Automatic driving construction machine

Abstract

Provided is an automatic driving construction machine in which an operator can perceive beforehand the start of an operation in an automatic mode when the mode is switched and the operator leaves from a vehicle body. When the controller (40) is in the automatic control state and the operation of the vehicle body is not started, if the remote control device (800) is not operated a plurality of times, the controller (40) does not start the operation of the vehicle body in the automatic control state. As a result, an operator in the vicinity of the vehicle body can be aware of a non-final process operation, which is a non-final operation among a plurality of operations of the remote control device (800).

Description

Technical Field

[0001] The present invention relates to an autonomous driving engineering machine, and in particular to an autonomous driving engineering machine with improved switching conditions for autonomous driving. Background Art

[0002] Construction machinery is used not only in civil engineering but also in a variety of operations. However, in recent years, the development of self-driving construction machinery that performs operations semi-automatically or automatically has been progressing. Such self-driving construction machinery can reduce the amount of work that the operator must do, thereby reducing the burden on the operator and is expected to contribute to improving the working environment.

[0003] As a method for switching between automatic driving mode and manual driving mode of construction machinery, the following technology is disclosed: the mode transition is performed on the condition that the vehicle body movement is stopping, or the condition is that the vehicle body movement is stopped at the time of mode transition and then the vehicle body movement is allowed (for example, Patent Document 1).

[0004] Prior art literature

[0005] Patent Literature

[0006] Patent Document 1: Japanese Patent Application Publication No. 2016-168883 Summary of the invention

[0007] However, in the system described in Patent Document 1, when another operator holds a remote controller for starting an action and the operator is on board and the mode is set to automatic mode or remote mode, there is a possibility that the operator holding the remote controller will mistakenly instruct the start of an action, causing the vehicle body to move while the operator is getting off the vehicle. In this case, the operator cannot detect the start of the automatic action or remote action in advance, and thus there is a possibility that the vehicle body and the operator will interfere with each other because the operator will not be able to perform an evasive action in time.

[0008] The present invention has been made in view of the above circumstances, and an object of the present invention is to provide an automatic driving construction machine in which an operator can be aware of the start of operation in the automatic mode in advance when the mode is switched and the operator leaves the vehicle body.

[0009] In order to achieve the above-mentioned object, the automatic driving engineering machine of the present invention comprises: a power source; an operating device, which is equipped on a vehicle body; a switching device, which outputs a switching request for a vehicle body control state; a communication device, which receives a signal from a remote control device operated outside the vehicle body; and a controller, which determines the vehicle body control state based on the output from the switching device and performs action control according to the vehicle body control state, wherein the vehicle body control state includes: a manual control state that acts at least according to an action instruction from the operating device; and an automatic control state that acts according to a preset action instruction or according to an action instruction based on a signal received by the communication device, and the automatic driving engineering machine is characterized in that the automatic control state includes a state in which the vehicle body is not in motion, namely, an automatic control non-operating state, and a state in which the vehicle body is in motion, namely, an automatic control operating state, and when the vehicle body control state is switched from the manual control state to the automatic control state by the switching device, the controller is set to the automatic control non-operating state, and in the automatic control non-operating state, the transition from the automatic control non-operating state to the automatic control operating state is allowed by multiple operations of the remote control device.

[0010] Effects of the Invention

[0011] According to the present invention, even if the operator wants to start automatic action while getting off the vehicle, the vehicle body will not start action unless the remote control device (remote controller) is operated multiple times, so that the vehicle body will not move immediately and the operator getting off the vehicle can be aware that the process of starting the action is progressing.

[0012] Other problems, structures, and effects than those described above will become apparent from the following description of the embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a perspective view showing the structure of the hydraulic excavator in the first embodiment.

[0014] Figure 2A It is a side view of the hydraulic excavator in the first embodiment.

[0015] Figure 2B It is a top view of the hydraulic excavator in the first embodiment.

[0016] Figure 3 It is a block diagram of a control system for a hydraulic excavator in the first embodiment.

[0017] Figure 4 It is a detailed configuration diagram of the solenoid valve unit in the first embodiment.

[0018] Figure 5 It is a detailed configuration diagram of the solenoid valve unit in the first embodiment.

[0019] Figure 6 This is a hardware configuration diagram of the controller of the hydraulic excavator in the first embodiment.

[0020] Figure 7 This is a functional block diagram of the controller in the first embodiment.

[0021] Figure 8 This is a state transition diagram of the state transition determination unit in the first embodiment.

[0022] Fig. 9 This is a calculation flow chart of the target motion calculation unit in the first embodiment.

[0023] Fig.10 This is a calculation flowchart of the engine stop command unit in the first embodiment.

[0024] Fig.11 This is an output state transition diagram of the engine drive command unit in the first embodiment.

[0025] Fig.12 It is a perspective view showing the structure of a hydraulic excavator in a modified form of the first embodiment.

[0026] Fig.13 This is a functional block diagram of the controller in the second embodiment.

[0027] Fig.14 This is a state transition diagram of the state transition determination unit in the second embodiment. DETAILED DESCRIPTION

[0028] Hereinafter, embodiments of the present invention will be described using the accompanying drawings. In each figure, the same reference numerals are sometimes used for parts having the same function, and repeated descriptions are omitted. In the following description of this specification, a hydraulic excavator having a bucket 10 as a working tool (accessory) at the front end of the working device is cited as an example, but it can also be applied to a hydraulic excavator having a working tool other than a bucket, and a construction machine other than a hydraulic excavator.

[0029] In the following description of this specification, when there are multiple identical components, a letter may be added to the end of the reference numeral (number), but the letter may be omitted and the multiple components may be collectively represented. For example, when there are one travel hydraulic motor 3a and one travel hydraulic motor 3b (right travel hydraulic motor 3a and left travel hydraulic motor 3b) on each side, these may be collectively represented as the travel hydraulic motor 3.

[0030] [First embodiment]

[0031] use Figures 1 to 11 A first embodiment of the present invention will be described.

[0032] <Structure of a hydraulic excavator>

[0033] use Figure 1 and Figure 2A , Figure 2B The structure of the hydraulic excavator in the first embodiment will be described.

[0034] Figure 1 1 is a perspective view showing the structure of a hydraulic excavator 1 according to a first embodiment. The hydraulic excavator 1 includes a multi-jointed front working device 1A, a vehicle body 1B, and a controller ( Figure 1 (not shown in the figure).

[0035] The front working device 1A includes a boom cylinder 5, an arm cylinder 6, a bucket cylinder 7, a boom 8, an arm 9, a bucket 10, a bucket link 13, a boom angle sensor 30, an arm angle sensor 31, and a bucket angle sensor 32. The boom 8, the arm 9, and the bucket 10 are a plurality of driven components that rotate in the vertical direction, respectively, and the front working device 1A is constructed by connecting these components.

