Shovel control system and shovel

Abstract

The present invention addresses the problem of improving safety. A control system for a shovel according to one embodiment of the present invention is provided with: a shovel provided with a lower traveling body and an upper rotating body rotatably mounted on the lower traveling body; a tilt recognition device having a structure for recognizing the tilt of the ground on which the shovel travels; and a control unit that controls the lower traveling body such that the inclination of the traveling direction of the shovel with respect to the inclination direction of the ground is within a predetermined angle.

Description

Technical Field

[0001] This application claims priority based on Japanese Patent Application No. 2023-216248 filed on December 21, 2023. The entire content of the Japanese application is incorporated herein by reference.

[0002] The present invention relates to a control system for an excavator and an excavator. Background Art

[0003] Conventionally, excavators are used in various work sites. Therefore, excavators often travel on slopes (for example, refer to Patent Document 1).

[0004] Patent Document 1: Japanese Unexamined Patent Application Publication No. 2020-51066

[0005] The technology described in Patent Document 1 suppresses tipping by bringing the front end of the front work machine into contact with the ground during uphill or downhill travel, enabling smooth travel. However, there are other methods for suppressing tipping than the technology in Patent Document 1. Summary of the Invention

[0006] One aspect of the present invention proposes a technology for improving safety by controlling the lower traveling body.

[0007] A control system for an excavator according to one aspect of the present invention includes: an excavator having a lower traveling body and an upper swing body rotatably mounted on the lower traveling body; an inclination recognition device having a structure for recognizing the inclination of the ground on which the excavator travels; and a control unit that controls the lower traveling body so that the inclination of the traveling direction of the excavator with respect to the inclination direction of the ground is within a specified angle.

[0008] Advantages of the Invention

[0009] According to one aspect of the present invention, when the traveling direction of the excavator is inclined with respect to the inclination direction of the ground, safety is improved by controlling the lower traveling body. Brief Description of the Drawings

[0010] Figure 1 It is a schematic diagram showing a structural example of a remote operation system for an excavator according to the first embodiment.

[0011] Figure 2 It is a side view of an excavator according to the first embodiment.

[0012] Figure 3 It is a block diagram showing an example of the hardware structure of an excavator and a remote operation room according to the first embodiment.

[0013] Figure 4 is a functional block diagram showing a structural example of a remote operation system according to the first embodiment.

[0014] Figure 5 is an explanatory diagram showing the control of the lower traveling body of an excavator by the controller according to the first embodiment.

[0015] Figure 6 is a flowchart showing the processing sequence for causing an excavator to travel on an inclined ground by the controller according to the first embodiment.

[0016] Figure 7 is an explanatory diagram showing the traveling trajectory of a crawler when the controller according to the first embodiment controls the lower traveling body.

[0017] Figure 8 is a flowchart showing the processing sequence for causing an excavator 100 to travel before the inclination of the ground is switched by the controller according to the first embodiment.

[0018] Figure 9 is an explanatory diagram showing the traveling trajectory of a crawler when the controller according to the first embodiment controls the lower traveling body.

[0019] In the figure: 100 - excavator, 1 - lower traveling body, 2 - slewing mechanism, 3 - upper slewing body, 4 - boom, 5 - arm, 6 - bucket, S1 - boom angle sensor, S2 - arm angle sensor, S3 - bucket angle sensor, S4 - body inclination sensor, S5 - slewing angle sensor, S6 - imaging device, PS - positioning device, T1 - communication device, 30 - controller, 301 - communication control unit, 302 - acquisition unit, 303 - inclination angle calculation unit, 304 - target traveling direction determination unit, 305 - determination unit, 306 - correction unit, 307 - actuator drive unit, RC - remote operation room, R30 - remote controller, 351 - display control unit, 352 - operation signal generation unit, 353 - communication control unit, T2 - communication device. Detailed Embodiments

[0020] Hereinafter, embodiments of the present invention will be described with reference to the drawings. Note that the embodiments described below do not limit the invention, but are examples, and all features and combinations thereof described in the embodiments are not necessarily essential to the invention. In addition, in each drawing, the same or corresponding structures are denoted by the same or corresponding reference numerals, and the description may be omitted sometimes.

[0021] Hereinafter, in the embodiments of the present invention, an example in which an excavator is used as an example of a construction machine will be described, but it is not limited to an excavator. It can also be applied to construction machinery, standard machines, application machines, forestry machinery, or conveying machinery based on hydraulic excavators.

[0022] (First Embodiment)

[0023] In the first embodiment, a case where an operator remotely operates the excavator 100 will be described.

[0024] Figure 1 It is a schematic diagram showing a structural example of a remote operation system SYS (an example of a control system of an excavator) related to the present embodiment. In Figure 1 the illustrated example, the excavator 100 and the remote operation room RC are connected via a communication line NW. Thus, transmission and reception of information can be achieved between the excavator 100 and the remote operation room RC.

[0025] The excavator 100 uses a communication device T1 provided in the excavator 100 (refer to Figure 3 ) to send the detection results from various sensors provided in the excavator 100 to the remote operation room RC. For example, the excavator 100 sends the image information captured by a camera device S6 (refer to Figure 3 ) to the remote operation room RC.

[0026] In the remote operation system SYS related to the present embodiment, a remote operation room RC is provided. In the remote operation room RC, a display device DR, an operation device R26, an operation sensor R29, an operator's seat DS, a remote controller R30, and a communication device T2 are provided.

[0027] The display device DR is provided to enable the operator OP in the remote operation room RC to visually recognize the surroundings of the excavator 100.

[0028] The operator OP present on the operator's seat DS in the remote operation room RC operates the operation device R26. Moreover, the operation sensor R29 detects the operation content received by the operation device R26. Moreover, the remote controller R30 generates an operation signal corresponding to the operation content.

[0029] Moreover, the communication device T2 sends the generated operation signal to the excavator 100. The remote controller R30 can remotely operate the excavator 100 by sending the operation signal.

[0030] The operator OP can grasp the surroundings of the excavator 100 by referring to the image information displayed on the display device DR. However, regarding the image information displayed on the display device DR, it is sometimes difficult to grasp the situation around the excavator 100 compared to actually visually recognizing the surroundings from the excavator 100. For example, it is difficult for the operator OP to grasp the inclination of the ground on which the excavator 100 travels or the condition of the crawlers of the excavator 100.

[0031] Therefore, in the remote operation system SYS involved in the present embodiment, when the ground is inclined, control is implemented to suppress the tipping of the excavator 100 caused by the inclination.

[0032] <Structure of Excavator>

[0033] First, refer to Figure 2 , and an overview of the excavator 100 involved in the present embodiment will be described. Figure 2 is a side view of the excavator 100 involved in the present embodiment.

[0034] The excavator 100 involved in the present embodiment includes a lower traveling body 1, an upper slewing body 3 rotatably mounted on the lower traveling body 1 via a slewing mechanism 2, a boom 4, an arm 5, a bucket 6, and a cab 10 as an attachment device AT.

[0035] The lower traveling body 1 (an example of a traveling body) includes, for example, a pair of left and right crawlers, and the excavator 100 travels by hydraulically driving each crawler by traveling hydraulic motors 1ML, 1MR (refer to Figure 3 ).

[0036] The upper slewing body 3 (an example of a slewing body) is driven to rotate relative to the lower traveling body 1 by a slewing hydraulic motor 2M (refer to Figure 3 ).

[0037] The attachment device AT (an example of an attachment device) includes a boom 4, an arm 5, and a bucket 6.

[0038] The boom 4 is pivotally mounted at the front center of the upper slewing body 3. The arm 5 is rotatably mounted at the front end of the boom 4, and the bucket 6 is rotatably mounted at the front end of the arm 5.

[0039] The bucket 6 is an example of a working tool. The bucket 6 is used for, for example, excavation work. The bucket 6 involved in the present embodiment includes a cutting edge 6a and a back surface 6b as portions for forming a horizontal plane.

[0040] Moreover, at the front end of the arm 5, other working tools can be mounted instead of the bucket 6 according to the work content, etc. Other working tools can be, for example, other types of buckets such as a large bucket, a bucket for slopes, a bucket for dredging, etc. Also, other working tools can be working tools of types other than buckets such as a mixer, a crusher, a grapple, etc.

[0041] The boom 4, the arm 5, and the bucket 6 are respectively hydraulically driven by working oil discharged from a main pump 14 (refer to Figure 3 ) and by boom cylinders 7, arm cylinders 8, and bucket cylinders 9 as hydraulic actuators.

[0042] The cab 10 is an operating cab where the operator rides, and is mounted on the front left side of the upper slewing body 3.

[0043] In addition, the excavator 100 may have a structure in which some of the driven components such as the lower traveling body 1, the upper slewing body 3, the boom 4, the arm 5, and the bucket 6 are electrically driven. That is, the excavator 100 may be a hybrid excavator, an electric excavator, etc. in which some of the driven components are driven by electric actuators.

[0044] [Structure of Excavator]

[0045] Next, in addition to Figure 2 other than, reference is also made to Figure 3 to describe the specific structure of the excavator 100.

[0046] Figure 3 is a block diagram showing an example of the hardware structure of the excavator 100 and the remote operation cab RC according to the present embodiment.

[0047] In addition, in Figure 3 the path for transmitting mechanical power is represented by a double line, the path through which the high-pressure working oil for driving the hydraulic actuator flows is represented by a solid line, the path for transmitting the pilot pressure is represented by a dashed line, and the path for transmitting the electric signal is represented by a dotted line.

