Control device for excavating machinery

Abstract

To provide a control device for an excavating machine that can reduce the burden on the operator during repetitive tasks. [Solution] A control device 41 to be implemented in an excavation machine comprising a lower traveling body equipped with crawlers, an upper rotating body rotatably mounted on top of the lower traveling body, a front device rotatably mounted on the front of the upper rotating body, and an excavating tool rotatably mounted in front of the front device, includes detection units 42A, 42B, and 43 that detect the operation content and amount of operation of the right rotation and left rotation of the upper rotating body, raising and lowering of the front device, and upward and downward movement of the excavating tool; a storage unit 44 that stores the operation content and amount detected by the detection unit in the order of operation; and a control unit 45 that executes the operation content and amount stored in the storage unit as a series of sequences in the order of operation.

Description

Technical Field

[0001] The present invention relates to a control device for an excavating machine, and more particularly to a control device for an excavating machine provided with an excavating tool for forming a pile hole.

Background Art

[0002] In construction work where excavating machines such as earth drills and obstacle removal machines are used, there are operations that are repeated dozens of times for each process. For example, in the shaft excavation process of the earth drill method, with the excavated earth and sand held inside, the bucket (excavating tool) is pulled up to the ground, the earth and sand are discharged at a determined earth discharge position, and then the operation of returning to the original excavation position is repeatedly performed dozens of times (see, for example, Patent Document 1). In such repetitive operations, it is necessary to perform various operations such as the traveling, turning, boom raising and lowering, and winch winding and unwinding of the excavating machine by lever operation in a combined manner. The same can be said for the obstacle removal process in the obstacle removal method.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] Although the combined operation of the excavating machine consists of simple lever operations one by one, the total number of operations becomes extremely large. Moreover, it is necessary to accurately align with the original excavation position when the work is completed, and since concentration is required for the operation, it is a heavy burden for the operator.

[0005] Therefore, an object of the present invention is to provide a control device for an excavating machine that can reduce the burden on the operator in repetitive operations.

Means for Solving the Problems

[0006] To achieve the above objective, the first configuration of the control device for an excavating machine of the present invention is a control device to be implemented in an excavating machine comprising a lower traveling body equipped with a crawler, an upper rotating body rotatably provided on the upper part of the lower traveling body, a front device that can be raised and lowered on the front part of the upper rotating body, and an excavating tool that can move up and down in front of the front device, characterized in that it comprises: a detection unit that detects the operation content and amount of operation of the right rotation and left rotation of the upper rotating body, the raising and lowering of the front device, and the upward and downward movement of the excavating tool; a storage unit that stores the operation content and amount of operation detected by the detection unit in correspondence with the operation content and amount of operation in the order of operation; and a control unit that executes the operation content and amount of operation stored in the storage unit as a series of sequences in the order of operation.

[0007] Furthermore, the second configuration of the control device for the excavation machine is characterized in that the series of sequences includes a forward operation sequence that moves the excavator from the excavation position to the soil removal position and a reverse operation sequence that moves the excavator from the soil removal position to the excavation position, and the control unit generates the return operation sequence based on the forward operation sequence.

[0008] Furthermore, a third configuration of the control device for the excavating machine is characterized in that the series of sequences includes an integrated operation quantity which integrates multiple unit operation quantities that share the same operation content. [Effects of the Invention]

[0009] According to the control device for the excavating machine of the present invention, in the first configuration, the registered operation content and operation amount are executed as a series of sequences in the order of operation, so that the advantages of operation tailored to the construction site can be utilized while reducing the burden on the operator in repeated work from the second time onward. In the second configuration, the return operation sequence is generated based on the forward operation sequence, so the registration of the return operation sequence can be easily performed. Furthermore, in the third configuration, a series of sequences including integrated operation amounts are executed, which contributes to efficient repeated work from the second time onward. [Brief explanation of the drawing]

