Work machinery and anomaly detection system

Abstract

It can detect abnormalities in the lower body without requiring sensors to be attached to the lower body. [Solution] A work machine having a lower traveling body and an upper rotating body that is rotatably mounted on the lower traveling body, the upper rotating body having a first sensor provided on it for acquiring machine information of the work machine, a second sensor provided on it for acquiring ambient information indicating the conditions around the work machine, and a control unit that detects an abnormality in the lower traveling body based on the machine information acquired by the first sensor and the ambient information acquired by the second sensor.

Description

Technical Field

[0001] The present disclosure relates to a work machine and an abnormality detection system.

Background Art

[0002] In a work machine having a lower traveling body, abnormalities may occur in the lower traveling body, such as noise generated due to wear caused by contact between the ground and components, or loosening and detachment of the tightening of components of the lower traveling body. Patent Document 1 discloses a configuration in which a sensor is attached to the lower traveling body to detect an abnormality in the lower traveling body.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, when a sensor is attached to the lower traveling body, the sensor is likely to be covered with mud or the like, and as a result, the sensor may be damaged. In addition, when the sensor is connected by wire, wiring must be attached to the lower traveling body so as not to affect the running of the work machine. Since mud or the like is likely to adhere to the lower traveling body, attaching wiring is not very preferable. Further, when the sensor is connected wirelessly, the battery for driving the sensor must be replaced according to its lifespan.

[0005] Therefore, it is preferable to provide a work machine that can detect an abnormality in the lower traveling body without attaching a sensor to the lower traveling body.

Means for Solving the Problems

[0006] In order to achieve the above object, the work machine of the present disclosure A work machine having a lower traveling body and an upper rotating body that is rotatably mounted on the lower traveling body, A first sensor is provided on the upper rotating body for acquiring machine information of the work machine, A second sensor is provided on the upper rotating body and acquires surrounding information indicating the conditions around the work machine, The system includes a control unit that detects abnormalities in the lower traveling body based on the aircraft information acquired by the first sensor and the surrounding information acquired by the second sensor.

[0007] Furthermore, the anomaly detection system described herein is An abnormality detection system for detecting an abnormality in the lower traveling body of a work machine having a lower traveling body and an upper slewing body that is rotatably mounted on the lower traveling body, A first sensor is provided on the upper rotating body for acquiring machine information of the work machine, A second sensor is provided on the upper rotating body and acquires surrounding information indicating the conditions around the work machine, The system includes a control unit that detects abnormalities in the lower traveling body based on the aircraft information acquired by the first sensor and the surrounding information acquired by the second sensor. [Effects of the Invention]

[0008] According to this disclosure, abnormalities in the lower vehicle can be detected without attaching sensors to the lower vehicle. [Brief explanation of the drawing]

[0009] [Figure 1] This is a side view of a work machine according to an embodiment of the present disclosure. [Figure 2] This figure schematically shows an example of the configuration of the work machine shown in Figure 1. [Figure 3] This figure shows an example of the configuration of the aircraft information database shown in Figure 2. [Figure 4] This flowchart illustrates an example of a process for detecting abnormalities in the lower running gear. [Figure 5]This figure shows an example of how aircraft information is registered in the aircraft information database. [Figure 6] This flowchart illustrates another example of a process for detecting abnormalities in the lower running gear. [Modes for carrying out the invention]

[0010] Embodiments of this disclosure will be described below with reference to the drawings. The embodiments described below are illustrative and do not limit the invention. Not all features and combinations thereof in the embodiments of this disclosure are necessarily essential to the invention. In each drawing, the same or corresponding components are denoted by the same or corresponding reference numerals, and redundant descriptions may be omitted.

[0011] The working machine 100 according to the embodiment of this disclosure is a shovel. The working machine 100 may be a machine other than a shovel, such as a crane, asphalt finisher, or forklift. In the illustrated example, the shovel as the working machine 100 is an excavator equipped with a bucket 6 as an end attachment, but it may be an applied machine such as a forestry machine equipped with an end attachment other than a bucket 6.

[0012] First, let's refer to Figure 1 and explain the overview of the work machine 100. Figure 1 is a side view of the work machine 100.

[0013] The work machine 100 comprises a lower traveling body 1, an upper rotating body 3 mounted on the lower traveling body 1 so as to be rotatable via a slewing mechanism 2, an attachment AT for performing various tasks, and a driver's cab 10. The driver's cab 10 is also called a cabin or cab and constitutes the interior of the work machine 100. The front side of the work machine 100 (upper rotating body 3) corresponds to the side on which the attachment AT is attached to the upper rotating body 3 when the work machine 100 is viewed from directly above along the rotation axis of the upper rotating body 3. The left, right, and rear sides of the work machine 100 (upper rotating body 3) correspond to the left, right, and rear sides as seen from the perspective of an operator seated in the driver's seat inside the driver's cab 10, respectively.

[0014] The lower traveling body 1 includes, for example, a pair of left and right crawlers 1C. Specifically, the crawlers 1C include a left crawler and a right crawler. The crawlers 1C are driven by a traveling hydraulic motor 2M. The left crawler is driven by a left traveling hydraulic motor 2ML (see FIG. 2), and the right crawler is driven by a right traveling hydraulic motor 2MR (see FIG. 2). The left traveling hydraulic motor 2ML is a traveling drive unit that drives the left crawler as a driven part and can rotate the left crawler. The right traveling hydraulic motor 2MR is a traveling drive unit that drives the right crawler as a driven part and can rotate the right crawler. Note that the traveling drive unit may be an electric motor.

[0015] Note that the lower traveling body 1 is not limited to using crawlers 1C and may be of a tire-type wheel loader type.

[0016] The upper slewing body 3 slews with respect to the lower traveling body 1 when the slewing mechanism 2 is driven by a slewing hydraulic motor 2A. The slewing hydraulic motor 2A is a slewing drive unit that drives the upper slewing body 3 as a driven part and can change the direction of the upper slewing body 3. Note that the slewing drive unit may be an electric motor.

[0017] A boom 4 is rotatably attached to the center of the front part of the upper slewing body 3, an arm 5 is rotatably attached to the tip of the boom 4, and a bucket 6 is rotatably attached to the tip of the arm 5. In the illustrated example, the boom 4, the arm 5, and the bucket 6 constitute an excavation attachment, which is an example of an attachment AT. The boom 4, the arm 5, and the bucket 6 are each driven by a boom cylinder 7, an arm cylinder 8, and a bucket cylinder 9, respectively.

[0018] The bucket 6 is an example of a working tool (end attachment). The bucket 6 is used, for example, in excavation work or the like. At the tip of the arm 5, other working tools may be attached instead of the bucket 6 according to the work content or the like. The other working tools may be, for example, other types of buckets such as a large bucket, a slope bucket, a dredging bucket, etc. Further, the other working tools may be working tools of types other than buckets such as a stirrer, a breaker, a grapple or a lifting magnet.