[0048] The excavator 100 includes various components such as a hydraulic drive system related to the hydraulic drive of the driven components, an operating system related to the operation of the driven components, a user interface system related to information exchange with the user, a communication system related to communication with the outside, and a control system related to various controls.

[0049] <Hydraulic Drive System>

[0050] As Figure 3 shown, as described above, the hydraulic drive system of the excavator 100 includes hydraulic actuators HA that hydraulically drive the driven components such as the lower traveling body 1 (left and right crawlers), the upper slewing body 3, the boom 4, the arm 5, and the bucket 6, respectively. And the hydraulic drive system of the excavator 100 according to the present embodiment includes an engine 11, a regulator 13, a main pump 14, and a control valve unit 17.

[0051] The hydraulic actuator HA includes traveling hydraulic motors 1ML, 1MR, a slewing hydraulic motor 2M, a boom cylinder 7, an arm cylinder 8, and a bucket cylinder 9, etc.

[0052] In addition, in the excavator 100, some or all of the hydraulic actuators HA may be replaced with electric actuators. That is, the excavator 100 may be a hybrid excavator or an electric excavator.

[0053] The engine 11 is the engine of the excavator 100 and is the main power source in the hydraulic drive system. The engine 11 is, for example, a diesel engine fueled by diesel. The engine 11 is mounted, for example, on the rear part of the upper swing body 3. The engine 11 rotates at a constant preset target speed under the direct or indirect control of the controller 30 described later, and drives the main pump 14 and the pilot pump 15.

[0054] Alternatively, another engine (for example, an electric motor) or the like can be mounted on the excavator 100 instead of the engine 11, or in addition to the engine 11, another engine (for example, an electric motor) or the like can be mounted on the excavator 100.

[0055] The regulator 13 controls (regulates) the discharge amount of the main pump 14 under the control of the controller 30. For example, the regulator 13 adjusts the angle of the swash plate (hereinafter referred to as "deflection angle") of the main pump 14 according to the control command from the controller 30.

[0056] The main pump 14 supplies the working oil to the control valve unit 17 through the high-pressure hydraulic pipeline. The main pump 14 is mounted, for example, on the rear part of the upper swing body 3 in the same manner as the engine 11. As described above, the main pump 14 is driven by the engine 11. The main pump 14 is, for example, a variable-capacity hydraulic pump. As described above, under the control of the controller 30, the stroke length of the piston is adjusted by regulating the deflection angle of the swash plate by the regulator 13, and the discharge flow rate or discharge pressure is controlled.

[0057] The control valve unit 17 drives the hydraulic actuator HA according to the operation of the operator on the operation device 26 or the content of the remote operation or the operation instruction corresponding to the automatic operation function. The control valve unit 17 is mounted, for example, on the central part of the upper swing body 3. As described above, the control valve unit 17 is connected to the main pump 14 via the high-pressure hydraulic pipeline, and selectively supplies the working oil supplied from the main pump 14 to each hydraulic actuator according to the operation of the operator or the operation instruction corresponding to the automatic operation function. The control valve unit 17 includes directional control valves 17A to 17F that control the flow rate and flow direction of the working oil supplied from the main pump 14 to each hydraulic actuator HA.

[0058] The directional control valve 17A controls the flow rate and flow direction of the working oil supplied to the boom cylinder 7. Thereby, the directional control valve 17A can extend and retract the boom cylinder 7 in a speed-variable manner. The directional control valve 17A is, for example, a spool valve.

[0059] The directional control valve 17B controls the flow rate and flow direction of the working oil supplied to the arm cylinder 8. Thereby, the directional control valve 17B can extend and retract the arm cylinder 8 in a speed-variable manner. The directional control valve 17B is, for example, a spool valve.

[0060] The directional control valve 17C controls the flow rate and flow direction of the working oil supplied to the bucket cylinder 9. Thereby, the directional control valve 17C can extend and retract the bucket cylinder 9 in a variable speed manner. The directional control valve 17C is, for example, a spool valve.

[0061] The directional control valve 17D controls the flow rate and flow direction of the working oil supplied to the travel hydraulic motor 1ML. Thereby, the directional control valve 17D can rotate the travel hydraulic motor 1ML in two directions in a variable speed manner. The directional control valve 17D is, for example, a spool valve.

[0062] The directional control valve 17E controls the flow rate and flow direction of the working oil supplied to the travel hydraulic motor 1MR. Thereby, the directional control valve 17E can rotate the travel hydraulic motor 1MR in two directions in a variable speed manner. The directional control valve 17E is, for example, a spool valve.

[0063] The directional control valve 17F controls the flow rate and flow direction of the working oil supplied to the swing hydraulic motor 2M. Thereby, the directional control valve 17F can rotate the swing hydraulic motor 2M in two directions in a variable speed manner. The directional control valve 17F is, for example, a spool valve.

[0064] <Operating System>

[0065] As Figure 3 shown, the operating system of the excavator 100 includes a pilot pump 15, an operating device 26, an operation sensor 29, and a proportional valve 31.

[0066] The pilot pump 15 supplies pilot pressure to various hydraulic devices via a pilot pipeline 25. The pilot pump 15 is mounted, for example, at the rear of the upper swing body 3 in the same manner as the engine 11. The pilot pump 15 is, for example, a fixed displacement type hydraulic pump and is driven by the engine 11 as described above.

[0067] Alternatively, the pilot pump 15 may be omitted. In this case, the working oil at a relatively high pressure discharged from the main pump 14 can be supplied as pilot pressure to various hydraulic devices after being reduced in pressure by a specified pressure reducing valve to a relatively low pressure.

[0068] The operating device 26 is provided near the operator's seat in the cab 10 and is used for the operator to operate various driven components. Specifically, the operating device 26 is used for the operator to operate the hydraulic actuator HA that drives each driven component, and as a result, the operator can operate the driven component that is the driving object of the hydraulic actuator HA. The operating device 26 includes a pedal device or a lever device for operating each driven component (hydraulic actuator HA).

[0069] The operation sensor 29 is configured to detect the operation content of the operator who uses the operation device 26. In the present embodiment, the operation sensor 29 detects the operation direction and operation amount of the operation device 26 corresponding to each actuator, and outputs an electric signal (hereinafter, also referred to as an operation signal) corresponding to the detected value to the controller 30. In the present embodiment, the controller 30 controls the opening area of the proportional valve 31 according to the output of the operation sensor 29. And the controller 30 supplies the working oil discharged from the pilot pump 15 to the pilot port of the corresponding control valve in the control valve unit 17. The pressure (pilot pressure) of the working oil supplied to each pilot port is, in principle, a pressure corresponding to the operation direction and operation amount of the operation device 26 corresponding to each hydraulic actuator. Thus, the operation device 26 is configured to be able to supply the working oil discharged from the pilot pump 15 to the pilot port of the corresponding control valve in the control valve unit 17. Thereby, the hydraulic actuator HA can be driven.

[0070] And, the directional control valves 17A to 17F that drive the respective hydraulic actuators HA built in the control valve unit 17 may be electromagnetic solenoid type. At this time, the operation signal output from the operation device 26 can be directly input to the control valve unit 17 (that is, the electromagnetic solenoid type directional control valve).

[0071] In addition, the operation device 26 may be a hydraulic pilot type. Specifically, the operation device 26 uses the working oil supplied from the pilot pump 15 through the pilot pipeline to output a pilot pressure corresponding to the operation content to the secondary side pilot pipeline. And the secondary side pilot pipeline is connected to the control valve unit 17. Thereby, the control valve unit 17 can be input with a pilot pressure corresponding to the operation content related to various driven components (hydraulic actuators HA) in the operation device 26. Therefore, the control valve unit 17 can drive each hydraulic actuator HA according to the operation content of the operator or the like on the operation device 26. At this time, an operation state sensor for acquiring information related to the operation state of the operation device 26 is provided, and the output of the operation state sensor is input to the controller 30. Thereby, the controller 30 can grasp the operation state of the operation device 26. The operation state sensor is, for example, a pressure sensor that acquires information related to the pilot pressure (operation pressure) of the secondary side pilot pipeline of the operation device 26.

[0072] And, as described above, a part or all of the hydraulic actuators HA can be replaced with electric actuators. At this time, for example, the controller 30 can output an operation instruction corresponding to the operation content of the operation device 26 or the content of the remote operation specified by the remote operation signal to the electric actuator or the driver that drives the electric actuator, etc. And by inputting an operation signal from the operation device 26 to the electric actuator or the driver, etc., the electric actuator can be configured to be operable by the operation device 26.

[0073] Moreover, when the excavator 100 is specifically remotely operated or when it specifically operates through the fully automatic operation function, the operation device 26 can be omitted.

[0074] The proportional valve 31 functions as a control valve for equipment control and is provided for each of the driven components (hydraulic actuators HA) that are the operation objects of the operation device 26 and for each of the movement directions (e.g., the raising direction and the lowering direction of the boom 4) of the driven components (hydraulic actuators HA). For example, two proportional valves 31 are provided for each of the double-acting hydraulic actuators HA used to drive the lower traveling body 1, the upper swing body 3, the boom 4, the arm 5, and the bucket 6, etc. The proportional valve 31 can be provided, for example, on the pilot pipeline between the pilot pump 15 and the control valve unit 17 and is configured to be able to change its flow path area (i.e., the cross-sectional area through which the working oil can flow). Thus, the proportional valve 31 can output a specified pilot pressure to the secondary side pilot pipeline using the working oil of the pilot pump 15 supplied through the primary side pilot pipeline. Therefore, the proportional valve 31 can cause a specified pilot pressure corresponding to the operation instruction from the controller 30 to act on the control valve unit 17. Therefore, for example, the controller 30 directly supplies the pilot pressure corresponding to the operation content (operation signal) of the operation device 26 from the proportional valve 31 to the control valve unit 17, and can achieve the operation of the excavator 100 based on the operation of the operator.