[0036] The vehicle body 1B includes a lower travel structure 11 and an upper revolving structure 12. The lower travel structure 11 is driven by a pair of left and right travel hydraulic motors 3a ( Figure 3 The upper revolving body 12 is mounted on the lower traveling body 11 and is configured to be revolvable.

[0037] The base end of the boom 8 is rotatably supported at the front of the upper swing body 12 via a boom pin. At the front end of the boom 8, a boom 9 is rotatably connected via an arm pin. At the front end of the arm 9, a bucket 10 is rotatably connected via a bucket pin. The boom 8 is driven by a boom cylinder 5, the boom 9 is driven by an arm cylinder 6, and the bucket 10 is driven by a bucket cylinder 7.

[0038] Figure 2A is a side view of the hydraulic excavator 1. Figure 2A As shown, when the X-axis is defined parallel to the long side direction of the lower traveling body 11 and the Z-axis is defined perpendicular to the X-axis, the rotation angle of the boom 8 is α, the rotation angle of the arm 9 is β, and the rotation angle of the bucket 10 is γ. The inclination angle of the upper swing body 12 (vehicle body 1B) relative to the reference plane (for example, the horizontal plane) is φ. The front end of the bucket 10 is denoted as P.

[0039] Figure 2B 1 is a top view of the hydraulic excavator 1. Figure 2B As shown in FIG. 1 , the relative angle between the upper swing body 12 and the lower traveling body 11 is θ.

[0040] return Figure 1As described above, the boom angle sensor 30 is mounted on the boom pin in a manner capable of measuring a rotation angle α of the boom 8. The arm angle sensor 31 is mounted on the arm pin in a manner capable of measuring a rotation angle β of the arm 9. The bucket angle sensor 32 is mounted on the bucket link 13 in a manner capable of measuring a rotation angle γ of the bucket 10. In addition, the angle sensors 30, 31, and 32 can be replaced by angle sensors relative to a reference plane (e.g., a horizontal plane), respectively.

[0041] The upper swing body 12 includes a cab 120, a hydraulic pump 2, a swing hydraulic motor 4, an engine 18, a vehicle body inclination angle sensor 33, a swing angle sensor 34, and a fuel tank 200. The cab 120 is provided with a right operating lever 22a, a left operating lever 22b, a right travel lever 23a, a left travel lever 23b, a door lock lever 24, an engine speed setting device 480, and a control state switching switch 670. Hereinafter, in this specification, the right operating lever 22a and the left operating lever 22b are sometimes referred to as the operating device 22, and the right travel lever 23a and the left travel lever 23b are sometimes referred to as the operating device 23.

[0042] The swing hydraulic motor 4 swings the upper swing body 12. Here, in this specification, the travel hydraulic motors 3a and 3b, the swing hydraulic motor 4, the boom cylinder 5, the arm cylinder 6, and the bucket cylinder 7 are sometimes collectively referred to as "actuators".

[0043] The vehicle body inclination angle sensor 33 is installed at any position of the upper swing body 12 to detect the inclination angle φ of the upper swing body 12 (vehicle body 1B) relative to a reference plane (e.g., horizontal plane). The swing angle sensor 34 is provided on the swing center axis of the upper swing body 12 to measure the relative angle θ between the upper swing body 12 and the lower traveling body 11.

[0044] The engine 18 is a prime mover (power source) and drives the hydraulic pump 2 and the pilot pump described later. The engine speed setting device 480 is a device for setting the speed of the engine 18. The engine speed setting device 480 has an adjustable variable resistor, and the voltage output from the engine speed setting device 480 changes by operating the dial.

[0045] The control state switching switch 670 is a switch for switching the vehicle body control state of the hydraulic excavator 1. The control state switching switch 670 outputs a switch signal requesting the vehicle body control state to be switched. In the present embodiment, when the switch signal output from the control state switching switch 670 is on, it is possible to switch to an automatic control state (automatic control mode) that operates in accordance with a pre-set action instruction (target action) without depending on the operation of the operating device 22, 23, and when the switch signal is off, it is possible to switch to a manual control state (manual control mode) that operates in accordance with an action instruction from the operating device 22, 23.

[0046] In addition, the hydraulic excavator 1 further includes a communication device 650 ( Figure 1 Not shown in the figure, Figure 6 , Figure 7 (see figure in the figure).

[0047] The remote control device 800 is a device for starting or stopping the automatic driving of the hydraulic excavator 1 remotely (outside the hydraulic excavator 1), and has a remote action start-stop switch 880 and a remote engine start-stop switch 881. The switch state signal of the remote action start-stop switch 880 and the switch state signal of the remote engine start-stop switch 881 are transmitted to the controller 40 ( Figure 1 (not shown) is sent.

[0048] In addition, in this embodiment, the remote control device 800 is provided with two switches, namely, the remote motion start / stop switch 880 and the remote engine start / stop switch 881, but the input method is not limited to switch input, and may also be a lever input, a touch panel input, a voice input, etc. In addition, the number of switches (inputs) is not limited to two, and may be three or more, for example, depending on the action method of the autonomous driving.

[0049] The above is the configuration of the hydraulic excavator 1 according to the first embodiment.

[0050] <Control system configuration of hydraulic excavator>

[0051] Next, use Figure 3 The configuration of a control system for a hydraulic excavator according to the first embodiment will be described.

[0052] Figure 3 FIG. 2 is a block diagram showing the control system structure of the hydraulic excavator 1. Figure 3 As shown, the control system of the hydraulic excavator 1 includes hydraulic pumps 2a and 2b, flow control valves 15a to 15f, load detection devices 16a to 16l, an engine 18, regulators 2aa and 2ba, right operating levers 22a and left operating levers 22b (operating device 22), right travel levers 23a and left travel levers 23b (operating device 23), and a door lock lever 24 ( Figure 1 ), lock valve 39, controller (also referred to as controller) 40 as a control device, operating devices 45a and 45b, operating devices 46a and 46b, operating devices 47a and 47b, pilot pump 48, pump pipeline 143, pilot lines 144a to 149b, hydraulic drive unit 150a to 155b, solenoid valve unit 160, oil tank 200, engine controller 470, engine speed detection device 490, engine starter 471 ( Figure 3Not shown in the figure, Figure 6 , Figure 7 (see figure in the figure).

[0053] The operating devices 22 and 23 and the door lock lever 24 are provided in the cab 120 and are operated by the operator. The operating devices 22 and 23 are electric lever type, and generate electric signals corresponding to the amount and direction of operation of the operator. The electric signals generated in this way are input to the controller 40 via the operating devices 45a to 47b. The controller 40 outputs an electric signal to the solenoid valve unit 160 in order to drive the solenoid proportional valve corresponding to the operation input to the operating devices 22 and 23.

