Anomaly detection device for work machinery and work machinery equipped therewith

Abstract

To suppress erroneous determination when determining an abnormality in a work machine.SOLUTION: An abnormality determination device 101 comprises: an operation detector 31 detecting an amount of operation applied to an operation device 40; a motion detector 32 detecting motion of a work machine 100; and a controller 70 storing in advance a standard operation characteristic as a standard for characteristic of the amount of operation. The controller 70 obtains an actual operation characteristic that is an actual characteristic of the amount of operation using the detection result of the amount of operation by the operation detector 31, and when the actual operation characteristic corresponds to the standard operation characteristic, determines an abnormality in the work machine 100 using the detection result of the motion of the work machine 100 by the motion detector 32, and when the actual operation characteristic does not correspond to the standard operation characteristic, suspends determination of abnormality.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] This disclosure relates to a technique for determining an abnormality in a working machine.

Background Art

[0002] Patent Document 1 discloses a technique for detecting an abnormality in a hydraulic pump in a work vehicle. The work vehicle of this Patent Document 1 includes an operating state determination unit and an abnormality determination unit. The operating state determination unit determines the operating state based on the combination of a plurality of operating parts. The abnormality determination unit corresponds to the operating state determined by the operating state determination unit, and compares a first relationship, which is a relationship between discharge pressures among a plurality of preset hydraulic pumps, with a second relationship, which is a relationship between discharge pressures among a plurality of hydraulic pumps detected by a detection unit. When the second relationship is different from the first relationship, it is determined that an abnormality has occurred in at least one of the plurality of hydraulic pumps.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the technique of Patent Document 1, the operating state is determined based on operations applied to a plurality of operation levers, and an abnormality is determined using the relationship corresponding to this operating state. However, since the specific characteristics of the operations applied to the operation levers may vary depending on the operator, there may be cases where the operations applied to the plurality of operation levers do not necessarily correspond to the assumed operating state. In this case, there may be cases where an abnormality is determined even though there is no abnormality in the components of the working machine, that is, false determination may be made.

[0005] The purpose of this disclosure is to provide an abnormality detection device that can suppress erroneous judgments when determining abnormalities in a work machine, and a work machine equipped with the same. [Means for solving the problem]

[0006] The provided abnormality detection device comprises an operation detector that detects the amount of operation applied to an actuator by an operator to move a work machine, an motion detector that detects the operation of the work machine, and a controller that stores a reference operation characteristic as a standard for the characteristics of the amount of operation. The controller obtains an actual operation characteristic, which is the actual characteristic of the amount of operation, using the detection result of the operation detector. If the actual operation characteristic corresponds to the reference operation characteristic, the controller determines an abnormality in the work machine using the detection result of the motion detector's operation. If the actual operation characteristic does not correspond to the reference operation characteristic, the controller suspends the determination of the abnormality.

[0007] In this abnormality detection device, standard operating characteristics are pre-stored in the controller as a standard for the characteristics of the operation amount. The controller determines an abnormality in the work machine when the actual operating characteristics correspond to the standard operating characteristics, but it suspends the determination of an abnormality when the actual operating characteristics do not correspond to the standard operating characteristics, in other words, when an operation with unexpected operating characteristics is performed, thereby suppressing false determinations.

[0008] Preferably, the controller stores a reference operating characteristic as a reference for the operating characteristics of the work machine corresponding to the reference operating characteristic, in association with the reference operating characteristic, and acquires the actual operating characteristic, which is the actual operating characteristic of the work machine, using the detection result of the work machine's operation by the operation detector. If the actual operating characteristic corresponds to the reference operating characteristic, the controller determines the abnormality by comparing the actual operating characteristic with the reference operating characteristic. In this configuration, the reference operating characteristic compared with the actual operating characteristic is one that is stored in advance in association with the reference operating characteristic and is the operating characteristic expected when an operation having the reference operating characteristic is performed. Therefore, in this configuration, the determination of an abnormality is performed appropriately within a range that has been assumed in advance.

[0009] The aforementioned standard operating characteristics are first standard operating characteristics stored in the controller in association with a predetermined first operation that the work machine performs. The controller may further store second standard operating characteristics associated with a second operation that the work machine performs but is different from the first operation. If the operation performed by the work machine is the first operation, the controller may use the first standard operating characteristics to determine the abnormality, and if the operation performed by the work machine is the second operation, the controller may use the second standard operating characteristics to determine the abnormality. In this configuration, the first standard operating characteristics expected in the first operation are stored in association with the first operation, and the second standard operating characteristics expected in the second operation are stored in association with the second operation. The controller can then use the standard operating characteristics from the first and second standard operating characteristics that correspond to the actual content of the operation to determine an appropriate abnormality for each operation.

[0010] Preferably, the controller determines whether the work performed by the work machine is the first work or the second work, using the detection result of the work machine's operation by the motion detector. In this configuration, the controller automatically determines the work using the detection result from the motion detector, so, for example, it becomes unnecessary for the operator to input information to the controller to specify the content of the work.

[0011] Preferably, the aforementioned standard operating characteristics are first standard operating characteristics stored in the controller in association with a predetermined first operation that the work machine performs, and the controller further stores second standard operating characteristics associated with a second operation that the work machine performs but is different from the first operation. If the operation performed by the work machine is the first operation, the controller uses the first standard operating characteristics to determine the abnormality, and if the operation performed by the work machine is the second operation, the controller uses the second standard operating characteristics to determine the abnormality. In this configuration, the first standard operating characteristics expected in the first operation are stored in association with the first operation, and the second standard operating characteristics expected in the second operation are stored in association with the second operation. The controller can then use the standard operating characteristics from the first and second standard operating characteristics that correspond to the actual content of the operation to make an appropriate abnormality determination for each operation.

[0012] The controller may create and store the reference operation characteristics using the operation amount detected by the operation detector and a model pre-set for creating the reference operation characteristics. In this configuration, the controller can create a reference operation characteristic suitable for the actual operation amount each time using the operation amount detected by the operation detector and the model, even without pre-storing a large number of reference operation characteristics corresponding to various operations, and can store the created reference operation characteristics.

[0013] The controller may create and store the reference operating characteristics using the operation of the work machine detected by the motion detector and a model pre-set for creating the reference operating characteristics. In this configuration, the controller can create a reference operating characteristic suitable for the actual operation of the work machine each time using the operation of the work machine detected by the motion detector and the model, even without pre-storing a large number of reference operating characteristics corresponding to various operations, and can store the created reference operating characteristics.

[0014] The controller includes a reference characteristic storage unit for storing the reference operating characteristics, the reference characteristic storage unit is provided in a management device located away from the work machine, and the controller further includes a communication device, the communication device may be configured to send and receive data from the reference characteristic storage unit via wireless or wired communication. In this configuration, there is no need to provide the reference characteristic storage unit in the work machine, so the configuration of the work machine can be simplified.

