JP2003096832A - Automatic operation shovel - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an automatic operation shovel capable of enhancing productivity of a crushed-stone treatment system and the like. SOLUTION: This automatic operation shovel 1, which repeatedly restores a plurality of taught positions so as to repeat required operations, is constituted by mounting an automatic operation controller 8 on a normal shovel which is equipped with an undercarriage 100, a revolving superstructure 101, a boom 103, an arm 104 and a bucket 105. When it is determined that the depth of excavation by the shovel 1 reach an excavation depth set by an excavation depth setting means, the controller 8, which is equipped with the excavation depth setting means and an excavation depth determining means, transmits a signal to a portable transmitter-receiver 7 which is carried by a person in a location apart from the shovel 1, and announce a result of a determination to the person carrying the transmitter-receiver 7.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic driving shovel used at a crushed stone site or the like, and more particularly to a means for improving workability of the automatic driving shovel.

[0002]

2. Description of the Related Art Recently, in a crushed stone site, automation of crushed stone work using an automatic operation shovel has been promoted.
Japanese Unexamined Patent Publication No. 00-15135 discloses a crushed stone processing system using an automatic excavator.

As described in the above publication, the crushed stone processing system loads the rough stones cut out from the face into a truck, conveys the raw stones to a rough stone storage portion called a stockyard, and drops the raw stones from the truck into the stockyard. The rough stones stored in the stockyard are excavated by an automatic excavator and released to the crusher to generate the required crushed stones.

[0004]

By the way, in an actual crushed stone site, an appropriate amount of rough stone is not always supplied to the stockyard, and the stockyard is not always supplied depending on the condition of the worksite or the convenience of the truck operator. There is a case that the supply of rough stones is temporarily stopped and the amount of rough stones in the stockyard becomes insufficient.

The conventional crushed stone processing system is not provided with a means for detecting that the amount of rough stones in the stockyard is insufficient and a means for notifying the fact to a truck operator, etc. Since the operation of the self-driving shovel is continued even when the shortage occurs, there is a problem that the work efficiency of the self-driving shovel is poor and the productivity of the entire system is low.

The present invention has been made in view of the circumstances of the prior art, and its purpose is to provide means for detecting a shortage of rough stones in the stockyard and means for notifying a truck operator or the like of the fact. An object of the present invention is to provide an automatic excavator that is provided and can improve the productivity of the entire system.

[0007]

In order to solve the above-mentioned problems, the present invention firstly provides a shovel, a teaching operation which is mounted on the shovel, and stores a plurality of positions of the shovel, and the teaching operation. Automatic operation including an automatic operation controller that causes the shovel to repeatedly perform a series of operations based on a reproduction operation for reproducing the stored position, and a remote operation device that remotely operates the shovel through the automatic operation controller In the excavator, the automatic operation controller includes excavation depth setting means and excavation depth determination means, and the excavation depth of the excavator by the excavation depth determination means is the excavation depth set by the excavation depth setting means. When it is determined that the signal reaches the portable receiving device carried by a person who is away from the shovel, And the configuration of notifying the result of the determination to the wearer of the belt receiving apparatus.

As described above, the automatic operation controller is provided with the excavation depth setting means and the excavation depth determination means, and the excavation depth of the shovel is set by the excavation depth determination means by the excavation depth determination means. If it is determined whether or not the amount of rough stones has reached, it can be automatically detected whether or not the amount of rough stones in the stockyard is insufficient. Also, when it is determined by the excavation depth determination means that the excavation depth of the shovel has reached the set excavation depth, a person who is located away from the excavator, for example, a portable reception device carried by a truck operator By sending a signal to notify the wearer of the portable receiving device of the result of the determination, it is possible to prompt the truck operator to supply the rough stones into the stockyard, so that the work efficiency of the automatic driving shovel is prevented from being lowered. Therefore, the productivity of the crushed stone processing system and the like can be improved.

In order to solve the above problems, according to the present invention, secondly, in the automatic excavator according to the first problem solving means, at least a standby position is provided at a position of the shovel stored by the teaching operation. Including the operation of the shovel executed by the regeneration operation includes at least a soil discharge operation, the automatic operation controller, the excavation depth of the excavator by the excavation depth determination means by the excavation depth setting means When it is determined that the set excavation depth has been reached, the shovel is moved to the standby position after the end of the dumping operation, and the automatic operation operation of the shovel is performed after the shovel is moved to the standby position. It is configured to stop.

