JP3630520B2 - Method and apparatus for automatically transferring excavated object of work machine - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention excavates and captures objects such as quarry, coal, and rocks collected at mines, which are transported by dump trucks and other transport vehicles, and automatically transfers them from the accumulation locations to other predetermined locations. The present invention relates to a method and an apparatus for automatically transferring an excavated object of a machine.
[0002]
[Prior art]
In large-scale quarries and mines, excavated quarries and rocks containing mineral materials are repeatedly transported to a temporary collection point by a dump truck and released. On the other hand, the quarry, rock, etc. accumulated at the accumulation location are transferred to another predetermined location by an appropriate work machine such as a hydraulic excavator, and predetermined processing is performed at that location. Such a work site will be described with reference to FIG.
[0003]
FIG. 10 is a bird view of the quarry. In this figure, 1 indicates a quarrying site. Quarrying is collected by blasting or excavation, and the collected quarry is excavated by a hydraulic excavator (not shown) and loaded on a dump truck. 2 shows a dump truck loaded with quarry. 3 is a collection place for temporarily collecting quarrying, 4 is a crusher for crushing quarrying, 41 is a hopper of crusher 4, and 42 is crushed stone. 5 is a hydraulic excavator. The dump truck 2 loaded with quarry approaches the dump 3 through the route R ₁ indicated by the arrow, changes direction at the route R ₂ , reaches the dump ₃ through the route R ₃ in the rear direction, and loads the quarry. And then return to the quarry loading location via routes R ₄ and R ₅ . Subsequently, another dump truck 2 discharges the quarry to the dump 3 through the routes R _{1 to} R ₅ and returns it. The hydraulic excavator 5 excavates and takes in the quarry discharged to the collection site 3 with a bucket and turns to discharge the quarry taken into the bucket to the hopper 41 of the crusher 4. The crusher 4 crushes the quarry taken from the hopper 41 into a predetermined size and discharges it to a predetermined location as indicated by reference numeral 42.
[0004]
[Problems to be solved by the invention]
Here, paying attention to the work of the hydraulic excavator 5, this work excavates the quarry of the dump 3 and takes it into the bucket, raises the boom, turns the upper swing body, positions the bucket on the hopper 41, and In this state, the quarrying in the bucket is discharged to the hopper 41, the upper turning body is again turned in the opposite direction, the bucket is positioned on the quarry, the boom is lowered, the quarrying is excavated and taken into the bucket. Since the excavated trace is again filled with quarry discharged from the dump truck, the above-described operation of the excavator is repeated as described above. Therefore, the work of the hydraulic excavator can be automated.
[0005]
However, since the release of the quarry to the dump site by the dump truck 2 depends on the convenience of the dump truck 2, if the quarry is released from the dump truck 2 when the excavator is in the quarry excavation position, the released quarry Struck the boom, arm, and bucket of a hydraulic excavator and damaged them, and if the damage was large, there was a risk that excavation would be impossible, and this point hindered automation.
[0006]
SUMMARY OF THE INVENTION An object of the present invention is to solve the above-described problems in the prior art, reliably prevent damage to the work machine, and thus achieve automatic work object excavation of the work machine capable of achieving work work automation. And providing an apparatus.
[0007]
[Means for Solving the Problems]
In order to achieve the above object, an invention according to claim 1 is a work machine for excavating an object transported by a transport vehicle and discharged to a predetermined accumulation location according to a predetermined work procedure, and transferring the object to a predetermined location. A first detector for detecting the entry / exit of the transport vehicle and a second detector for detecting that the transport vehicle is present at the integrated location, the first detector and the second detector. Based on the detection signal, the entry of the transport vehicle to the installation position of the first detector and the departure from the accumulation location are determined, and during the period from the entry to the departure, the working unit of the work machine In the work procedure, the accumulation part is prevented from entering from the predetermined retraction position through which the work unit passes.