[0019] The swing hydraulic motor 2A, the left travel hydraulic motor 2ML, the right travel hydraulic motor 2MR, the boom cylinder 7, the arm cylinder 8 and the bucket cylinder 9 are hydraulic actuators driven by hydraulic oil discharged from a hydraulic pump.

[0020] The cab 10 is a compartment space where an operator rides and is provided on the front left side of the upper swing body 3. However, when the construction machine 100 is remotely operated or when the construction machine 100 operates by fully automatic driving, the cab 10 may be omitted.

[0021] Note that all or part of the driven parts such as the lower traveling body 1, the upper swing body 3, the boom 4, the arm 5 and the bucket 6 of the construction machine 100 may be electrically driven. That is, the construction machine 100 may be a hybrid construction machine or an electric construction machine or the like in which all or part of the driven parts are driven by electric actuators.

[0022] In addition, an imaging device C1 (see FIG. 2), a positioning device PS and a communication device T1 are attached to the construction machine 100.

[0023] The imaging device C1 is provided on the upper swing body 3 or the cab 10, images the periphery of the construction machine 100, and acquires image information representing the periphery of the construction machine 100. In the illustrated example, the imaging device C1 includes a front camera C1F, a left camera C1L, a right camera (not shown) and a rear camera C1B.

[0024] The front camera C1F is a camera that captures images in front of the work machine 100 and is mounted on the upper slewing body 3 outside the operator's cab 10, such as on the roof of the operator's cab 10 or the side of the boom 4. Alternatively, the front camera C1F may be mounted on the upper slewing body 3 inside the operator's cab 10, such as on the ceiling of the operator's cab 10. The left camera C1L is a camera that captures images to the left of the work machine 100, the right camera is a camera that captures images to the right of the work machine 100, and the rear camera C1B is a camera that captures images to the right of the work machine 100. Specifically, the front camera C1F, left camera C1L, right camera, and rear camera C1B are all monocular wide-angle cameras equipped with an image sensor such as a CCD or CMOS, and they output the captured images to the display device D1 (see Figure 2). The image information captured by the imaging device C1 is also taken into the controller 30.

[0025] In the illustrated example, the front camera C1F is mounted on the roof of the driver's cab 10, the left camera C1L is mounted on the upper left end of the upper surface of the upper rotating body 3, the right camera is mounted on the upper right end of the upper surface of the upper rotating body 3, and the rear camera C1B is mounted on the upper rear end of the upper surface of the upper rotating body 3.

[0026] The imaging device C1 may constitute an object detection device that detects objects around the work machine 100. These objects may be, for example, people, animals, vehicles, construction machinery, buildings, or holes. The object detection device may be configured to distinguish between people and non-people; that is, it may be configured to function as a person detection device. The object detection device may consist of devices other than a camera. For example, the object detection device may be a LiDAR. A LiDAR is, for example, a device capable of measuring the distance between a point cloud of 1 million or more points within a monitoring range and a LiDAR (laser source). Alternatively, the object detection device may be another device capable of measuring the distance to an object, such as a stereo camera, depth image camera, or millimeter-wave radar. When a millimeter-wave radar or the like is used as the object detection device, the object detection device may derive the distance and direction of an object by transmitting a large number of signals (such as laser light) towards the object and receiving the reflected signals. Alternatively, the object detection device may be a combination of two or more devices. For example, the object detection system may be a combination of an imaging device and LiDAR, an imaging device and millimeter-wave radar, or an imaging device and a stereo camera.

[0027] The controller 30 is an example of a control unit and is composed of a computer including, for example, a CPU, a volatile memory device, a non-volatile memory device, and various input / output interfaces. The controller 30 implements various functions, for example, by reading a program from the non-volatile memory device, loading it into the volatile memory device, and having the CPU execute it. In the illustrated example, the controller 30 is configured to implement various functions and control the work machine 100. These functions include, for example, a machine guidance function that guides the operator in manually operating the work machine 100. The functions may also include a contact avoidance function that automatically or autonomously operates or stops the work machine 100 to avoid contact between the work machine 100 and objects within the monitoring range around the work machine 100.

[0028] The positioning device PS measures the position of the upper rotating body 3. The positioning device PS is, for example, a GNSS (Global Navigation Satellite System) compass and detects the position and orientation of the upper rotating body 3. The detection signals corresponding to the position and orientation of the upper rotating body 3 are received by the controller 30. The function of detecting the orientation of the upper rotating body 3 may be realized by an orientation sensor attached to the upper rotating body 3.

[0029] The communication device T1 communicates with external devices through a communication network including a mobile communication network, a satellite communication network, or the Internet. The communication device T1 is, for example, a mobile communication module compatible with mobile communication standards such as LTE (Long Term Evolution), 4G (4th Generation), or 5G (5th Generation), a communication module compatible with short-range wireless communication standards such as Wi-Fi (registered trademark) or Bluetooth (registered trademark), or a satellite communication module for connecting to a satellite communication network.

[0030] The work machine 100 operates actuators in response to the operation of the operator seated in the cab 10, driving the driven parts such as the lower traveling body 1, upper slewing body 3, boom 4, arm 5, and bucket 6.

[0031] Alternatively, the work machine 100 may be configured to be remotely controlled from outside the work machine 100. When the work machine 100 is remotely controlled, the inside of the operator's cab 10 may be unoccupied.

[0032] Furthermore, the work machine 100 may operate its actuators automatically, regardless of the operator's actions. This enables the work machine 100 to automatically operate at least a portion of its driven parts, such as the lower traveling body 1, upper slewing body 3, boom 4, arm 5, and bucket 6, thus realizing a so-called "machine control function."

[0033] Figure 2 is a schematic diagram showing an example of the configuration of the work machine 100. In Figure 2, the mechanical power transmission system, hydraulic fluid line, pilot line, and electrical control system are indicated by double lines, thick solid lines, thick dashed lines, and dotted lines, respectively.

[0034] The drive system of the work machine 100 includes an engine 11, a regulator 13, a main pump 14, and a control valve unit 17. The hydraulic drive system of the work machine 100 also includes hydraulic actuators such as a slewing hydraulic motor 2A, a left travel hydraulic motor 2ML, a right travel hydraulic motor 2MR, a boom cylinder 7, an arm cylinder 8, and a bucket cylinder 9.

[0035] The engine 11 is an example of a power source for the work machine 100, and is mounted, for example, at the rear of the upper rotating body 3. The power source for the work machine 100 may also be a combination of a battery or fuel cell and an electric motor. Specifically, the engine 11 rotates at a constant speed at a target rotational speed set by the mode level adjustment dial 34 under direct or indirect control by the controller 30, and drives the main pump 14 and the pilot pump 15. The engine 11 is, for example, a diesel engine that uses light oil as fuel. The engine 11 may also be a gasoline engine or a hydrogen engine, etc.

[0036] The regulator 13 controls the discharge rate of the main pump 14. For example, the regulator 13 controls the discharge rate of the main pump 14 by adjusting the angle (tilt angle) of the swash plate of the main pump 14 in response to a control command from the controller 30.