[0054] The operating devices 45a to 47b are provided in the cab 120. The operating device 47a is connected to the right travel lever 23a, and outputs a signal for operating the right travel hydraulic motor 3a to the controller 40. The operating device 47b is connected to the left travel lever 23b, and outputs a signal for operating the left travel hydraulic motor 3b to the controller 40. The operating devices 45a and 46a are connected to the common right operating lever 22a, and output signals for operating the boom cylinder 5 and the bucket cylinder 7 to the controller 40. The operating devices 45b and 46b are connected to the common left operating lever 22b, and output signals for operating the arm cylinder 6 and the swing hydraulic motor 4 to the controller 40.

[0055] The engine 18 drives the hydraulic pumps 2a and 2b and the pilot pump 48. When the engine 18 starts to rotate, the engine starter 471 rotates to a certain extent to assist the starting of the engine 18. The hydraulic pumps 2a and 2b are variable capacity pumps whose capacities are controlled by regulators 2aa and 2ba, respectively. The pilot pump 48 is a fixed capacity pump. The engine controller 470 controls the rotation speed of the engine 18, etc. according to the control signal of the controller 40. The engine speed detection device 490 is a rotation sensor for detecting the rotation speed of the engine 18.

[0056] The hydraulic pump 2 and the pilot pump 48 draw hydraulic oil from the oil tank 200. In this embodiment, the control signal output from the controller 40 is input to the regulators 2aa and 2ba. The detailed structure of the regulators 2aa and 2ba is omitted, but the discharge flow rate of the hydraulic pumps 2a and 2b is controlled according to the control signal.

[0057] The hydraulic oil discharged from the hydraulic pump 2 is supplied to the boom cylinder 5 via the flow control valve 15a, to the arm cylinder 6 via the flow control valve 15b, to the bucket cylinder 7 via the flow control valve 15c, to the swing hydraulic motor 4 via the flow control valve 15d, to the right travel hydraulic motor 3a via the flow control valve 15e, and to the left travel hydraulic motor 3b via the flow control valve 15f. The boom cylinder 5, the arm cylinder 6, and the bucket cylinder 7 are extended and retracted by the supplied hydraulic oil, whereby the boom 8, the arm 9, and the bucket 10 are rotated respectively, and the position and posture of the bucket 10 are changed. In addition, the swing hydraulic motor 4 is rotated by the supplied hydraulic oil, whereby the upper swing body 12 is rotated relative to the lower travel body 11. Furthermore, the right travel hydraulic motor 3a and the left travel hydraulic motor 3b are rotated by the supplied hydraulic oil, whereby the lower travel body 11 travels.

[0058] The boom cylinder 5 is provided with load detection devices 16a and 16b in a manner capable of detecting cylinder pressure, the arm cylinder 6 is provided with load detection devices 16c and 16d, and the bucket cylinder 7 is provided with load detection devices 16e and 16f. In the present embodiment, the load detection devices 16a to 16f are pressure sensors that detect the pressure on the cylinder bottom side and the pressure on the piston rod side of the boom cylinder 5, the arm cylinder 6, and the bucket cylinder 7, and output them to the controller 40 as electrical signals. In addition, the right travel hydraulic motor 3a is provided with load detection devices 16g and 16h, the left travel hydraulic motor 3b is provided with load detection devices 16i and 16j, and the swing hydraulic motor 4 is provided with load detection devices 16k and 16l. In the present embodiment, the load detection devices 16g to 16l are pressure sensors that detect the pressure of the input and output lines of the right travel hydraulic motor 3a, the left travel hydraulic motor 3b, and the swing hydraulic motor 4, and output them to the controller 40 as electrical signals. In addition, Figure 3 In the figure, for the convenience of drawing, the connection lines from the load detection devices 16a to 161 to the controller 40 are not shown.

[0059] The pump line 143 is a discharge pipe of the pilot pump 48, and is connected to each electromagnetic proportional valve in the electromagnetic valve unit 160 after passing through the lock valve 39. The lock valve 39 (locking device) is an electromagnetic switching valve in this embodiment, and its electromagnetic drive unit is connected to the lock rod position detector 38 ( Figure 3 Not shown in the figure, Figure 6 , Figure 7The door lock rod has a rotation center, and the operator can rotate the door lock rod manually. The door lock rod is, for example, configured to be rotatable from an angle of contact with the upper limit stopper to an angle of contact with the lower limit stopper. The lock rod position detector 38 is a switch sensor, and can be configured such that the switch is pressed simultaneously by the door lock rod when the door lock rod touches the lower limit stopper. Thus, the lock rod position detector 38 outputs a signal corresponding to the potential of the door lock rod 24 to the lock valve 39, thereby detecting the effective state and invalid state of the operating devices 22 and 23 based on the lock valve 39 (locking device). If the potential of the door lock rod is in the lock position, the lock valve 39 is closed and the pump line 143 is cut off. If it is in the lock release position, the lock valve 39 is opened and the pump line 143 is opened. That is, in the state where the pump line 143 is cut off, the operations based on the operating devices 22 and 23 are invalidated, and actions such as driving, turning, and excavation are prohibited. When the pump line 143 is opened, the operation of the operating devices 22 and 23 is enabled, and actions such as traveling, turning, and excavation are permitted.

[0060] The above is the configuration of the control system of the hydraulic excavator 1 in the first embodiment.

[0061] <Configuration of the solenoid valve unit of the hydraulic excavator control system>

[0062] Next, use Figure 4 and Figure 5 illustrate Figure 3 Detailed structure of the solenoid valve unit 160.

[0063] Figure 4 as well as Figure 5 14 is a diagram showing a detailed structure of the electromagnetic valve unit 160. The primary port side of the electromagnetic valve unit 160 is connected to the pilot pump 48 via the pump line 143. The electromagnetic valve unit 160 has electromagnetic proportional valves 54a to 59b that reduce the pilot pressure from the pilot pump 48 and output it to the pilot lines 144a to 149b. The electromagnetic proportional valves 54a to 59b use the input electrical signals as control signals for driving the flow control valves 15a to 15f.

[0064] like Figure 4 As shown, the electromagnetic proportional valves 54a and 54b are connected to the hydraulic drive parts 150a and 150b of the flow control valve 15a via pilot lines 144a and 144b. The electromagnetic proportional valves 55a and 55b are connected to the hydraulic drive parts 151a and 151b of the flow control valve 15b via pilot lines 145a and 145b. The electromagnetic proportional valves 56a and 56b are connected to the hydraulic drive parts 152a and 152b of the flow control valve 15c via pilot lines 146a and 146b.