[0008]
According to a second aspect of the present invention, there is provided a working machine for excavating an object transported by a transport vehicle and discharged to a predetermined collection location according to a predetermined work procedure and transferring the object to a predetermined location. And a second detector for detecting that the transport vehicle is present at the integrated location, and based on detection signals of the first detector and the second detector. , Determining the approach of the transport vehicle to the installation position of the first detector and the separation from the accumulation location, and when the approach is determined, the transport vehicle has released the working unit of the work machine The posture is set so as not to collide with an object, and the position is shifted to the accumulation point, and when the separation is determined, the operation according to the operation procedure is performed.
[0010]
According to a third aspect of the present invention, there is provided a working machine for excavating an object transported by a transport vehicle and discharged to a predetermined accumulation location according to a predetermined work procedure, and transferring the object to a predetermined location. A detector that detects the presence of the transport vehicle in a predetermined area including the accumulation point, and when the detector detects that the transport vehicle exists in the predetermined area, the working unit of the work machine is moved to the transport vehicle. The posture is set so as not to collide with the released object, and the vehicle is moved to the accumulation location, and the operation according to the operation procedure is performed when it is detected that the transport vehicle is not present in the predetermined area.
[0011]
According to a fourth aspect of the present invention, there is provided a working machine for excavating an object transported by a transport vehicle and discharged to a predetermined accumulation location according to a predetermined work procedure and transferring the object to a predetermined location. A first detector for detecting the vehicle, a second detector for detecting that the transport vehicle is present at the accumulation point, and the first detection in a state where the detection by the second detector has not been performed. A prohibiting means for prohibiting the work unit of the work machine from entering a depot from a predetermined retreat position through which the work unit passes in the work procedure when the container is in a detection state; and the second detector Work resumption means is provided for releasing the prohibition means and resuming work of the work machine when the detection state is changed to the non-detection state.
[0012]
According to a fifth aspect of the present invention, there is provided a working machine for excavating an object transported by a transport vehicle and discharged to a predetermined accumulation location according to a predetermined work procedure and transferring the object to a predetermined location. A first detector for detecting the vehicle, a second detector for detecting that the transport vehicle is present at the accumulation point, and the first detection in a state where the detection by the second detector has not been performed. Attitude control transition means for causing the working unit of the work machine to move to the stacking position so as not to collide with an object released by the transport vehicle when the container is in a detection state, and the second detector is moved from the detection state. Work resumption means is provided for releasing the posture and resuming the work according to the work procedure when the detection state is changed.
[0014]
Furthermore, the invention of claim 6 is a working machine for excavating and taking out an object transported by a transport vehicle and discharged to a predetermined accumulation location according to a predetermined work procedure, and transferring the object to a predetermined location. A detector for detecting the presence in a predetermined area including the accumulation location, and when the detector is in a detection state, the working unit of the work machine is positioned so as not to collide with the object released by the transport vehicle up to the accumulation location. A posture control transfer means for transferring, and a work resumption means for releasing the posture and restarting the work according to the work procedure when the detector is changed from a detection state to a non-detection state. .
[0015]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, the present invention will be described based on the illustrated embodiments.
FIG. 1 is a plan view of a quarry. In this figure, parts that are the same as or equivalent to the parts shown in FIG. The hydraulic excavator 5 includes a lower traveling body 51, an upper swing body 52, a front mechanism 53, a driver's cab 54, and a control unit 55 installed in the driver's cab. The front mechanism 53 includes a boom 531 and an arm 532. And a bucket 533. A ₁ is an entrance / exit area of the dump truck 2, and A ₂ is a quarrying release area (stoned area) of the dump truck 2. 11 a first detector for detecting that the entrance area A ₁ dump truck 2 has passed, 12 is a second detector to detect this when the dump truck 2 is present in the stoning area A _2. B indicates an ultrasonic beam transmitted from each of the detectors 11 and 12, which will be described later. Installation position of the second detector 12 may be a position where it can capture the dump truck 2 being in stoning area A _2, but the installation position of the first detector 11 and the drilling time of the hydraulic excavator 5 as described below To be determined in relation. S indicates, for example, an angular position (angular position with respect to the illustrated position of the front mechanism 53) on the locus (broken line) of the connection point with the bucket 533 on the arm 532, and the quarry from the dump truck 2 falls in any state. Even in this case, it is the shortest position from the collection station 3 that does not collide with the front mechanism 53.
