Control system for excavator and excavator

Abstract

A control system for an excavator includes the excavator including a lower traveling body, and an upper turning body mounted rotatably with respect to the lower traveling body; an inclination recognition device configured to recognize an inclination of a ground on which the excavator is traveling; and a control part configured to control the lower traveling body such that an inclination of a traveling direction of the excavator with respect to an inclined direction of the ground is within a predetermined angle.

What is claimed is: 
     
         1 . A control system for an excavator comprising:
 the excavator including a lower traveling body, and an upper turning body mounted rotatably with respect to the lower traveling body;   an inclination recognition device configured to recognize an inclination of a ground on which the excavator is traveling; and   a control part configured to control the lower traveling body such that an inclination of a traveling direction of the excavator with respect to an inclined direction of the ground is within a predetermined angle.   
     
     
         2 . The control system for the excavator according to  claim 1 , wherein the control part controls the lower traveling body so as to make the traveling direction substantially parallel to the inclined direction of the ground. 
     
     
         3 . The control system for the excavator according to  claim 1 , wherein the control part prevents control of the lower traveling body for making the inclination of the traveling direction be within the predetermined angle, when an inclination angle of the ground is less than a predetermined threshold. 
     
     
         4 . The control system for the excavator according to  claim 1 , wherein the control part controls the lower traveling body so as to make the traveling direction with respect to the inclined direction of the ground having a predetermined inclination angle be within the predetermined angle, when the ground is switched from a substantially horizontal plane to a surface having the predetermined inclination angle. 
     
     
         5 . The control system for the excavator according to  claim 1 , wherein while the excavator is traveling on the ground, when it is recognized that the inclination of the traveling direction with respect to the inclined direction is greater than or equal to the predetermined angle by information acquired by the inclination recognition device, the control part controls the lower traveling body so as to change the inclination to be within the predetermined angle. 
     
     
         6 . The control system for the excavator according to  claim 1 , wherein
 the inclination recognition device includes a turning angle sensor configured to detect a turning angle of the upper rotating body, and a body inclination sensor configured to detect an inclination state of the upper rotating body, wherein   the control part calculates the inclination of the traveling direction of the excavator with respect to the inclined direction of the ground based on the inclination state of the upper rotating body and the turning angle.   
     
     
         7 . The control system for the excavator according to  claim 1 , wherein
 the inclination recognition device includes a storage medium configured to store map information of a predetermined coordinate system in which the inclination of the ground is expressed, and a positioning device configured to acquire position information of the excavator in the predetermined coordinate system, wherein   the control part recognizes an inclination angle of the ground on which the lower traveling body exists and the traveling direction of the excavator, based on the map information and the position information.   
     
     
         8 . The control system for the excavator according to  claim 1 , wherein
 the inclination recognition device includes a spatial recognition device configured to detect a surrounding area of the excavator, wherein   the control part recognizes, from a detection result obtained by the spatial recognition device, a change of the inclination of the ground on which the excavator is traveling.   
     
     
         9 . An excavator comprising:
 a lower traveling body;   an upper turning body mounted rotatably with respect to the lower traveling body;   an inclination recognition device configured to recognize an inclination of a ground on which the excavator is traveling; and   a control part configured to control the lower traveling body such that an inclination of a traveling direction of the excavator with respect to an inclined direction of the ground is within a predetermined angle.