[0010] [Figure 1] This is a side view of an earth drill to which the control device in the first embodiment of the present invention is applied. [Figure 2] This is an explanatory diagram of construction using excavating tools. [Figure 3] This is also a schematic diagram of the control device. [Figure 4] This flowchart also compares the first registration step with subsequent steps in a repetitive process. [Figure 5] This is a diagram showing the construction screen. [Figure 6] This is a diagram showing the sequence registration / confirmation / execution screen. [Figure 7] This is another diagram showing the sequence registration screen. [Figure 8] This is a diagram showing the sequence operation details screen. [Figure 9] This is another diagram showing the sequence execution screen. [Figure 10] This figure also shows the state while the operation amount is being changed on the sequence operation details screen. [Figure 11] This flowchart compares the first registration operation with subsequent operations in a repetitive operation procedure in a second embodiment of the control device of the present invention. [Figure 12] This is a diagram showing the sequence operation details screen. [Figure 13] It is a diagram showing the state during the inversion operation on the sequence operation content screen as well. [Figure 14] It is a diagram showing the state of completion of the inversion operation on the sequence operation content screen as well. [Figure 15] It is a flowchart showing a comparison between the first registration operation and the subsequent operations of the procedure of the repetitive operation in the third exemplary form of the control device of the present invention. [Figure 16] It is a diagram showing the state during the integration operation on the sequence operation content screen as well. [Figure 17] It is a diagram showing the state of completion of the integration operation on the sequence operation content screen as well.

Embodiments for Carrying Out the Invention

[0011] Figures 1 to 10 show a first exemplary form in which the control device of the present invention is applied to an earth drill which is an example of an excavation machine. As shown in Figure 1, the earth drill 11 includes a base machine (airframe) 14 composed of a lower traveling body 12 equipped with crawlers and an upper slewing body 13 rotatably provided on the upper part of the lower traveling body 12, a boom (front device) 15 provided on the front part of the upper slewing body 13 so as to be able to rise and fall, an excavation tool 16 provided in front of the boom 15 so as to be able to move up and down and rotate, and a gantry 17 erected on the rear part of the upper slewing body 13. Further, a driver's cab 18 is provided on the right side part of the upper slewing body 13, and an engine power unit (not shown) as a hydraulic power source device for operating various hydraulic actuators is provided on the left side part respectively. Furthermore, a plurality of winches 19, 20, 21 are mounted on the central part of the upper slewing body 13.

[0012] Inside the driver's cab 18, a plurality of operation levers, push button switches, devices such as a display for performing operations such as traveling, slewing, winches 19, 20, 21, and rotation of the excavation tool 16 are intensively arranged in the vicinity of the driver's seat in consideration of operability. Also, a controller (described later) which is electrically connected to these devices and performs various arithmetic processes such as data processing and determination is installed on the driver's seat.

[0013] On the front surface of the tip of the boom 15, a sheave shaft 22 orthogonal to the longitudinal direction of the boom 15 is provided horizontally, and a main winding sheave 23 and a supplementary winding sheave 24 are rotatably supported on the sheave shaft 22 with a space therebetween. On the rear surface of the tip of the boom 15, a main winding guide sheave shaft 25 and a supplementary winding guide sheave shaft 26 orthogonal to the longitudinal direction of the boom 15 are provided horizontally on the same axis on the left and right. A main winding guide sheave 27 is provided on the main winding guide sheave shaft 25, and a supplementary winding guide sheave 28 is provided on the supplementary winding guide sheave shaft 26. The main winding guide sheave 27 and the supplementary winding guide sheave 28 are rotatably supported with a space therebetween.

[0014] The main winding rope 29 for excavation work fed out from the main winding winch 19 through the main winding guide sheave 27 is wound around the main winding sheave 23. With the swivel 30 interposed at the end of the main winding rope 29, the kelly bar 31 is rotatably suspended, and the main winding winch 19 winds up or winds down the main winding rope 29 to raise and lower the kelly bar 31. Further, at the tip of a support arm 32 attached below the boom 15, a kelly drive (rotation drive device) 33 through which the kelly bar 31 is inserted in a vertically movable state is provided. By rotating the kelly bar 31 with the kelly drive 33, the excavation tool 16 attached to the lower end of the kelly bar 31 is rotated (forward or reverse). The supplementary winding rope 34 for crane work fed out from the supplementary winding winch 20 through the supplementary winding guide sheave 28 is wound around the supplementary winding sheave 24, and a supplementary winding hook 35 is connected to the end of the supplementary winding rope 34.