[0037] The main pump 14, for example, is mounted at the rear of the upper rotating body 3, similar to the engine 11, and supplies hydraulic fluid to the control valve unit 17 through the hydraulic fluid line. In the illustrated example, the main pump 14 is a variable displacement hydraulic pump.

[0038] The control valve unit 17 is one of the hydraulic control devices that control the hydraulic system in the work machine 100. In the illustrated example, the control valve unit 17 includes control valves 171 to 176. The control valve unit 17 is configured to selectively supply hydraulic fluid discharged by the main pump 14 to one or more hydraulic actuators through the control valves 171 to 176. The control valves 171 to 176 control the flow rate of hydraulic fluid flowing from the main pump 14 to the hydraulic actuators, and the flow rate of hydraulic fluid flowing from the hydraulic actuators to the hydraulic fluid tank. The hydraulic actuators include a boom cylinder 7, an arm cylinder 8, a bucket cylinder 9, a left-travel hydraulic motor 2ML, a right-travel hydraulic motor 2MR, and a slewing hydraulic motor 2A. Specifically, control valve 171 corresponds to the left-travel hydraulic motor 2ML, control valve 172 corresponds to the right-travel hydraulic motor 2MR, and control valve 173 corresponds to the slewing hydraulic motor 2A. Furthermore, control valve 174 corresponds to bucket cylinder 9, control valve 175 corresponds to boom cylinder 7, and control valve 176 corresponds to arm cylinder 8.

[0039] The pilot pump 15 is an example of a pilot pressure generating device and is configured to supply hydraulic fluid to a hydraulic control device via a pilot line. In the illustrated example, the pilot pump 15 is a fixed-displacement hydraulic pump. However, the pilot pressure generating device may be implemented by the main pump 14. That is, the main pump 14 may have the function of supplying hydraulic fluid to the control valve unit 17 via a hydraulic fluid line, as well as the function of supplying hydraulic fluid to various hydraulic control devices via a pilot line. In this case, the pilot pump 15 may be omitted.

[0040] The discharge pressure sensor 28 is configured to detect the discharge pressure of the main pump 14. In the illustrated example, the discharge pressure sensor 28 outputs the detected value to the controller 30.

[0041] The operating device 26 is a device used by the operator to operate the actuator. The operating device 26 includes, for example, an operating lever and an operating pedal. The actuator may be a hydraulic actuator or an electric actuator.

[0042] The operation sensor 29 is configured to detect the operator's actions using the operation device 26. In this embodiment, the operation sensor 29 detects the operating direction and amount of operation of the operation device 26 corresponding to each actuator and outputs the detected values ​​to the controller 30. In the illustrated example, the controller 30 can control the opening area of ​​the valve 31 according to the output of the operation sensor 29. The controller 30 then supplies the hydraulic fluid discharged by the pilot pump 15 to the pilot port of the corresponding control valve in the control valve unit 17. The pressure of the hydraulic fluid supplied to each pilot port (pilot pressure) is, in principle, the pressure corresponding to the operating direction and amount of operation of the operation device 26 corresponding to each hydraulic actuator. Thus, the operation device 26 is configured to supply the hydraulic fluid discharged by the pilot pump 15 to the pilot port of the corresponding control valve in the control valve unit 17.

[0043] Valve 31, which functions as a control valve for machine control, is located in the pipeline connecting the pilot pump 15 and the pilot port of the control valve in the control valve unit 17, and is configured to change the flow area of ​​the pipeline. In the illustrated example, valve 31 is a solenoid valve that operates in response to a control command output by the controller 30. Therefore, the controller 30 can adjust the pilot pressure acting on the pilot port of the control valve by valve 31, independently of the operation of the operating device 26 by the operator.

[0044] This configuration allows the controller 30 to operate the hydraulic actuator corresponding to a specific operating device 26 even when no operation is being performed on that particular operating device 26.

[0045] Furthermore, as shown in Figure 2, the control system of the work machine 100 includes a controller 30, a display device D1, an input device D2, a positioning device PS, an operation mode switching switch 32, a mode level adjustment dial 34, a communication device T1, and multiple sensors S1 to Sn, etc.

[0046] The controller 30 is configured to output control commands to the regulator 13 as needed, thereby changing the discharge rate of the main pump 14. The controller 30 may also be configured to perform control related to a machine guidance function, for example, to guide the manual operation of the work machine 100 by the operator through the operating device 26. The controller 30 may also be configured to perform control related to a machine control function, for example, to automatically assist the manual operation of the work machine 100 by the operator through the operating device 26. Some of the functions of the controller 30 may be implemented by other controllers (control devices). In other words, the functions of the controller 30 may be implemented in a manner distributed among multiple controllers. For example, the machine guidance function and the machine control function may be implemented by dedicated controllers (control devices).

[0047] The display device D1 is installed in a location easily visible to the operator seated in the cab 10 and displays various information images under the control of the controller 30. The display device D1 is connected to the controller 30 via a dedicated line. The display device D1 displays various image information. The display device D1 includes a display screen that displays information such as the working conditions or operating status of the work machine 100. The operator seated in the cab 10 can perform work on the work machine 100 while checking the various information displayed on the display device D1. The display device D1 may also be provided with an input device D2.

[0048] The input device D2 is located within reach of the operator seated in the driver's cab 10 and receives various operation inputs from the operator, outputting signals corresponding to the operation inputs to the controller 30. The input device D2 includes a touch panel mounted on the display of the display device D1 which displays various information images, a knob switch provided at the tip of one or more of the operation levers included in the operation device 26, or a button switch, lever, toggle switch, or rotary dial installed around the display device D1. Signals corresponding to the content of operations on the input device D2 are received by the controller 30.

[0049] The operation mode switching switch 32 accepts an operation input to selectively switch the operation mode used by the work machine 100 from among a plurality of predetermined operation modes for the work machine 100.

[0050] Multiple operating modes are configured such that they have different output characteristics related to the operation of the work machine 100. The output related to the operation of the work machine 100 may include, for example, the travel speed of the lower traveling body 1 (high-speed travel / low-speed travel), the slewing speed of the upper slewing body 3, the operating speed of the attachment, the digging force, the force for lifting the suspended load, etc.

[0051] The multiple operating modes may include, for example, a standard normal operating mode. Furthermore, the multiple operating modes may include, for example, an operating mode in which the output characteristics of the work machine 100 are defined to be more energy-efficient than the normal operating mode. Also, the multiple operating modes may include, for example, an operating mode in which the output characteristics of the work machine 100 are defined to suit a specific task. A specific task might include, for example, a lifting operation in which a load is suspended from a hook attached to the base end on the rear side of the bucket 6, and the suspended load is moved by rotating the upper slewing body 3 or operating an attachment. In other words, the multiple operating modes may include, for example, an operating mode in which the output characteristics of the work machine 100 are defined.