[0075] Moreover, the controller 30 controls the proportional valve 31, and can achieve the automatic operation function of the excavator 100. Specifically, the controller 30 outputs an operation instruction corresponding to the automatic operation function from the proportional valve 31 to the proportional valve 31. Thus, the controller 30 can achieve the operation of the excavator 100 based on the automatic operation function.

[0076] Moreover, the controller 30 controls the proportional valve 31 to achieve the remote operation of the excavator 100. Specifically, the controller 30 outputs an operation instruction corresponding to the content of the operation specified by the operation signal received from the remote operation room RC to the proportional valve 31 through the communication device T1. Thus, the controller 30 supplies the pilot pressure corresponding to the content of the remote operation from the proportional valve 31 to the control valve unit 17, and can achieve the operation of the excavator 100 based on the remote operation of the operator.

[0077] Further, when the operating device 26 is a hydraulic pilot type, a shuttle valve may be provided in the pilot pipe line between the operating device 26 and the proportional valve 31 and the control valve unit 17. The shuttle valve has two inlet ports and one outlet port, and outputs the working oil having the higher pilot pressure among the pilot pressures input to the two inlet ports to the outlet port. Similarly to the proportional valve 31, the shuttle valve is provided for each of the driven components (hydraulic actuators HA) of the operating object of the operating device 26 and for each of the operating directions of the driven components (hydraulic actuators HA). For example, two shuttle valves are provided for each of the double-acting hydraulic actuators HA for driving the lower traveling body 1, the upper swing body 3, the boom 4, the arm 5, the bucket 6, and the like. One of the two inlet ports of the shuttle valve is connected to the secondary side pilot pipe line of the operating device 26 (specifically, the lever device or the pedal device included in the operating device 26), and the other is connected to the secondary side pilot pipe line of the proportional valve 31. The outlet port of the shuttle valve is connected to the pilot port of the corresponding switching valve of the control valve unit 17 through a pilot pipe line. The corresponding switching valve refers to the switching valve for driving the hydraulic actuator HA, and the hydraulic actuator HA is the operating object of the lever device or the pedal device connected to one inlet port of the shuttle valve. Therefore, these shuttle valves can respectively apply the higher pilot pressure among the pilot pressure of the secondary side pilot pipe line of the operating device 26 and the pilot pressure of the secondary side pilot pipe line of the proportional valve 31 to the pilot port of the corresponding switching valve. That is, the controller 30 can control the corresponding switching valve without depending on the operation of the operator on the operating device 26 by outputting a pilot pressure higher than the secondary side pilot pressure of the operating device 26 from the proportional valve 31. Thereby, the controller 30 controls the operation of the driven components (the lower traveling body 1, the upper swing body 3, the boom 4, the arm 5, and the bucket 6) without depending on the operation state of the operator on the operating device 26, and can realize an automatic operation function or a remote operation function.

[0078] Further, when the operating device 26 is hydraulically pilot-operated, a pressure reducing valve may be provided in the pilot pipeline between the operating device 26 and the reciprocating valve in addition to the reciprocating valve. The pressure reducing valve is configured to operate, for example, according to a control signal input from the controller 30 and can change its flow path area. Thus, when the operator operates the operating device 26, the controller 30 can forcibly reduce the pilot pressure output from the operating device 26. Therefore, even when the operating device 26 is operated, the controller 30 can forcibly suppress or stop the operation of the hydraulic actuator HA corresponding to the operation of the operating device 26. Further, for example, even when the operating device 26 is operated, the controller 30 can reduce the pilot pressure output from the operating device 26 by the pressure reducing valve to be lower than the pilot pressure output from the proportional valve 31. Therefore, by controlling the proportional valve 31 and the pressure reducing valve, the controller 30 can reliably apply a desired pilot pressure to the pilot port of the switching valve in the control valve unit 17, for example, regardless of the operation content of the operating device 26. Therefore, by controlling the pressure reducing valve in addition to the proportional valve 31, for example, the controller 30 can more appropriately implement the automatic operation function or the remote operation function of the excavator 100.

[0079] <User Interface System>

[0080] As Figure 3 shown, the user interface system of the excavator 100 includes an operating device 26, an operation sensor 29, an output device D1, and an input device D2.

[0081] The output device D1 outputs various information to the user of the excavator 100 (for example, the operator in the cab 10) or a person around the excavator 100 (for example, a worker or a driver of a work vehicle).

[0082] For example, the output device D1 includes a lighting device or a display device that outputs various information visually. The lighting device is, for example, a warning light (indicator light). The display device is, for example, a liquid crystal display, an organic EL (Electroluminescence) display, etc. For example, the lighting device or the display device may be provided inside the cab 10 and output various information visually to the operator inside the cab 10. Further, the lighting device or the display device may also be provided on the side surface of the upper swing body 3, etc., and output various information visually to the workers around the excavator 100.

[0083] Further, the output device D1 may include a sound output device that outputs various information in an auditory manner. In the sound output device, for example, a buzzer or a speaker is included. The sound output device is provided, for example, on at least one of the inside and outside of the cab 10, and outputs various information in an auditory manner to the operator inside the cab 10 or people (such as workers) around the excavator 100.

[0084] Further, the output device D1 may also include a device that outputs various information in a tactile manner such as vibration of the driver's seat.

[0085] The input device D2 receives various inputs from a user (such as an operator) of the excavator 100, and a signal corresponding to the received input is input to the controller 30. For example, as Figure 2 shown, the input device D2 is provided inside the cab 10 and receives inputs from an operator or the like inside the cab 10. Further, the input device D2 may be provided, for example, on the side of the upper swing body 3 and receive inputs from workers or the like around the excavator 100.

[0086] For example, the input device D2 includes an operation input device that receives inputs of mechanical operations from a user. In the operation input device, a touch panel installed on the display device, a touchpad provided around the display device, a button switch, a lever, a toggle key, a rotary switch provided on the operation device 26 (lever device), etc. may be included.

[0087] Further, the input device D2 may include a sound input device that receives sound inputs from a user. In the sound input device, for example, a microphone is included.

[0088] Further, the input device D2 may also include a gesture input device that receives gesture inputs from a user. In the gesture input device, for example, a camera device that captures the gesture state of the user is included.

[0089] Further, the input device D2 may also include a biological input device that receives biological inputs from a user. In the biological input, for example, inputs of biological information such as a user's fingerprint and iris are included.

[0090] <Communication System>

[0091] As Figure 3 shown, the communication system of the excavator 100 according to the present embodiment includes a communication device T1.

[0092] The communication device T1 is connected to an external communication line NW and communicates with devices separately provided from the excavator 100. Among the devices separately provided from the excavator 100, in addition to the devices located outside the excavator 100, it may also include a portable terminal device (mobile terminal) brought into the cab 10 by the user of the excavator 100. The communication device T1 may include, for example, a mobile communication module according to specifications such as 4G (4th Generation) and 5G (5th Generation). Also, the communication device T1 may include, for example, a satellite communication module. And the communication device T1 may include, for example, a WiFi communication module, a Bluetooth (registered trademark) communication module, etc. And when there are multiple connectable communication lines NW, the communication device T1 may include multiple communication devices T1 according to the type of the communication line NW.

[0093] For example, the communication device T1 communicates with external devices such as the remote operation room RC in the work site through a local communication line constructed in the work site. The local communication line is, for example, a mobile communication line based on local 5G (so-called local 5G) constructed in the work site or a local area network based on WiFi6.

[0094] Also, the communication device T1 is configured to transmit and receive information with the communication device T2 provided in the remote operation room RC through a wide area communication line, i.e., a wide area network, including the work site.

[0095] <Control System>

[0096] As Figure 3 shown, the control system of the excavator 100 includes a controller 30. The controller 30 performs various controls related to the excavator 100.

[0097] The functions of the controller 30 can be implemented by any hardware, or any combination of hardware and software, etc. For example, as Figure 3 shown, the controller 30 includes an auxiliary storage device 30A, a memory device 30B, a CPU (Central Processing Unit) 30C, and an interface device 30D connected by a bus B1.

[0098] The auxiliary storage device 30A is a non-volatile storage component that stores installed programs and stores required files, data, etc. The auxiliary storage device 30A is, for example, an EEPROM (Electrically Erasable Programmable Read-Only Memory) or a flash memory, etc.

[0099] When there is an instruction to start a program, for example, the memory device 30B loads the program of the auxiliary storage device 30A so that the CPU 30C can read it. The memory device 30B is, for example, an SRAM (Static Random Access Memory).

[0100] The CPU 30C, for example, executes the program loaded into the memory device 30B and realizes various functions of the controller 30 according to the program commands.

[0101] The interface device 30D functions as a communication interface for connecting to the communication line inside the excavator 100, for example. The interface device 30D may also include a plurality of different types of communication interfaces according to the type of communication line to be connected.

[0102] In addition, the interface device 30D functions as an external interface for reading data from a recording medium and writing data to the recording medium. The recording medium is, for example, a dedicated tool connected to a connector provided inside the cab 10 by a detachable cable. Also, the recording medium can be a general recording medium such as an SD memory card, a USB (Universal Serial Bus) memory, etc., for example. Thus, a program for realizing various functions of the controller 30 can be provided via a portable recording medium and installed in the auxiliary storage device 30A of the controller 30. Also, the program can be downloaded from another computer outside the excavator 100 via the communication device T1 and installed in the auxiliary storage device 30A.