As described above, when the excavation depth determining means determines that the excavation depth of the shovel has reached the set excavation depth, the excavator is moved to the standby position after the end of the earth discharging operation, If you stop the automatic operation of the shovel,
By reducing the engine speed of the shovel to low idle at the stage when the shovel is moved to the standby position, it is possible to suppress unnecessary fuel consumption, which can improve the work efficiency of the automatic excavator and improve the efficiency of the crushed stone processing system. Productivity can be improved.

In order to solve the above problems, a third aspect of the present invention is to provide an automatic driving shovel according to the second problem solving means, wherein the automatic driving controller is configured such that the shovel moves to the standby position and After the automatic driving operation is stopped, the person in a place away from the shovel is in a signal waiting state from a portable transmitting device carried by the excavator, and waits for a restart signal from the portable transmitting device. The automatic driving operation is restarted.

In this way, after the shovel has moved to the standby position and the automatic driving operation has stopped, the automatic driving controller is placed in a signal waiting state from the portable transmitter, and waits for the reception of a restart signal from the portable transmitter. When the automatic operation of the shovel is restarted by supplying the rough stones to the stockyard, the automatic operation of the shovel can be restarted immediately, so that the reduction of the work efficiency of the automatic shovel can be suppressed. The productivity of the crushed stone processing system can be improved.

In order to solve the above problems, the present invention is, fourthly, in the automatic excavator according to the first problem solving means, wherein the excavation depth setting means has the first excavation depth and the first excavation depth. A second excavation depth deeper than the excavation depth of the excavator can be set, the shovel position stored by the teaching operation includes at least a standby position, and at least the excavator operation executed by the regeneration operation is released. Including an earth movement, the automatic operation controller sends a signal to the portable reception device when the excavation depth determination means determines that the excavation depth of the shovel has reached the first excavation depth. When the excavation depth determining means determines that the excavation depth of the excavator has reached the second excavation depth. Has After the excavation operation is completed, the shovel is moved to the standby position, and after the shovel moves to the standby position, the automatic operation operation of the shovel is stopped, and a person who is in a place away from the shovel is The automatic transmission operation of the excavator is restarted after waiting for a signal from the portable transmission device to be carried and waiting for the restart signal from the portable transmission device.

In this way, the first excavation depth setting means allows the first
And a second excavation depth deeper than the first excavation depth are set, and the excavation depth determination means determines that the excavator's excavation depth has reached the first excavation depth. ,
For example, when a truck operator or the like sends a signal to a portable receiver carried by the operator to notify the person carrying the portable receiver of the result of the determination, before the amount of rough stones in the stockyard decreases to an unexcavable amount. Further, since it is possible to prompt the truck operator to supply the rough stones into the stockyard, it is possible to avoid a decrease in the work efficiency of the automatic operation shovel, and it is possible to improve the productivity of the crushed stone processing system and the like. Further, when the excavation depth determination means determines that the excavation depth of the shovel has reached the second excavation depth, the excavator is moved to the standby position, and the automatic operation operation of the excavator is stopped to perform automatic operation. When the operation controller is placed in the signal waiting state from the portable transmitter and the automatic driving operation of the shovel is restarted after receiving the restart signal from the portable transmitter, the shovel is immediately fed after the rough stone is supplied into the stockyard. Since the automatic driving operation can be restarted, it is possible to suppress a decrease in work efficiency of the automatic driving shovel and improve productivity of the crushed stone processing system and the like.

[0015]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS First, the structure of an automatic operation shovel according to an embodiment and the structure of a crushed stone processing system using the automatic operation shovel will be described with reference to FIGS. 1 and 2. FIG. 1 is a block diagram of a crushed stone processing system, and FIG. 2 is a block diagram of an automatic operation shovel.

As shown in FIG. 1, the crushed stone processing system of the present embodiment comprises an automatic operation excavator 1 for excavating a rough stone 21 stored in a stockyard 2 and a rough stone 21 unearthed from the automatic operation excavator 1. A crusher 3 for crushing to generate a required crushed stone 4, a remote control device 5 for remotely controlling the automatic excavator 1, and a rough stone 21 cut out from a face.
Truck 6 for loading and transporting to the stockyard 2
And a portable transceiver 7 carried by the operator of the truck 6.