[0065] like Figure 5As shown, the electromagnetic proportional valves 57a and 57b are connected to the hydraulic drive parts 153a and 153b of the flow control valve 15d via pilot lines 147a and 147b. The electromagnetic proportional valves 58a and 58b are connected to the hydraulic drive parts 154a and 154b of the flow control valve 15e via pilot lines 148a and 148b. The electromagnetic proportional valves 59a and 59b are connected to the hydraulic drive parts 155a and 155b of the flow control valve 15f via pilot lines 149a and 149b.

[0066] The electromagnetic proportional valves 54a to 59b are opened to the minimum when not energized, and the opening increases as the control signal, ie, the current, from the controller 40 increases.

[0067] By outputting a control signal from the controller 40 to the solenoid valve unit 160 to drive the solenoid proportional valves 54a to 59b, a pilot pressure can be generated even when an operator who does not have the corresponding operating devices 22 and 23 operates, so that each actuator can be forced to operate.

[0068] The above is Figure 3 Detailed structure of the solenoid valve unit 160.

[0069] <Controller hardware configuration>

[0070] Next, use Figure 6 The hardware configuration of the controller of the hydraulic excavator in the first embodiment will be described.

[0071] Figure 6 40 is a hardware configuration diagram of the controller 40. Figure 6 As shown, the controller 40 is a computer device having an input unit 91 , a central processing unit (CPU) 92 as a processor, a read only memory (ROM) 93 , a random access memory (RAM) 94 , and an output unit 95 .

[0072] Figure 6 The control system shown has operating devices 22 and 23 connected to a controller 40 (control device), a posture detection device 50, an engine speed setting device 480, a control state switching switch 670, a communication device 650 for receiving a signal from a remote control device 800, a lock rod position detector 38, an engine controller 470, an engine starter 471, and electromagnetic proportional valves 54 to 59. The posture detection device 50 is composed of the above-mentioned boom angle sensor 30, arm angle sensor 31, bucket angle sensor 32, vehicle body inclination angle sensor 33, and swing angle sensor 34. These angle sensors 30, 31, 32, and 33 function as posture sensors of the front working device 1A.

[0073] The input unit 91 inputs a signal from the posture detection device 50, a signal indicating the amount of operation from the operating devices 22 and 23, a signal from the engine speed setting device 480, a signal from the control state switching switch 670, a signal from the engine controller 470, a signal from the remote control device 800 via the communication device 650, and a signal from the lock rod position detector 38, and converts them into signals for operation by the CPU 92. The ROM 93 is a recording medium storing a control program for executing the control content described later and various information required for the execution of the control operation. The CPU 92 performs a predetermined operation process on the signals received from the input unit 91, the ROM 93, and the RAM 94 according to the control program stored in the ROM 93. The output unit 95 produces an output signal corresponding to the operation result of the CPU 92, and outputs the signal to the engine controller 470, the engine starter 471, and the electromagnetic proportional valves 54a to 59b, thereby controlling the driving of the engine 18, the engine starter 471, and each actuator.

[0074] also, Figure 6 The controller 40 has semiconductor memories such as ROM 93 and RAM 94 as storage devices, but any storage device may be replaced with another type of storage device, for example, a magnetic storage device such as a hard disk drive.

[0075] The above is the hardware configuration of the controller of the hydraulic excavator in the first embodiment.

[0076] <Functional modules inside the controller>

[0077] Next, use Figure 7 The functional blocks inside the controller in the first embodiment will be described. Figure 7 is a functional block diagram of the controller 40 .

[0078] The controller 40 has a state transition determination unit 40a, a manual control target motion calculation unit 40b-1, an automatic control target motion calculation unit 40b-2, a target motion calculation unit 40b-3, a target engine speed calculation unit 40c, an electromagnetic proportional valve control unit 40d, an engine stop command unit 40e, and an engine drive command unit 40f.

[0079] The state transition judgment unit 40a receives the state switching identifier Fm(t) which is a signal sent from the control state switching switch 670 and converted by the input unit 91, the engine speed N(t) which is a signal sent from the engine controller 470 and converted by the input unit 91, the lock lever position L(t) which is a signal sent from the lock lever position detector 38 and converted by the input unit 91, the automatic action command (also called the automatic driving start command) Rs(t) which is a signal sent from the communication device 650 and converted by the input unit 91, and the remote engine drive command Re(t), and calculates (judges) the control state information M(t) based on these information. In addition, the state transition judgment unit 40a sends the information of the control state information M(t) to the target action calculation unit 40b-3, the engine stop command unit 40e, and the engine drive command unit 40f.

[0080] Furthermore, in the present embodiment, the automatic action command (automatic driving start command) Rs(t) is a signal of 0 or 1. When it is 1, it commands the start of the automatic driving, and when it is 0, it commands the stop of the automatic driving. In addition, the remote engine drive command Re(t) is a signal of 0 or 1. When it is 1, it commands the driving of the engine, and when it is 0, it commands the stop of the engine. When the engine is continuously driven, the remote engine drive command Re(t) is always 1. In addition, the lock rod position L(t) is a signal of 0 or 1. When it is 1, it indicates that it is in the locked position, and when it is 0, it indicates that it is in the command release position. In addition, the state switching mark Fm(t) is a signal of 0 or 1. When it is 1, it commands the transfer to the automatic control state, and when it is 0, it commands the transfer to the manual control state. In addition, the control status information M(t) is a signal from 0 to 5. When it is 0, it indicates manual control mode; when it is 1, it indicates automatic control non-working mode one; when it is 2, it indicates automatic control non-working mode two; when it is 3, it indicates standby mode; when it is 4, it indicates automatic control working mode; and when it is 5, it indicates automatic control non-working mode three.

[0081] The manual control target motion calculation unit 40b-1 receives the operation amount information, which is a signal converted from the electric signal corresponding to the operator's operation amount and operation direction sent from the operating devices 22 and 23 by the input unit 91, and calculates the target actuator speed Vmt(t). In addition, the manual control target motion calculation unit 40b-1 sends the information of the target actuator speed Vmt(t) to the target motion calculation unit 40b-3.

[0082] Here, the operation amount information refers to the angle information of each lever. The manual control target motion calculation unit 40b-1 inputs the angle information into the angle-target actuator speed table and outputs it as the target speed of each actuator, namely, the target actuator speed Vmt(t).

[0083] The automatic control target motion calculation unit 40b-2 receives the posture information, which is a signal sent from the posture detection device 50 and converted by the input unit 91, and calculates the target actuator speed Vat(t). The automatic control target motion calculation unit 40b-2 sends the target actuator speed Vat(t) information to the target motion calculation unit 40b-3.

[0084] The ROM 93 stores target motions of the hydraulic excavator 1 such as a target trajectory of the bucket tip and a travel path. The controller 40 performs feedback control using posture information as input so that the actual motion matches the target motion.