[0103] In addition, a part of the functions of the controller 30 can also be realized by other controllers (control devices). That is, the functions of the controller 30 can also be realized dispersedly by a plurality of controllers mounted on the excavator 100.

[0104] The boom angle sensor S1 is installed on the boom 4 and detects the pitching angle of the boom 4 relative to the upper swing body 3 (hereinafter, "boom angle"), for example, the angle formed by the straight line connecting the two ends of the boom 4 in a side view relative to the rotation plane of the upper swing body 3. The boom angle sensor S1 can include, for example, a rotary encoder, an acceleration sensor, a 6-axis sensor, an IMU (Inertial Measurement Unit), etc. Also, the boom angle sensor S1 can include a potentiometer using a variable resistor, a cylinder stroke sensor that detects the stroke amount of a hydraulic cylinder (boom cylinder 7) corresponding to the boom angle, etc. The same applies to the stick angle sensor S2, the bucket angle sensor S3, and the body tilt sensor S4 hereinafter. The detection signal corresponding to the boom angle based on the boom angle sensor S1 is input to the controller 30.

[0105] The boom angle sensor S2 is installed on the boom 5 and detects the rotation angle of the boom 5 relative to the arm 4 (hereinafter, "boom angle"), for example, the angle formed by the straight line connecting the two fulcrums at both ends of the boom 5 and the straight line connecting the two fulcrums at both ends of the arm 4 in a side view. The detection signal corresponding to the boom angle based on the boom angle sensor S2 is input to the controller 30.

[0106] The bucket angle sensor S3 is installed on the bucket 6 and detects the rotation angle of the bucket 6 relative to the boom 5 (hereinafter, "bucket angle"), for example, the angle formed by the straight line connecting the fulcrum of the bucket 6 and the front end (bucket tip) and the straight line connecting the two fulcrums at both ends of the boom 5 in a side view. The detection signal corresponding to the bucket angle based on the bucket angle sensor S3 is input to the controller 30.

[0107] In the present embodiment, the boom angle sensor S1, the boom angle sensor S2, and the bucket angle sensor S3 are also referred to as the angle sensors of the attachment device AT. Also, the detection results of the angle sensors of the attachment device AT are also referred to as the angles of the attachment device AT. The angles of the attachment device AT represent, for example, the boom angle, the boom angle, and the bucket angle.

[0108] The body tilt sensor S4 detects the tilt state of the body (the upper slewing body 3 or the lower traveling body 1) relative to the horizontal plane. The body tilt sensor S4 is installed, for example, on the upper slewing body 3 and detects the tilt angles (hereinafter, "front-back tilt angle" and "left-right tilt angle") of the excavator 100 (i.e., the upper slewing body 3) around two axes in the front-back direction and the left-right direction. The detection signals corresponding to the tilt angles (front-back tilt angle and left-right tilt angle) based on the body tilt sensor S4 are input to the controller 30.

[0109] The slewing angle sensor S5 outputs detection information related to the slewing state of the upper slewing body 3. The slewing angle sensor S5 detects, for example, the slewing angular velocity and the slewing angle of the upper slewing body 3. The slewing angle sensor S5 includes, for example, a gyro sensor, a resolver, and a rotary encoder.

[0110] This embodiment describes an example using the slewing angle sensor S5, but this embodiment is not limited to the method using the slewing angle sensor S5. For example, an IMU (Inertial Measurement Unit) sensor can be used instead of the slewing angle sensor S5.

[0111] For example, the controller 30 can grasp (infer) the position of the front end (bucket 6) of the attachment device AT based on the outputs of the sensors S1 to S5. Therefore, the controller 30 can control the operations of the automatic operation function of the excavator 100 while grasping the position of the front end of the attachment device AT.

[0112] In addition, when the sensor S4 includes a gyro sensor, a 6-axis sensor, an IMU, etc. that can detect the angular velocity around three axes, the rotation state (e.g., rotation angular velocity) of the upper slewing body 3 can be detected based on the detection signal of the sensor S4. In this case, the sensor S5 can be omitted.

[0113] The imaging device S6 captures the surroundings of the excavator 100. The imaging device S6 includes a camera S6F that captures the front of the excavator 100, a camera S6L that captures the left side of the excavator 100, a camera S6R that captures the right side of the excavator 100, and a camera S6B that captures the rear of the excavator 100.

[0114] The camera S6F is installed, for example, on the ceiling of the cab 10, that is, inside the cab 10. Also, the camera S6F can be installed outside the cab 10 such as on the roof of the cab 10 or on the side of the boom 4. The camera S6L is installed at the left end of the upper surface of the upper slewing body 3, the camera S6R is installed at the right end of the upper surface of the upper slewing body 3, and the camera S6B is installed at the rear end of the upper surface of the upper slewing body 3.

[0115] The imaging device S6 (cameras S6F, S6B, S6L, S6R) is respectively, for example, a monocular wide-angle camera with a very wide field of view. Also, the imaging device S6 can, for example, like a stereo camera, a TOF (Time Of Flight) camera, etc. (hereinafter, collectively referred to as "3D cameras"), acquire data related to distance (depth) in addition to two-dimensional images. The captured images based on the imaging device S6 are input to the controller 30.

[0116] Moreover, when the operator OP in the remote operation room RC receives the captured image from the communication device T1 of the excavator 100, the operator OP visually recognizes the surrounding image based on the camera S6F through the display device DR, and thus can remotely operate the excavator 100 while confirming the operations of the attachment device AT including the bucket 6.

[0117] Further, a distance sensor may be provided on the upper revolving body 3 instead of the imaging device S6, or in addition to the imaging device S6, a distance sensor may be provided on the upper revolving body 3. The distance sensor is installed, for example, on the upper part of the upper revolving body 3 to obtain data related to the distance and direction of surrounding objects with respect to the excavator 100. Further, the distance sensor may also obtain (generate) three-dimensional data (for example, data of coordinate information of a point cloud) of the objects around the excavator 100 within the sensing range based on the obtained data. The distance sensor is, for example, LiDAR (Light Detection and Ranging). Further, for example, the distance sensor may be a millimeter wave radar, an ultrasonic sensor, an infrared sensor, or the like.

[0118] The positioning device PS is configured to obtain information related to the position of the excavator 100. In the present embodiment, the positioning device PS is configured to measure the position and orientation of the excavator 100. For example, the positioning device PS is a GNSS (Global Navigation Satellite System) receiver equipped with an electronic compass, which measures the latitude, longitude, and altitude of the current position of the excavator 100 and also measures the orientation of the excavator 100.

[0119] Based on the operation of the operator aboard the cab 10, the excavator 100 operates an actuator (for example, a hydraulic actuator) to drive motion components (hereinafter referred to as "driven components") such as the lower traveling body 1, the upper revolving body 3, the boom 4, the arm 5, and the bucket 6.

[0120] Further, the excavator 100 may be configured to be remotely operable (remotely controlled) from outside the excavator 100 instead of being configured to be operable by the operator in the cab 10, or in addition to being configured to be operable by the operator in the cab 10, it may also be configured to be remotely operable (remotely controlled) from outside the excavator 100. When the excavator 100 is remotely operated, the interior of the cab 10 may be in an unmanned state.

[0121] Further, the excavator 100 may operate the actuator automatically regardless of the operation content of the operator. Thereby, the excavator 100 realizes the function of automatically operating at least a part of the driven components such as the lower traveling body 1, the upper revolving body 3, the boom 4, the arm 5, and the bucket 6, that is, the so-called "automatic operation function" or "equipment control function".

[0122] In the automatic operation function, there may be included a function of automatically operating a driven component (actuator) other than the driven component (actuator) of the operation target according to the operation of the operator on the operation device 26 or remote operation, that is, the so-called "semi-automatic operation function" or "operation support type equipment control function". Further, in the automatic operation function, there may be included a function of automatically operating at least a part of a plurality of driven components (hydraulic actuators) without the operation or remote operation of the operator on the operation device 26, that is, the so-called "fully automatic operation function" or "fully automatic type equipment control function". In the excavator 100, when the fully automatic operation function is effective, the interior of the cab 10 may be in a state without an operator. Further, in the semi-automatic operation function, the fully automatic operation function, etc., there may be included a mode in which the operation content of the driven component (actuator) of the automatic operation target is automatically determined according to a predetermined rule. Further, in the semi-automatic operation function, the fully automatic operation function, etc., there may be included a mode in which the excavator 100 makes various judgments autonomously and determines the operation content of the driven component (hydraulic actuator) of the automatic operation target autonomously according to the judgment result (the so-called "automatic operation function").

[0123] Specifically, when the operator operates the arm 5 through the operation device 26, the controller 30 automatically operates at least one of the boom 4 and the bucket 6 so that a predetermined target design surface (hereinafter, simply referred to as "design surface") coincides with the front end position of the bucket 6. Further, the controller 30 can operate the arm 5 automatically regardless of the operation state of the operation device 26 that operates the arm 5 together. That is, the controller 30 can use the operation of the operator on the operation device 26 as a trigger signal to cause the attachment device to perform a predetermined action. Hereinafter, according to the operation of the operation device 26 corresponding to the arm 5, the function of the controller 30 that operates not only the arm 5 but also at least one of the boom 4 and the bucket 6 is referred to as the "semi-automatic operation function". The semi-automatic operation function can be executed, for example, when a predetermined switch (hereinafter, referred to as "MC (Machine Control) switch") arranged at any front end of the lever device included in the operation device 26 is operated.