[0016]
FIG. 2 is a block diagram of the detectors 11 and 12 shown in FIG. As shown in FIG. 2, the first detector 11 includes an ultrasonic transmitter 111, an ultrasonic receiver 112, and a level detector 113. The second detector 12 includes an ultrasonic transmitter 121, an ultrasonic receiver 122, a level detector 123, a battery 124, a power circuit 125, a radio 126 having an antenna 126A, and a phone 127. . A cable 13 connects the first detector 11 and the second detector 12.
[0017]
The ultrasonic transmitters 111 and 121 radiate the ultrasonic beam B shown in FIG. 1 toward the entrance / exit area A ₁ and the stone throwing area A ₂ , and the ultrasonic receivers 112 and 122 reflect the ultrasonic beam B reflected on the dump truck 2. The level detectors 113 and 123 output an ON signal when the level of the received reflected wave is equal to or higher than a predetermined value, and an OFF signal when the level is lower than the predetermined value. In this case, it is natural that the output signal of the level detection unit 113 and the output signal of the level detection unit 123 are provided with a code or means for distinguishing both. The phone 127 is installed as necessary to notify the driver of the dump truck 2 that the hydraulic excavator 5 has received the ON signal of the first detector 11.
[0018]
FIG. 3 is a side view of the appearance of the second detector 12. In this figure, the same parts as those shown in FIG. 12P is a support, 12W is a base embedded in the ground G, 12C is covered, 120 is a storage unit for storing the ultrasonic transmitter 121, the ultrasonic receiver 122, the level detection unit 123, and the phone 127. The first detector 11 also has the same external structure except that the battery 124 and the power supply circuit 125 are not provided.
[0019]
FIG. 4 is a block diagram showing the overall circuit configuration of the present embodiment. In this figure, the same parts as those shown in FIG. A control unit 55 is installed in the cab 54 of the hydraulic excavator 5 shown in FIG. 1, and converts the radio 551, its antenna 551A, an automatic driving excavator controller 552 comprising a microcomputer, and an electric signal into a hydraulic signal. The electromagnetic valve unit 553 is configured. Detection signals (ON signal, OFF signal) of the detectors 11 and 12 are transmitted from the wireless device 126 via the antenna 126A, and the control unit 55 of the excavator 5 transmits the transmitted detection signal via the antenna 551A and the wireless device 551. The excavator controller 552 for automatic operation determines the operation of the hydraulic excavator according to the processing procedure described later, and outputs the signal to the solenoid valve unit 553. The solenoid valve unit 553 responds to each solenoid valve associated therewith. Drive control.
[0020]
FIG. 5 is a time chart showing the output of the detector with respect to the movement of the dump truck 2 along the route shown in FIGS. 1 and 10, where (a) is the first detector 11 and (b) is the second detector. 12 outputs are shown. When the top portion of the dump truck 2 enters the time t ₁ to the entrance area A ₁ the first detector 11 detects this and outputs an ON signal, passes through the entrance area A ₁ dump truck 2 at time t ₂ And the signal of the first detector 11 is OFF. When the dump truck 2 reaches the stoning area A ₂ at time t ₃ in progress signal of the second detector 12 becomes the ON signal, the ON signal leaves the stoning area A ₂ dump truck 2 at time t ₉ until it held, an OFF signal by the withdrawal of stoning area _{a 2.} During this time, the dump truck 2 arrives at stoning point sling area at time t _4, to begin the release of the quarry collection point at time t _5, released quarry falls at time t ₆ to the drilling site. Then, end the release of the quarry that had been loaded at the time t _7, it starts to turn back to the quarry location at time t _8. Since the dump truck 2 passes through the entrance area A ₁ again returning, this time, from the first detector 11 ON signal at time t ₁₀ is output, the time the dump truck 2 is passed through the stoned area A ₁ t ₁₁ , the output signal of the first detector 11 is turned OFF.