[0015] Since the provided work machine is equipped with the abnormality detection device described above, it is possible to suppress erroneous judgments when determining abnormalities in the work machine. [Effects of the Invention]

[0016] According to this disclosure, an abnormality detection device that can suppress erroneous judgments when determining abnormalities in a work machine, and a work machine equipped with the same are provided. [Brief explanation of the drawing]

[0017] [Figure 1] This is a side view showing a work machine according to an embodiment of the present disclosure. [Figure 2] This is a block diagram showing the functional configuration of the abnormality detection device for the aforementioned work machine. [Figure 3] This figure shows the excavation work, lifting and rotating work, soil removal work, and return rotation work performed by the aforementioned work machine. [Figure 4] This flowchart shows an example of the calculation process performed by the controller of the aforementioned abnormality detection device. [Figure 5] This graph shows an example of standard operating characteristics and actual operating characteristics. [Figure 6] This graph shows an example of standard operating characteristics and actual operating characteristics. [Figure 7] This graph shows other examples of reference operating characteristics and actual operating characteristics. [Figure 8] This graph shows other examples of reference operating characteristics and actual operating characteristics. [Figure 9]It is a flowchart showing another example of arithmetic processing performed by the controller. [Figure 10] It is a graph showing reference operation characteristics according to the earth and sand storage capacity in the bucket of the working machine.

Embodiments for Carrying Out the Invention

[0018] Embodiments of the present disclosure will be described with reference to the drawings. The working machine 100 shown in FIG. 1 is a hydraulic excavator. This working machine 100 includes a lower traveling body 1, an upper swing body 2, and a working device 3.

[0019] The lower traveling body 1 includes a pair of left and right crawler traveling devices and a lower frame supported by these crawler traveling devices. The upper swing body 2 is supported by the lower traveling body 1 so as to be swingable around a swing axis Z. The swing axis Z is an axis extending along the vertical direction. The upper swing body 2 includes an upper frame supported by the lower frame, a cab supported at the front of the upper frame, and a counterweight supported at the rear of the upper frame.

[0020] The working device 3 includes a boom 4 supported by the upper swing body 2 so as to be able to rise and fall, an arm 5 rotatably supported by the boom �, and a tip attachment rotatably supported by the arm 5. In the present embodiment, the tip attachment is a bucket 6.

[0021] The boom 4 has a boom base end portion rotatably attached to the upper swing body 2 and a boom tip portion on the opposite side. The arm 5 has an arm base end portion rotatably attached to the boom tip portion and an arm tip portion on the opposite side. The bucket 6 has a base end portion rotatably attached to the arm tip portion.

[0022] The working machine 100 further includes a drive source 12 such as an engine, a hydraulic pump 13, a control valve unit 14, a plurality of actuators, and a plurality of operators 40 (see FIG. 2).

[0023] The hydraulic pump 13 discharges hydraulic fluid when driven by the drive source 12. The hydraulic pump 13 supplies hydraulic fluid to multiple actuators. The hydraulic pump 13 is a variable displacement hydraulic pump that can change its capacity (pump capacity) according to a pump capacity command from the controller 70, which will be described later.

[0024] The control valve unit 14 is interposed between the hydraulic pump 13 and the multiple actuators and distributes the hydraulic fluid supplied to the multiple actuators.

[0025] Each of the multiple actuators is operated by the supply of hydraulic fluid from the hydraulic pump 13. The multiple hydraulic actuators include a boom cylinder 7, which is a hydraulic cylinder for raising and lowering the boom 4; an arm cylinder 8, which is a hydraulic cylinder for rotating the arm 5; a bucket cylinder 9, which is a hydraulic cylinder for rotating the bucket 6; a slewing motor 10, which is a hydraulic motor for slewing the upper slewing body 2; and a pair of left and right travel motors 11, which are hydraulic motors for traveling the lower travel body 1.

[0026] The multiple control devices 40 include a boom control device 40, an arm control device 40, a bucket control device 40, a slewing control device 40, and a pair of left and right travel control devices 40. Note that in Figure 2, only one control device 40 is shown, and the other control devices 40 are not shown.

[0027] The boom operator 40 has an operating lever 41 that allows the operator to perform boom operations to activate the boom cylinder 7. Boom operations are either boom raising operations or boom lowering operations. Boom raising operations are operations to cause the boom 4 to perform a boom raising operation, and boom lowering operations are operations to cause the boom 4 to perform a boom lowering operation. Boom raising operations are operations in which the boom 4 rotates relative to the upper slewing body 2 so that the tip of the boom 4 moves away from the ground. Boom lowering operations are operations in which the boom 4 rotates relative to the upper slewing body 2 so that the tip of the boom 4 moves closer to the ground.

[0028] The arm operator 40 has an operating lever 41 that allows the operator to perform arm operations to activate the arm cylinder 8. The arm operations are either arm pulling operations or arm pushing operations. An arm pulling operation is an operation to cause the arm 5 to perform an arm pulling motion, and an arm pushing operation is an operation to cause the arm 5 to perform an arm pushing motion. An arm pulling operation is an operation in which the arm 5 rotates relative to the boom 4 so that the tip of the arm 5 moves closer to the boom 4. An arm pushing operation is an operation in which the arm 5 rotates relative to the boom 4 so that the tip of the arm 5 moves away from the boom 4.

[0029] The bucket operator 40 has an operating lever 41 that allows the operator to perform bucket operations to activate the bucket cylinder 9. Bucket operations are either bucket pulling operations or bucket pushing operations. A bucket pulling operation is an operation to cause the bucket 6 to perform a bucket pulling motion, and a bucket pushing operation is an operation to cause the bucket 6 to perform a bucket pushing motion. A bucket pulling operation is an operation in which the bucket 6 rotates relative to the arm 5 so that the tip of the bucket 6 approaches the arm 5. A bucket pushing operation is an operation in which the bucket 6 rotates relative to the arm 5 so that the tip of the bucket 6 moves away from the arm 5.

[0030] The slewing control device 40 has an operating lever 41 that allows the operator to perform a slewing operation to activate the slewing motor 10. The slewing operation is either a right slewing operation or a left slewing operation.

[0031] The pair of travel control devices 40 include a right travel control device 40 having an operating lever 41 that allows the operator to perform a travel operation to activate the right travel motor 11, and a left travel control device 40 having an operating lever 41 that allows the operator to perform a travel operation to activate the left travel motor 11. The travel operation is either forward travel or reverse travel.

[0032] Each of the multiple actuators 40 may be an actuator having a remote control valve that outputs a secondary pressure (pilot pressure) corresponding to the amount of operation applied to the operating lever 41. In this case, the operation detector 31, described later, includes a pressure sensor that detects the secondary pressure (pilot pressure) of the remote control valve and inputs the detection result to the controller 70. The secondary pressure (pilot pressure) of the remote control valve is supplied to the pilot port of the control valve, described later.

[0033] Furthermore, each of the multiple actuators 40 may be a so-called electric lever type actuator. In this case, the operation detector 31, which will be described later, includes a sensor that detects the direction and amount of operation applied to the operation lever 41, and inputs the detection result to the controller 70. The controller 70 then inputs a control command to an electromagnetic proportional valve (not shown) so that a pilot pressure corresponding to the amount of operation is supplied to the pilot port of the control valve, which will be described later.

[0034] The control valve unit 14 includes a boom control valve, an arm control valve, a bucket control valve, a swing control valve, and a pair of travel control valves. Each control valve has a pair of pilot ports and opens and closes in response to pilot pressure input to the pilot ports.

[0035] The boom control valve is interposed between the hydraulic pump 13 and the boom cylinder 7. When a pilot pressure corresponding to the amount of boom operation (boom raising operation or boom lowering operation) is input to the pilot port of the boom control valve, the valve opens to supply hydraulic fluid at a flow rate corresponding to this pilot pressure to the boom cylinder 7.

[0036] The arm control valve is interposed between the hydraulic pump 13 and the arm cylinder 8. When a pilot pressure corresponding to the amount of arm operation (arm pulling operation or arm pushing operation) is input to the pilot port of the arm control valve, the valve opens to supply hydraulic fluid at a flow rate corresponding to this pilot pressure to the arm cylinder 8.