[0052] The mode level adjustment dial 34 accepts input for adjusting the output level related to the operation of the work machine 100, which is defined for each of the multiple operating modes. The mode level is configured to be adjustable in a predetermined number of steps for each of the multiple operating modes. For example, the mode level adjustment dial 34 is configured to allow the user to adjust the mode level between up to 10 steps (level 1 to level 10). This allows the user to adjust the output level related to the operation of the work machine 100 for each operating mode switched by the operating mode selector switch 32, according to the work situation and the characteristics of the operator. For example, the rotational speed of the engine 11 can be adjusted. The output signal corresponding to the input content accepted by the mode level adjustment dial 34 is taken up by the controller 30.

[0053] The work machine 100 according to this embodiment detects abnormalities in the lower traveling body 1 using any one or more of the following: operation sensor 29, discharge pressure sensor 28, mode level adjustment dial 34, operation mode switching switch 32, sensors S1 to Sn, imaging device C1, and positioning device PS.

[0054] The controller 30 includes, as its functions, an operation determination unit 301, a surrounding situation determination unit 302, an anomaly detection unit 303, and a machine information database 304. The machine information database 304 may be located in an area accessible to the controller 30, rather than within the work machine 100.

[0055] The operation determination unit 301 determines the operation of the work machine 100 using at least one of the following: the detection results from the operation sensor 29, the discharge pressure sensor 28, and sensors S1 to Sn, as well as operations on the mode level adjustment dial 34 and the operation mode switching switch 32.

[0056] The surrounding conditions determination unit 302 determines the conditions around the work machine 100 using at least one of the detection results from sensors S1 to Sn, images captured by imaging device C1, and positioning information acquired by positioning device PS.

[0057] The abnormality detection unit 303 detects an abnormality in the lower traveling body 1 based on at least one of the detection results from sensors S1 to Sn and the discharge pressure sensor 28. In this case, the abnormality detection unit 303 detects an abnormality in the lower traveling body 1 for each travel condition of the work machine 100. The travel conditions will be described later with reference to Figure 3.

[0058] As described above, the operation sensor 29 is configured to detect the operator's actions using the operation device 26. Therefore, by detecting the operation of the operation sensor 29, the left travel pilot pressure for driving the left travel hydraulic motor 2ML can be detected. Also, by detecting the operation of the operation sensor 29, the right travel pilot pressure for driving the right travel hydraulic motor 2MR can be detected. Also, by detecting the operation of the operation sensor 29, the boom raising / lowering pilot pressure for driving the boom cylinder 7 can be detected. Also, by detecting the operation of the operation sensor 29, the arm opening / closing pilot pressure for driving the arm cylinder 8 can be detected. Also, by detecting the operation of the operation sensor 29, the bucket opening / closing pilot pressure for driving the bucket cylinder 9 can be detected. Also, by detecting the operation of the operation sensor 29, the slewing pilot pressure for driving the slewing hydraulic motor 2A can be detected.

[0059] Examples of sensors S1 to Sn include an attitude sensor for detecting the posture of the work machine 100, angular velocity sensors for detecting the angular velocity of the work machine 100 in the X, Y, and Z directions, and acceleration sensors for detecting the acceleration of the work machine 100 in the X, Y, and Z directions. Additionally, a road surface sensor for detecting ground conditions (e.g., wet or dry) and a rain sensor for detecting rainfall may be provided. In the following description, as an example, sensor S1 will be used to detect the posture of the work machine 100, sensor S2 will be used to detect the angular velocity of the work machine 100, and sensor S3 will be used to detect the acceleration of the work machine 100.

[0060] Alternatively, LiDAR may be used to detect the ground conditions instead of the imaging device C1.

[0061] Figure 3 shows an example of the configuration of the aircraft information database 304 shown in Figure 2.

[0062] As shown in Figure 3, the machine information database 304 shown in Figure 2 has multiple running conditions set for the work machine 100 used to detect abnormalities in the lower traveling body 1. Each of the multiple running conditions is determined by the surrounding conditions of the work machine 100 and the operation of the work machine 100. Therefore, it can be said that each of the multiple running conditions is defined by the surrounding conditions of the work machine 100 and the operation of the work machine 100, and that they are divided into multiple types based on the surrounding conditions of the work machine 100 and the operation of the work machine 100. The running conditions of the work machine 100 are determined by operation information that can identify the operation of the work machine 100 and surrounding information that indicates the surrounding conditions of the work machine 100. For example, the running conditions are determined by operation information that can identify the operation of the work machine 100, which is determined by the operation determination unit 301, and surrounding information that indicates the surrounding conditions of the work machine 100, which is determined by the surrounding conditions determination unit 302. This is because, for example, as will be described later, when detecting an abnormality in the lower traveling body 1 based on the vibration value applied to the working machine 100, the vibration value applied to the working machine 100 will differ depending on the surrounding conditions of the working machine 100 and the operation of the working machine 100. For example, the vibration value applied to the working machine 100 will differ depending on whether it is traveling on asphalt or on soil. Also, the vibration value applied to the working machine 100 will differ depending on whether it is traveling at high speed or at low speed. Therefore, if the same vibration value is used to detect an abnormality in the lower traveling body 1, it will not be possible to correctly detect the abnormality in the lower traveling body 1. Therefore, as driving conditions for the work machine 100, for example, as shown in Figure 3, conditions such as driving at high speed on dry asphalt, driving at high speed on wet asphalt, driving at low speed on dry asphalt, driving at low speed on wet asphalt, driving at high speed on soil, driving at low speed on soil, turning on asphalt, driving up an asphalt slope of a predetermined angle or greater, and driving up an asphalt slope of less than a predetermined angle are set.

[0063] When machine information is detected by sensors S1 to Sn, the detected machine information is registered for each corresponding driving condition. Specifically, when machine information is detected by sensors S1 to Sn, that machine information is registered as machine information corresponding to the driving conditions determined by the operation of the work machine 100 as determined by the operation determination unit 301 and the surrounding conditions of the work machine 100 as determined by the surrounding conditions determination unit 302. In the example shown in Figure 3, when machine information is detected by sensors S1 to Sn, if the operation of the work machine 100 as determined by the operation determination unit 301 and the surrounding conditions of the work machine 100 as determined by the surrounding conditions determination unit 302 determines that the work machine 100 is traveling at high speed on dry asphalt, then machine information is registered corresponding to the driving condition of traveling at high speed on dry asphalt. In other words, for each set driving condition, if the operation of the work machine 100 and the surrounding conditions match those driving conditions, machine information based on the detection results detected by sensors S1 to Sn is registered. In this case, if there is multiple pieces of machine information based on the detection results from sensors S1 to Sn for each driving condition, multiple pieces of machine information will be registered. For example, if vibration values, which are vibration information calculated from the angular velocity of the work machine 100 detected by sensor 2 and the acceleration of the work machine 100 detected by sensor S3, exist as machine information for the X, Y, and Z directions, then the vibration values ​​for the X, Y, and Z directions will be registered as machine information. Also, if there is a pitch amount of the work machine 100 calculated based on the attitude of the work machine 100 detected by sensor S1, the pitch amount will be registered as machine information separately from the vibration values. In addition, values ​​calculated from the values ​​detected by sensors S1 to S3 may also be registered. Examples of values ​​calculated from the values ​​detected by sensors S1 to S3 include the maximum value and effective value related to the values ​​detected by sensors S1 to S3.