[0021]
Here, when the time (time t _{1 to} t ₆ ) from when the entry of the dump truck 2 to the entrance / exit area A ₁ is detected to when the quarry is released and falls to the excavation position is T ₁ , The time T ₁ is selected so as to be longer than the excavation time T ₂ by the excavator 5 and shorter than the time T ₃ required for one cycle of the operation of the excavator 5. Even if the excavator 5 starts excavation when the first detector 11 detects the dump truck 2 by the former selection (T ₁ > T ₂ ), the excavation should be completed and evacuated before the quarry falls. Thus, the collision prevention with the quarry is ensured, and the latter selection (T ₁ <T ₃ ) prevents the excavation time of the hydraulic excavator 5 from being increased and improves the work efficiency. In order to satisfy this condition, the distance from the collection site to the first detector 11, in other words, the installation position of the first detector 11, is based on the fastest time T ₁ collected from a large number of dump trucks 2. Determined.
[0022]
Next, an example of processing contents in the automatic driving shovel controller 552 shown in FIG. 4 will be described with reference to the flowcharts shown in FIGS. 6 and 7. Here, FIG. 6 is a flowchart showing a main process of excavation operation repeated in an infinite loop, and FIG. 7 is a flowchart showing an excavation operation feasibility determination process activated by a timer interrupt at regular intervals.
[0023]
In the main process of FIG. 6, first, the automatic operation shovel controller 552 operates the front mechanism 53 to excavate quarry from the excavation position of the accumulation place 3 and take it into the bucket 533 (step S _M1 shown in FIG. 6). The boom 531 is raised (procedure S _M2 ). Then, the upper swing body 52 is swung, the bucket 533 is positioned immediately above the hopper 41 of the crusher 4 (procedure S _M3 ), the taken quarry is discharged to the hopper 41 (procedure S _M4 ), and the upper swing body 52 is again moved. By turning, the front mechanism 53 is positioned at the aforementioned angular position S (procedure S _M5 ). Thereafter, the value set in the flag variable “PAUSE” for designating whether or not excavation is possible is determined (procedure S _M6 ), and when it is determined that the value “1” is set in the flag variable “PAUSE”, that is, If the excavation prohibition is designated, the front mechanism 53 is temporarily stopped at the safe angular position S as it is (procedure S _M7 ) and then the process of returning to the procedure S _M6 is repeated. Further, when it is determined in step _SM6 that the flag variable “PAUSE” is set to the value “0” instead of the value “1”, that is, when excavation permission is specified, the upper swing body 52 is turned. The front mechanism 53 is positioned at the excavation position of the collection station 3, the boom 531 is lowered (procedure S _M8 ), and the process returns to the first procedure S _M1 .
[0024]
In the availability determination process of FIG. 7, four types of flag variables, that is, the above-described flag variable “PAUSE” designating the availability of excavation, and the flag variable “S1” corresponding to ON / OFF of the signal of the first detector 11. , the flag variable "S2" to correspond to the oN / OFF of the second detector 12 of the signal, the time t ₃ after the time point and the time t ₁₀ of in FIG time point of generation of the timer interrupt which activates the determination process A flag variable “PAUSE frg2” indicating which of the subsequent time points is used. Further, the first half of the procedure S _{11 to} S ₁₇ of the availability determination process is a determination process related to the first detector 11, and the second half of the procedure S _{21 to} S ₂₇ is a determination process related to the second detector 12. It is.