As shown in FIGS. 1 and 2, the automatic driving shovel 1 has a traveling body 100, a revolving body 101 rotatably provided on the traveling body 100, and a cab 102 provided on the revolving body 101. A boom 103 rotatably provided on the revolving structure 101, an arm 104 rotatably provided at the tip of the boom 103, a bucket 105 rotatably provided at the tip of the arm 104, and a traveling A swing motor 106 that swings the swing body 101 with respect to the swing body 100, a boom cylinder 107 that swings the boom 103 with respect to the swing body 101, an arm cylinder 108 that swings the arm 104 with respect to the boom 103, and an arm. A normal excavator having a bucket cylinder 109 for rotating the bucket 105 with respect to 104 is provided with an automatic driving controller for controlling the automatic driving function. Wireless transmission / reception of signals between the controller 8, a controller switch 9 for turning on / off the power of the automatic operation controller 8, an operation panel 10 for performing a required teaching operation for the automatic operation controller 8, and the remote operation device 5. The second wireless device 12 and its antenna 1 for wirelessly transmitting and receiving signals between the first wireless device 11 and its antenna 11a and the portable transceiver 7 described above.
2a and 2a are added. The automatic driving controller 8 is mounted on the revolving structure 101,
The controller switch 9, the operation panel 10, the first wireless device 11, and the second wireless device 12 are provided in the cab 102.
It is installed inside.

Further, the automatic excavator 1 has a structure shown in FIG.
As shown in FIG. 3, the angle sensor 110 that detects the turning angle of the swinging body 101 with respect to the traveling body 100 and the angle sensor 111 that detects the swinging angle of the boom 103 with respect to the swinging body 101 as the automatic driving controller 8 is mounted. An angle sensor 112 for detecting a rotation angle of the arm 104 with respect to the boom 103, and a bucket 105 with respect to the arm 104.
Angle sensor 113 for detecting the rotation angle of the
Pressure sensor 114 detecting the pressure of the boom cylinder 107, a pressure sensor 115 detecting the pressure of the boom cylinder 107, and a pressure sensor 116 detecting the pressure of the arm cylinder 108.
A pressure sensor 117 that detects the pressure of the bucket cylinder 109, a proportional solenoid valve 118 that controls the amount of oil sent to the actuators 106 to 109, and a control valve 119 that controls the drive of the actuators 106 to 109. It is provided.

As shown in FIG. 2, the remote control device 5 includes:
A reproduction operation section 51 operated during reproduction and a reproduction operation section 51
Remote control controller 5 for converting the output signal of the above into a signal of a predetermined format that can be received by the automatic driving controller 8 and outputting the signal.
2, a third wireless device 53 that wirelessly transmits an output signal of the remote control controller 52 to the first wireless device 11 provided in the automatic driving shovel 1, and an antenna 54 connected to the third wireless device 53. The reproduction operation section 51 has an operation start button 50 for starting a reproduction operation.
1 and an operation stop button 502 for stopping the reproduction operation,
A START button 503 for starting the engine mounted on the automatic driving shovel 1, a STOP button 504 for stopping the engine mounted on the automatic driving shovel 1,
An UP button 505 for increasing the rotation speed of the engine mounted on the automatic driving shovel 1, and a DOWN button 50 for decreasing the rotation speed of the engine mounted on the automatic driving shovel 1.
6, a standby position button 507 for forcibly moving the automatic driving shovel 1 to a standby position, and an emergency stop button 508 for emergency stop of the automatic driving shovel 1. The antenna 54 and the buttons 501 to 508 are arranged on the top panel of the remote control device 5 as shown in FIG.

As shown in FIG. 2, the portable transmitter / receiver 7 includes an alarm device 71 that is driven when a determination result signal is received from the second wireless device 12, and the second wireless device 1.
2 is provided with a restart signal transmission button 72 for transmitting a restart signal. As the alarm device 71, a display device capable of visually confirming the determination result signal, a buzzer capable of auditorily confirming the determination result signal, or both of them can be provided.

The crusher 3 includes a traveling body 30 and a hopper 3
1, the crushing section 32, and the conveyor 33, and is installed at the dumping position of the automatic excavator 1 to generate the required crushed stones 4.