[0015] The gantry 17 is equipped with a guide sheave 37 for guiding the luffing rope 36 that is unfurled from the luffing winch 21. The luffing rope 36 rises upward from the luffing winch 21, passes through the guide sheave 37, and is then routed around the front middle sheave block 38 and gantry sheave block 39, with the end of the rope fixed to the gantry sheave block 39. Furthermore, the middle sheave block 38 is connected to the other end of a pendant rope 40, one end of which is connected to a connecting member 15a provided at the tip of the boom 15. The boom 15 is raised and lowered by winding in or unwinding the luffing rope 36 with the luffing winch 21.

[0016] Construction using the earth drill 11 (formation of pile holes) is carried out by raising the boom 15 to a predetermined angle, and as shown in Figure 2, aligning the excavating tool 16 to the excavation position (pile center) P1 by driving, rotating, and leveling the Kelly drive 33, and then rotating the Kelly bar 31 with the Kelly drive 33 to rotate and push the excavating tool 16 into the ground while excavating, and then raising the excavating tool 16 to the ground level (GL) and releasing the soil at a predetermined soil discharge position P2. These operations are repeated alternately. In other words, the repeated operations consist of a forward operation in which the excavating tool 16 is moved from the excavation position P1 to the soil discharge position P2, and a return operation in which it is moved in the opposite direction. Theoretically, the operations in the return operation are the same as those in the forward operation, performed in reverse order and for the same amount of time. This is also true for the obstacle removal process in the obstacle removal method and the hammer drilling process in the all-casing method. In addition to the widened-base bucket shown in Figures 1 and 2, various other excavating tools (e.g., excavation buckets, hammer grabs, etc.) are used as attachments in construction, depending on the construction method.

[0017] Incidentally, while each operation of the earth drill 11 is a simple lever operation, the total number of operations is enormous. Furthermore, it is necessary to precisely align the drill to the original excavation position P1 when the soil removal work is completed, requiring concentration during operation, which places a heavy burden on the operator. Therefore, the earth drill 11 is equipped with a control device 41 that can reduce the burden on the operator during repetitive work.

[0018] As shown in Figure 3, the control device 41 includes hydraulic switches (detection units) 42A and 42B that detect the operation of each operation of the lower traveling body 12 (forward and reverse), the upper slewing body 13 (right and left rotation), the raising and lowering of the boom 15, and the upward and downward movement of the excavating tool 16 (winding up and lowering of the main winding rope 29); a sensor (detection unit) 43 that detects the amount of operation for each operation; a storage unit (memory, HDD, etc.) 44 that stores the operation content and amount detected by each hydraulic switch 42A, 42B and each sensor 43 in the order of operation; a control unit (CPU) 45 that executes the operation content and amount stored in the storage unit 44 as a series of sequences (repeated control) in the order of operation; and a touch panel display 46 for checking and editing the processing results of the control program. The storage unit 44 and the control unit 45 are incorporated into a controller 47 equipped with various I / O interfaces.

[0019] Hydraulic switches 42A and 42B are respectively incorporated into pilot oil passages (operating hydraulic circuits) 48 corresponding to the operation of the lower traveling body 12, upper slewing body 13, boom 15, and excavator 16. For example, when the slewing system's operating lever 49 is tilted to one side from the neutral position to perform a right slewing operation, the lever operation pressure signal (pilot secondary pressure) of the hydraulic fluid flowing through the pilot oil passage 48 acts on the hydraulic switch 42A, and the right slewing (operation) is input to the controller 47 as an operation signal. In this case, upon receiving the switching operation of the hydraulic pilot-operated switching valve 50, the slewing motor (hydraulic motor) mounted on the upper slewing body 13 is driven to rotate to the right, and the right slewing of the upper slewing body 13 begins.

[0020] Conversely, when the operating lever 49 is tilted from the neutral position to the other side to perform a left turn, the lever operation pressure signal of the hydraulic fluid flowing through the pilot oil passage 48 acts on the hydraulic switch 42B, and a left turn (operation content) is input to the controller 47 as an operation signal. In this case, upon receiving the switching operation of the hydraulic pilot-operated switching valve 50, the slewing motor is driven in reverse, and the left turn of the upper slewing body 13 begins. Similarly, for the forward and reverse movement of the lower traveling body 12, the raising and lowering of the boom 15, and the upward and downward movement of the excavating tool 16 (hoisting and lowering of the main hoisting rope 29), the operation content corresponding to the lever operation is input to the controller 47 as an operation signal.