[0037] The bucket control valve is interposed between the hydraulic pump 13 and the bucket cylinder 9. When a pilot pressure corresponding to the amount of bucket operation (bucket pulling operation or bucket pushing operation) is input to the pilot port of the bucket control valve, the valve opens to supply hydraulic fluid at a flow rate corresponding to this pilot pressure to the bucket cylinder 9.

[0038] The slewing control valve is interposed between the hydraulic pump 13 and the slewing motor 10. When a pilot pressure corresponding to the amount of slewing operation (right slewing operation or left slewing operation) is input to the pilot port of the slewing control valve, the valve opens to supply hydraulic fluid at a flow rate corresponding to this pilot pressure to the slewing motor 10.

[0039] Each of the pair of travel control valves is interposed between the hydraulic pump 13 and the travel motor 11 corresponding to the travel control valve. Each of the pair of travel control valves opens when a pilot pressure corresponding to the amount of travel operation (forward travel operation or reverse travel operation) is input to the pilot port, so that a flow rate of hydraulic fluid corresponding to this pilot pressure is supplied to the travel motor 11.

[0040] As shown in Figure 2, the work machine 100 includes an abnormality detection device 101 according to the embodiment of this disclosure. The abnormality detection device 101 includes a plurality of detectors, a controller 70, and an alarm 80.

[0041] The multiple detectors include multiple operation detectors 31 and multiple motion detectors 32. Each of the multiple detectors inputs its detection result to the controller 70.

[0042] The multiple operation detectors 31 include a boom operation detector 31, an arm operation detector 31, a bucket operation detector 31, a slewing operation detector 31, and a pair of travel operation detectors 31.

[0043] The boom operation detector 31 detects the direction and amount of boom operation applied to the operating lever 41 of the boom operator 40. The arm operation detector 31 detects the direction and amount of arm operation applied to the operating lever 41 of the arm operator 40. The bucket operation detector 31 detects the direction and amount of bucket operation applied to the operating lever 41 of the bucket operator 40. The slewing operation detector 31 detects the direction and amount of slewing operation applied to the operating lever 41 of the slewing operator 40. The pair of travel operation detectors 31 include a travel operation detector 31 that detects the direction and amount of travel operation applied to the operating lever 41 of the right travel operator 40, and a travel operation detector 31 that detects the direction and amount of travel operation applied to the operating lever 41 of the left travel operator 40.

[0044] The multiple motion detectors 32 include a boom motion detector 32, an arm motion detector 32, a bucket motion detector 32, a slewing motion detector 32, and a pair of travel motion detectors 32.

[0045] The boom motion detector 32 detects the movement of the boom cylinder 7 or the boom 4. The arm motion detector 32 detects the movement of the arm cylinder 8 or the arm 5. The bucket motion detector 32 detects the movement of the bucket cylinder 9 or the bucket 6. The slewing motion detector 32 detects the movement of the slewing motor 10 or the slewing motion of the upper slewing body 2. The pair of travel motion detectors 32 include a travel motion detector 32 that detects the movement of the right travel motor 11 or the movement of the right travel device, and a travel motion detector 32 that detects the movement of the left travel motor 11 or the movement of the left travel device.

[0046] Specifically, the boom motion detector 32 may be a boom angle sensor that detects the angle of the boom 4 with respect to the upper slewing body 2, a boom angle sensor that detects the angle of the boom 4 with respect to the horizontal plane, a stroke sensor that detects the movement of the boom cylinder 7, or any other sensor. Examples of boom angle sensors include resolvers, rotary encoders, potentiometers, and IMUs (inertial measurement units). The stroke sensor may be one that detects the cylinder length of a hydraulic cylinder, or one that detects the position of the piston rod relative to the cylinder tube.

[0047] The arm motion detector 32 may be an arm angle sensor that detects the angle of the arm 5 relative to the boom 4, an arm angle sensor that detects the angle of the arm 5 relative to the horizontal plane, a stroke sensor that detects the movement of the arm cylinder 8, or any other sensor. The bucket motion detector 32 may be a bucket angle sensor that detects the angle of the bucket 6 relative to the arm 5, a bucket angle sensor that detects the angle of the bucket 6 relative to the horizontal plane, a stroke sensor that detects the movement of the bucket cylinder 9, or any other sensor. The arm angle sensor and bucket angle sensor can be the same as the boom angle sensor described above.

[0048] The rotation motion detector 32 may be a sensor that detects the rotational motion of the rotation motor 10, or a sensor that detects the rotational motion of the upper rotation body 2 relative to the lower travel body 1. The travel motion detector 32 may be a sensor that detects the rotational motion of the travel motor 11. These sensors may be, for example, gyro sensors or rotary encoders such as resolvers.

[0049] The controller 70 includes a computer with an arithmetic processing unit and memory. The controller 70 stores in advance a reference operation characteristic as a reference for the characteristics of the operation amount given to the actuator 40. The controller 70 obtains the actual operation characteristic, which is the actual characteristic of the operation amount, using the detection result of the operation amount detected by the operation detector 31. If the actual operation characteristic corresponds to the reference operation characteristic, the controller 70 determines an abnormality in the work machine 100 using the detection result of the operation of the work machine 100 by the motion detector 32. If the actual operation characteristic does not correspond to the reference operation characteristic, the controller 70 suspends the determination of the abnormality. Specifically, it is as follows.

[0050] The controller 70 includes a reference characteristic storage unit 71, an operation characteristic calculation unit 72, an operating characteristic calculation unit 73, and an abnormality determination unit 74. Each of the reference characteristic storage unit 71, the operation characteristic calculation unit 72, the operating characteristic calculation unit 73, and the abnormality determination unit 74 is realized by executing a control program stored in the memory.

[0051] The reference characteristic storage unit 71 stores in advance a reference operation characteristic as a reference for the characteristics of the amount of operation applied to the operating lever 41 of the actuator 40, and a reference operation characteristic as a reference for the characteristics of the operation of the work machine 100 corresponding to the reference operation characteristic. The reference characteristic storage unit 71 stores the reference operation characteristic in association with the reference operation characteristic. The reference operation characteristic may be created, for example, using actual operation data from a skilled operator. The reference operation characteristic may be created, for example, using operation data of the work machine 100 based on actual operation by a skilled operator.

[0052] The operation characteristic calculation unit 72 uses the detection result (operation detection signal) input from the operation detector 31 to the controller 70 to calculate the actual operation characteristics, which are the characteristics of the operation actually applied to the operation lever 41 of the operating device 40.

[0053] The motion characteristic calculation unit 73 acquires the actual motion characteristics, which are the actual characteristics of the operation of the work machine 100, using the detection results of the operation of the work machine 100 by the motion detector 32. Specifically, for example, the motion characteristic calculation unit 73 uses the detection results (motion detection signals) input from the motion detector 32 to the controller 70 to calculate the actual motion characteristics, which are the actual characteristics of the operation of the actuator.

[0054] The abnormality determination unit 74 determines whether the actual operating characteristics calculated by the operating characteristics calculation unit 72 correspond to the reference operating characteristics stored in the reference characteristics storage unit 71. If the actual operating characteristics correspond to the reference operating characteristics, the abnormality determination unit 74 performs an abnormality determination to determine whether there is an abnormality in the work machine 100. On the other hand, if the actual operating characteristics do not correspond to the reference operating characteristics, the abnormality determination unit 74 suspends the abnormality determination. In other words, the abnormality determination unit 74 does not perform the abnormality determination if the actual operating characteristics do not correspond to the reference operating characteristics.