[0025]
When a timer interrupt occurs at a predetermined time interval, it is first determined whether or not the signal of the first detector 11 is ON (step S ₁₁ ). With this determination, the first detector When it is determined that the signal No. 11 is OFF, the flag variable “S1” is set to the value “OFF” (procedure S ₁₂ ), and the process proceeds to the determination process related to the second detector 12. On the other hand, in the determination of Step S _11, when the signal of the first detector 11 is determined to be ON, the flag variable "S1" to the value 'ON' to determine whether a set already (Step S _13). If it is determined by this determination that the value “ON” has already been set in the flag variable “S1”, the process directly proceeds to a determination process related to the second detector 12. Further, in the determination of Step S _13, if the value in the flag variable "S1"'ON' is determined not to be set already, that is, the timer interrupt is activated the determination process and the time t ₁ in FIG. 5 when was the first timer interrupt occurs in any one of the time after the t ₁₀ is the flag variable "S1" and sets the value 'oN' (Step _{S 14),} the flag variable "PAUSE FRG2" It is determined whether or not the set value is “0” (step S ₁₅ ). In this determination, when it is determined that the value set in the flag variable “PAUSE frg2” is not “0”, that is, a timer interrupt that starts the availability determination process occurs after time t _{10 in} FIG. If it is the first timer interrupt, the flag variable “PAUSE” and “PAUSE frg2” are set to the value “0” (step S ₁₆ ), and then the process proceeds to the determination process related to the second detector 12. . Further, in the determination step S _15, if the value set in the flag variable "PAUSE FRG2" is determined to be '0', i.e., a timer interrupt is activated the determination process in FIG time when was the first timer interrupt that occurs t ₃ after from the flag variable "PAUSE" and sets the value '1' (Step S _17), flow proceeds to a determination process relating to the second detector 12 To do.
[0026]
In the determination processing related to the second detector 12, first, the signal of the second detector 12 determines whether the ON (Step S _21), in this judgment, the second detector 12 signal when it is determined that the OFF state, the flag variable "S2" to the value 'OFF' to determine whether a set already (Step S _22). In this determination, if the value in the flag variable "S2"'OFF' is determined not to be set already, namely, first the timer interrupt which activates the determination process occurs at time t ₉ after in FIG If it is a timer interrupt, the flag variable “S2” is set to the value “OFF” (procedure S ₂₃ ) and the flag variable “PAUSE” is set to the value “0” (procedure S ₂₄ ). The process proceeds to a process for ending the availability determination process started by the interrupt. On the other hand, in the judgment of Step S _22, if the value in the flag variable "S2"'OFF' is determined to be set already, migrate this determination process directly to the process to terminate. Further, in step S _21, when the signal of the second detector 12 is determined to be ON, the flag variable "S2" to the value 'ON' to determine a set already (Step S ₂₅₎ . In this determination, if the flag variable "S2" to the value 'ON' is determined not to be set already, namely, first the timer interrupt which activates the determination process occurs at time t ₃ after in FIG If it is a timer interrupt, the flag variable “S2” is set to the value “ON” (step S ₂₆ ), and the flag variable “PAUSE frg2” is set to the value “1” (step S ₂₇ ). The process proceeds to a process for ending the availability determination process started by the timer interrupt. On the other hand, in the judgment of Step S _25, if the flag variable "S2" to the value 'ON' is determined to be set already shifts the determination process directly to the process to terminate.
[0027]
Therefore, the determination process of Fig. 7 described above, by repeatedly started at every predetermined time, the timer interrupt, when the timer interrupt was the first timer interrupt that occurs at time t ₃ after in FIG. 5, the flag variable "PAUSE" to the value "1" is set is the subsequent drilling Call instruction to the main processing of FIG. 6, when the timer interrupt was the first timer interrupt that occurs at time t ₉ after in FIG. 5 Then, a value “0” is set in the flag variable “PAUSE” to instruct subsequent excavation permission for the main process of FIG. Note that interrupt interval when executing the determination process in the timer interrupt, must be set to be shorter than the interval of time t ₃ ~t ₅ in at least FIG. 5.
