JP2024057328A - Abnormality determination device for a work machine and work machine equipped with the same - Google Patents

Abstract

An object of the present invention is to prevent erroneous determinations from being made when determining an abnormality in a work machine.
[Solution] The abnormality determination device 101 includes an operation detector 31 that detects the amount of operation applied to an operator 40, a motion detector 32 that detects the operation of the work machine 100, and a controller 70 that pre-stores reference operation characteristics as standards for the characteristics of the amount of operation of the operation. The controller 70 obtains actual operation characteristics, which are actual characteristics of the amount of operation of the operation, using the detection result of the amount of operation of the operation by the operation detector 31, and if the actual operation characteristics correspond to the reference operation characteristics, 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, and reserves the determination of an abnormality if the actual operation characteristics do not correspond to the reference operation characteristics.
[Selected figure] Figure 2

Description

This disclosure relates to technology for determining abnormalities in a work machine.

Patent Document 1 discloses a technology aimed at detecting abnormalities in hydraulic pumps in a work vehicle. The work vehicle in Patent Document 1 includes an operating state determination unit and an abnormality determination unit. The operating state determination unit determines an operating state resulting from a combination of multiple operating units. The abnormality determination unit compares a first relationship, which corresponds to the operating state determined by the operating state determination unit and is a preset relationship between the discharge pressures of multiple hydraulic pumps, with a second relationship, which is a relationship between the discharge pressures of multiple hydraulic pumps detected by a detection unit, and determines that an abnormality has occurred in at least one of the multiple hydraulic pumps when the second relationship differs from the first relationship.

JP 2019-112801 A

In the technology of Patent Document 1, the operating state is determined based on the operations applied to multiple control levers, and an abnormality is determined using the relationship corresponding to this operating state. However, the specific characteristics of the operations applied to the operating levers may differ depending on the operator, and therefore the operations applied to the multiple control levers may not necessarily correspond to the pre-expected operating state. In this case, it may be determined that there is an abnormality even though there is no abnormality in the components of the work machine, i.e., an erroneous determination may be made.

The present disclosure aims to provide an abnormality determination device that can prevent erroneous determinations when determining abnormalities in a work machine, and a work machine equipped with the same.

The abnormality determination device provided includes an operation detector that detects the amount of operation given to an operating device by an operator to move a work machine, a motion detector that detects the operation of the work machine, and a controller that prestores reference operation characteristics as a standard for the characteristics of the operation amount of the operation, and the controller obtains actual operation characteristics, which are the actual characteristics of the operation amount of the operation, using the detection result of the operation amount of the operation by the operation detector, and if the actual operation characteristics correspond to the reference operation characteristics, determines an abnormality of the work machine using the detection result of the operation of the work machine by the motion detector, and reserves the determination of the abnormality if the actual operation characteristics do not correspond to the reference operation characteristics.

In this abnormality determination device, the reference operating characteristics are stored in advance in the controller as a reference for the characteristics of the operation amount of the operation, and the controller determines an abnormality in the work machine when the actual operating characteristics correspond to the reference operating characteristics, but reserves the determination of an abnormality when the actual operating characteristics do not correspond to the reference operating characteristics, in other words, when an operation with unexpected operating characteristics is performed, thereby preventing erroneous determinations.

The controller preferably stores in advance a reference operating characteristic as a standard for the characteristics of the operation of the work machine corresponding to the reference operating characteristic in association with the reference operating characteristic, obtains an actual operating characteristic, which is an actual characteristic of the operation of the work machine, using the detection result of the operation of the work machine by the operation detector, and, when the actual operating characteristic corresponds to the reference operating characteristic, performs the abnormality determination by comparing the actual operating characteristic with the reference operating characteristic. In this configuration, the reference operating characteristic to be compared with the actual operating characteristic is stored in advance in association with the reference operating characteristic, and is an operating characteristic expected when an operation having the reference operating characteristic is performed. Therefore, in this configuration, the abnormality determination is appropriately performed within a range expected in advance.