[0085] The target motion calculation unit 40b-3 receives the target actuator speed Vmt(t) sent from the manual control target motion calculation unit 40b-1, the target actuator speed Vat(t) sent from the automatic control target motion calculation unit 40b-2, and the control state information M(t) sent from the state transition judgment unit 40a, and calculates the final target actuator speed. The target motion calculation unit 40b-3 outputs the final target actuator speed to the electromagnetic proportional valve control unit 40d.

[0086] The electromagnetic proportional valve control unit 40 d outputs control command values ​​for the corresponding electromagnetic proportional valves 54 to 59 based on the target actuator speed output by the target motion calculation unit 40 b - 3 .

[0087] The target engine speed calculation unit 40c receives the engine speed setting signal, which is a signal obtained by converting the voltage value read by the controller 40 from the input unit 91 and output from the engine speed setting device 480, and calculates the target engine speed. The target engine speed calculation unit 40c sends the target engine speed to the engine controller 470.

[0088] The engine speed setting signal is a voltage value. The target engine speed calculation unit 40c inputs the voltage value information into a voltage-target engine speed table, and outputs the voltage value information as the target engine speed.

[0089] The engine stop command unit 40 e receives the control state information M(t), calculates the value of the engine stop command, and outputs the engine stop command to the engine controller 470 .

[0090] The engine drive command unit 40 f receives the engine speed N(t) and the control state information M(t), and calculates an engine starter drive command for starting the engine. The engine drive command unit 40 f then outputs the engine starter drive command to the engine starter 471 .

[0091] The above are the functional blocks inside the controller in the first embodiment.

[0092] <State transition process>

[0093] Next, use Figure 8 The state transition of the state transition determination unit 40 a in the first embodiment will be described. Figure 8 2 is a state transition diagram of the state transition determination unit 40a. In this diagram, once any state is reached, this state is maintained until the condition for transition to another state is satisfied.

[0094] The operation of the state transition determination unit 40a starts from S101.

[0095] In S102, it is determined that the control state is in manual control mode, and the control state information M(t) is set to 0. When the state switching flag Fm(t) becomes 1 by the switching operation of the control state switching switch 670 in S102, and the engine speed N(t) is 0, the state is transferred to S103. That is, S103 is a state in which the vehicle body is in automatic control and the movement has not started (automatic control non-operating state). In addition, the automatic control state refers to a state in which the vehicle body is operated according to a pre-set action instruction (target action) or an action instruction based on a signal received by the communication device 650 without relying on the operation of the operating devices 22 and 23.

[0096] In S103, it is determined that the control state is the automatic control non-working mode 1, and the control state information M(t) is set to 1. When the state switching flag Fm(t) becomes 0 by the switching operation of the control state switching switch 670 in S103, the state is transferred to S102. In addition, when the lock rod position L(t) is 0, the engine speed N(t) is 0, and the remote engine drive instruction Re(t) is 0, the state is transferred to S104. That is, S104 is in the automatic control state, and is in a state where the movement of the vehicle body has not started (automatic control non-working state), the door lock rod is in the release position (lock release position), and the engine is stopped. The engine can be stopped by operating the remote engine start-stop switch 881 of the remote control device 800 to the closed side and setting the remote engine drive instruction Re(t) to 0, or it can be executed in other ways.

[0097] In S104, it is determined that the control state is the automatic control non-operating mode 2, and the control state information M(t) is set to 2. In S104, when the remote engine start / stop switch 881 of the remote control device 800 is operated to the on side and the remote engine drive command Re(t) becomes 1, and the automatic operation command Rs(t) becomes 0 by the operation of the remote operation start / stop switch 880, the state transition is made to S105. That is, S105 is in the automatic control state, and the state in which the movement of the vehicle body has not started (automatic control non-operating state), and the door lock rod is in the release position (lock release position) and the engine is driven (started) by the remote control device 800. In addition, when the lock rod position L(t) becomes 1 by the operation of the door lock rod in S104, the state transition is made to S107. That is, in this case, S107 is in the automatic control state, and the state in which the movement of the vehicle body has not started (automatic control non-operating state), and the door lock rod is in the lock position and the engine is stopped.

[0098] In S105, it is determined that the control state is the standby mode, and the control state information M(t) is set to 3. When the automatic operation command Rs(t) becomes 1 by the operation of the remote operation start-stop switch 880 of the remote control device 800 in S105, the state is transferred to S106. That is, S106 is in the automatic control state, and the automatic driving is started by the remote control device 800 (automatic control working state). In addition, when the lock rod position L(t) becomes 1 by the operation of the door lock rod in S105, the state is transferred to S107. That is, in this case, S107 is in the automatic control state, the state in which the movement of the vehicle body has not started (automatic control non-working state), the door lock rod is in the locked position, and the engine is driven (started) by the remote control device 800. In addition, when the remote engine drive command Re(t) becomes 0 by the operation of the remote engine start-stop switch 881 of the remote control device 800 in S105, the state is transferred to S104. That is, S104 is a state in which the vehicle body is in an automatic control state as described above and the movement has not started (automatic control non-working state), the door lock rod is in a released position (lock release position) and the engine is stopped by the remote control device 800.

[0099] In S106, it is determined that the control state is the automatic control working mode, and the control state information M(t) is set to 4. When the automatic operation command Rs(t) becomes 0 by the operation of the remote operation start-stop switch 880 of the remote control device 800 in S106, the state is transferred to S105. That is, S105 is, as described above, in the automatic control state, and in the state where the automatic driving is stopped by the remote control device 800 (the state where the movement of the vehicle body has not started, and the door lock rod is in the release position (lock release position) and the engine is driven (started) by the remote control device 800).

[0100] In S107, it is determined that the control state is the automatic control non-operating mode 3, and the control state information M(t) is set to 5. When the remote engine drive command Re(t) becomes 0 by the operation of the remote engine start / stop switch 881 of the remote control device 800 in S107 (that is, when the engine stop operation by the remote control device 800 is performed), the state transition is made to S103.

[0101] In order to switch from the manual control mode to the automatic control working mode and automatically operate, first, the state switching flag Fm(t) is set to 1. As a result, it becomes an automatic control state, and the movement of the vehicle body has not started (automatic control non-operating state). Then, the lock rod position L(t) is set to 0, and the engine speed N(t) is set to 0, that is, the engine is stopped. Then, the remote engine drive instruction Re(t) is set to 1, and the engine is driven (started) through the remote control device 800. Then, the automatic action instruction Rs(t) is set to 1, and the automatic driving is started (automatic control working state) through the remote control device 800. In addition, the remote engine drive instruction Re(t) can be set to 0 by operating the remote engine start-stop switch 881 of the remote control device 800, thereby stopping the engine, or it can be executed in other ways.