[0124] <Frame Structure of Remote Operation System>

[0125] Figure 4 It is a functional block diagram showing a structural example of the remote operation system SYS according to the present embodiment. In Figure 4 the illustrated example, the frame structures of the remote operation room RC and the excavator 100 included in the remote operation system SYS are shown respectively.

[0126] As Figure 4As shown, in the remote operation room RC, there are an operation sensor R29, a remote controller R30, a display device DR, and a communication device T2.

[0127] The display device DR according to this embodiment may be a multi-display composed of multiple displays, or may be composed of a large-screen display.

[0128] The communication device T2 is connected to an external communication line NW and communicates with the excavator 100. The communication device T2 may include, for example, a mobile communication module according to specifications such as 4G (4th Generation) and 5G (5th Generation). Also, the communication device T2 may include a satellite communication module, for example. And the communication device T2 may include a WiFi communication module, a Bluetooth (registered trademark) communication module, etc., for example. And when there are multiple connectable communication lines NW, the communication device T2 may include multiple communication devices T2 according to the type of the communication line NW.

[0129] The operation sensor R29 is configured to detect the operation content of the operator OP who uses the operation device R26. In this embodiment, the operation sensor 29 detects the operation direction and operation amount of the operation device 26 corresponding to each actuator of the excavator 100, and outputs an electric signal (hereinafter, also referred to as an operation signal) corresponding to the detected value to the remote controller R30.

[0130] Next, the functions of the remote controller R30 provided in the remote operation room RC will be described. The remote controller R30 is configured to remotely operate the excavator 100. The remote controller R30 has a display control unit 351, an operation signal generation unit 352, and a communication control unit 353 as functional modules.

[0131] The communication control unit 353 controls the transmission and reception of information between the communication device T2 and the communication device T1 of the excavator 100. For example, the communication control unit 353 receives the detection results of various sensors S1 to S5 of the excavator 100, the position information based on the positioning device PS, and the captured image based on the imaging device S6 from the communication device T1 of the excavator 100.

[0132] The display control unit 351 performs control for displaying information on the display device DR. For example, the display control unit 351 performs control for displaying the received imaging information on the display device DR. In addition, the display control unit 351 may perform control for displaying the detection results of various sensors S1 to S5 or information based on the position information based on the positioning device PS on the display device DR.

[0133] The operation signal generation unit 352 is configured to generate an operation signal. In the present embodiment, the operation signal generation unit 352 is configured to generate an operation signal based on the output of the operation sensor R29.

[0134] The communication control unit 353 transmits the generated operation signal to the communication device T1.

[0135] As Figure 4 shown, the excavator 100 includes a positioning device PS, a camera device S6, a swing angle sensor S5, a body tilt sensor S4, an operation sensor 29, a proportional valve 31, a controller 30, and a communication device T1.

[0136] The controller 30 stores a map information storage unit 30A1 in the auxiliary storage device 30A.

[0137] The map information storage unit 30A1 stores map information for the excavator 100 to travel. The map information stores the shape (three-dimensional shape) of the work site where the excavator 100 can move. As the three-dimensional shape of the map information, for example, it includes the tilt angle and the like.

[0138] The map information can be set as, for example, position information in a world coordinate system based on GNSS (Global Navigation Satellite System). In the present embodiment, the latitude and longitude are represented by the x-axis and the y-axis, and the height is represented by the z-axis.

[0139] The functions of the controller 30 mounted on the excavator 100 will be described. As Figure 5 shown, the controller 30 has a communication control unit 301, an acquisition unit 302, an inclination angle calculation unit 303, a target travel direction determination unit 304, a determination unit 305, a correction unit 306, and an actuator drive unit 307 as functional modules.

[0140] Figure 5 is an explanatory diagram showing the control of the lower traveling body 1 of the excavator 100 by the controller 30 of the present embodiment. In Figure 5 it, examples of the excavator 100A in the past and the excavator 100 according to the present embodiment traveling up and down on a slope 500 with an inclination angle θ are shown. In the past, when the excavator travels on a slope, it is preferably straight in the traveling direction with respect to the inclination direction.

[0141] Therefore, the conventional excavator 100A is an example of traveling straight in the traveling direction with respect to the inclination direction as shown by the traveling trajectories 513 and 514. Similarly, the excavator 100 according to the present embodiment can also be an example of traveling straight in the traveling direction with respect to the inclination direction as shown by the traveling trajectories 511 and 512.

[0142] In Figure 5In the illustrated example, there is a slippery ground such as mud 501 on the slope 500. The excavators 100A and 100 will both be in a situation of moving on the mud 501.

[0143] Moreover, in the conventional excavator 100A, when the crawler slips in the mud 501, a sharp direction change may occur. The sharp direction change may cause the conventional excavator 100A to deviate from the expected traveling path, and there is also a possibility of causing the excavator 100A to overturn.

[0144] Therefore, the controller 30 of the excavator 100 according to the present embodiment controls the lower traveling body 1 so that a sharp direction change does not occur even when the crawler slips in the mud 501. In other words, the traveling direction is maintained substantially parallel to the inclination direction.

[0145] In particular, in the remote operation system SYS of the excavator 100 according to the present embodiment, when the operator OP operates the excavator 100 from the remote operation room RC, it is difficult to recognize the inclination of the road surface on which the excavator 100 travels. And there is a delay until the detection results of various sensors of the excavator 100 are displayed on the display device DR. Therefore, by controlling the lower traveling body 1 by the controller 30 as described above, the possibility of the excavator 100 overturning can be reduced.

[0146] Return to Figure 4 , the communication control unit 301 controls the transmission and reception of information between the communication device T1 and the communication device T2 of the remote operation room RC. For example, the communication control unit 301 receives an operation signal from the communication device T2 of the remote operation room RC.

[0147] The acquisition unit 302 acquires detection results from various sensors provided on the excavator 100. For example, the acquisition unit 302 acquires information from the boom angle sensor S1, the arm angle sensor S2, the bucket angle sensor S3, the body inclination sensor S4, the slewing angle sensor S5, the imaging device S6, and the positioning device PS, etc.

[0148] The communication control unit 301 uses the communication device T1 to send the detection results of various sensors S1 to S5 of the excavator 100, the position information of the positioning device PS, and the captured image of the imaging device S6 to the communication device T2.

[0149] The inclination angle calculation unit 303 calculates the inclination of the traveling direction of the excavator 100 with respect to the ground inclination direction based on the inclination state of the upper slewing body 3 detected by the body inclination sensor S4 and the slewing angle detected by the slewing angle sensor S5.

[0150] Specifically, the acquisition unit 302 acquires the pitch angle and roll angle of the upper revolving body 3 as the inclination state of the upper revolving body 3 detected by the machine body inclination sensor S4, and acquires the revolving angle from the revolving angle sensor S5. Moreover, the inclination angle calculation unit 303 calculates the pitch angle and roll angle of the lower traveling body 1 based on the pitch angle and roll angle of the upper revolving body 3 and the revolving angle.

[0151] In the present embodiment, the roll angle of the lower traveling body 1 is regarded as the inclination degree corresponding to the inclination direction of the traveling direction of the excavator 100 with respect to the ground. For example, when the roll angle of the lower traveling body 1 is approximately "0" degrees, the controller 30 can recognize that the traveling direction of the excavator 100 is substantially parallel to the inclination direction. In other words, no inclination degree is generated in the traveling direction with respect to the inclination direction. When the absolute value of the roll angle starts to increase from approximately "0" degrees, the controller 30 can recognize that an inclination degree is generated in the traveling direction with respect to the inclination direction. In addition, the present embodiment is not limited to the method of recognizing the inclination degree of the traveling direction of the excavator 100 by the roll angle of the lower traveling body 1, and other methods can also be used.

[0152] The inclination angle calculation unit 303 calculates the inclination angle of the ground on which the lower traveling body 1 travels based on the pitch angle and roll angle of the lower traveling body 1. Since the calculation method of the inclination angle of the ground can be a known method, the description thereof is omitted.

[0153] Therefore, the structure formed by combining the machine body inclination sensor S4 and the revolving angle sensor S5 functions as an inclination recognition device for recognizing the inclination of the ground on which the excavator 100 travels, and is configured to be able to calculate the inclination degree of the traveling direction with respect to the inclination direction. In the present embodiment, by using the structure formed by combining the machine body inclination sensor S4 and the revolving angle sensor S5, the controller 30 can immediately recognize the change in the pitch angle or roll angle of the lower traveling body 1. Therefore, the controller 30 can immediately perform control based on this change, and thus can improve safety.

[0154] In addition, in the present embodiment, an example in which the machine body inclination sensor S4 is used as a structure for detecting the pitch angle and roll angle of the upper revolving body 3 is described, but it is not limited to the method of using the machine body inclination sensor S4 as a structure for detecting the pitch angle and roll angle of the upper revolving body 3. For example, a positioning device PS configured as a GNSS receiver capable of detecting the inclination degree of the excavator 100 can also be used.

[0155] When the ground inclination is recognized based on the captured image by the imaging device S6, the target traveling direction determination unit 304 determines the traveling direction (hereinafter referred to as the target traveling direction) of the excavator 100 as the target.

[0156] That is, as an inclination recognition device for recognizing the ground inclination, an example of using the imaging device S6 is provided. In addition, this embodiment describes an example of using the imaging device S6, but is not limited to the method of using the imaging device S6. That is, any spatial recognition device that can recognize the space of the excavator 100 can be used, such as LiDAR.

[0157] Specifically, the target travel direction determination unit 304 determines, based on the captured image of the imaging device S6, a region where the inclination angle of the ground is switched around the excavator 100, and determines a target travel direction substantially parallel to the inclination direction in the determined region.