[0021] Sensor 43 can be an angle sensor that outputs the rotation angle of the upper slewing body 13 and the rotation angle of the reduction mechanism provided on the lower traveling body 12 and the main hoist winch 19 as electrical signals, or an inclination sensor that outputs the luffing angle of the boom 15 as an electrical signal. For example, when the upper slewing body 13 starts to rotate to the right, the rotation angle (operation amount) detected by angle sensor 43a is input to the controller 47 as an operation signal. Also, when the excavator 16 starts to move upward, that is, when the main hoist rope 29 starts to be hoisted up, the rotation angle (operation amount) detected by angle sensor 43b is input to the controller 47 as an operation signal. In this case, the controller 47 calculates the amount of operation required to hoist up the main hoist rope 29 based on the rotation angle and the radius of rotation.

[0022] When the control unit 45 executes a series of sequences read from the memory unit 44, it issues control commands to the electromagnetic switching valve 51, which is installed alongside the hydraulic pilot-operated switching valve 50, as well as to the engine controller 52 and the variable displacement hydraulic pump 53, thereby performing hydraulic control on the hydraulic actuators to be controlled. In other words, the control unit 45 replaces lever operation by the operator and performs control for automatic operation based on a series of sequences, such as raising the boom 15 (winding up the luffing rope 36) and reversing, which are continuous operations.

[0023] The following describes the procedures for the first registration (sequence registration) and subsequent operations (sequence execution) in a repetitive process, referring to the flowchart in Figure 4 and the display screens of display 46 in Figures 5 to 10.

[0024] The first registration process, as shown in the upper part of Figure 4, involves raising the excavating tool 16 to ground level (GL) while retaining the excavated soil inside (S1), stopping the operation of the earth drill 11 in a construction interruption state (S2), and starting the sequence registration based on the operator's touch panel operation (S3). To start sequence registration, as shown in Figure 5, the operator operates the "Sequence" button 54 among several buttons displayed at the bottom of the construction screen. This displays the "Sequence Screen" as a pop-up menu screen 55, as shown in Figure 6, which has "Register," "Confirm," and "Execute" buttons for the sequence. In this example, for example, two patterns, sequence (1) and sequence (2), can be handled.

[0025] The series of operations to move the excavator 16 from the excavation position P1 to the soil removal position P2, perform the soil removal work, and then return it to the original excavation position P1, is performed in the following order, for example: right rotation (S4), forward movement (S5), boom lowering (S6), lowering (S7), soil removal (S8), hoisting (S9), boom raising (S10), reverse movement (S11), and left rotation (S12).

[0026] In the registration process, before starting the right turn (S4) operation, that is, at the excavation position P1, the "Register" button on the menu screen 55 is pressed to start registering the sequence (S3). At this time, as shown in Figure 7, the "Sequence Registration in Progress" screen is displayed as a pop-up registration screen 56. In this example, according to the progress of the operations (S4 to S12), the current operation (e.g., right turn), initial value (e.g., 0°), and current value (e.g., 12°) are displayed together in the center of the registration screen 56. In this way, the series of operations (S4 to S12) are registered as a sequence operation. The sequence data has, for example, a tabular table structure composed of rows and columns, and the "No." which determines the order of operations, the "operation content," and the "operation amount" are associated and sequentially stored in the storage unit 44.

[0027] Soil removal (S8) is assumed to be performed using an excavation tool 16 such as a hammer grab that opens and closes its bucket using power. If soil removal (S8) is excluded from the sequence operation, for example, in a repetitive operation, the work can be divided into a forward operation (S4-S7) in which the excavation tool 16 is moved from the excavation position P1 to the soil removal position P2, and a return operation (S9-S12) in which it is moved in the opposite direction, and the two can be registered separately.

[0028] After returning the emptied drilling tool 16 to its original drilling position P1, the "Complete" button on the registration screen 56 is pressed, clearing the pop-up display and completing the sequence registration (S13). This allows the earth drill 11 to resume construction from drilling position P1 (S14). At this point, pressing the "Confirm" button on the menu screen 55 displays the "Sequence Operation Details Screen" as a pop-up confirmation screen 57, as shown in Figure 8. This allows the user to confirm the registered sequence operation details on the screen. In this example, in addition to the "No.", "Operation Details", and "Operation Amount" items read from the storage unit 44, a "Manual / Automatic" item is added, and the information is displayed visually as tabular information according to the operation order.