[0064] In the machine information database 304 shown in Figure 3, as an example, when the work machine 100 travels at a certain speed or higher on dry asphalt, the vibration value applied to the work machine 100, calculated based on the angular velocity and acceleration of the work machine 100 detected by sensors S2 and S3, is registered as machine information. Also, under the same travel conditions, the pitch amount calculated based on the posture of the work machine 100 detected by sensor S1 is registered as machine information. Furthermore, the slipperiness between the ground and the crawler 1C may also be registered as machine information.

[0065] Additionally, as another driving condition, when the work machine 100 travels at a certain speed or higher on wet asphalt, the vibration value applied to the work machine 100, calculated based on the angular velocity and acceleration of the work machine 100 detected by sensors S2 and S3, and the pitch amount, calculated based on the posture of the work machine 100 detected by sensor S1, are registered as machine information.

[0066] Additionally, as another driving condition, when the work machine 100 travels at a low speed below a certain speed on dry asphalt, the vibration value applied to the work machine 100, calculated based on the angular velocity and acceleration of the work machine 100 detected by sensors S2 and S3, and the pitch amount, calculated based on the posture of the work machine 100 detected by sensor S1, are registered as machine information.

[0067] Additionally, as another driving condition, when the work machine 100 travels at a low speed below a certain speed on wet asphalt, the vibration value applied to the work machine 100, calculated based on the angular velocity and acceleration of the work machine 100 detected by sensors S2 and S3, and the pitch amount, calculated based on the posture of the work machine 100 detected by sensor S1, are registered as machine information.

[0068] Additionally, as another driving condition, when the work machine 100 travels at a certain speed or higher on the ground, the vibration value applied to the work machine 100, calculated based on the angular velocity and acceleration of the work machine 100 detected by sensors S2 and S3, and the pitch amount, calculated based on the posture of the work machine 100 detected by sensor S1, are registered as machine information.

[0069] Additionally, as another driving condition, when the work machine 100 travels at a low speed below a certain speed on the ground, the vibration value applied to the work machine 100, calculated based on the angular velocity and acceleration of the work machine 100 detected by sensors S2 and S3, and the pitch amount, calculated based on the posture of the work machine 100 detected by sensor S1, are registered as machine information.

[0070] Additionally, as another driving condition, when the work machine 100 turns on asphalt, the vibration value applied to the work machine 100, calculated based on the angular velocity and acceleration of the work machine 100 detected by sensors S2 and S3, and the roll amount, calculated based on the posture of the work machine 100 detected by sensor S1, are registered as machine information.

[0071] Additionally, as another driving condition, when the work machine 100 travels up an asphalt slope with a certain or greater incline, the vibration value applied to the work machine 100, calculated based on the angular velocity and acceleration of the work machine 100 detected by sensors S2 and S3, the pitch amount, calculated based on the posture of the work machine 100 detected by sensor S1, and the pump pressure of the main pump 14 detected by the discharge pressure sensor 28 are registered as machine information.

[0072] Additionally, as another driving condition, when the work machine 100 travels up an asphalt slope with an incline of less than a certain level, the vibration value applied to the work machine 100, calculated based on the angular velocity and acceleration of the work machine 100 detected by sensors S2 and S3, the pitch amount, calculated based on the posture of the work machine 100 detected by sensor S1, and the pump pressure of the main pump 14 detected by the discharge pressure sensor 28 are registered as machine information.

[0073] Furthermore, the operating conditions for the work machine 100 used to detect abnormalities in the lower traveling body 1 may be set to the operating mode switched by the operating mode switching switch 32, or the rotational speed or torque of the engine 11 adjusted by the mode level adjustment dial 34. Similarly, when detecting abnormalities in the lower traveling body 1 based on the vibration value applied to the work machine 100, the vibration value applied to the work machine 100 will differ depending on the operating mode of the work machine 100 and the rotational speed and torque of the engine 11.

[0074] Furthermore, it is not necessary to register multiple aircraft information for a single flight condition. To simplify the database structure and processing, a configuration in which only one aircraft information is registered for each flight condition is also acceptable.

[0075] The following describes the processing described herein, using as an example the process of detecting an abnormality in the lower traveling body 1 based on the vibration value applied to the work machine 100.

[0076] Figure 4 is a flowchart illustrating an example of the process for detecting an abnormality in the lower traveling body 1.

[0077] First, information acquired by the operation sensor 29, discharge pressure sensor 28, mode level adjustment dial 34, operation mode selector switch 32, sensors S1 to Sn, imaging device C1, and communication device T1 is sent to the controller 30 (step ST11). From the operation sensor 29, information indicating the operation content for the operation device 26 is sent to the controller 30, and from the discharge pressure sensor 28, information indicating the pump pressure of the main pump 14 is sent to the controller 30. In addition, from the mode level adjustment dial 34, information indicating the level of the engine speed, etc., is sent to the controller 30, and from the operation mode selector switch 32, information indicating the set operation mode, such as the engine mode or travel mode, is sent to the controller 30. Alternatively, from the operation mode selector switch 32, information indicating the set crane mode may also be sent to the controller 30. Furthermore, from sensors S1 to Sn, the detection results corresponding to each sensor S1 to Sn are sent to the controller 30. In the example described above, sensor S1 sends the result of detecting the posture of the work machine 100, sensor S2 sends the result of detecting the angular velocity of the work machine 100, and sensor S3 sends the result of detecting the acceleration acting on the work machine 100. In addition, the image capture device C1 sends the image captured by the image capture device C1 to the controller 30. In addition, the positioning device PS sends information regarding the current position of the work machine 100 to the controller 30. Note that it is not necessary for all of this information to be sent to the controller 30; a configuration in which only some of the information is sent to the controller 30 is also possible.

[0078] In addition to the operation sensor 29, other sensors may be used to detect the operating status of the work machine 100, including a left travel pilot pressure sensor, a right travel pilot pressure sensor, a boom raising pilot pressure sensor, a boom lowering pilot pressure sensor, an arm opening pilot pressure sensor, an arm closing pilot pressure sensor, a bucket opening pilot pressure sensor, a bucket closing pilot pressure sensor, and a slewing pilot pressure sensor. The left travel pilot pressure sensor detects the pilot pressure of the hydraulic fluid supplied to the left travel hydraulic motor 2ML when the operation device 26 is operated. The right travel pilot pressure sensor detects the pilot pressure of the hydraulic fluid supplied to the right travel hydraulic motor 2MR when the operation device 26 is operated. The boom raising pilot pressure sensor and boom lowering pilot pressure sensor detect the pilot pressure of the hydraulic fluid supplied to the boom cylinder 7 when the operation device 26 is operated. The arm opening pilot pressure sensor and arm closing pilot pressure sensor detect the pilot pressure of the hydraulic fluid supplied to the arm cylinder 8 when the operation device 26 is operated. The bucket opening pilot pressure sensor and bucket closing pilot pressure sensor detect the pilot pressure of the hydraulic fluid supplied to the bucket cylinder 9 when the operation device 26 is operated. The swing pilot pressure sensor detects the pilot pressure of the hydraulic fluid supplied to the swing hydraulic motor 2A when the operating device 26 is operated. This allows the operating status of the operating device 26 to be detected.