[0158] The method by which the target travel direction determination unit 304 recognizes the ground inclination captured in the image information is a well-known method and will be omitted here.

[0159] The controller 30 according to this embodiment can pre-recognize the inclination of the travel destination of the excavator 100 by using the imaging device S6. Specifically, while the controller 30 is traveling on a horizontal plane or a plane with a gentler inclination angle than the inclined plane before starting to travel on the inclined ground (hereinafter also referred to as the inclined surface) existing at the travel destination of the excavator, it can recognize the inclination angle of the inclined surface. In this way, the controller 30 can recognize the inclination angle of the inclined surface even before the inclination angle of the inclined surface is recognized by the body inclination sensor S4. That is, the controller 30 can determine the travel direction on the inclined surface before the excavator 100 advances to the inclined surface. Since the controller 30 can easily cope with the change of the inclined surface, the safety can be improved.

[0160] Specifically, the target travel direction determination unit 304 calculates the difference in the relative inclination angle between the current ground and the ground after the inclination angle is switched from the current ground. Since the controller 30 of the excavator 100 recognizes the inclination state of the current ground, it recognizes the inclination state of the ground after the inclination angle is switched based on the difference in the relative inclination angle. Further, the controller 30 can determine a target travel direction for traveling straight relative to the inclination direction on the ground after the inclination angle is switched based on the inclination state.

[0161] In addition, in this embodiment, the method of calculating the difference in the relative inclination angle is not limited to the operation based on the captured image. For example, the target travel direction determination unit 304 can also determine the inclination angle of the ground at the movement destination of the excavator 100 based on the map information stored in the map information storage unit 30A1 and the position information of the excavator 100.

[0162] The determination unit 305 determines whether the conditions for controlling the lower traveling body 1 are satisfied. For example, the determination unit 305 determines whether the inclination angle of the ground calculated by the inclination angle calculation unit 303 is equal to or greater than a first reference angle (an example of a specified threshold value). The first reference angle can be determined as, for example, 20 degrees. In addition, the first reference angle is not limited to 20 degrees, and can be determined according to the implementation manners such as the speed and shape of the excavator 100 as long as it can determine an angle at which the excavator 100 may tip over or the like.

[0163] When the determination unit 305 determines that the inclination angle of the ground calculated by the inclination angle calculation unit 303 is equal to or greater than the first reference angle, it further determines whether the roll angle becomes equal to or greater than a specified reference roll angle. The specified reference roll angle according to the present embodiment is an angle determined as a reference for determining that the traveling direction with respect to the inclination direction is not substantially parallel. For example, the specified reference roll angle is an angle obtained by adding a specified margin to the roll angle of "0" degrees.

[0164] The correction unit 306 corrects the operation signal received by the communication control unit 301 or the operation signal acquired by the acquisition unit 302 according to the determination result of the determination unit 305.

[0165] When the determination unit 305 determines that the inclination angle of the ground calculated by the inclination angle calculation unit 303 is equal to or greater than the first reference angle (an example of a specified threshold value), the correction unit 306 corrects the operation signal so as to control the lower traveling body 1 to make the traveling direction of the excavator 100 substantially parallel to the inclination direction. In addition, the present embodiment describes an example of controlling the traveling direction of the excavator 100 to be substantially parallel to the inclination direction, but is not limited to the control of making the traveling direction substantially parallel to the inclination direction. The correction unit 306 only needs to control to make the angle between the traveling direction of the excavator 100 and the inclination direction smaller. The angle between the controlled traveling direction and the inclination direction only needs to be a specified angle that can suppress the tipping over of the excavator 100 or the like. That is, when the correction unit 306 corrects the operation signal to make the angle between the traveling direction of the excavator 100 and the inclination direction smaller, the possibility of the excavator 100 tipping over or the like can also be reduced, so that the improvement of safety can be achieved.

[0166] Specifically, when the determination unit 305 determines that the inclination angle of the ground is equal to or greater than the first reference angle (an example of a specified threshold value) and the roll angle of the lower traveling body 1 is equal to or greater than the specified reference roll angle, the correction unit 306 corrects the operation signal to adjust the traveling speed of one or more of the right crawler and the left crawler, and makes the roll angle substantially "0" degrees. When the roll angle of the lower traveling body 1 is substantially "0" degrees, since the lateral inclination of the excavator 100 is suppressed, it can be regarded that the traveling direction of the excavator 100 is substantially parallel to the inclination direction.

[0167] When the excavator 100 travels on an inclined surface and there is an inclination in the lateral direction of the excavator 100, the correction unit 306 corrects the operation signals to adjust the traveling speeds of the right crawler and the left crawler so as to suppress the inclination in the lateral direction of the excavator 100.

[0168] For example, when the lower traveling body 1 shifts to the right, the correction unit 306 corrects the operation signals to reduce the operation amount of the left operation lever that controls the traveling speed of the left crawler, so as to reduce the traveling speed of the left crawler. And when the lower traveling body 1 shifts to the right, the correction unit 306 can correct the operation signals to increase the operation amount of the right operation lever, so as to increase the traveling speed of the right crawler.

[0169] As another example, when the lower traveling body 1 shifts to the left, the correction unit 306 corrects the operation signals to reduce the operation amount that controls the traveling speed of the right crawler, so as to reduce the traveling speed of the right crawler. When the lower traveling body 1 shifts to the left, the correction unit 306 can correct the operation signals to increase the operation amount of the left operation lever, so as to increase the traveling speed of the left crawler.

[0170] Moreover, when the inclination angle of the ground calculated by the inclination angle calculation unit 303 is less than the first reference angle (an example of a specified threshold value), the correction unit 306 suppresses the correction of the operation signals for making the traveling direction of the excavator 100 substantially parallel to the inclination direction, thereby suppressing the control of the lower traveling body 1. In this way, when the ground is gently inclined or substantially horizontal, the excavator 100 does not tip over, and the correction of the operation signals is suppressed. Therefore, when the ground is gently inclined, the correction of the operation signals is suppressed, and the excavator 100 can move according to the operation of the operator OP. Thus, it is possible to improve both the safety and the operability of the excavator 100.

[0171] When it is determined that the inclination angle of the ground is equal to or greater than the first reference angle (an example of a specified threshold value) and the roll angle of the lower traveling body 1 is equal to or greater than the specified reference roll angle, the communication control unit 301 sends a signal via the communication device T1 to the remote operation room RC to give a warning indicating that the traveling direction of the excavator 100 is corrected in accordance with the inclination direction. Moreover, the remote controller R30 in the remote operation room RC outputs a warning to correct the traveling direction to the operator OP according to the received signal. This warning can be a sound or a display on the display device DR. Thereby, the operator OP can recognize the situation of correcting the traveling direction in accordance with the inclined surface.

[0172] In the present embodiment, the case where the operation signal is automatically corrected by the correction unit 306 based on the determination result of the determination unit 305 has been described. However, the present embodiment is not limited to the method of automatically correcting the operation signal, and the operation signal may be corrected according to the judgment result of the operator OP.

[0173] For example, when the determination unit 305 determines that the inclination angle of the ground is equal to or greater than the first reference angle (an example of a specified threshold) and the roll angle of the lower traveling body 1 is equal to or greater than the specified reference roll angle, the communication control unit 301 sends a signal requesting permission for correction to the remote operation room RC.

[0174] When the remote controller R30 in the remote operation room RC receives the signal, it outputs an inquiry as to whether to change the traveling direction according to the inclination angle of the ground by sound or on the screen. Further, when the remote controller R30 receives an operation for allowing the change of the operation direction from the operator OP via the operation sensor R29, it sends a signal permitting correction to the excavator 100. Then, the correction unit 306 corrects the operation signal according to the received signal.

[0175] The actuator drive unit 307 is configured to drive the actuators mounted on the excavator 100. In the present embodiment, the actuator drive unit 307 generates and outputs a working signal for each of a plurality of electromagnetic valves included in the proportional valve 31 according to the operation signal sent from the remote controller R30.

[0176] When the operation signal is corrected by the correction unit 306, the actuator drive unit 307 generates and outputs a working signal for controlling the lower traveling body 1 from the corrected operation signal.

[0177] Next, the processing sequence executed by the controller 30 according to the present embodiment will be described. Figure 6 It is a flowchart showing the processing sequence for the controller 30 according to the present embodiment to cause the excavator 100 to travel on an inclined ground.

[0178] First, the communication control unit 301 receives an operation signal from the remote operation room RC (S1601). The present embodiment is not limited to the manner of receiving the operation signal from the remote operation room RC. For example, the acquisition unit 302 may acquire an operation signal based on the operation amount detected by the operation sensor 29.

[0179] The inclination angle calculation unit 303 calculates the roll angle and the pitch angle of the lower traveling body 1 as the inclination state of the lower traveling body 1 (S1602).

[0180] In addition, the inclination angle calculation unit 303 calculates the inclination angle of the ground on which the excavator 100 travels according to the roll angle and the pitch angle of the lower traveling body 1 (S1603).

[0181] The determination unit 305 determines whether the calculated tilt angle is equal to or greater than a first reference angle (an example of a specified threshold value) (S1604). When it is determined that the calculated tilt angle is less than the first reference angle (S1604: "No"), the controller 30 determines that the ground is not tilted, so normal control is sufficient and the process ends.

[0182] On the other hand, when the determination unit 305 determines that the calculated tilt angle is equal to or greater than the first reference angle (an example of a specified threshold value) (S1604: "Yes"), it is determined whether the traveling direction of the excavator 100 is tilted with respect to the tilt direction based on the roll angle (S1605). When it is determined that the traveling direction is not tilted (S1605: "No"), the process proceeds to the process of S1607.