[0102] In order to switch from the automatic control working mode to the manual control mode and perform manual operation, first, the automatic operation command Rs(t) is set to 0, and the automatic driving is stopped by the remote control device 800. Then, the lock lever position L(t) is set to 1, and then the remote engine drive command Re(t) is set to 0 and the engine is stopped by the remote control device 800, and then the state switching flag Fm(t) is set to 0. Alternatively, before setting the lock lever position L(t) to 1, the remote engine drive command Re(t) may be set to 0 and the engine may be stopped by the remote control device 800.

[0103] The above is the state transition of the state transition determination unit 40a in the first embodiment.

[0104] <Calculation flow of the target motion calculation unit>

[0105] Next, use Fig. 9 The calculation flow of the target motion calculation unit 40 b - 3 in the first embodiment will be described. Fig. 9 This is a calculation flow chart of the target motion calculation unit 40 b - 3 . This calculation flow is repeatedly processed while the controller 40 is operating, for example.

[0106] The calculation of the target motion calculation unit 40 b - 3 starts from S201 .

[0107] In S202, it is determined whether the control state information M(t) is 0, that is, whether it is in manual control mode. If the control state information M(t) is 0, it is determined as yes in S202, and the process proceeds to S204. If the control state information M(t) is other than 0, it is determined as no in S202, and the process proceeds to S203.

[0108] In S203, it is determined whether the control state information M(t) is 4, that is, whether it is in the automatic control working mode. If the control state information M(t) is 4, it is determined as yes in S203, and the process proceeds to S205. If the control state information M(t) is not 4, it is determined as no in S203, and the process proceeds to S206.

[0109] In S204, since the manual control mode is in progress, the final target actuator speed is set to Vmt(t). Then, the target motion calculation unit 40b-3 outputs the value to the electromagnetic proportional valve control unit 40d.

[0110] In S205, since it is the automatic control operation mode, the final target actuator speed is set to Vat(t). Then, the target motion calculation unit 40b-3 outputs this value to the electromagnetic proportional valve control unit 40d.

[0111] In S206 , since the mode is any one of the standby mode and the automatic control non-operation modes 1 to 3, the final target actuator speed is set to 0. Then, the target motion calculation unit 40 b - 3 outputs the value to the electromagnetic proportional valve control unit 40 d .

[0112] The above is the calculation flow of the target motion calculation unit 40 b - 3 in the first embodiment.

[0113] <Operation flow of the engine stop command unit>

[0114] Next, use Fig.10 The calculation flow of the engine stop command unit 40e in the first embodiment will be described. Fig.102 is a calculation flow chart of the engine stop command unit 40e. This calculation flow is repeatedly processed while the controller 40 is operating, for example.

[0115] The calculation of the engine stop instruction unit 40e starts from S301.

[0116] In S302, it is determined whether the control state information M(t) is 1 or 2. Figure 8 As shown in FIG. 1 , the modes in which the control state information M(t) is 1 or 2 are the automatic control non-operating modes 1 and 2, in which the engine is in a stopped state. When the control state information M(t) is 1 or 2, it is determined to be yes in S302, and the process proceeds to S303. When the control state information M(t) is other than 1 or 2, it is determined to be no in S302, and the process proceeds to S304.

[0117] In S303 , since the control state information M(t) is 1 or 2, it is determined that the engine should be stopped, and the engine stop command is set to true. Then, the engine stop command unit 40 e sends the engine stop command to the engine controller 470 .

[0118] In S304 , since the control state information M(t) is other than 1 and 2, it is determined that the engine should be in the driving state, and the engine stop command is set to false. Then, the engine stop command unit 40 e sends the engine stop command to the engine controller 470 .

[0119] The above is the calculation flow of the engine stop command unit 40e in the first embodiment.

[0120] <Output status transition flow>

[0121] Next, use Fig.11 The transition of the output state of the engine drive command unit 40f in the first embodiment will be described. Fig.11 2 is a transition diagram of the output state of the engine drive command unit 40f. In this diagram, once any state is reached, this state is maintained until the condition for transition to another state is satisfied.

[0122] In this embodiment, when the control state information M(t) changes from 2 to 3, the engine changes from the stopped state to the driven state. That is, when the control state information M(t) changes from 2 to 3, the engine starter 471 needs to be driven to start the engine 18.

[0123] The calculation of the engine drive command unit 40f starts from S401.

[0124] In S402, it is determined that the engine starter is not driven, and the starter drive command is set to false. When the control state information M(t) becomes 2 in S402, the process proceeds to S403.

[0125] In S403, since the control state information M(t) is 2, it is determined that the engine starter is not driven, and the starter drive command is set to false. In the case where the control state information M(t) is transferred to other than 2 and 3 in S403, the process proceeds to S402. In addition, in the case where the control state information M(t) is transferred to 3 in S403, the process proceeds to S404.

[0126] In S404, since the control state information M(t) changes from 2 to 3, it is determined that the engine starter is driven, and the starter drive command is set to true. If the engine speed N(t) exceeds the threshold in S404, the process proceeds to S402.

[0127] Through the above output state transfer, the control state information M(t) temporarily becomes 2, and then when the control state information M(t) becomes 3, it can instruct the engine starter to drive relative to the engine starter 471, and after the engine 18 is started and the engine speed exceeds a fixed value (threshold), the engine starter can be stopped.

[0128] The above is the transition of the output state of the engine drive command unit 40f in the first embodiment.

[0129] <Effects of the First Embodiment>

[0130] Next, the effects of the present embodiment will be described. Here, a case is considered in which an operator gets on the hydraulic excavator 1, starts the system, and operates manually, and then wants to switch to the automatic operation state and perform automatic operation and remote operation.

[0131] At this time, the process becomes as follows: First, the operator on board switches the control state switching switch 670 ( Figure 8 Then, the remote engine start / stop switch 881 of the remote control device 800 is operated to send a stop command for the engine 18 ( Figure 8 and, operating the remote engine start-stop switch 881 to send a start command for the engine 18 ( Figure 8 Then, the remote operation start / stop switch 880 is operated to send an instruction to start the automatic operation (an automatic driving start instruction) ( Figure 8S105→S106). That is, when the controller 40 is in the automatic control state and the movement of the vehicle body has not started (automatic control non-working state), if the remote control device 800 is not operated multiple times (if the remote engine start-stop switch 881 and the remote action start-stop switch 880 are not operated), the movement of the vehicle body in the automatic control state will not start. In other words, when the controller 40 is in the automatic control state and the movement of the vehicle body has not started (automatic control non-working state), the start of the movement of the vehicle body in the automatic control state is prohibited until the remote control device 800 is operated multiple times (until the remote engine start-stop switch 881 and the remote action start-stop switch 880 are operated). In other words, when the vehicle body control state is switched from the manual control state to the automatic control state by the control state switching switch 670, the controller 40 is set to the automatic control non-working state, and the transfer from the automatic control non-working state to the automatic control working state is allowed by multiple operations of the remote control device 800 in the automatic control non-working state.