[0055] In abnormality determination, the abnormality determination unit 74 determines whether the actual operating characteristics calculated by the operating characteristics calculation unit 73 correspond to the reference operating characteristics stored in the reference characteristics storage unit 71. If the actual operating characteristics correspond to the reference operating characteristics, the abnormality determination unit 74 determines that there are no abnormalities in the components related to the actual operating characteristics of the work machine 100. On the other hand, if the actual operating characteristics do not correspond to the reference operating characteristics, the abnormality determination unit 74 determines that there are abnormalities in the components related to the actual operating characteristics of the work machine 100.

[0056] If the abnormality detection unit 74 determines that there is an abnormality in a component related to the actual operating characteristics, it controls the operation of the alarm device 80 so that it notifies the operator that there is an abnormality in that component. In addition, if the abnormality detection unit 74 determines that there is no abnormality in a component related to the actual operating characteristics, it may also control the operation of the alarm device 80 so that it notifies the operator that there is no abnormality in that component.

[0057] The alarm 80 may include a display that shows whether or not there is a malfunction in the aforementioned components to the operator, and may also include an audio device that verbally informs the operator whether or not there is a malfunction in the aforementioned components. The alarm 80 may be located inside the cab.

[0058] Figure 3 shows the excavation work, lifting and rotating work, soil removal work, and return rotation work performed by the work machine 100.

[0059] As shown in Figure 3(A), the excavation operation is the operation to collect soil and sand into the bucket 6 by moving the bucket 6 toward the lower traveling body 1 with a portion of the bucket 6 positioned in the soil. This excavation operation includes an arm pulling operation and a boom raising operation. The arm pulling operation is the operation in which the arm 5 rotates relative to the boom 4 so that the tip of the arm 5 moves toward the boom 4. The boom raising operation is the operation in which the boom 4 rotates relative to the upper slewing body 2 so that the tip of the boom 4 moves away from the ground.

[0060] The lifting and slewing operation shown in Figure 3(B) is performed after the excavation work. The lifting and slewing operation includes the boom raising and slewing movements performed when the bucket 6 is filled with soil during the excavation work. This lifting and slewing operation positions the bucket 6 directly above the loading platform of the soil transport vehicle.

[0061] The soil removal operation shown in Figure 3(C) is performed after the lifting and rotating operation. The soil removal operation involves discharging the soil from the bucket 6 onto the bed of the soil transport vehicle while the bucket 6 is positioned directly above the bed. This soil removal operation includes an arm pushing motion. This arm pushing motion is the movement of the arm 5 relative to the boom 4 so that the tip of the arm 5 moves away from the boom 4.

[0062] The return rotation operation shown in Figure 3(D) is performed after the soil removal operation. The return rotation operation includes a boom lowering operation and a rotation operation. The boom lowering operation is the operation in which the boom 4 rotates relative to the upper rotating body 2 so that the tip of the boom 4 approaches the ground. This return rotation operation positions the bucket 6 directly above the soil to be excavated.

[0063] Next, an example of the calculation process performed by the controller 70 of the abnormality detection device 101 will be explained with reference to the flowchart in Figure 4. The following explanation describes the calculation process when, for example, the soil removal operation shown in Figure 3(C) is performed. When the soil removal operation shown in Figure 3(C) is performed, the operator applies an arm-pushing operation to the operating lever 41 of the arm operating device 40 so that the arm 5 performs an arm-pushing operation.

[0064] The reference characteristic storage unit 71 of the controller 70 stores the reference operation characteristics of the arm pushing operation in advance. The reference characteristic storage unit 71 also stores the reference operation characteristics of the arm pushing operation of the arm 5 in advance. The reference operation characteristics of the arm pushing operation may be, for example, the characteristics shown by the dashed line in Figure 5. The reference operation characteristics of the arm pushing operation may be, for example, the characteristics shown by the dashed line in Figure 6.

[0065] In the graph of Figure 5, the horizontal axis represents time, and the vertical axis represents pilot pressure. This pilot pressure is a value that correlates with the amount of operation applied to the operating lever 41, as described above. Therefore, the vertical axis of the graph in Figure 5 may also represent the amount of operation. The reference operating characteristics in Figure 5 show the time change of the pilot pressure input to the pilot port of the arm control valve, and show the time change of the amount of arm pushing operation applied to the operating lever 41 of the arm actuator 40. In the specific example in Figure 5, the reference operating characteristics have the characteristic (time change of the amount of operation) such that the operating lever 41 of the arm actuator 40 is operated from the neutral position to the maximum operating position (full lever position) at an operating speed represented by the slope shown in Figure 5, and then the position of the operating lever 41 is held at the maximum operating position.

[0066] In the graph in Figure 6, the horizontal axis represents time, and the vertical axis represents the operating speed of the arm cylinder 8. The reference operating characteristics in Figure 6 show the time change in the operating speed (retraction speed) of the arm cylinder 8. In the specific example in Figure 6, the reference operating characteristics have the characteristic (time change in operating speed) such that the operating speed increases with the slope shown in Figure 6 from a stationary state of the arm cylinder 8, and then the operating speed is maintained at a constant value. Note that since the operating speed of the arm cylinder 8 is a value correlated with the operating speed of the arm 5, the reference operating characteristics in Figure 6 may also show the time change in the operating speed of the arm 5.

[0067] In step S11, the controller 70 obtains information regarding the operation given to the actuator 40 from the operation detector 31 and obtains information regarding the operation of the work machine 100 (operation information) from the motion detector 32.

[0068] Specifically, when an arm pushing operation is applied to the operating lever 41 of the arm actuator 40, the arm operation detector 31 detects the secondary pressure (pilot pressure) of the remote control valve of the arm actuator 40 and inputs the detection result to the controller 70 (step S11). Also, when an arm pushing operation is applied to the operating lever 41 of the arm actuator 40, the arm cylinder 8 operates according to the amount of the arm pushing operation. The arm motion detector 32 detects, for example, the operating speed of the arm cylinder 8 and inputs the detection result to the controller 70 (step S11).

[0069] The controller 70 uses information about the arm pushing operation obtained from the arm operation detector 31 to calculate the actual operating characteristics, for example, as shown by the solid line in Figure 5 (step S12). The actual operating characteristics in Figure 5 represent the time change of the secondary pressure (pilot pressure) of the remote control valve of the arm actuator 40, that is, the time change of the amount of arm pushing operation performed by the operator. The actual operating characteristics in Figure 5 have the characteristic that the operating lever 41 of the arm actuator 40 is operated at an operating speed represented by the slope shown by the solid line in Figure 5 from the neutral position to the maximum operating position (full lever position), and then the position of the operating lever 41 is held at the maximum operating position.

[0070] The controller 70 uses information about the operation of the arm cylinder 8 obtained from the arm motion detector 32, that is, information about the arm pushing motion of the arm 5, to calculate the actual operating characteristics, for example, as shown by the solid line in Figure 6 (step S13). In the specific example in Figure 6, the actual operating characteristics have the characteristic (time variation of operating speed) that the operating speed increases with a slope as shown by the solid line in Figure 6 from the state in which the arm cylinder 8 is stopped, and then the operating speed gradually decreases over time.