The symbol D_BK shown in FIG. 1 is the depth from the ground contact surface of the shovel 1 to the toe of the bucket 105 (actually, it is the minus symbol height, but in the present invention, it is called the depth for convenience), the symbol D_LIMIT indicates the set excavation depth used in the determination process described below.

The teaching operation of the automatic driving shovel 1 configured as described above and an example of the automatic driving method of the automatic driving shovel 1 according to the teaching contents will be described with reference to FIGS. This will be described with reference to FIG. FIG. 3 is a flowchart showing an automatic driving process procedure of the automatic driving shovel according to the embodiment, and FIG. 4 is a flowchart showing a procedure of digging depth determination performed during the digging operation.

First, the teaching operation of the automatic driving shovel 1 will be described. The teaching operation of the automatic driving shovel 1 is ST
The ART button 503 is operated to start the engine mounted on the automatic driving shovel 1, and the controller switch 9
Is enabled by turning on the power source of the automatic operation controller 8 by operating. The controller switch 9
When is off, the automatic excavator 1 can be manually operated as in the standard machine. Next, according to the instruction displayed on the operation panel 10, the required teaching and the excavation depth D_LIMIT are set. In the present embodiment example, the excavation position, the dumping position, and the standby position are taught, and the first excavation depth D__ is set as the excavation depth D_LIMIT.
LIMIT1 and a second excavation depth D_LI deeper than this
Set MIT2. The excavation position is a position for the automated excavator 1 to excavate the rough stone 21 stored in the stockyard 2, and the dumping position is a position where the automatic excavator 1 excavates the rough stone 21 excavated from the stockyard 2 in the crusher 3. It is a position where soil is dumped into the hopper 31. The standby position is a position for the operator to get on and off the automatic excavator 1 at the end of automatic operation, and is also a stop position after the determination of the excavation depth, which will be described later.

When the teaching operation at each position is performed, the automatic driving controller 8 inputs and calculates the detected value from each angle sensor 110 to 113 corresponding to each position, and the teaching position is stored in a predetermined storage area. Store as data and teaching command. As described above, the teaching operation is completed, and the reproducing operation described below is performed, so that the automatic operation becomes possible.

In the teaching operation of each position, the automatic driving shovel 1 is moved to each teaching position in the same manner as a normal manual driving,
This is done by pressing the setting button provided on the operation panel 10 every time the automatic excavator 1 is moved to each predetermined position. Also, the first excavation depth D_LIMIT
The first and second excavation depths D_LIMIT2 are set by moving the toes of the bucket 105 to the depth to be set and pressing the setting button provided on the operation panel 10. Each of these excavation depths D_LIMIT1 and D_
LIMIT2 can be obtained from the angle and length of the boom 103, the arm 104, and the bucket 105. In addition, each excavation depth D_LIMIT1 and D_LIMIT2
Can also be set by a method of directly inputting from the operation panel 10.

Next, the regenerating operation of the automatic driving shovel 1 will be described. The reproduction operation of the automatic driving shovel 1 is performed by pressing the driving start button 501 provided on the remote control device 5. That is, when the operation start button 501 is pressed, a predetermined signal generated by the remote control controller 52 is transmitted to the automatic operation controller 8 via the third wireless device 53, the antenna 54, the antenna 11a and the first wireless device 11. The reproduction process is started. When the regeneration process is started in the automatic driving controller 8, the stored teaching data is called and the angle sensor 110
The output of the drive current to the proportional solenoid valve 118 is controlled so as to match the teaching position data while comparing with the information obtained from ˜113, and the swing motor 106 and the boom cylinder 107 are controlled via the control valve 119. The flow of pressure oil to the arm cylinder 108 and the bucket cylinder 109 is controlled.

When the regeneration operation is started, the automatic operation of the automatic operation shovel 1 is executed by the procedure shown in the flowcharts of FIGS.

First, in step S1, an operation start operation is executed. Here, the operation start operation is an operation of performing a swing operation to the taught excavation position by raising the boom or the like so that the automatically operated shovel 1 is capable of turning.

Next, in step S2, the boom is lowered to ground the bucket 105 to the ground.