[0079] In addition to the mode level adjustment dial 34, the operation mode switching switch 32, and the discharge pressure sensor 28, a sensor for detecting engine torque, a left travel motor pressure sensor for detecting the pressure of the hydraulic fluid supplied to the left travel hydraulic motor 2ML, and a right travel motor pressure sensor for detecting the pressure of the hydraulic fluid supplied to the right travel hydraulic motor 2MR may also be used. Furthermore, the roll amount, pitch amount, and yaw amount, which are the inclination of the work machine 100, may be calculated from the vibration values ​​acting on the work machine 100 detected based on the angular velocity and acceleration of the work machine 100 detected by sensors S2 and S3, and from the vibration values ​​detected by a vibration sensor that detects vibrations acting on the work machine 100. The body condition of the work machine 100 is detected by these means. The body condition refers to the operating state of the work machine 100 and the inclination of the work machine 100 caused by the work of the work machine 100.

[0080] Furthermore, sensors S2 and S3 detect the angular velocity and acceleration of the work machine 100 in the X, Y, and Z directions. This allows for the detection of vibrations acting on the work machine 100.

[0081] The controller 30 first searches for driving conditions corresponding to the information received (step ST12).

[0082] In searching for corresponding driving conditions, the surrounding conditions determination unit 302 first determines the conditions around the work machine 100 based on the image captured by the imaging device C1. For example, it determines whether the work machine 100 is driving on asphalt or on soil. It may also determine the wetness or dryness of the ground or estimate the slipperiness between the ground and the crawler 1C using the detection results from the road surface sensor and the rain amount sensor. Furthermore, it may estimate the type and wetness of the soil on the ground at the current location of the work machine 100 based on the current position of the work machine 100 determined by the positioning device PS. Moreover, if the work machine 100 is driving on soil, it may estimate the particle size and type (red soil) of the soil from the image captured by the imaging device C1. In these cases, the imaging device C1, road surface sensor, rain amount sensor, and positioning device PS function as second sensors in the present invention, acquiring surrounding information that indicates the conditions around the work machine 100. Alternatively, excavation may be performed using the bucket 6, and the ground conditions may be determined based on the load applied to the bucket 6 during this process. Furthermore, if the degree of ground unevenness is a condition in the aircraft information database 304, the ground unevenness may be estimated, for example, based on the distance to the ground detected using LiDAR.

[0083] Furthermore, the operation determination unit 301 determines the operation of the work machine 100 based on information indicating the operation content sent from the operation sensor 29. For example, it determines whether the work machine 100 is traveling at a high speed above a certain speed or at a low speed below a certain speed. The operation determination unit 301 may also determine whether the work machine 100 is traveling at a high speed or a low speed based on information indicating the operation mode sent from the operation mode switching switch 32. In this way, the operation determination unit 301 estimates the travel state of the work machine 100 based on the travel information sent from the operation sensor 29. The operation determination unit 301 may also determine whether the work machine 100 is turning based on information indicating the operation content sent from the operation sensor 29. Note that the operation determination unit 301's determination of the operation of the work machine 100 is not limited to information sent from the operation sensor 29 and the operation mode switching switch 32, but may also be made based on information sent from sensors S1 to Sn other than the operation sensor 29 and the operation mode switching switch 32, or from the discharge pressure sensor 28. In this case, the operation sensor 29, discharge pressure sensor 28, operation mode switching switch 32, or other sensors S1 to Sn function as the first sensor in the present invention, and acquire operation information that can identify the operation of the work machine 100. The operation information may be identified by the operation status of the work machine 100 or the condition of the work machine 100's body, as described above.

[0084] Then, when the driving conditions corresponding to the surrounding conditions and operation of the work machine 100 determined as described above are searched, the abnormality detection unit 303 then registers information based on the detection results sent from sensors S1 to Sn as machine information corresponding to the driving conditions searched in the machine information database 304 shown in Figure 3 (step ST13). For example, if the driving conditions searched in step ST12 are among the conditions shown in Figure 3, where the work machine 100 is traveling at a high speed above a certain speed on dry asphalt, and the detection result of the angular velocity of the work machine 100 is sent from sensor 2 and the detection result of the acceleration acting on the work machine 100 is sent from sensor S3, the abnormality detection unit 303 registers vibration information, which shows the vibration value calculated from the angular velocity of the work machine 100 and the acceleration acting on the work machine 100, as machine information corresponding to the driving condition that the work machine 100 is traveling at a high speed above a certain speed on dry asphalt. In this case, it is preferable to register the vibration values ​​for the X, Y, and Z directions. In this case, sensors S1 to Sn function as the first sensors in the present invention and acquire load information that can identify the load on the work machine 100. Note that instead of the abnormality detection unit 303 calculating the vibration value based on the angular velocity detected by the angular velocity sensor and the acceleration detected by the acceleration sensor, the vibration value calculated based on the angular velocity detected by the angular velocity sensor and the acceleration detected by the acceleration sensor may be sent to the abnormality detection unit 303. Furthermore, if there are other detection results sent from sensors S1 to Sn regarding the conditions searched in step ST12, for example, if information indicating the posture of the work machine 100 is sent from sensor S1 in addition to the angular velocity and acceleration detected by sensors S2 and S3, the abnormality detection unit 303 registers information indicating the pitch amount of the work machine 100 calculated based on the information sent from sensor S1. In that case, the abnormality detection unit 303 registers the information indicating the pitch amount of the work machine 100 as machine information, associating it with the running condition that the work machine 100 is running at a high speed above a certain speed on dry asphalt.

[0085] Furthermore, if no driving conditions corresponding to the information sent to the controller 30 are found in step ST12, the information sent to the controller 30 will not be registered as aircraft information in the aircraft information database 304. In other words, registration of aircraft information in the aircraft information database 304 will occur when driving conditions corresponding to the information sent to the controller 30 are found.

[0086] Figure 5 shows an example of how aircraft information is registered in the aircraft information database 304.

[0087] As shown in Figure 5, the machine information registered in the machine information database 304 shown in Figure 3 may be registered by plotting the corresponding driving conditions and detected machine information in a time series. For example, for a driving condition in which the work machine 100 is traveling at a speed above a certain speed on dry asphalt, the information may be registered by plotting the calculated vibration values ​​in the X, Y, and Z directions in a time series.