[0071] Next, the controller 70 determines whether the actual operating characteristics correspond to the reference operating characteristics (step S14). Specifically, for example, the controller 70 may calculate the difference between the actual operating characteristics and the reference operating characteristics, and if this difference is less than or equal to a preset threshold, it may determine that the actual operating characteristics correspond to the reference operating characteristics, and if the difference exceeds the threshold, it may determine that the actual operating characteristics do not correspond to the reference operating characteristics.

[0072] If the actual operating characteristics do not correspond to the reference operating characteristics (NO in step S14), the controller 70 does not perform the processes in steps S15 and S16, but instead performs the process in step S11. In other words, in this case, the controller 70 does not perform an abnormality determination to determine whether or not there is an abnormality in the work machine 100. This suppresses the occurrence of erroneous determinations.

[0073] On the other hand, if the actual operating characteristics correspond to the reference operating characteristics (YES in step S14), the controller 70 determines whether or not the actual operating characteristics correspond to the reference operating characteristics (step S15). Specifically, for example, the controller 70 may calculate the difference between the actual operating characteristics and the reference operating characteristics, and if this difference is less than or equal to a preset threshold, it may determine that the actual operating characteristics correspond to the reference operating characteristics, and if the difference exceeds the threshold, it may determine that the actual operating characteristics do not correspond to the reference operating characteristics.

[0074] If the actual operating characteristics correspond to the reference operating characteristics (NO in step S15), the controller 70 performs the process in step S11. In this case, there is a high probability that there are no abnormalities in the components of the work machine 100 that are related to the actual operating characteristics. Examples of such components include the arm cylinder 8, the hydraulic pump 13, and the arm control valve.

[0075] On the other hand, if the actual operating characteristics do not correspond to the reference operating characteristics (YES in step S15), the controller 70 determines that there is an abnormality in the components related to the actual operating characteristics. The controller 70 then controls the operation of the alarm 80 so that an alarm is issued to inform the operator that there is an abnormality in the components related to the actual operating characteristics (step S16). For example, in the specific example shown in Figure 6, the difference between the actual operating characteristics and the reference operating characteristics gradually increases over time, and if the difference exceeds the threshold, it is determined that the actual operating characteristics do not correspond to the reference operating characteristics.

[0076] Figure 7 is a graph showing other examples of standard and actual operating characteristics, and Figure 8 is a graph showing other examples of standard and actual operating characteristics. In the specific examples shown in Figures 7 and 8, a first operation to activate a first actuator among multiple actuators and a second operation to activate a second actuator among multiple actuators are performed simultaneously. The specific examples shown in Figures 7 and 8 may relate to, for example, the excavation work shown in Figure 3(A). This excavation work includes arm pulling operation and boom raising operation. In this case, the first actuator is the boom cylinder 7, the second actuator is the arm cylinder 8, the first operation is the boom raising operation, and the second operation is the arm pulling operation.

[0077] The reference characteristic storage unit 71 of the controller 70 pre-stores the reference operation characteristics (first reference operation characteristics) for the boom raising operation, shown by the dashed line in Figure 7, and the reference operation characteristics (second reference operation characteristics) for the arm pulling operation, also shown by the dashed line in Figure 7. In addition, the reference characteristic storage unit 71 pre-stores the reference operation characteristics (first reference operation characteristics) for the boom raising operation of the boom 4, shown by the dashed line in Figure 8, and the reference operation characteristics (second reference operation characteristics) for the arm pulling operation of the arm 5, also shown by the dashed line in Figure 8.

[0078] In step S11 of Figure 4, the controller 70 acquires information regarding the operation given to the actuator 40 from the operation detector 31 and information regarding the operation of the work machine 100 from the motion detector 32.

[0079] Specifically, when a boom-raising operation is applied to the operating lever 41 of the boom operator 40, the boom operation detector 31 detects the secondary pressure (pilot pressure) of the remote control valve of the boom operator 40 and inputs the detection result to the controller 70 (step S11). Also, when a boom-raising operation is applied to the operating lever 41 of the boom operator 40, the boom cylinder 7 operates according to the amount of the boom-raising operation. The boom operation detector 32 detects, for example, the operating speed of the boom cylinder 7 and inputs the detection result to the controller 70 (step S11).

[0080] Furthermore, when an arm-pulling operation is applied to the operating lever 41 of the arm actuator 40, the arm operation detector 31 detects the secondary pressure (pilot pressure) of the remote control valve of the arm actuator 40 and inputs the detection result to the controller 70 (step S11). Also, when an arm-pulling operation is applied to the operating lever 41 of the arm actuator 40, the arm cylinder 8 operates according to the amount of the arm-pulling operation. The arm motion detector 32 detects, for example, the operating speed of the arm cylinder 8 and inputs the detection result to the controller 70 (step S11).

[0081] The controller 70 uses information about the boom raising operation obtained from the boom operation detector 31 to calculate the actual operation characteristics (first actual operation characteristics), for example, as shown by the solid line in Figure 7 (step S12). The controller 70 also uses information about the arm pulling operation obtained from the arm operation detector 31 to calculate the actual operation characteristics (second actual operation characteristics), for example, as shown by the solid line in Figure 7 (step S12). The first actual operation characteristics in Figure 7 represent the time change of the secondary pressure (pilot pressure) of the remote control valve of the boom operator 40, that is, the time change of the amount of operation performed by the operator for the boom raising operation. The second actual operation characteristics in Figure 7 represent the time change of the secondary pressure (pilot pressure) of the remote control valve of the arm operator 40, that is, the time change of the amount of operation performed by the operator for the arm pulling operation. The first actual operation characteristics in Figure 7 have the characteristic that the operating lever 41 of the boom operator 40 is operated from the neutral position to, for example, the half-lever position at an operating speed represented by the slope shown by the solid line in Figure 7, and then the position of the operating lever 41 is held at the half-lever position. The second actual operating characteristic shown in Figure 7 is that the operating lever 41 of the arm operator 40 is operated from the neutral position to the maximum operating position (full lever position) at an operating speed represented by the inclination shown by the solid line in Figure 7, and then the position of the operating lever 41 is held at the maximum operating position.

[0082] The controller 70 uses information about the operation of the boom cylinder 7 obtained from the boom motion detector 32, that is, information about the boom raising operation of the boom 4, to calculate the actual operation characteristics (first actual operation characteristics), for example, as shown by the solid line in Figure 8 (step S13). The controller 70 also uses information about the operation of the arm cylinder 8 obtained from the arm motion detector 32, that is, information about the arm pulling operation of the arm 5, to calculate the actual operation characteristics (second actual operation characteristics), for example, as shown by the solid line in Figure 8 (step S13). In the specific example in Figure 8, the first actual operation characteristics have the characteristic (time variation of operation speed) in which the operating speed increases at a slope shown by the solid line in Figure 8 from a state in which the boom cylinder 7 is stopped, and then the operating speed gradually decreases over time. The second actual operation characteristics have the characteristic (time variation of operation speed) in which the operating speed increases at a slope shown by the solid line in Figure 8 from a state in which the arm cylinder 8 is stopped, and then the operating speed temporarily decreases before rising again and being maintained at an almost constant value.

[0083] Next, the controller 70 determines whether the first actual operating characteristic corresponds to the first reference operating characteristic (step S14). Specifically, for example, the controller 70 may calculate the difference between the first actual operating characteristic and the first reference operating characteristic, and if this difference is less than or equal to a preset threshold, it may determine that the first actual operating characteristic corresponds to the first reference operating characteristic; if the difference exceeds the threshold, it may determine that the first actual operating characteristic does not correspond to the first reference operating characteristic.