Next, in step S3, the calculation of the excavation depth D_BK is started. This excavation depth D_BK is the boom 10
3, the angle and the length of the arm 104 and the bucket 105. The calculation of this excavation depth D_BK is
It is executed during the excavation operation in step S4 described below.

Next, an excavation operation is executed in step S4. Here, the excavation operation refers to a series of operations in which excavation is performed by the arm cloud, the debris is scraped by the bucket cloud, and the boom for raising the boom causes the automatically operating shovel 1 to turn.

During this excavation operation, the determination process shown in FIG. 4 is performed. First, in step S41, the excavation depth D
First excavation depth D_LIMIT1 in which _BK is preset
It is determined whether or not it is greater than, and if NO, the process proceeds to step S42 to turn on the debris request flag. Next, in step S43, it is determined whether or not the excavation depth D_BK is larger than a preset second excavation depth D_LIMIT2, and if NO, the process proceeds to step S44,
Turn on the standby position operation flag.

After the determination process of FIG. 4 is completed, step S
5, the calculation of the excavation depth D_BK ends.

Next, in step S6, the debris request flag is determined. If the debris request flag is ON, step S1
The process proceeds to 1 to send a signal to the portable receiving device 7 to operate it. As a result, the operator of the truck 6 who is the carrier of the portable transceiver 7 can be informed that the amount of the rough stones 21 in the stockyard 2 has decreased, and the rough stones 21 can be quickly supplied to the stockyard 2. be able to. After transmitting the signal to the portable receiver 7, the upper stone request flag is turned off in step S12.

Next, in step S7, the automatic excavator 1
Performs a turning motion. Here, the outward turning operation is a turning operation from the taught excavation position to the dumping position.

Next, in step S8, the soil discharging operation is performed. Here, the earth releasing operation is performed by the rough stone 21 excavated in step S4.
Is an operation of discharging the soil to the hopper 31 of the crusher 3 by a bucket dump or the like at the taught soil discharging position.

Next, in step S9, the standby position movement flag is determined. If the determination result is YES, step S1
The return turning operation of 0 returns to the excavation position, and steps S2 to
The automatic driving operation of step S9 is repeated. Step S9
When the result of the determination is NO in step S13, the process proceeds to step S13 and the following standby process is performed.

First, in step S13, a standby position moving operation is executed. Here, the standby position moving operation is an operation of performing a turning operation to the taught standby position and bringing the front surface to the ground by lowering the boom.

Next, in step S14, the standby position movement flag is turned off, and in step S15 the engine speed of the automatic excavator 1 is lowered to low idle. As a result, wasteful fuel consumption is suppressed and the work efficiency of the automatic excavator 1 is improved, so that the productivity of the crushed stone processing system can be improved.

Next, in step S16, the portable transmission / reception device 7
It is determined whether the restart signal from is received. The restart signal is transmitted by operating the restart signal transmission button 72 provided on the portable transmission / reception device 7 by the operator of the truck 6 who is the carrier of the portable transmission / reception device 7. When it is determined that the restart signal is received in step S16, the process proceeds to step S17, and the engine speed of the shovel 1 is increased to high idle. After that, the procedure returns to step S1 to execute the operation start operation,
The automatic driving operation after step S2 is repeated. As described above, since the automatic driving shovel 1 of the present embodiment restarts the automatic driving after waiting for the reception of the restart signal from the portable transceiver 7, after supplying the rough stone 21 into the stockyard 2, The automatic driving operation of the automatic driving shovel 1 can be immediately restarted, a decrease in work efficiency of the automatic driving shovel 1 can be suppressed, and productivity of the crushed stone processing system and the like can be improved.

In the embodiment, the first excavation depth D_LIMIT1 and the second excavation depth D during the teaching operation.
_LIMIT2 was set, but the excavation depth is not always 2
It is not necessary to set the number of stages, and the number of stages may be one or may be three or more stages.

In the above embodiment, the case where the portable transceiver 7 is carried by the operator of the truck 6 has been described as an example, but a person other than the operator of the truck 6 can carry the portable transceiver 7. You can also

Further, although the portable transmitter / receiver 7 is used in the above embodiment, the portable transmitter and the portable receiver may be used separately.