[0183] On the other hand, when the determination unit 305 determines that the traveling direction of the excavator 100 is tilted with respect to the tilt direction (S1605: "Yes"), the communication control unit 301 transmits a signal indicating a warning to correct the traveling direction to the remote operation room RC via the communication device T1 (S1606).

[0184] Then, the correction unit 306 corrects the operation signal so that the lower traveling body 1 performs control to make the traveling direction of the excavator 100 substantially parallel to the tilt direction (S1607). In the Figure 6 flowchart shown, an example of automatically correcting the operation signal is described. However, as described above, it is also possible to switch whether to correct the operation signal according to the operation of the operator OP in the remote operation room RC.

[0185] Then, the actuator drive unit 307 generates and outputs a work signal for controlling the lower traveling body 1 from the operation signal (S1608).

[0186] Then, the communication control unit 301 receives the operation signal from the remote operation room RC (S1609).

[0187] The tilt angle calculation unit 303 calculates the roll angle and pitch angle of the lower traveling body 1 as the tilt state of the lower traveling body 1 (S1610).

[0188] In addition, the tilt angle calculation unit 303 calculates the tilt angle of the ground on which the excavator 100 travels based on the roll angle and pitch angle of the lower traveling body 1 (S1611).

[0189] The determination unit 305 determines whether the calculated tilt angle is equal to or less than the second reference angle (S1612). If it is determined that the angle is not equal to or less than the second reference angle, that is, greater than the second reference angle (S1612: "No"), the process returns to S1605. The second reference angle is an angle smaller than the first reference angle, and is set to 10 degrees, for example.

[0190] On the other hand, when the determination unit 305 determines that the calculated tilt angle is equal to or less than the second reference angle (S1612: "Yes"), the process ends.

[0191] In addition, in this embodiment, an example in which the lower traveling body 1 is controlled to make the traveling direction of the excavator 100 substantially parallel to the tilt direction when it is determined that the traveling direction is tilted has been described, but the control method is not limited to this. For example, the controller 30 may control the correction operation signal on the condition that the angle of the traveling direction of the excavator 100 with respect to the tilt direction exceeds a specified angle.

[0192] Figure 7 FIG. is an explanatory diagram showing the traveling locus of the crawler when the controller 30 according to the present embodiment controls the lower traveling body 1. In Figure 7 the illustrated example, as shown by the traveling loci 1701 and 1702, an example is shown in which the excavator 100 travels straight with respect to the inclined surface 1700.

[0193] Moreover, it is assumed that the left crawler of the excavator 100 slides at the location 1703, and the excavator 100 shifts to the right. Without performing Figure 6 the illustrated control, the excavator travels as shown by the traveling loci 1711 and 1712.

[0194] In contrast, the controller 30 according to the present embodiment performs Figure 6 the illustrated control. Specifically, when the controller 30 identifies that the traveling direction is tilted with respect to the tilt direction while the excavator 100 is traveling on the ground, the controller 30 corrects the operation signal so that the traveling direction is substantially parallel to the tilt direction (suppresses the tilt). Therefore, the excavator 100 can continue to travel as shown by the traveling loci 1701 and 1702, and thus the safety can be improved.

[0195] The present embodiment is not limited to the method of correcting the operation signal when it is identified that the current traveling direction is tilted with respect to the tilt direction. The operation signal may be corrected in advance when it is identified that the traveling direction starts to tilt with respect to the tilt direction during traveling on a substantially horizontal plane.

[0196] Next, the processing sequence executed by the controller 30 according to the present embodiment will be described. Figure 8It is a flowchart showing the processing sequence for the controller 30 according to the present embodiment to make the excavator 100 travel before switching the inclination of the ground. First, the excavator 100 is set to travel on a substantially horizontal ground.

[0197] First, the communication control unit 301 receives an operation signal from the remote operation room RC (S1801). The present embodiment is not limited to the method of receiving the operation signal from the remote operation room RC. For example, the acquisition unit 302 can acquire an operation signal based on the operation amount detected by the operation sensor 29.

[0198] The target travel direction determination unit 304 determines whether there is an area where the ground inclination angle is switched in the ground shape around the excavator 100 based on the captured image of the imaging device S6 (S1802). When it is determined that there is no area where the ground inclination angle (above the first reference angle) is switched (S1802: "No"), the controller 30 determines that the ground is not inclined, so normal control can be performed and the process ends.

[0199] On the other hand, when the target travel direction determination unit 304 determines that there is an area where the ground inclination angle is switched, based on the captured image of the imaging device S6, it determines the target yaw angle of the excavator 100 that becomes the target travel direction substantially parallel to the inclination direction on the ground after the ground inclination angle is switched (S1803). The target yaw angle is set as the rotation angle of the lower traveling body 1 for traveling substantially parallel to the inclination direction.

[0200] Then, the determination unit 305 determines that it will reach before a predetermined distance (for example, 1 m) earlier than the area where the inclination angle is switched based on the captured image of the imaging device S6 (S1804). In addition, the present embodiment describes an example of correcting the operation signal 1 m before the inclination angle is switched, but it is not limited to 1 m before. It can be a distance less than 1 m or a distance greater than 1 m. Further, the operation signal can be corrected at the stage of identifying an area where the ground inclination angle is switched.

[0201] Moreover, the determination unit 305 determines whether the current traveling direction of the excavator 100 is inclined with respect to the target traveling direction determined in S1803, in other words, whether the target yaw angle of the excavator 100 is different from "0" degrees (S1805). When it is determined that the current traveling direction is not inclined with respect to the target traveling direction, in other words, the target yaw angle is substantially consistent with "0" degrees (S1805: "No"), the process proceeds to the process of S1808. In addition, the present embodiment is not limited to the method of making the traveling direction consistent with the target yaw angle. For example, it can also be controlled such that the traveling direction is included within a predetermined range (for example, ±5 degrees) based on the target yaw angle.

[0202] On the other hand, when the determination unit 305 determines that the traveling direction of the current excavator 100 is inclined with respect to the target traveling direction determined in S1803, in other words, when the target yaw angle of the excavator 100 is different from "0" degrees (S1805: "Yes"), the communication control unit 301 transmits a signal indicating a warning to correct the traveling direction to the remote operation room RC via the communication device T1 (S1806).

[0203] Then, the correction unit 306 corrects the operation signal so that the traveling direction of the excavator 100 becomes the target traveling direction, in other words, so that the traveling direction of the excavator 100 becomes the direction indicated by the target yaw angle (S1807). In addition, in the present embodiment, an example in which the operation signal is corrected before the inclination angle is switched so as to travel in the target traveling direction is described, but the present invention is not limited to this correction method, and the operation signal may be corrected at the moment when the inclination angle is switched or after the inclination angle is switched so as to travel in the target traveling direction.

[0204] Moreover, the actuator drive unit 307 generates and outputs a work signal for controlling the lower traveling body 1 from the operation signal, and ends the process (S1808).

[0205] In addition, in the present embodiment, an example in which the lower traveling body 1 is controlled so that the traveling direction of the excavator 100 is substantially parallel to the inclination direction when it is determined that the traveling direction is inclined from the target traveling direction is described, but the present invention is not limited to this control method. For example, the controller 30 may control the correction operation signal on the condition that the angle of the traveling direction of the excavator 100 with respect to the target traveling direction exceeds a specified angle.

[0206] Figure 9 FIG. is an explanatory diagram showing the traveling locus of the crawler when the controller 30 according to the present embodiment controls the lower traveling body 1. Figure 9 An example is given in which the ground changes from the substantially horizontal ground 1900A to the ground 1900B inclined at the first reference angle or more.

[0207] Moreover, the target traveling direction determination unit 304 of the controller 30 determines the ground shape based on the captured image of the imaging device S6 of the excavator 100. That is, the target traveling direction determination unit 304 determines the region 1905 where the ground 1900A and the ground 1900B are switched on the basis of determining the ground 1900A and the ground 1900B.

[0208] On the ground 1900A, the excavator 100 travels in the traveling directions indicated by the traveling tracks 1901 and 1902. Moreover, without changing the traveling direction, the excavator 100 travels on the ground 1900B as shown by the traveling tracks 1911 and 1912. At this time, since the traveling direction of the excavator 100 is more inclined than the inclination direction, there is a possibility that the excavator 100 will tip over.

[0209] Therefore, the controller 30 according to the present embodiment performs Figure 8 the control shown below. That is, before the excavator 100 reaches the area 1905, in other words, before being switched from the ground 1900A to the ground 1900B, the controller 30 corrects the operation signal so that the traveling direction is substantially parallel to the inclination direction of the ground 1900B. As a result, the traveling direction of the excavator 100 is switched to the traveling direction shown by the traveling tracks 1903 and 1904. Therefore, the excavator 100 can travel in a traveling direction substantially parallel to the inclination direction, and thus the possibility of tipping over can be reduced, and the improvement of safety can be achieved.

[0210] An example in which the controller 30 according to the present embodiment corrects the received operation signal so that the traveling direction is substantially parallel to the inclination direction has been described. However, the present embodiment is not limited to the example of correcting the received operation direction. For example, the controller 30 may generate an operation signal in which the traveling direction is substantially parallel to the inclination direction. As a modification example, the following method may be applied: when the traveling direction of the excavator 100 is considerably inclined with respect to the inclination direction, the controller 30 generates an operation signal for correcting the inclination without correcting the operation signal.