[0132] Here, when the operator switches the control state switching switch 670 and operates the remote engine start / stop switch 881 of the remote control device 800 during the process of getting off the vehicle, the engine 18 is stopped ( Figure 8 In addition, if the remote engine start / stop switch 881 of the remote control device 800 is operated again, the engine 18 is started in the standby state ( Figure 8 At this point, the operator can realize that the above process is progressing even though getting off the vehicle has not been completed. In other words, the operator near the vehicle body can realize that a non-final operation, i.e., a non-final process operation (e.g., an operation to start the engine 18 based on the remote control device 800) has been performed multiple times (operation of the remote engine start / stop switch 881 and the remote motion start / stop switch 880).

[0133] Furthermore, if the operator operates the door lock lever to the locked position at this time, the door can be transferred from the standby state to the automatic control non-operating state, stopping the above process ( Figure 8 S105→S107).

[0134] Then, after getting off the vehicle, if the remote engine start / stop switch 881 of the remote control device 800 is operated to stop the engine 18 and the door lock rod is operated to the release position, the above-mentioned process can be restarted. That is, when the controller 40 is in the state of being in the automatic control non-operating state and the power source is being driven, and when the control state switching switch 670 is not operated (i.e., when the automatic control state is maintained), if at least there is no operation of stopping the engine 18 based on the remote control device 800, the movement of the vehicle body in the automatic control state is not restarted. In other words, the controller 40 prohibits the restart of the movement of the vehicle body in the automatic control state until at least the operation of stopping the engine 18 based on the remote control device 800 is performed. In other words, when the controller 40 is in the automatic control non-operating state and the power source is being driven, the power source (engine 18) is stopped and the transfer from the automatic control non-operating state to the automatic control operating state is allowed. That is, in the standby state, after the door lock rod in the cab 120 is operated, it becomes a state of being in the automatic control non-operating state and the power source is being driven. After the automatic control non-operating state and the power source being driven, the movement of the vehicle body is not restarted as long as the engine 18 is not stopped by the remote control device 800 within a certain period. If there is this time, it becomes the grace time to leave the vehicle body before the process is completed.

[0135] As described above, according to the present embodiment, even if the operator wants to start an automatic action while getting off the vehicle, the vehicle body will not start to move unless the remote control device 800 (remote controller) is operated multiple times, so that the vehicle body will not move immediately, and the operator who is getting off the vehicle can be aware of the progress of the process of starting the action by sensing the engine stop and start. Furthermore, the operator who is getting off the vehicle and is aware of the progress of the process of starting the action can lock the vehicle body action by operating the door lock lever.

[0136] <Modification of the first embodiment>

[0137] In addition, in the present embodiment, the vehicle body is set to a state where the vehicle body does not move by operating the door lock lever and shifting to the automatic control non-operating mode 3, but this may also be replaced by, for example, Fig.12 The automatic operation stop switch 700 shown is provided on the outside of the cab 120 and can be operated even after the driver gets off the vehicle and closes the door of the cab 120. That is, the controller 40 can also be configured to transfer to the automatic control non-operating state when the automatic operation stop switch 700 as an operating device is operated in the automatic control state.

[0138] In addition, a sounding device that emits sounds such as buzzers and warning sounds and a light-emitting device that emits lights such as LEDs may be provided, and the operation modes of the sounding device such as buzzers and warning sounds and the light-emitting device such as LEDs may be changed (change from silent to sounding, change in sounding mode, change from off to on, change in light-on mode, etc.) during the process of starting the action (specifically, through a non-final process operation among multiple operations), so that the operator can be aware that the process is progressing. Furthermore, as the process of starting the action progresses, the sounding device and the light-emitting device automatically change their operation modes, so that the operator can be aware that the process is progressing.

[0139] [Second embodiment]

[0140] use Fig.13 and Fig.14 A second embodiment of the present invention will be described. The description of the same parts as those of the first embodiment will be omitted.

[0141] <Functional modules inside the controller>

[0142] use Fig.13 The functional blocks inside the controller in the second embodiment will be described. Fig.13 is a functional block diagram of the controller 40 .

[0143] The difference from the first embodiment is that the operation amount information is additionally input to the state transition determination unit 40a. The state transition determination unit 40a also calculates the control state information M(t) based on the operation amount information (taking the operation amount information into consideration).

[0144] The above are the functional blocks inside the controller in the second embodiment.

[0145] <State transition process>

[0146] Next, use Fig.14 The state transition of the state transition determination unit 40a in the second embodiment will be described. Fig.14 It is a state transition diagram of the state transition determination unit 40a.

[0147] The difference from the first embodiment is that the state transition is made to S107 when the lock lever position L(t) becomes 1 in S104 or when the operation amount of any one of the operating devices 22 and 23 becomes non-zero.

[0148] In addition, when the lock lever position L(t) becomes 1 in S105 or when the operation amount of any one of the operating devices 22 and 23 becomes non-zero, the state transition is made to S107.

[0149] That is, when the operator operates the operating devices 22 and 23 in the standby state in the automatic control state, the state shifts to the automatic control non-operation state.

[0150] The above is the state transition of the state transition determination unit 40a in the second embodiment.

[0151] <Effects of the Second Embodiment>

[0152] As described above, according to this embodiment, similar to the first embodiment, when the operator is in the process of getting off the vehicle and wants to start the automatic operation, the operator in the process of getting off the vehicle can be made aware that the process of starting the operation is progressing. Furthermore, the operator in the process of getting off the vehicle who has noticed that the process of starting the operation is progressing can lock the vehicle body operation by operating the door lock lever. Furthermore, the vehicle body operation can also be locked by operating the operating devices 22 and 23.

[0153] [Summarize]

[0154] As described above, the automatic driving construction machine (hydraulic excavator 1) of the present embodiment has: a power source (engine 18); an operating device (22, 23) equipped on a vehicle body; a switching device (control state switching switch 670) that outputs a switching request for a vehicle body control state; a communication device (650) that receives a signal from a remote control device (800) operated outside the vehicle body; and a controller (40) that determines the vehicle body control state based on the output from the switching device (control state switching switch 670) and performs motion control according to the vehicle body control state, wherein the vehicle body control state includes: a manual control state that operates at least in accordance with an action instruction from the operating device; and an automatic control state that operates in accordance with a preset action instruction or an action instruction based on a signal received from the communication device. The automatic control state includes a state in which the vehicle body is not operating, i.e., an automatic control non-operating state, and a state in which the vehicle body is operating, i.e., an automatic control operating state. When the vehicle body control state is switched from the manual control state to the automatic control state by the switching device (control state switching switch 670), the controller (40) is set to the automatic control non-operating state, in which the transition from the automatic control non-operating state to the automatic control operating state is allowed by multiple operations of the remote control device (800), and an operator near the vehicle body can be aware that a non-final operation, i.e., a non-final process operation, has been performed among the multiple operations of the remote control device (800). That is, the non-final operation, i.e., the non-final process operation, among the multiple operations of the remote control device (800), includes an operation that can make the operator near the vehicle body aware that the non-final process operation has been performed.