[0029] The "Manual / Automatic" display indicates the operating mode. By touch operation, the operator can choose between "Manual," where they directly control the operation, and "Automatic," where the operation is left to the control system to execute the sequence. This allows the "Manual" setting to be used only for operations where the operator's intent is prioritized, depending on the environment in which the earth drill 11 is located. For example, in rainy weather with poor road conditions, only the driving operation (S5, S11) can be set to "Manual." Similarly, in confined spaces with height restrictions, only the boom raising operation (S10) can be set to "Manual." Therefore, operator intervention is possible even during control. On the other hand, for slewing (S4, S12), where positioning accuracy is relatively easy to achieve, the "Automatic" setting can be actively used.

[0030] In the second operation, as shown in the lower part of Figure 4, the excavating tool 16 is raised to ground level (GL) while retaining the excavated soil inside (S15), and with the operation of the earth drill 11 stopped (S16), the execution of the sequence is started based on the operator's touch panel operation (S17). To start the execution of the sequence, the "Execute" button on the menu screen 55 is operated (Figure 6). As a result, as shown in Figure 9, the "Sequence Execution Screen" is displayed as a pop-up execution screen 58, and at the same time, automatic operation based on the sequence is started. In this example, according to the sequence corresponding to the registered operation content (S4~S12), for example, the current operation content (e.g., forward), manual / automatic (e.g., automatic), target value (e.g., 0.25m), and current value (e.g., 0.08m) are displayed together in the center of the execution screen 58. In this way, the registered operation content (S4~S12) is executed as a series of sequences (S18). For operations using the "Manual" setting in the operating mode, the operator will perform the operation themselves while monitoring the current value and target value.

[0031] An "emergency stop" button is displayed at the bottom of the execution screen 58. If the operator senses danger during sequence execution, they can immediately stop the operation of the earth drill 11 by touching the button. In the event of such an emergency stop, in addition to controlling the switching of the electromagnetic switching valve 51, various safety measures can be taken by issuing control commands to the engine controller 52 to stop the engine (power source).

[0032] Once the excavator 16, with its interior emptied, returns to its original excavation position P1, the operator can confirm the completion of the sequence execution by a message displayed on a pop-up screen (S19), although this is not shown in the diagram. This allows the earth drill 11 to resume construction from the excavation position P1 (S20). The process then proceeds in the same manner for the third and subsequent repetitions of the operation (Figure 4, bottom).

[0033] Here, since there is a limit to the amount of soil that can be released from the same soil discharge location (soil discharge location P2), the operator needs to set a new target location for soil discharge (S8) at the appropriate time. In that case, as shown in Figure 10, the operator can touch the value of the operation amount on the confirmation screen 57 to display the keypad screen 59 and change the values ​​of the operation amounts for, for example, forward (S5) and reverse (S11). This allows the operator to secure the necessary space for soil discharge with simple operations on the screen, that is, by changing the contents of the existing sequence, without having to register it as a separate sequence operation. When resetting the target location, it is also possible to perform the registration work each time, taking into account the positioning error (cumulative error) caused by the number of operations (number of steps).

[0034] Thus, in the first configuration of the control device for the excavating machine of the present invention, the operation content and operation amount registered as sequence operations (S4 to S12) are executed in a series of sequences (S18) in the order of operation. This makes it possible to take advantage of the benefits of operation tailored to the construction site while reducing the burden on the operator in repeated operations from the second time onward.

[0035] Figures 11 to 14 show a second embodiment of the control device of the present invention applied to an earth drill. In the following description, components identical to those shown in the above embodiment are denoted by the same reference numerals, and detailed descriptions are omitted.

[0036] In the control device of the second embodiment, the configuration is basically the same as in the first embodiment, and the control unit 45 performs control to generate a sequence of return operations (S25-S27) that move the excavator 16 in the reverse direction, based on the sequence of forward operations (S21-S23) that move the excavator 16 from the excavation position P1 to the soil removal position P2, as shown in Figure 11. To register a sequence, after operating the "Register" button on the menu screen 55, various operation operations are performed to register, for example, forward (S21), boom lowering (S22), lowering (S23), and soil removal (S24) in that order. In this way, a series of forward operations (S21-S23) and soil removal operations (S24) are registered as a sequence operation.

[0037] As shown in Figure 12, when the confirmation screen 57 is displayed, operating the "Mirror (Reverse)" button allows you to select the items to be reversed (sequences corresponding to No. 1 to 3) by touch operation, as shown in Figure 13. In this case, the selected items are highlighted in the display area, allowing you to confirm the items to be reversed on the screen.