[0045]

As described above, according to the present invention,
The automatic operation controller includes excavation depth setting means and excavation depth determination means, and the excavation depth determination means determines whether or not the excavation depth of the shovel has reached the excavation depth set by the excavation depth setting means. Since the judgment is made, it is possible to automatically detect whether or not the amount of rough stones in the stockyard is insufficient. Further, when the excavation depth determination means determines that the excavation depth of the shovel has reached the set excavation depth, a signal is transmitted to a portable reception device carried by a person who is away from the excavator. As the result of the determination is notified to the wearer of the portable receiving device, it is possible to prompt the truck operator or the like to supply the rough stone into the stockyard. Therefore, it is possible to suppress a decrease in work efficiency of the automatic operation shovel and improve productivity of the crushed stone processing system and the like.

[Brief description of drawings]

FIG. 1 is a diagram showing a configuration of an automatic operation shovel according to an embodiment and a configuration of a crushed stone processing system using the automatic operation shovel.

FIG. 2 is a block diagram showing a configuration of a shovel mounting device, a remote control device, and a portable transceiver that are mounted on the automatic driving shovel according to the embodiment.

FIG. 3 is a flowchart showing an automatic driving processing procedure of the automatic driving shovel according to the embodiment.

FIG. 4 is a flowchart showing a procedure of excavation depth determination performed during excavation operation.

[Explanation of symbols]

1 self-driving shovel 5 Remote control device 7 Portable transceiver 12 Second wireless device (wireless device)

   ─────────────────────────────────────────────────── ─── Continued front page    (72) Inventor Yoshiyuki Nagano             Hitachi Construction Machinery Co., Ltd.             Ceremony Company Tsuchiura Factory F-term (reference) 2D003 AA01 AB02 AB03 AB04 AC09                       AC10 BA02 BA03 BA04 BB07                       BB11 CA02 DA02 DA04 DB02                       DB04 FA02

Claims (4)

[Claims] 1. An excavator and a device mounted on the excavator,
Through the automatic operation controller that causes the shovel to repeatedly execute a series of operations based on a teaching operation that stores a plurality of positions of the shovel and a reproduction operation that reproduces the position stored by the teaching operation, and the automatic operation controller. In an automatic operation excavator including a remote control device for remotely operating the excavator, the automatic operation controller includes excavation depth setting means and excavation depth determination means, and excavation of the excavator by the excavation depth determination means. When it is determined that the depth has reached the excavation depth set by the excavation depth setting means, a signal is transmitted to a portable reception device carried by a person who is away from the excavator, and the portable device is carried. An automatic driving excavator, which informs the wearer of the type receiving device of the result of the determination. 2. The automatic driving shovel according to claim 1, wherein the position of the shovel stored by the teaching operation includes at least a standby position, and at least the operation of the shovel executed by the reproducing operation is released. Including the soil operation, the automatic operation controller, if the excavation depth determination means determines that the excavation depth of the excavator has reached the excavation depth set by the excavation depth setting means, the dumping An automatic operation excavator, wherein the excavator is moved to the standby position after the operation is completed, and the automatic operation operation of the excavator is stopped after the excavator is moved to the standby position. 3. The automatic driving shovel according to claim 2, wherein the automatic driving controller, after the shovel has moved to the standby position and the automatic driving operation has stopped,
Restarting the automatic driving operation of the excavator after waiting for a signal from the portable transmitting device carried by a person who is away from the excavator and receiving a restart signal from the portable transmitting device. An automatic driving excavator. 4. The automatic excavator according to claim 1, wherein the excavation depth setting means can set a first excavation depth and a second excavation depth deeper than the first excavation depth. The shovel position stored by the operation includes at least a standby position, and the operation of the shovel executed by the reproduction operation includes at least the earth releasing operation,
When the excavation depth determination means determines that the excavation depth of the excavator has reached the first excavation depth, the automatic operation controller transmits a signal to the portable reception device to transmit the signal. If the excavation depth determining means determines that the excavation depth of the excavator has reached the second excavation depth, the carrier of the portable reception device is notified of the result of the determination, and the release is performed. After the soil operation is completed, the shovel is moved to the standby position, and the automatic operation of the shovel is stopped after the shovel is moved to the standby position, so that the person who is away from the shovel carries it. An automatic driving excavator, which is in a signal waiting state from the portable transmitting device, restarts the automatic driving operation of the excavator after waiting for the reception of a restart signal from the portable transmitting device.