The reference operating characteristic is a first reference operating characteristic associated with a first operation, which is a predetermined operation performed by the work machine, and stored in the controller. The controller may further store a second reference operating characteristic associated with a second operation, which is a operation performed by the work machine and different from the first operation, and may use the first reference operating characteristic to determine the abnormality when the operation performed by the work machine is the first operation, and may use the second reference operating characteristic to determine the abnormality when the operation performed by the work machine is the second operation. In this configuration, the first reference operating characteristic assumed in the first operation is stored in association with the first operation, and the second reference operating characteristic assumed in the second operation is stored in association with the second operation. The controller can then use the reference operating characteristic corresponding to the content of the actual operation, out of the first reference operating characteristic and the second reference operating characteristic, to determine the abnormality appropriately for each operation.

It is preferable that the controller uses the detection result of the operation of the work machine by the operation detector to determine whether the operation performed by the work machine is the first operation or the second operation. In this configuration, the controller automatically determines the operation using the detection result by the operation detector, eliminating the need for an operator to input information to the controller to identify the type of operation, for example.

The reference operating characteristic is a first reference operating characteristic stored in the controller in association with a first operation performed by the work machine and determined in advance, and the controller further stores a second reference operating characteristic associated with a second operation performed by the work machine and different from the first operation, and preferably performs the abnormality determination using the first reference operating characteristic when the operation performed by the work machine is the first operation, and performs the abnormality determination using the second reference operating characteristic when the operation performed by the work machine is the second operation. In this configuration, the first reference operating characteristic assumed in the first operation is stored in association with the first operation, and the second reference operating characteristic assumed in the second operation is stored in association with the second operation. The controller can then perform an appropriate abnormality determination for each operation using the reference operating characteristic corresponding to the content of the actual operation, out of the first reference operating characteristic and the second reference operating characteristic.

The controller may create and store the reference operation characteristic using the amount of operation of the operation detected by the operation detector and a model that is preset for creating the reference operation characteristic. In this configuration, even if the controller does not previously store a large number of reference operation characteristics corresponding to various actions, the controller can create a reference operation characteristic suitable for the amount of operation of the actual operation each time using the amount of operation of the operation detected by the operation detector and the model, and store the created reference operation characteristic.

The controller may create and store the reference motion characteristic using the motion of the work machine detected by the motion detector and a model that is preset for creating the reference motion characteristic. In this configuration, even if the controller does not previously store a large number of reference motion characteristics corresponding to various motions, the controller can create a reference motion characteristic suited to the actual motion of the work machine each time using the motion of the work machine detected by the motion detector and the model, and store the created reference motion characteristic.

The controller may include a reference characteristic storage unit that stores the reference operating characteristics, the reference characteristic storage unit being provided in a management device located away from the work machine, and the controller may further include a communicator that is configured to transmit and receive data to and from the reference characteristic storage unit via wireless or wired communication. With this configuration, there is no need to provide a reference characteristic storage unit in the work machine, and the configuration of the work machine can be simplified.

The provided work machine is equipped with the abnormality determination device described above, which can reduce erroneous determinations when determining abnormalities in the work machine.

According to the present disclosure, an abnormality determination device that can prevent erroneous determinations when determining an abnormality in a work machine and a work machine equipped with the same are provided.

FIG. 1 is a side view showing a work machine according to an embodiment of the present disclosure. 2 is a block diagram showing a functional configuration of the abnormality determination device for the work machine. FIG. 4A to 4C are diagrams showing excavation work, lifting and swinging work, soil removal work and return swinging work performed by the work machine. 4 is a flowchart showing an example of a calculation process performed by a controller of the abnormality determination device. 4 is a graph showing an example of a reference operating characteristic and an actual operating characteristic. 1 is a graph showing an example of a reference operating characteristic and an actual operating characteristic. 13 is a graph showing another example of the reference operating characteristic and the actual operating characteristic. 13 is a graph showing another example of the reference operation characteristic and the actual operation characteristic. 10 is a flowchart showing another example of the calculation process performed by the controller. 4 is a graph showing reference operating characteristics according to the amount of soil contained in a bucket of a work machine.

An embodiment of the present disclosure will be described with reference to the drawings. The work machine 100 shown in FIG. 1 is a hydraulic excavator. This work machine 100 includes a lower traveling body 1, an upper rotating body 2, and a work device 3.