[0038] When the "Mirror Execution" button on the screen is operated in this selected state, the control unit 45 generates and registers the sequence of return operations (S25-S27) based on the sequence of forward operations (S21-S23), which is the target of the inversion operation. Specifically, it generates inverted operation content, inverted operation amount, and inverted operation order by inverting the operation content, operation amount, and operation order stored in the memory unit 44, and registers the generated inverted operation content and inverted operation amount in the inverted operation order.

[0039] For example, based on the operation "forward" and operation amount "0.25m" (S21), the reversal operation "reverse" and reversal operation amount "-0.25m" (S27) are generated; based on the operation "boom lower" and operation amount "23°" (S22), the reversal operation "boom raise" and reversal operation amount "-23°" (S26) are generated; and based on the operation "lower" and operation amount "1.80m" (S23), the reversal operation "hoist up" and reversal operation amount "-1.80m" (S25) are generated. At the same time as determining the reversal operation content and reversal operation amount, the operation order of the reversal operation content is rearranged in reverse order (descending order) based on the operation order "No. 1~3", and as shown in Figure 14, the reversal operation order "No. 5~7" is inserted sequentially in the row after the bottom row (No. 4) and registered. After this inversion operation, the series of operations (S21-S27) are registered, and in subsequent operations, the registered operations (S21-S27) are executed as a sequence (S28).

[0040] In this second configuration, the same effects as the first configuration can be achieved. Furthermore, in this example, since the sequence of return operations (S25-S27) is automatically generated based on the sequence of outbound operations (S21-S23), the registration of the return operation sequence (S25-S27) can be easily performed.

[0041] Figures 15 to 17 show a third embodiment of the control device of the present invention applied to an earth drill. In the following description, the same reference numerals are used for components that are the same as those shown in the above embodiments, and detailed descriptions are omitted.

[0042] The control device in the third embodiment basically retains the configuration of each of the above embodiments, and the sequence includes an integrated control quantity (for example, an integrated control quantity TD for the travel system, an integrated control quantity TR for the slewing system, etc.) which integrates multiple unit control quantities with common operation content, as shown in Figure 15. For example, in the first registration operation, it can be seen that the operation content of the travel system and the operation content of the slewing system each occur multiple times during the return trip operation (upper part of Figure 15). Such multiple operations involve fine adjustments specific to pile center position guidance and occur almost inevitably due to the operator's skill level, the site environment, etc.

[0043] Focusing on the operations of the driving system, there are three forward movements (S32, S34, S35) and two reverse movements (S29, S33). The unit amounts for these movements are "100cm" (S32), "50cm" (S34), and "30cm" (S35) for forward movements, and "-500cm" (S29) and "-200cm" (S33) for reverse movements. Focusing on the operations of the turning system, there is one right turn (S31) and two left turns (S30, S36). The unit amounts for these movements are "15°" (S31) for right turns, and "-65°" (S30) and "-5°" (S36) for left turns. Therefore, if left as is, unnecessary movements that are not required for the execution of the sequence will be reproduced. Therefore, based on the operator's judgment, the control unit 45 determines the integrated control amount TD for the travel system and the integrated control amount TR for the turning system by integrating the common unit control amounts, and uses these values ​​(TD, TR) when executing the sequence (Figure 15, lower panel). Specifically, if the vehicle is traveling, the control unit 45 controls it using "reverse" as the integrated control content and "-520cm (=-500+100-200+50+30)" (S37) as the integrated control amount TD (S39). If the vehicle is turning, it controls it using "turn left" as the integrated control content and "-55° (=-65+15-5)" (S38) as the integrated control amount TR (S39).

[0044] For example, when confirmation screen 57 is displayed, operating the "Integrate" button allows you to select the integration target (sequences corresponding to No. 7, 10-14...) via touch operation, as shown in Figure 16. In this case, the selected item is highlighted in the display area, allowing you to confirm the integration target on the screen.