[0211] In the present embodiment, an example in which the determination unit 305 controls the lower traveling body 1 when the inclination angle of the ground calculated by the inclination angle calculation unit 303 is equal to or greater than the first reference angle (an example of a specified threshold) has been described. However, the present embodiment is not limited to the example of controlling the lower traveling body 1 only when the inclination angle of the ground is equal to or greater than the first reference angle (an example of a specified threshold). For example, the above control of the lower traveling body 1 may be performed always.

[0212] Moreover, this embodiment has described an example in which the lower traveling body 1 is controlled so that the traveling direction of the excavator 100 is substantially parallel to the inclination direction. However, this embodiment is not limited to controlling the lower traveling body 1 so that the traveling direction of the excavator 100 is substantially parallel to the inclination direction, and the inclination of the traveling direction of the excavator 100 with respect to the inclination direction of the ground can be controlled within a specified angle. The specified angle, as an angle capable of suppressing the overturning of the excavator 100 or the like, can be determined according to the shape and speed of the excavator 100 and other embodiments. For example, the specified angle can be set to 5 degrees.

[0213] In this embodiment, an example in which the controller 30 corrects the operation signal to control the lower traveling body 1 has been described. However, this embodiment is not limited to the method in which the controller 30 corrects the operation signal. For example, the operation signal can also be corrected by the remote controller R30.

[0214] As in this embodiment, when the excavator 100 is remotely operated, it is difficult for the operator OP to grasp the situation around the excavator 100 or the orientation of the crawlers of the excavator 100 only through the information displayed on the display device DR. Also, there is a delay until the content detected by the excavator 100 is displayed on the display device DR. Therefore, it is difficult for the operator OP to recognize the slippage of the excavator 100 or the like, or to cope with the slippage or the like. In contrast, the controller 30 according to this embodiment automatically controls the lower traveling body 1 of the excavator 100 by performing the above control, so that an improvement in safety can be achieved.

[0215] (Modification Example 1 of the First Embodiment)

[0216] In the above embodiment, an example in which the traveling direction is corrected according to the target traveling direction when the inclination angle of the ground is switched has been described. However, the above embodiment does not necessarily perform this correction. For example, when the inclination angle of the ground is switched, the traveling direction of the excavator 100 can also be maintained. Moreover, the controller 30 controls the lower traveling body 1 so that the traveling direction travels along the extended path.

[0217] Moreover, when the traveling direction deviates from the extended path, or when the changes in the pitch angle and roll angle of the lower traveling body 1 occur suddenly, the controller 30 regards the excavator 100 as sliding and corrects the operation signal so that it travels along the path. By this control, even when the excavator 100 slides, the traveling direction can be maintained, so that the overturning of the excavator 100 can be suppressed.

[0218] (Modification Example 2 of the First Embodiment)

[0219] The above-described embodiment has described an example in which the structure formed by combining the body tilt sensor S4 and the swing angle sensor S5 functions as a tilt recognition device for recognizing the tilt of the ground on which the excavator 100 travels. However, the above-described embodiment is not limited to the tilt recognition device for recognizing the tilt of the ground being constituted by the combination of the body tilt sensor S4 and the swing angle sensor S5.

[0220] Therefore, in Modification 2 of the first embodiment, a structure in which the map information storage unit 30A1 that stores map information representing the world coordinate system of the ground tilt and the positioning device PS that acquires the position information of the world coordinate system of the excavator 100 are combined is used as an example of the tilt recognition device.

[0221] The tilt angle calculation unit 303 according to this modification refers to the map information and derives the tilt angle and tilt direction of the ground corresponding to the position represented by the position information. In addition, the tilt angle calculation unit 303 calculates the traveling direction of the excavator 100 based on the change in the position of the excavator 100 over time represented by a plurality of position information, and calculates the pitch angle and roll angle of the lower traveling body 1 based on the traveling direction and the tilt angle and tilt direction of the ground.

[0222] Regarding other processing, it is assumed to be the same as the above-described embodiment, and the description is omitted. In this modification, by performing the above control, the possibility of the excavator 100 tipping over can be reduced in the same manner as in the above-described embodiment, and thus the improvement in safety can be achieved.

[0223] (Second Embodiment)

[0224] In the above-described embodiment, an example in which the operator OP operates the excavator 100 from the remote operation room RC has been described. However, the above-described embodiment is not limited to the method in which the operator OP operates the excavator 100 from the remote operation room RC. As the second embodiment, the case where the operator riding in the cab 10 operates the excavator 100 will be described.

[0225] In this embodiment, the operator uses the operation device 26 to operate the excavator 100. Moreover, the acquisition unit 302 acquires an operation signal indicating the operation content of the operation device 26 detected by the operation sensor 29 from the operation sensor 29.

[0226] Regarding the subsequent processing, it is assumed to be the same as the above-described embodiment, and the description is omitted. In this embodiment, even when the operator operates from the cab 10, the same effects as those in the above-described embodiment can be obtained.

[0227] (Third Embodiment)

[0228] In the above-described embodiment, an example in which an operator operates the excavator 100 has been described. However, the above-described embodiment is not limited to the case where an operator performs the operation. As a third embodiment, a case where the controller 30 autonomously controls the excavator 100 will be described.

[0229] The controller 30 according to the present embodiment realizes the device control function by reading a program stored in the auxiliary storage device 30A.

[0230] For example, the controller 30 controls the attachment device AT, the swing control of the upper swing body 3, and the travel control of the lower travel body 1 according to the construction data stored in the auxiliary storage device 30A.

[0231] For example, the controller 30 generates a path along which the lower travel body 1 travels, and controls the travel of the lower travel body 1 along this path.

[0232] For example, when there is an inclined surface during the period of reaching the destination, the controller 30 generates a path substantially parallel to the inclination direction of the inclined surface n. Further, the controller 30 generates an operation signal for moving along this path. Further, the actuator drive unit 307 generates and outputs a work signal for controlling the lower travel body 1 from the operation signal.

[0233] In addition, when the controller 30 determines that the inclination angle of the ground is equal to or greater than the first reference angle and the roll angle becomes equal to or greater than the first reference angle, the operation signal is corrected so that the lower travel body 1 performs control to make the travel direction of the excavator 100 substantially parallel to the inclination direction. The specific correction method is the same as that of the first embodiment, and the description thereof is omitted. In the present embodiment, when performing autonomous control, the same effect as that of the above-described embodiment can be obtained.

[0234] <Function>

[0235] In the above-described embodiment and the modification, by performing the above control, the controller 30 suppresses the overturning of the excavator 100, etc., in order to make the inclination of the travel direction of the excavator 100 with respect to the inclination direction of the ground within a specified angle, for example, to make the travel direction substantially parallel to the inclination direction, and can improve the safety.

[0236] As described above, the control system of the excavator and the embodiment of the excavator according to the present invention have been described, but the present invention is not limited to the above-described embodiment and the like. Various changes, modifications, substitutions, additions, deletions, and combinations can be made within the scope described in the technical solution. Of course, these contents also belong to the technical scope of the present invention.

Claims

1. A control system for an excavator, comprising: An excavator comprising a lower traveling body and an upper rotating body rotatably mounted on the lower traveling body; an inclination recognition device having a structure for recognizing the inclination of the ground on which the excavator is traveling; and The control unit controls the lower traveling body so that the inclination of the traveling direction of the excavator relative to the inclination direction of the ground is within a predetermined angle.

2. The control system for an excavator according to claim 1, wherein: The control unit controls the lower traveling body so that the inclination direction of the ground is substantially parallel to the traveling direction.

3. The control system for an excavator according to claim 1, wherein: When the inclination angle of the floor surface is lower than a predetermined threshold value, the control unit suppresses control of the lower traveling body for making the inclination angle fall within the predetermined angle.

4. The control system for an excavator according to claim 1, wherein: When the ground surface switches from a substantially horizontal surface to a surface having a predetermined inclination angle, the control unit controls the lower traveling body so that the traveling direction relative to the inclination direction of the ground surface having the predetermined inclination angle is within the predetermined angle.

5. The control system for an excavator according to claim 1, wherein: The control unit is configured to control the lower traveling body so that the inclination is within the specified angle when it is identified based on information obtained by the inclination recognition device that the inclination of the traveling direction relative to the inclination direction is greater than the specified angle while the excavator is traveling on the ground.

6. The control system for an excavator according to claim 1, wherein: The tilt recognition device includes a rotation angle sensor for detecting the rotation angle of the upper rotating body and a body tilt sensor for detecting the tilt state of the upper rotating body. The control unit calculates an inclination of a traveling direction of the shovel with respect to an inclination direction of the ground surface based on an inclination state of the upper swing body and the swing angle.

7. The control system for an excavator according to claim 1, wherein: The tilt recognition device includes: a storage medium storing map information of a predetermined coordinate system indicating the tilt of the ground; and a positioning device acquiring position information of the excavator in the predetermined coordinate system. The control unit recognizes the inclination angle of the ground on which the lower traveling body is located and the traveling direction of the shovel based on the map information and the position information.

8. The control system for an excavator according to claim 1, wherein: The tilt recognition device includes a space recognition device for detecting the surroundings of the excavator. The control unit recognizes switching of the inclination of the ground on which the shovel travels based on a detection result by the space recognition device.

9. An excavator comprising: Lower walking body; An upper rotating body, mounted on the lower walking body so as to be rotatable; an inclination recognition device having a structure for recognizing the inclination of the ground on which the excavator is traveling; and The control unit controls the lower traveling body so that the inclination of the traveling direction of the excavator relative to the inclination direction of the ground is within a predetermined angle.

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