[0155] In addition, the start-up of the power source (engine 18) can be instructed by the remote control device (800), and the non-final process operation at least includes the operation of starting the power source (engine 18) based on the remote control device (800).

[0156] In addition, the controller (40) is transferred to the automatic control non-working state when the door lock rod or the operating device is operated in the automatic control state. In addition, there is a locking device (locking valve 39) for switching the operating device (22, 23) to be effective or ineffective. In the automatic control non-working state, the controller (40) causes the vehicle body control state to be transferred to the automatic control working state when the remote control device (800) is operated and the locking device or the operating device is operated.

[0157] Furthermore, when the control device (control state switching switch 670) is not operated while the power source is being driven and the control device (control state switching switch 670) is not operated, the controller (40) does not restart the movement of the vehicle body in the automatic control state unless at least the operation of stopping the power source (engine 18) based on the remote control device (800) is performed. When the control device (40) is in the automatic control non-operating state and the power source is being driven, the controller (40) allows the transition from the automatic control non-operating state to the automatic control operating state by stopping the power source (engine 18).

[0158] In addition, there is a sounding device for emitting sound, and the operation mode of the sounding device is changed by the non-final process operation. Alternatively, there is a light emitting device for emitting light, and the operation mode of the light emitting device is changed by the non-final process operation.

[0159] That is, in this embodiment, in an engineering machine capable of automatic operation, after switching from manual control mode to automatic control mode, the machine will not operate unless the remote control device (800) is operated multiple times, and the operator who is getting off the machine can be aware that the process of starting the operation is progressing.

[0160] According to this embodiment, even if the operator wants to start automatic action while getting off the vehicle, the vehicle body will not start to move unless the remote control device 800 (remote controller) is operated multiple times. As a result, the vehicle body will not move immediately, and the operator while getting off the vehicle can perceive that the process of starting the action is progressing.

[0161] In addition, the present invention is not limited to the above-mentioned embodiments, and includes various deformation modes. For example, the above-mentioned embodiments are described in detail in order to explain the present invention in an easy-to-understand manner, and are not limited to having all the described structures. In addition, a part of the structure of a certain embodiment can be replaced with the structure of other embodiments, and the structure of other embodiments can be added to the structure of a certain embodiment. In addition, for a part of the structure of each embodiment, other structures can also be added, deleted, or replaced.

[0162] In addition, each function of the controller of the above-mentioned embodiment may be partially or entirely implemented by hardware, for example, by integrated circuit design. In addition, it may be implemented by software by having a processor interpret and execute a program that implements each function. Information such as programs, tables, and files that implement each function can be placed in a recording device such as a hard disk, SSD (Solid State Drive), or a recording medium such as an IC card, SD card, or DVD, in addition to the storage device in the controller.

[0163] Description of Reference Numerals

[0164] 1…Hydraulic excavator (autonomous driving construction machinery)

[0165] 1A...Front operating device

[0166] 1B…Body

[0167] 8… Boom

[0168] 9… Stick

[0169] 10…Bucket

[0170] 16a~16l…Load detection device

[0171] 18…Engine (power source)

[0172] 22, 23…Operating device

[0173] 24…Door lock rod

[0174] 30… Boom angle sensor

[0175] 31…Arm angle sensor

[0176] 32…Bucket angle sensor

[0177] 38…Lock rod position detector

[0178] 39…Lock valve (locking device)

[0179] 40…Controller (Controller)

[0180] 50…Posture detection device

[0181] 54, 55, 56, 57, 58, 59… Solenoid proportional valve

[0182] 470…Engine controller

[0183] 480…Engine speed setting device

[0184] 650…communication device

[0185] 670…Control state switch (switching device)

[0186] 700...Automatic stop switch (operating device)

[0187] 800…Remote control device

[0188] 850…communication device

[0189] 880…Remote action start / stop switch

[0190] 881…Remote engine start / stop switch.

Claims

1. An automatic driving engineering machine having: Power source; An operating device, which is equipped on the vehicle body; A switching device that outputs a switching request for a vehicle body control state; a communication device that receives a signal from a remote control device operated on the exterior of the vehicle body; and a controller that determines the vehicle body control state based on the output from the switching device and performs motion control according to the vehicle body control state, The vehicle body control state includes: a manual control state in which the vehicle body is operated at least in accordance with an operation instruction from the operating device; and an automatic control state in which the vehicle body is operated in accordance with a preset operation instruction or in accordance with an operation instruction based on a signal received by the communication device. The autonomous driving engineering machine is characterized in that: The automatic control state includes a state in which the vehicle body is not moving, i.e., an automatic control non-working state, and a state in which the vehicle body is moving, i.e., an automatic control working state. When the vehicle body control state is switched from the manual control state to the automatic control state by the switching device, the controller is set to the automatic control non-working state, and in the automatic control non-working state, the transfer from the automatic control non-working state to the automatic control working state is allowed through multiple operations of the remote control device.

2. The automatic driving engineering machine according to claim 1, characterized in that: Among the plurality of operations of the remote control device, operations that are not final operations, that is, non-final process operations, include operations that can make an operator near the vehicle body aware that the non-final process operation has been performed.

3. The automatic driving engineering machine according to claim 2, characterized in that: The activation of the power source can be commanded by the remote control device. The non-final process operations at least include an operation of starting the power source based on the remote control device.

4. The automatic driving engineering machine according to claim 1, characterized in that: A locking device for switching the operating device to be effective or ineffective is provided, The controller shifts the vehicle body control state to the automatic control operation state when the remote control device is operated and the locking device or the operation device is operated in the automatic control non-operation state.

5. The automatic driving engineering machine according to claim 4, characterized in that: The controller allows transition from the automatic control non-operating state to the automatic control operating state by stopping the power source when the controller is in the automatic control non-operating state and the power source is driving.

6. The automatic driving engineering machine according to claim 2, characterized in that: It further has a sounding device for producing sound, The operation mode of the sounding device varies according to the non-final process operation.

7. The automatic driving engineering machine according to claim 2, characterized in that: further comprising a light emitting device for emitting light, The operating mode of the light emitting device is changed according to the non-final process operation.

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