[0045] With this selection in place, operating the "Execute Integrated Operation" button on the screen will calculate the integrated operation content and integrated operation amount, which are the integrated operation targets, i.e., the unit operation amounts of common operation content (such as the turning system). At the same time, the integrated operation targets will be removed from the display, and the operation order will be organized. As shown in Figure 17, for example, the integrated operation content "*Forward*" and integrated operation amount "1.50m" for the travel system, and the integrated operation content "*Turn Left*" and integrated operation amount "-55°" for the turning system will be inserted and registered in operation order "No. 7, 8" on the line following the bottom line (No. 6). Although not shown in the diagram, the insertion position of each item can be arbitrarily changed at the operator's discretion.

[0046] After this integration process, returning to Figure 15, the integrated operation content and integrated operation amount (S37, S38) are registered, and in subsequent operations, the registered integrated operation content and integrated operation amount (S37, S38) are included in a series of sequences and executed (S39).

[0047] In this third configuration, the same effects as the first configuration can be achieved, and furthermore, in this example, a series of sequences (S39) including the integrated operation variables TD and TR are executed, which contributes to efficient repetition of the work from the second time onward.

[0048] Furthermore, the present invention is not limited to the above-described embodiments. The control program for sequence control can be a simple configuration that can be added on to an existing construction management device (control device), and can be modified as appropriate according to the specifications of the excavating machine and construction conditions (construction method). In addition, the operations to be registered as sequence operations are arbitrary. For example, if forward / reverse movement and raising / lowering the front device are excluded, a relatively simple sequence can be used, which is an advantage. Moreover, the electrical and hydraulic circuits that constitute the control device are also arbitrary. For example, the operating lever may be a joystick that generates electrical signals. In the embodiments, the amount of movement and turning operations was acquired by a sensor provided on the excavating machine, but this is not limited to this, and it may also be obtained from position information acquired by a GPS function. In this case, multiple antennas are installed at appropriate positions on the machine. In addition, although an earth drill was given as an example of an excavating machine, it is not limited to this, and can be applied to control devices of various excavating machines equipped with excavating tools for forming pile holes. [Explanation of Symbols]

[0049] 11...Earth drill, 12...Lower traveling body, 13...Upper slewing body, 14...Base machine, 15...Boom, 15a...Connecting member, 16...Drilling tool, 17...Gantry, 18...Operator's cab, 19...Main winch, 20...Auxiliary winch, 21...Luffing winch, 22...Sheave shaft, 23...Main winch sheave, 24...Auxiliary winch sheave, 25...Main winch guide sheave shaft, 26...Auxiliary winch guide sheave shaft, 27...Main winch guide sheave, 28...Auxiliary winch guide sheave, 29...Main winch rope, 30...Swivel, 31...Kelly bar, 32...Support arm, 33...Kelly drive, 34...Auxiliary winch rope, 35...Auxiliary winch hook, 36...Luffing rope 37... Guide sheave, 38... Middle sheave block, 39... Gantry sheave block, 40... Pendant rope, 41... Control device, 42A, 42B... Hydraulic switch, 43... Sensor, 43a, 43b... Angle sensor, 44... Memory unit, 45... Control unit, 46... Display, 47... Controller, 48... Pilot oil passage, 49... Operating lever, 50... Pilot-operated switching valve, 51... Solenoid switching valve, 52... Engine controller, 53... Variable displacement hydraulic pump, 54... Button, 55... Menu screen, 56... Registration screen, 57... Confirmation screen, 58... Execution screen, 59... Keypad screen

Claims

1. A lower running body equipped with crawlers, An upper rotating body is provided on the upper part of the lower traveling body so as to be rotatable, A front device is provided at the front of the upper rotating body so as to be able to be raised and lowered, A control device implemented in an excavation machine equipped with an excavation tool that is vertically movable in front of the front device, A detection unit that detects the operation content and amount of each operation, such as the right and left rotation of the upper rotating body, the raising and lowering of the front device, and the upward and downward movement of the excavating tool, A storage unit that stores the operation content and operation amount detected by the detection unit in the order of operation, A control device characterized by having a control unit that executes the operation content and operation amount stored in the memory unit as a series of sequences in the order of operation.

2. The aforementioned sequence includes a forward movement sequence in which the excavating tool is moved from the excavation position to the soil removal position, and a return movement sequence in which it is moved in the opposite direction. The control device according to claim 1, characterized in that the control unit generates the sequence of the return operation based on the sequence of the forward operation.

3. The control device according to claim 1 or 2, characterized in that the series of sequences includes an integrated control quantity which integrates a plurality of unit control quantities having common operation content.

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