil is less than the appropriate amount. If the operation is continued with less than the amount, air may be mixed into the hydraulic oil, which may cause a problem that the pressure cannot be established. For this reason, when the hydraulic oil level abnormality occurs, the abnormality processing pattern “3” is selected, and “automatic operation stop” and “engine stop” are performed immediately as the processing corresponding to the abnormality processing pattern “3”. Take measures to avoid the danger of the pump inhaling air.
[0058]
The “engine overheat” alarm is output when an overheat alarm switch attached to the engine detects that the engine temperature is abnormally high. If the engine is continuously operated as it is, the engine may be burned. Therefore, the abnormal process pattern “3” is selected, and “automatic operation stop”, “engine stop” are selected as processes corresponding to the abnormal process pattern “3”. "I do.
[0059]
The “engine oil pressure abnormality” alarm is output when an engine oil pressure switch attached to the engine detects a drop in oil pressure. If the operation is continued while the pressure is reduced, the supply of engine oil may be reduced and the engine may be worn. Therefore, the abnormal processing pattern “3” is selected, and the processing corresponding to the abnormal processing pattern “3” is performed. Immediately, “Automatic operation stop” and “Engine stop” are performed.
[0060]
The “engine oil level abnormality” alarm is output when the engine oil level switch attached to the engine detects that the engine oil is less than the appropriate amount. In this case as well, there is a possibility that engine wear or the like may occur. Therefore, the abnormal process pattern “3” is selected, and “automatic operation stop” and “engine stop” are immediately selected as processes corresponding to the abnormal process pattern “3”. Done.
[0061]
The “fuel level abnormality” alarm is output when the remaining fuel alarm switch attached to the fuel tank detects that the fuel is low. In this case, it is not necessary to stop the engine urgently. However, if the engine stops due to running out of fuel during automatic operation, the brakes will not work and there is a risk of unexpected movement, so the abnormal processing pattern “1” is selected. As a process corresponding to the abnormal process pattern “1”, “engine idle” for controlling the engine rotation to idle is performed after “automatic operation stop”.
[0062]
The “power system voltage level error” alarm is output when the output voltage of the alternator is low. In this case, since the electrical system of the hydraulic excavator does not operate normally and may move unexpectedly, the abnormal process pattern “3” is selected, and “automatic operation stop” is selected as a process corresponding to the abnormal process pattern “3”. ”,“ Engine stop ”is performed.
[0063]
The “air cleaner clogged” alarm is output when the air cleaner alarm switch detects a clogged element. In this case, since the air suction becomes worse and the engine may be affected, the abnormal process pattern “3” is selected, and “automatic operation stop”, “engine stop” are selected as processes corresponding to the abnormal process pattern “3”. Is performed.
[0064]
The “oil filter clogged” alarm is output when the oil filter alarm switch detects a clogged element. In this case, since the hydraulic oil flow becomes worse and the excavator may move unexpectedly, the abnormal process pattern “3” is selected, and “automatic operation stop” is selected as the process corresponding to the abnormal process pattern “3”. Then, “engine stop” is performed.
[0065]
The “engine cooling water level abnormality” alarm is output when the cooling water level switch attached to the cooling water tank detects that the cooling water is less than the appropriate amount. If the cooling water leaks and the operation is continued while the cooling water is less than the proper amount, it causes overheating. For this reason, when the cooling water level abnormality occurs, the abnormality processing pattern “3” is selected, and “automatic operation stop” and “engine stop” are immediately performed as processing corresponding to the abnormality processing pattern “3”. To avoid overheating.
The “automatic greasing device abnormality” alarm is output when the automatic greasing device becomes difficult to supply grease due to insufficient grease or failure. In this case, grease may not be supplied to the joint or gear, which may cause wear or galling. However, since it is not necessary to stop immediately, the abnormal process pattern “2” is selected, and the processes corresponding to the abnormal process pattern “2” include “automatic operation stop”, “standby position movement”, and “engine idle”. Processing is performed in order, and an operator's treatment is waited for.
[0066]
Next, processing when the automatic driving excavator is regenerated and when an abnormal state is detected will be described with reference to FIGS. 1 and 7.
[0067]
At the time of reproduction, an instruction from the reproduction start button 531 of the reproduction operation unit 53 of the operation box 5 is sent to the command interpreter unit via the command generation unit 55, the wireless devices 51 and 61, the command reception unit 62, and the reproduction start / stop processing unit 63. Is output to 67. Upon receiving the instruction, the command interpreter unit 67 sequentially reads and interprets the playback command stored in the playback command storage unit 65. For example, when the command is a MOVE command as shown in FIG. Teaching position data as parameters corresponding to the labels P1 to Pn are output from the teaching position storage unit 71 to the teaching position output processing unit 72. The output teaching position data is input to the servo preprocessing unit 73, and the automatic driving excavator body 1 is calculated so as to operate at a smooth speed, and teaching position data interpolated as described above is created. The interpolated teaching position data is input to the servo control unit 74, while the current position calculation unit 75 calculates the sensor signals detected by the angle sensors 111 to 114 to obtain current position data. input. The servo control unit 74 performs predetermined servo control based on the interpolated teaching position data as a target and the detected current position data, outputs a drive signal to the electromagnetic control valve 81, and performs a reproduction operation on the automatic operation shovel. Let it be done.