[0084] Furthermore, the controller 70 determines whether the second actual operating characteristic corresponds to the second reference operating characteristic (step S14). Specifically, for example, the controller 70 may calculate the difference between the second actual operating characteristic and the second reference operating characteristic, and if this difference is less than or equal to a preset threshold, it may determine that the second actual operating characteristic corresponds to the second reference operating characteristic. If the difference exceeds the threshold, it may determine that the second actual operating characteristic does not correspond to the second reference operating characteristic.

[0085] If the first actual operating characteristics do not correspond to the first reference operating characteristics (NO in step S14), the controller 70 does not perform the processes in steps S15 and S16, and performs the process in step S11. Also, if the second actual operating characteristics do not correspond to the second reference operating characteristics (NO in step S14), the controller 70 does not perform the processes in steps S15 and S16, and performs the process in step S11. In other words, in these cases, the controller 70 does not perform an abnormality determination to determine whether or not there is an abnormality in the work machine 100. This suppresses the occurrence of erroneous determinations.

[0086] On the other hand, if the first actual operating characteristic corresponds to the first reference operating characteristic (YES in step S14) and the second actual operating characteristic corresponds to the second reference operating characteristic (YES in step S14), the controller 70 determines whether the first actual operating characteristic does not correspond to the first reference operating characteristic, and also determines whether the second actual operating characteristic does not correspond to the second reference operating characteristic (step S15). Specifically, for example, the controller 70 may calculate the difference between the first actual operating characteristic and the first reference operating characteristic, and if this difference is less than or equal to a preset threshold, it may determine that the first actual operating characteristic corresponds to the first reference operating characteristic, and if the difference exceeds the threshold, it may determine that the first actual operating characteristic does not correspond to the first reference operating characteristic. Similarly, the controller 70 may calculate the difference between the second actual operating characteristic and the second reference operating characteristic, and if this difference is less than or equal to a preset threshold, it may determine that the second actual operating characteristic corresponds to the second reference operating characteristic, and if the difference exceeds the threshold, it may determine that the second actual operating characteristic does not correspond to the second reference operating characteristic.

[0087] If the first actual operating characteristics correspond to the first reference operating characteristics and the second actual operating characteristics correspond to the second reference operating characteristics (NO in step S15), the controller 70 performs the process in step S11. In this case, there is a high probability that there are no abnormalities in the components of the work machine 100 related to the first and second actual operating characteristics. Examples of components related to the first actual operating characteristics include the boom cylinder 7, the hydraulic pump 13, and the boom control valve. Examples of components related to the second actual operating characteristics include the arm cylinder 8, the hydraulic pump 13, and the arm control valve.

[0088] On the other hand, if the first actual operating characteristics do not correspond to the first reference operating characteristics (YES in step S15), the controller 70 determines that there is an abnormality in the component related to the first actual operating characteristics. The controller 70 then controls the operation of the alarm 80 so that an alert is issued to inform the operator that there is an abnormality in the component related to the first actual operating characteristics (step S16). Also, if the second actual operating characteristics do not correspond to the second reference operating characteristics (YES in step S15), the controller 70 determines that there is an abnormality in the component related to the second actual operating characteristics. The controller 70 then controls the operation of the alarm 80 so that an alert is issued to inform the operator that there is an abnormality in the component related to the second actual operating characteristics (step S16). For example, in the specific example shown in Figure 8, the second actual operating characteristics have a period in which the operating speed temporarily decreases and then increases again, and if the difference between the second actual operating characteristics and the second reference operating characteristics exceeds the threshold during this period, it is determined that the second actual operating characteristics do not correspond to the second reference operating characteristics. The decrease in operating speed during this time period may be due, for example, to the generation of negative pressure in the hydraulic circuit.

[0089] In step S14, if the first actual operation characteristic corresponds to the first reference operation characteristic and the second actual operation characteristic does not correspond to the second reference operation characteristic, the controller 70 may be configured to determine whether the first actual operation characteristic does not correspond to the first reference operation characteristic, but not to determine whether the second actual operation characteristic does not correspond to the second reference operation characteristic. Similarly, in step S14, if the first actual operation characteristic does not correspond to the first reference operation characteristic and the second actual operation characteristic corresponds to the second reference operation characteristic, the controller 70 may be configured to determine whether the second actual operation characteristic does not correspond to the second reference operation characteristic, but not to determine whether the first actual operation characteristic does not correspond to the first reference operation characteristic.

[0090] As explained above, in the abnormality determination device 101 according to this embodiment, the reference operation characteristics are stored in the controller 70 in advance as a reference for the characteristics of the operation amount. The controller 70 determines that there is an abnormality in the work machine 100 when the actual operation characteristics correspond to the reference operation characteristics, but suspends the determination of an abnormality when the actual operation characteristics do not correspond to the reference operation characteristics, in other words, when an operation with unexpected operation characteristics is performed, thereby suppressing false determinations. It should be noted that there are various possible causes for abnormalities in the work machine 100, such as deterioration over time of various devices, parts, and other components included in the work machine 100, or when the components are subjected to loads, shocks, etc., during work performed by the work machine 100.

[0091] Furthermore, in this embodiment, the controller 70 stores in advance a reference operating characteristic as a reference for the operating characteristics of the work machine 100 corresponding to the reference operating characteristic, in association with the reference operating characteristic. Using the detection result of the operation of the work machine 100 by the operation detector 32, the controller calculates the actual operating characteristic, which is the actual operating characteristic of the work machine 100. If the actual operating characteristic corresponds to the reference operating characteristic, the controller 70 determines an abnormality by comparing the actual operating characteristic with the reference operating characteristic. In this case, the reference operating characteristic compared with the actual operating characteristic is one that has been stored in advance in association with the reference operating characteristic, and is the operating characteristic that is expected when an operation having the reference operating characteristic is performed. Therefore, in this embodiment, the determination of an abnormality is performed appropriately within a range that has been assumed in advance.

[0092] In this embodiment, the reference characteristic storage unit 71 of the controller 70 stores a plurality of reference operating characteristics in advance. The plurality of reference operating characteristics include a reference operating characteristic stored in the reference characteristic storage unit 71 in association with excavation work, a reference operating characteristic stored in the reference characteristic storage unit 71 in association with lifting and rotating work, a reference operating characteristic stored in the reference characteristic storage unit 71 in association with soil removal work, and a reference operating characteristic stored in the reference characteristic storage unit 71 in association with return and rotating work. The controller 70 then determines if an abnormality occurs when the work performed by the work machine 100 is an excavation operation, using the standard operating characteristics associated with the excavation operation; when the work performed by the work machine 100 is a lifting and slewing operation, using the standard operating characteristics associated with the lifting and slewing operation; when the work performed by the work machine 100 is an earth removal operation, using the standard operating characteristics associated with the earth removal operation; and when the work performed by the work machine 100 is a return slewing operation, using the standard operating characteristics associated with the return slewing operation. In this way, the controller 70 can make an appropriate abnormality determination for each operation using the standard operating characteristics corresponding to the actual content of the operation. Note that the excavation operation, lifting and slewing operation, earth removal operation, and return slewing operation are examples of the first operation and examples of the second operation in this disclosure, respectively.

[0093] In this embodiment, it is preferable that the controller 70 determines whether the work performed by the work machine 100 is excavation work, lifting and rotating work, soil removal work, or return and rotating work, using the detection results of the work of the work machine 100 by the motion detector 32. In this case, since the controller 70 automatically determines the work using the detection results from the motion detector 32, it becomes unnecessary for, for example, the operator to input information to the controller 70 to specify the content of the work.