[0088] The abnormality detection unit 303 checks the upward trend of the vibration value plotted as machine information and determines whether an abnormality has occurred in the lower mobile body 1 based on whether the degree of increase in the vibration value (slope of the dashed line in the figure) is above a certain level (step ST14). In this way, the controller 30 determines that an abnormality has occurred in the lower mobile body 1 based on the change in numerical values ​​obtained from the machine information acquired by the sensor that functions as the first sensor. This makes it possible to grasp the signs that an abnormality is about to occur in the lower mobile body 1.

[0089] If the abnormality detection unit 303 determines that an abnormality has occurred in the lower traveling body 1 (YES in step ST14), it notifies the system of this fact (step ST15). The notification that an abnormality has occurred in the lower traveling body 1 may be made, for example, via the display device D1. Alternatively, the notification may be made to the manager of the work machine 100, etc., via the communication device T1. This allows for the rapid replacement (ordering) of parts of the lower traveling body 1, and shortens the period during which the work machine 100 is unable to operate due to an abnormality in the lower traveling body 1.

[0090] After that, the process returns to step ST11 and the above-described process is repeated. Also, if the degree of increase in vibration value (slope of the dashed line in the figure) is below a certain level (NO in step ST14), no notification of abnormality in the lower traveling body 1 is given, and the process returns to step ST11 and the above-described process is repeated.

[0091] As described above, this embodiment includes a lower traveling body 1, an upper rotating body 3 that is rotatably mounted on the lower traveling body 1, a first sensor provided on the upper rotating body 3 for acquiring machine information of the work machine 100, a second sensor provided on the upper rotating body 3 for acquiring surrounding information indicating the conditions around the work machine 100, and a controller 30 that detects abnormalities in the lower traveling body 1 based on the machine information acquired by the first sensor and the surrounding information acquired by the second sensor. This makes it possible to detect abnormalities in the lower traveling body 1 without attaching a sensor to the lower traveling body 1.

[0092] The machine information includes at least operation information that can identify the operation of the work machine 100, such as the operation of the control device 26, and load information that can identify the load on the work machine 100, such as vibration values. Furthermore, the machine information may also include travel information that can identify the travel state of the work machine 100, such as the travel speed. This makes it possible to detect abnormalities in the lower traveling body 1 based on the load on the work machine 100 in response to operations such as the travel of the work machine 100.

[0093] Furthermore, since the load is the vibrations exerted on the work machine 100, abnormalities in the lower traveling body 1 can be detected based on the vibrations exerted on the work machine 100.

[0094] Furthermore, the surrounding information includes, as described above, at least one of the following: an image of the area around the work machine 100 captured by the imaging device C1, information indicating the condition of the ground on which the work machine 100 is traveling, and information indicating the current position of the work machine 100. This allows for the detection of abnormalities in the lower traveling body 1 according to the conditions surrounding the work machine 100. In this case, the ground conditions may include soil particle size, wetness / dryness, and slipperiness of the ground. This allows for the detection of abnormalities in the lower traveling body 1 according to the detailed conditions of the ground on which the work machine 100 is traveling.

[0095] Furthermore, the controller 30 detects abnormalities in the lower traveling body 1 based on the machine information acquired by the first sensor, according to the travel conditions determined by the machine information acquired by the first sensor and the surrounding information acquired by the second sensor. In addition, the controller 30 detects abnormalities in the lower traveling body 1 based on the load information acquired by the first sensor, according to the load information acquired by the first sensor, according to the load information acquired by the first sensor, according to the load information acquired by the first sensor, according to the load information acquired by the first sensor, according to the load information acquired by the first sensor, according to the load information acquired by the first sensor, according to the load information acquired by the first sensor, according to the load information acquired by the first sensor, according to the surrounding conditions of the work machine 100 and the operation of the work machine 100. This is because, as described above, when detecting abnormalities in the lower traveling body 1 using machine information such as load information acquired by the first sensor, the load on the work machine 100 will differ depending on the surrounding conditions of the work machine 100 and the operation of the work machine 100. In this way, the controller 30 can detect abnormalities in the lower traveling body 1 according to the operation of the work machine 100 and the surrounding conditions by detecting abnormalities in the lower traveling body 1 for each travel condition of the work machine 100. At this time, the travel condition is determined by the travel state of the shovel determined from machine information acquired by the first sensor and the condition of the ground on which the shovel is traveling determined from surrounding information acquired by the second sensor, and for each of these travel conditions, the controller 30 detects abnormalities in the lower traveling body 1 based on vibration information indicating vibrations on the work machine 100 from the machine information acquired by the first sensor. This also makes it possible to detect abnormalities in the lower traveling body 1 according to the travel condition of the work machine 100. Here, the travel condition includes any one or more of the travel speed of the work machine 100, the type of ground, and the condition of the ground. This makes it possible to detect abnormalities in the lower traveling body 1 according to the detailed travel condition of the work machine 100.

[0096] Furthermore, the operation information may be identified by the operating status of the work machine 100 acquired by the first sensor. This makes it possible to detect abnormalities in the lower traveling body 1 based on the operating status of the work machine 100.

[0097] Furthermore, the operational information may be identified by the vehicle status of the work machine 100 acquired by the first sensor. This makes it possible to detect abnormalities in the lower traveling body 1 based on the vehicle status of the work machine 100.

[0098] In the machine information database 304 shown in Figure 3, for example, the pump pressure of the main pump 14 detected by the discharge pressure sensor 28 is registered as machine information, based on the condition that the work machine 100 is traveling uphill on asphalt. In such a configuration, if the pump pressure of the main pump 14 exceeds a predetermined threshold, it is assumed that the power of the work machine 100 is not being transmitted properly due to some influence, especially when traveling uphill, and it may be determined that an abnormality has occurred in the lower traveling body 1.

[0099] Furthermore, if the work machine 100 performs an operation that generates large vibrations, the system may be configured not to register the vibration values ​​corresponding to the angular velocity and acceleration detected by sensors S2 and S3 in the machine information database 304. For example, if the work machine 100 is rotated in place by rotating the left and right crawlers 1C in opposite directions, or if a jack-up operation is performed to lift a part of the lower traveling body 1 by pressing the bucket 6 to the ground, or if one of the crawlers 1C is lifted off the ground and allowed to spin freely to remove mud attached to it, the system may be configured not to register the vibration values ​​corresponding to the angular velocity and acceleration detected by sensors S2 and S3 in the machine information database 304. Also, if the work machine 100 travels on a slope, the system may be configured not to register the machine information in the machine information database 304 as shown in Figure 3 if the slope is less than a predetermined level, but not if the slope is greater than or equal to a predetermined level. In that case, the slope of the ramp may be determined based on the posture of the work machine 100 detected by the sensor S1.

[0100] Figure 6 is a flowchart illustrating another example of the process for detecting an abnormality in the lower traveling body 1.

[0101] In this example, abnormalities in the lower traveling body 1 are detected using a threshold value.

[0102] First, similar to the process shown in Figure 4, the information acquired by the operation sensor 29, discharge pressure sensor 28, mode level adjustment dial 34, operation mode selector switch 32, sensors S1 to Sn, imaging device C1, and communication device T1 is sent to the controller 30 (step ST21).