[0068]
When an abnormal condition is detected, if an abnormal condition is detected by various alarm sensors 86, the alarm lamp is lit when the alarm sensor is turned on because it is electrically connected to a warning lamp or alarm buzzer on the monitor panel 85. Or alarm buzzer sounds. On the other hand, the alarm signal from the alarm sensor 86 is also taken into the automatic operation controller 6 and used in the abnormality determination / processing unit 69 for abnormality processing.
[0069]
The abnormality process in the abnormality determination / processing unit 69 will be described with reference to FIG. FIG. 7 is a flowchart mainly showing a processing procedure in the abnormality determination / processing unit 69.
[0070]
During automatic operation, the abnormality determination / processing unit 69 of the automatic operation controller 6 outputs an abnormality signal output from the teaching position output processing unit 72, servo preprocessing unit 73, and servo control unit 74, and an alarm signal to the monitor panel 85. Monitoring. If it is determined in step 1 that none of these is abnormal, the process proceeds to a process other than the abnormal process. If it is determined that there is an abnormality, the process proceeds to step 2 to determine whether the abnormality process has already been completed. If it has been completed, the process proceeds to a process other than the abnormality process. If not completed, the process proceeds to step 3, the table shown in FIG. 5 stored in the abnormality process storage unit 68 is referred to, and the abnormality process patterns “1” to “3” according to the alarm content detected now. Is selected. For example, when “abnormal hydraulic oil level” is detected, the abnormality processing pattern “3” is selected according to the table of FIG. Next, in step 4, the table shown in FIG. 6 stored in the abnormal process storage unit 68 is referred again, and the process of the first process content of the process procedure is executed according to the process procedure of the selected abnormal process pattern. For example, when the abnormal process pattern “3” is selected, “automatic operation stop” of the process procedure “1” is executed. Next, in step 5, it is determined whether or not all the processing procedures of the selected abnormal processing pattern have been completed. If there are any, the next remaining processing is performed in step 6. For example, after the “automatic operation stop” process of the process procedure “1”, the processes of “standby position movement” and “engine idle” are sequentially executed. When these processes are executed and it is determined in step 5 that all processing procedures have been completed, the process proceeds to a process other than the abnormal process.
[0071]
【The invention's effect】
As described above, the present invention is in automatic operation. In Capture the alarm signal input to the monitor panel and stop the automatic operation. afterwards, Construction machine with standby position with bucket grounded to ground Body In Automatically Because there is an abnormal response processing means to take, so that even if the operator performs automatic operation in a state of leaving the site, it does not occur that the automatic operation continues to continue with the abnormality in the automatic operation construction machine body Can be And , Jian Construction machinery Body Can stabilize the posture , Which safety The Improvement Can be .
[Brief description of the drawings]
FIG. 1 is a block diagram showing an outline of the configuration of an in-vehicle device and an operation box mounted on an automatic driving excavator body according to an embodiment of the present invention.
FIG. 2 is a side view showing an example of an automatic driving excavator and its working mode according to the present embodiment.
FIG. 3 is a diagram illustrating an example of teaching position data stored in a teaching position storage unit 71;
4 is a diagram illustrating an example of a reproduction command stored in a reproduction command storage unit 65. FIG.
FIG. 5 is a diagram illustrating an example of an abnormality processing table stored in an abnormality processing storage unit 69;
6 is a diagram illustrating an example of an abnormality processing table stored in an abnormality processing storage unit 69. FIG.
FIG. 7 is a flowchart mainly showing a processing procedure in an abnormality determination / processing unit 69;
[Explanation of symbols]
1 Automatic driving excavator body
2 Stockyard
3 Crusher
4 Wheel loader
5 Controller box
52 Emergency stop button
53 Playback operation section
54 Engine operation part
55 Command generator
6 Automatic operation controller
62 Command receiver
63 Playback start / stop processing section
64 Engine control unit
65 Playback command storage
66 Standby position movement command storage section
67 Command interpreter section
68 Abnormal processing storage
69 Abnormality judgment / processing section
71 Teaching position storage
72 Teaching position output processing section
73 Servo pre-processing section
74 Servo controller
75 Current position calculator
111-114 Angle sensor
81 Electromagnetic control valve
80 engine
82 Control unit
83 Fuel solenoid valve
84 Relay for engine stop
85 Monitor panel
86 Various alarm sensors
87 selector switch
7 In-vehicle device

Claims (2)

Wherein the construction machine body, a warning means for displaying on the construction machine body abnormality detecting to the monitoring panel provided in the construction machine body, a reproduction operation of the series of operations from taught drilled to Hodo In an automatic operation construction machine comprising automatic operation control means for performing automatic operation repeatedly performed by the construction machine body ,
Wherein stopping the previous SL automatic operation takes in the alarm signal input to the monitor panel during automatic operation, then automatically anomaly to take a waiting posture grounds the bucket into the ground to the construction machine body An automatic operation construction machine provided with a time handling processing means. The automatic operation construction machine according to claim 1,
An automatic operation construction machine characterized in that the engine speed is set to an idle state after taking a standby posture.

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