[0028]
Thus, in this embodiment, a second detector for detecting a dump truck 2 present in the first detector 11, and stoning the area A ₂ that detects a dump truck 2 passing through the entrance area A ₁ 12 Since the dump truck 2 is retracted to a predetermined position S according to the detection signals of the detectors 11 and 12, the excavator 5 can be reliably prevented from being damaged. As a result, automation of the work of the excavator 5 can be achieved.
[0029]
In the description of the embodiment, an example is described for installing the respective detectors relative to the doorway area A ₁ and stoned area A _2, depending on the state of the vicinity repository also it is used only one detector it can. This is shown in FIG. FIG. 8 shows the detection area of one detector. In this figure, 10 is a detector, B denotes an ultrasonic beam emitted from the detector 10, A ₂ is above the stoning area, R represents entry of the dump truck 2, the exit routes. Detector 10 detects the presence of a dump truck 2 in a range including an area corresponding to the entrance area A ₁ of the above and stoned area A _2. In this case, the excavator 5 may be retracted to the position S while the detector 10 detects the presence of the dump truck 2, and the operation may be continued when the dump truck 2 is no longer detected. The effect of this embodiment is the same as that of the previous embodiment.
[0030]
Furthermore, in the description of the above embodiment, an example in which the excavator 5 is retracted to the position S at the time of danger has been described, but there are other embodiments that avoid danger. This is shown in FIG. FIG. 9 is a cross-sectional view of the vicinity of the collection place 3. In this figure, the same parts as those shown in FIG. Reference numeral 31 denotes an inclined surface of the collection site 3, and 32 denotes a hole at the lower end of the inclined surface 31. The quarry released from the dump truck 2 rolls along the inclined surface 31 and falls into the hole 32. The excavator 5 excavates and collects the quarry falling in the hole 32. Here, if the posture of the front mechanism 53 of the excavator 5 is as shown in FIG. 9, that is, the posture in which the boom 531 is raised and the arm 532 is extended, even if the front mechanism 53 is in the excavation position, the release is performed. There is no possibility that the quarried stone will collide with the front mechanism 53. Therefore, when the entry of the dump truck 2 is detected, when the quarrying discharge to the crusher 4 is finished, the front mechanism 53 is moved to the excavation position without being retracted to the position S as shown in FIG. However, the front mechanism 53 is not damaged. The effect of the present embodiment not only has the same effect as the previous embodiment, but also waits for the dumping of the dump truck 2 at the excavation position, so that the work is further performed compared to the previous embodiment. Time can be shortened.
[0031]
In the description of each of the above embodiments, a hydraulic excavator has been described as an example of a work machine. However, any work machine may be applied as long as it is a machine that transfers an excavated object. Moreover, although the example which transfers the excavated quarry to the crusher 4 with the hydraulic excavator 5 was demonstrated, this transfer may not be transferred to the crusher 4 but may be transferred to another dump or dump truck. Of course. Furthermore, although quarrying was illustrated as an object to be transferred, it is obvious that an object other than quarrying may be used. In addition, the detector using an ultrasonic beam has been described as an example, but a detector using a light beam, a magnetic field, a radio wave, or the like can also be used.
[0032]
【The invention's effect】
As described above, in the present invention, since the approach of the transport vehicle is detected and the work machine is made to wait at the retreat point or the retreat posture is taken, it is possible to reliably prevent the work machine from being damaged. In turn, automation of the work of the work machine can be achieved.
[Brief description of the drawings]
FIG. 1 is a plan view of a quarry.
FIG. 2 is a block diagram of the detector shown in FIG.
3 is an external side view of the second detector shown in FIG. 1. FIG.
FIG. 4 is a block diagram showing an overall circuit configuration of the present embodiment.
FIG. 5 is a time chart showing the output of the detector with respect to the movement of the dump truck.
6 is a flowchart for explaining processing contents in the automatic driving shovel controller shown in FIG. 4; FIG.
7 is a flowchart for explaining processing contents in the automatic driving excavator controller shown in FIG. 4; FIG.