[0094] In this embodiment, the reference characteristic storage unit 71 of the controller 70 stores a plurality of reference operating characteristics in advance. The plurality of reference operating characteristics include a reference operating characteristic stored in the reference characteristic storage unit 71 in association with excavation work, a reference operating characteristic stored in the reference characteristic storage unit 71 in association with lifting and rotating work, a reference operating characteristic stored in the reference characteristic storage unit 71 in association with soil removal work, and a reference operating characteristic stored in the reference characteristic storage unit 71 in association with return and rotating work. The controller 70 then determines if an abnormality occurs when the work performed by the work machine 100 is an excavation operation, using the standard operating characteristics associated with the excavation operation; when the work performed by the work machine 100 is a lifting and slewing operation, using the standard operating characteristics associated with the lifting and slewing operation; when the work performed by the work machine 100 is an earth removal operation, using the standard operating characteristics associated with the earth removal operation; and when the work performed by the work machine 100 is a return slewing operation, using the standard operating characteristics associated with the return slewing operation. In this case, the controller 70 can make an appropriate abnormality determination for each operation using the standard operating characteristics corresponding to the actual content of the operation. Note that the excavation operation, lifting and slewing operation, earth removal operation, and return slewing operation are examples of the first operation and examples of the second operation in this disclosure, respectively.

[0095] [Differentiation] The abnormality detection device and the work machine equipped therewith according to the embodiments of this disclosure have been described above, but this disclosure is not limited to the embodiments described above and includes, for example, the following modifications.

[0096] (A) Variation 1 Figure 9 is a flowchart showing another example of the calculation process performed by the controller 70. This flowchart in Figure 9 differs from the flowchart in Figure 4 in that it further includes the processes in steps S21 and S22, while the other processes in steps S11 to S16 in Figure 9 are the same as those in steps S11 to S16 in Figure 4.

[0097] In this modified example 1, even if the actual operating characteristics do not correspond to the reference operating characteristics (YES in step S15), instead of immediately performing the process in step S16, the number of abnormal occurrences (cumulative number) is counted (step S21), and it is determined whether the number of abnormal occurrences is equal to or greater than a preset threshold (step S22).

[0098] If the number of abnormal occurrences is less than a preset threshold (NO in step S22), the controller 70 performs the process in step S11. On the other hand, if the number of abnormal occurrences is equal to or greater than a preset threshold (YES in step S22), the controller 70 determines that there is an abnormality in a component related to the actual operating characteristics. The controller 70 then controls the operation of the alarm 80 so that an alert is issued to inform the operator that there is an abnormality in a component related to the actual operating characteristics (step S16). After determining that there is an abnormality in a component related to the actual operating characteristics, the controller 70 resets the number of abnormal occurrences (cumulative number) and performs the process in step S11. The number of abnormal occurrences may be, for example, the number per unit time.

[0099] (B) Variation 2 Figure 10 is a graph showing the standard operating characteristics of the work machine 100 according to the amount of soil and sand contained in the bucket 6. As shown in Figure 10, the controller 70 may perform abnormality detection using the standard operating characteristics according to the amount of soil and sand contained in the bucket 6, thereby further improving the accuracy of abnormality detection.

[0100] The reference characteristic storage unit 71 of the controller 70 may, for example, pre-store a reference operating characteristic for the case where the storage capacity is zero, as shown in Figure 10. It may calculate the amount of soil to be stored in the bucket 6 using the detection result input from the detector for detecting information about the storage capacity, and then calculate a reference operating characteristic corresponding to the storage capacity using the calculated storage capacity and a pre-set relational expression. Alternatively, the reference characteristic storage unit 71 may pre-store multiple reference operating characteristics associated with one reference operating characteristic. It may calculate the amount of soil to be stored in the bucket 6 using the detection result input from the detector, and select the reference operating characteristic closest to the calculated storage capacity from the multiple reference operating characteristics. The controller 70 then uses the selected reference operating characteristic to determine if there is an abnormality.

[0101] For example, in the specific example shown in Figure 10, three reference operating characteristics are associated with one reference operating characteristic and stored in the reference characteristic storage unit 71. The three reference operating characteristics include a reference operating characteristic for when the amount of soil in the bucket 6 is zero, a reference operating characteristic for when the amount of soil is greater than zero (W1), and a reference operating characteristic for when the amount of soil is greater than W1 (W2). The controller 70 then calculates the amount of soil in the bucket 6 using the detection result input from the detector, determines whether the calculated amount is close to zero, amount W1, or amount W2, and selects the reference operating characteristic corresponding to the closest amount from the multiple reference operating characteristics. The controller 70 then uses the selected reference operating characteristic to determine if there is an abnormality. The detector for detecting information regarding the amount of soil may be, for example, a pressure sensor that detects the head pressure of the boom cylinder 7, or a load cell that detects the amount of soil in the bucket 6.

[0102] (C) Variation 3 The controller 70 may also perform abnormality detection using reference operating characteristics corresponding to the posture of the work device 3, thereby further improving the accuracy of abnormality detection.

[0103] Specifically, for example, the posture of the work device 3 changes depending on the posture of the boom 4 relative to the upper slewing body 2, the posture of the arm 5 relative to the boom 4, and the posture of the bucket 6 relative to the arm 5. When excavation work is performed, which includes arm pulling and boom raising, the work device 3 rotates upward around the base end (center of rotation) of the boom 4. At the beginning of the excavation work, the distance between the center of gravity of the work device 3 and the center of rotation is relatively large, so the moment of inertia is large, but towards the end of the excavation work, the distance between the center of gravity of the work device 3 and the center of rotation becomes smaller than at the beginning, so the moment of inertia becomes smaller than at the beginning.

[0104] Therefore, the controller 70 may, during excavation work, calculate the center of gravity of the work device 3 using the detection results input from the motion detector 32, calculate the distance between the calculated center of gravity and the pivot center, and use these calculation results to calculate the moment of inertia at that time. The controller 70 may then correct the reference operating characteristics using the reference operating characteristics stored in advance in the reference characteristic storage unit 71 and the calculated moment of inertia, and perform abnormality determination using the corrected reference operating characteristics.

[0105] (D) Regarding the standard operating characteristics The controller 70 may create and store a reference operation characteristic using the operation amount detected by the operation detector 31 and a model pre-set for creating a reference operation characteristic. Alternatively, the controller 70 may create and store a reference operation characteristic using the operation amount detected by the operation detector 31, motion information which is information regarding the operation of the work machine 100 detected by the motion detector 32, and a model pre-set for creating a reference operation characteristic. In these configurations, even if the controller 70 does not pre-store a large number of reference operation characteristics corresponding to various operations, it can create a reference operation characteristic suitable for the actual operation amount each time using the operation amount detected by the operation detector 31 and the model, or using the operation amount detected by the operation detector 31, the motion information detected by the motion detector 32, and the model, and store the created reference operation characteristic. In each of these configurations, methods such as machine learning, deep learning, and artificial intelligence may be used to create the reference operation characteristic using the model. The model may be pre-stored in the reference characteristic storage unit 71 as a judgment model. The actual operating characteristics may be determined by inputting the manipulated quantity detected by the operation detector 31 into the judgment model. Alternatively, the actual operating characteristics may be determined by inputting the manipulated quantity detected by the operation detector 31 and the operation information detected by the operation detector 32 into the judgment model. When the controller 70 pre-stores the reference operating characteristics in the reference characteristic storage unit 71, it may pre-acquire actual work data and pre-store that actual work data, or it may pre-store the parameters of the model calculated from the actual work data. Furthermore, when creating a model from actual work data, methods such as machine learning, deep learning, and artificial intelligence may be used.