[0103] Then, in the controller 30, when conditions corresponding to the surrounding conditions and operation of the work machine 100, which are identified or estimated by the information received, are searched (step ST22), the abnormality detection unit 303 determines whether the numerical value from the information received in step ST21 for the conditions searched in step ST22 exceeds a preset threshold (step ST23). Here, the abnormality detection unit 303 has set thresholds for determining abnormalities in the lower traveling body 1 for each condition and for each type of machine information. For example, a threshold for vibration value for determining abnormalities in the lower traveling body 1 is set for the condition that the work machine 100 is traveling at a speed above a certain speed on dry asphalt. Therefore, the abnormality detection unit 303 can detect abnormalities in the lower traveling body 1 by determining whether the numerical value from the information received in step ST21 for the conditions searched in step ST22 exceeds a threshold.

[0104] If the abnormality detection unit 303 determines that the numerical value based on the information sent in step ST21 regarding the conditions searched in step ST22 exceeds a threshold (YES in step ST23), it notifies that an abnormality has occurred in the lower mobile body 1 (step ST24). In this way, the controller 30 determines that an abnormality has occurred in the lower mobile body 1 when the numerical value based on the machine information acquired by the sensor functioning as the first sensor exceeds a threshold. This makes it possible to clearly determine that an abnormality has occurred in the lower mobile body 1 using a preset threshold.

[0105] After that, the process returns to step ST21 and the above-described process is repeated. Also, if the numerical value based on the information sent in step ST21 for the conditions searched in step ST22 does not exceed the threshold (NO in step ST23), no notification of an abnormality in the lower vehicle 1 is sent, and the process returns to step ST21 and the above-described process is repeated.

[0106] Furthermore, the system may perform multiple comparisons between the numerical value obtained from the information sent in step ST21 and the threshold value. If the numerical value obtained from the information sent in step ST21 exceeds the threshold value multiple times, or exceeds the threshold value a predetermined number of times, it may be determined that an abnormality has occurred in the lower vehicle 1, and a notification to that effect may be sent. This configuration can be used to avoid mistakenly notifying of an abnormality in the lower vehicle 1.

[0107] In the embodiment described above, the controller 30 within the work machine 100 detects abnormalities in the lower traveling body 1 based on the operation of the work machine 100 and the surrounding conditions. However, in a system in which the work machine 100 can be operated remotely, a remote controller located at a remote location may be used as the control unit to detect abnormalities in the lower traveling body 1 based on the operation of the work machine 100 and the surrounding conditions. In that case, the abnormality detection system is composed of the work machine 100 and the remote controller. [Explanation of Symbols]

[0108] 1. Lower running body 1C Crawler 2. Swivel mechanism 2A Swivel Hydraulic Motor 2ML Left-hand drive hydraulic motor 2MR Right-hand drive hydraulic motor 3. Upper rotating body 4 Boom 5 Arms 6 buckets 7 Boom Cylinder 8 Arm Cylinder 9 Bucket Cylinder 10 Driver's cab 11 Engine 13 Regulator 14 Main pump 15 Pilot pump 17 Control Valve Unit 26 Operating device 28 Discharge pressure sensor 29 Operation Sensors 30 controllers 31 valves 32. Operation mode selector switch 34 Mode Level Adjustment Dial 100 working machines 171-176 Control valves 301 Operation determination section 302 Surrounding Condition Determination Unit 303 Anomaly detection unit 304 Aircraft Information Database AT attachment C1 Imaging device C1B Rear Camera C1F Front Camera C1L Left Camera C1R Right Camera D1 display device D2 Input Device PS positioning device S1~Sn Sensor T1 Communication Device

Claims

1. A work machine having a lower traveling body and an upper rotating body that is rotatably mounted on the lower traveling body, A first sensor is provided on the upper rotating body for acquiring machine information of the work machine, A second sensor is provided on the upper rotating body and acquires surrounding information indicating the conditions around the work machine, A work machine having a control unit that detects an abnormality in the lower traveling body based on the machine information acquired by the first sensor and the surrounding information acquired by the second sensor.

2. The work machine according to claim 1, wherein the control unit detects an abnormality in the lower traveling body for each travel condition of the work machine.

3. The aforementioned driving conditions are determined by the aircraft information acquired by the first sensor and the surrounding information acquired by the second sensor. The work machine according to claim 2, wherein the control unit detects an abnormality in the lower traveling body based on the machine information acquired by the first sensor for each of the traveling conditions.

4. The aforementioned driving conditions are determined by the operation information that can identify the operation of the work machine from the machine information acquired by the first sensor, and the surrounding information acquired by the second sensor. The work machine according to claim 2, wherein the control unit detects an abnormality in the lower traveling body for each of the traveling conditions based on load information that can identify the load applied to the work machine from the machine information acquired by the first sensor.

5. The work machine according to claim 4, wherein the operation information is identified by the operating status of the work machine acquired by the first sensor.

6. The work machine according to claim 4, wherein the operation information is identified by the vehicle status of the work machine acquired by the first sensor.

7. The aforementioned driving conditions are determined by the driving state of the work machine determined from the machine information acquired by the first sensor and the ground conditions on which the work machine is driving determined from the surrounding information acquired by the second sensor. The work machine according to claim 2, wherein the control unit detects an abnormality in the lower traveling body for each of the travel conditions based on vibration information indicating vibrations related to the work machine from the machine information acquired by the first sensor.

8. The machine information includes at least operation information that can identify the operation of the work machine and load information that can identify the load applied to the work machine, according to claim 1.

9. The machine information includes travel information that can identify the travel state of the work machine, as described in claim 8.

10. The work machine according to claim 8, wherein the load is vibration applied to the work machine.

11. The work machine according to claim 1, wherein the surrounding information includes at least one of the following: an image of the surrounding area of ​​the work machine, information indicating the condition of the ground on which the work machine is traveling, and information indicating the position of the work machine.

12. The working machine according to claim 11, wherein the ground conditions include soil particle size, wetness, and slipperiness of the ground.

13. The work machine according to claim 2, wherein the aforementioned travel conditions include a plurality of the travel speed of the work machine, the type of ground, and the condition of the ground.

14. The work machine according to claim 1, wherein the control unit determines that an abnormality has occurred in the lower traveling body based on a change in the numerical value obtained by the first sensor.

15. The work machine according to claim 1, wherein the control unit determines that an abnormality has occurred in the lower traveling body when the numerical value obtained by the first sensor exceeds a threshold.

16. An abnormality detection system for detecting an abnormality in the lower traveling body of a work machine having a lower traveling body and an upper slewing body that is rotatably mounted on the lower traveling body, A first sensor is provided on the upper rotating body for acquiring machine information of the work machine, A second sensor is provided on the upper rotating body and acquires surrounding information indicating the conditions around the work machine, An abnormality detection system comprising: a control unit that detects an abnormality in the lower traveling body based on the aircraft information acquired by the first sensor and the surrounding information acquired by the second sensor.

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