FIG. 8 is a diagram showing a detection area of one detector.
FIG. 9 is a cross-sectional view of the vicinity of the collection place.
FIG. 10 is a bird view of a quarry.
[Explanation of symbols]
3 Stacking Station 4 Crusher 5 Hydraulic Excavator 11 First Detector 12 Second Detector 55 Excavator Controller A for Automatic Operation ₁ Entrance / Exit Area A ₂ Stoned Area S Stop Position

Claims (6)

In a working machine for excavating an object transported by a transport vehicle and discharged to a predetermined collection location according to a predetermined work procedure, and transferring the object to a predetermined location, a first detector for detecting the entrance and exit of the transport vehicle; A second detector for detecting that the transport vehicle is present at the integrated location, and the first detector is installed based on detection signals of the first detector and the second detector; A predetermined retreat position at which the work unit of the work machine passes through the work procedure in the work procedure during a period from the entry to the release of the vehicle. The excavation object automatic transfer method of the working machine, characterized in that it does not enter the accumulation location. In a working machine for excavating an object transported by a transport vehicle and discharged to a predetermined collection location according to a predetermined work procedure, and transferring the object to a predetermined location, a first detector for detecting the entrance and exit of the transport vehicle; A second detector for detecting that the transport vehicle is present at the integrated location, and the first detector is installed based on detection signals of the first detector and the second detector; The entrance of the transport vehicle to the position and the departure from the stacking location are determined, and when the approach is determined, the working unit of the work machine is set in a posture not to collide with an object released by the transport vehicle. The excavation object automatic transfer method of the working machine is characterized in that when the separation is determined, the work according to the work procedure is performed. In a working machine for excavating an object transported by a transport vehicle and discharged to a predetermined accumulation location according to a predetermined work procedure, and transferring the object to a predetermined location, the transport vehicle exists in a predetermined region including the accumulation location. A detector for detecting this, and when the detector detects that the transport vehicle is present in the predetermined area, the working unit of the work machine is set in a posture not to collide with an object released by the transport vehicle. An excavation object automatic transfer method for a working machine, wherein the excavation object is transferred to the accumulation point, and the work according to the work procedure is performed when it is detected that the transport vehicle does not exist in the predetermined area. A first detector for detecting the entrance and exit of the transport vehicle in a working machine for excavating and taking out an object transported by the transport vehicle and discharged to a predetermined accumulation location according to a predetermined work procedure; A second detector for detecting that the transport vehicle is present at the accumulation point, and when the first detector is in a detection state without being detected by the second detector, Prohibiting means for prohibiting the work section of the work machine from entering the collection site from a predetermined retreat position through which the work section passes in the work procedure, and the second detector has changed from a detection state to a non-detection state An excavation object automatic transfer device for a working machine, comprising: work resuming means for releasing the prohibiting means and resuming the work of the working machine. A first detector for detecting the entrance and exit of the transport vehicle in a working machine for excavating and taking out an object transported by the transport vehicle and discharged to a predetermined accumulation location according to a predetermined work procedure; A second detector for detecting that the transport vehicle is present at the accumulation point, and when the first detector is in a detection state without being detected by the second detector, A posture control transition means for shifting the working unit of the work machine to a position where it does not collide with an object released by the transport vehicle, and the posture when the second detector changes from a detection state to a non-detection state; An excavation object automatic transfer device for a work machine, comprising: work resumption means for releasing and resuming work according to the work procedure. In a working machine for excavating an object transported by a transport vehicle and discharged to a predetermined accumulation location according to a predetermined work procedure, and transferring the object to a predetermined location, the transport vehicle exists in a predetermined region including the accumulation location. A detector for detecting this, and a posture control transition means for shifting the working unit of the work machine to the integrated location as a posture that does not collide with an object released by the transport vehicle when the detector is in a detection state; An excavation object automatic transfer device for a working machine, comprising: work resuming means for releasing the posture and resuming work according to the work procedure when the detector is changed from a detection state to a non-detection state.

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