[0106] (E) Regarding the reference operating characteristics The controller 70 may create and store a reference operating characteristic using motion information, which is information about the operation of the work machine 100 detected by the motion detector 32, and a model pre-set for creating a reference operating characteristic. Alternatively, the controller 70 may create and store a reference operating characteristic using motion information, which is information about the operation of the work machine 100 detected by the motion detector 32, the operation amount detected by the operation detector 31, and a model pre-set for creating a reference operating characteristic. In these configurations, even if the controller 70 does not pre-store a large number of reference operating characteristics corresponding to various operations, it can create a reference operating characteristic suitable for the actual operation of the work machine 100 each time using the motion information detected by the motion detector 32 and the model, or using the motion information detected by the motion detector 32, the operation amount detected by the operation detector 31, and the model, and store the created reference operating characteristic. In each of these configurations, methods such as machine learning, deep learning, and artificial intelligence may be used to create the reference operating characteristic using the model. The model may be pre-stored in the reference characteristic storage unit 71 as a judgment model. The actual operating characteristics may be determined by inputting operation information detected by the operation detector 32 into the judgment model. Alternatively, the actual operating characteristics may be determined by inputting the operation amount detected by the operation detector 31 and the operation information detected by the operation detector 32 into the judgment model. When the controller 70 pre-stores the reference operating characteristics in the reference characteristic storage unit 71, it may pre-acquire actual work data and pre-store that actual work data, or it may pre-store the model parameters calculated from the actual work data. Furthermore, when creating a model from actual work data, methods such as machine learning, deep learning, and artificial intelligence may be used.

[0107] (F) Reference characteristic memory unit The reference characteristic storage unit 71 does not necessarily have to be mounted on the work machine 100; for example, it may be mounted on a management device such as a server located at a distance from the work machine 100. In this case, the controller 70 may further include a communication device provided on the work machine 100, and the communication device may be configured to send and receive data from the reference characteristic storage unit 71 via wireless or wired communication. In this configuration, there is no need to provide the reference characteristic storage unit 71 on the work machine 100, thus simplifying the configuration of the work machine 100.

[0108] (G) In the above embodiment, the work machine is a hydraulic excavator, but the work machine according to the present disclosure is not limited to a hydraulic excavator, and may be other work machines such as cranes, wheel loaders, bulldozers, etc. Also, in the above embodiment, the tip attachment is a bucket 6, but the tip attachment of the work machine according to the present disclosure may be other devices such as a grapple, fork, nibbler, etc.

[0109] (H) The information regarding the operation of the work machine detected by the motion detector 32 may be, for example, the discharge pressure (pump pressure) of the hydraulic pump, the pump capacity of the hydraulic pump, or the rotational speed of the engine.

[0110] (I) The alarm 80 may be installed on the work machine 100, or it may be located at a location away from the work machine 100.

[0111] (J) At least one of the operation detector, motion detector, and controller of the abnormality detection device relating to this disclosure may be located away from the work machine 100.

[0112] (K) The controller 70 may calculate the actual operating characteristics based on the amount of operation detected by the operation detector 31 and the motion information, which is information regarding the operation of the work machine 100, detected by the motion detector 32 during work by the work machine 100. This allows the controller 70 to obtain actual operating characteristics that take into account changes in the actual operating conditions of the work machine 100. Changes in the actual operating conditions may include changes in the load acting on actuators such as hydraulic cylinders and hydraulic motors. The load may change, for example, according to the amount of soil stored in the bucket 6, or according to the moment of inertia corresponding to the posture of the work device 3.

[0113] (L) The controller 70 may calculate the actual operating characteristics based on the amount of operation detected by the operation detector 31 and the motion information, which is information about the operation of the work machine 100, detected by the motion detector 32 during work by the work machine 100. This allows the controller 70 to obtain actual operating characteristics that take into account not only the motion information but also the amount of operation. [Explanation of Symbols]

[0114] 1: Lower running body 2: Upper rotating body 3: Work equipment 31: Operation Detector 32: Motion detector 40:Operator 41: Operating lever 70: Controller 80: Alarm 100: Working machinery 101: Abnormality determination device

Claims

1. An operation detector that detects the amount of operation applied to the control device by an operator to move a work machine, A motion detector for detecting the operation of the aforementioned work machine, The system includes a controller that stores in advance reference operating characteristics as a reference for the characteristics of the operating amount of the aforementioned operation, An abnormality determination device comprising: a controller which obtains actual operation characteristics, which are the actual characteristics of the operation amount, using the detection result of the operation amount of the operation by the operation detector; if the actual operation characteristics correspond to the reference operation characteristics, it determines an abnormality of the work machine using the detection result of the operation of the work machine by the motion detector; and if the actual operation characteristics do not correspond to the reference operation characteristics, it suspends the determination of the abnormality.

2. The aforementioned controller, The reference operating characteristics, which serve as a reference for the operating characteristics of the work machine corresponding to the aforementioned reference operating characteristics, are stored in advance in association with the aforementioned reference operating characteristics. Using the detection results of the operation of the work machine by the motion detector, the actual operation characteristics, which are the actual characteristics of the operation of the work machine, are obtained. An abnormality determination device according to claim 1, wherein if the actual operating characteristics correspond to the reference operating characteristics, the abnormality is determined by comparing the actual operating characteristics with the reference operating characteristics.

3. The aforementioned standard operating characteristics are first standard operating characteristics stored in the controller in association with a predetermined first operation that is performed by the work machine, An anomaly determination device according to claim 1, wherein the controller further stores a second reference operating characteristic associated with a second operation performed by the work machine that is different from the first operation, and when the operation performed by the work machine is the first operation, the first reference operating characteristic is used to determine the anomaly, and when the operation performed by the work machine is the second operation, the second reference operating characteristic is used to determine the anomaly.

4. The abnormality determination device according to claim 3, wherein the controller determines whether the work performed by the work machine is the first work or the second work, using the result of detecting the operation of the work machine by the motion detector.

5. The aforementioned reference operating characteristics are first reference operating characteristics stored in the controller in association with a predetermined first operation that is performed by the work machine, An abnormality determination device according to claim 2, wherein the controller further stores a second reference operating characteristic associated with a second operation performed by the work machine that is different from the first operation, and when the operation performed by the work machine is the first operation, the abnormality is determined using the first reference operating characteristic, and when the operation performed by the work machine is the second operation, the abnormality is determined using the second reference operating characteristic.

6. The abnormality determination device according to claim 1, wherein the controller creates and stores the reference operation characteristics using the amount of operation detected by the operation detector and a model set in advance for creating the reference operation characteristics.

7. The abnormality determination device according to claim 2, wherein the controller creates and stores the reference operating characteristics using the operation of the work machine detected by the motion detector and a model set in advance for creating the reference operating characteristics.

8. The controller includes a reference characteristic storage unit that stores the reference operating characteristics, The reference characteristic storage unit is provided in a control device located at a distance from the work machine. The abnormality determination device according to claim 1, wherein the controller further comprises a communication device, and the communication device is configured to transmit and receive data from the reference characteristic storage unit by wireless or wired communication.

9. A work machine equipped with an abnormality detection device according to any one of claims 1 to 8.

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