The lower traveling body 1 comprises a pair of left and right crawler traveling devices and a lower frame supported by these crawler traveling devices. The upper rotating body 2 is supported by the lower traveling body 1 so as to be rotatable around a rotation axis Z. The rotation axis Z is an axis that extends in the vertical direction. The upper rotating body 2 comprises 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.

The working device 3 includes a boom 4 supported on the upper rotating body 2 so that it can be raised or lowered, an arm 5 supported on the boom 4 so that it can rotate, and a tip attachment supported on the arm 5 so that it can rotate. In this embodiment, the tip attachment is a bucket 6.

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

The work machine 100 further includes a drive source 12 such as an engine, a hydraulic pump 13, a control valve unit 14, a number of actuators, and a number of operating devices 40 (see FIG. 2).

The hydraulic pump 13 is driven by the drive source 12 to discharge hydraulic oil. The hydraulic pump 13 supplies hydraulic oil to multiple actuators. The hydraulic pump 13 is a variable displacement hydraulic pump that can change its capacity (pump capacity) in response to a pump capacity command from the controller 70, which will be described later.

The control valve unit 14 is interposed between the hydraulic pump 13 and the multiple actuators, and distributes the hydraulic oil supplied to the multiple actuators.

Each of the multiple actuators is operated by being supplied with hydraulic oil 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 rotation motor 10, which is a hydraulic motor for rotating the upper rotating body 2, and a pair of left and right traveling motors 11, which are hydraulic motors for traveling the lower traveling body 1.

The multiple controllers 40 include a boom controller 40, an arm controller 40, a bucket controller 40, a rotation controller 40, and a pair of left and right travel controllers 40. Note that in FIG. 2, only one controller 40 is shown, and the other controllers 40 are omitted.

The boom operator 40 has an operating lever 41 through which the operator applies boom operation to activate the boom cylinder 7. The boom operation is a boom-raising operation or a boom-lowering operation. The boom-raising operation is an operation for causing the boom 4 to perform a boom-raising operation, and the boom-lowering operation is an operation for causing the boom 4 to perform a boom-lowering operation. The boom-raising operation is an operation in which the boom 4 rotates relative to the upper rotating body 2 so that the tip of the boom 4 moves away from the ground. The boom-lowering operation is an operation in which the boom 4 rotates relative to the upper rotating body 2 so that the tip of the boom 4 moves closer to the ground.

The arm operator 40 has an operating lever 41 through which an arm operation for actuating the arm cylinder 8 is given by the operator. The arm operation is an arm pulling operation or an arm pushing operation. The arm pulling operation is an operation for making the arm 5 perform an arm pulling operation, and the arm pushing operation is an operation for making the arm 5 perform an arm pushing operation. The 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 approaches the boom 4. The 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.

The bucket operator 40 has an operating lever 41 through which the operator applies bucket operation for actuating the bucket cylinder 9. The bucket operation is a bucket pulling operation or a bucket pushing operation. The bucket pulling operation is an operation for making the bucket 6 perform a bucket pulling operation, and the bucket pushing operation is an operation for making the bucket 6 perform a bucket pushing operation. The 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. The 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.

The turning operation device 40 has an operating lever 41 through which the operator applies a turning operation to operate the turning motor 10. The turning operation is a right turning operation or a left turning operation.

The pair of travel controls 40 includes a right travel control 40 having an operating lever 41 through which the operator applies a travel operation to operate the right travel motor 11, and a left travel control 40 having an operating lever 41 through which the operator applies a travel operation to operate the left travel motor 11. The travel operation is a forward travel operation or a reverse travel operation.

Each of the multiple operating devices 40 may be an operating device having a remote control valve that outputs a secondary pressure (pilot pressure) according 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.

In addition, each of the multiple operating devices 40 may be a so-called electric lever type operating device. In this case, the operation detector 31 described later includes a sensor that detects the direction and amount of operation applied to the operating lever 41, and inputs the detection results to the controller 70. The controller 70 then inputs a control command to an electromagnetic proportional valve (not shown) so that a pilot pressure according to the amount of operation is supplied to a pilot port of a control valve described later.

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 according to the pilot pressure input to the pilot ports.

The boom control valve is interposed between the hydraulic pump 13 and the boom cylinder 7. When pilot pressure corresponding to the amount of boom operation (boom-raising operation or boom-lowering operation) is input to the pilot port, the boom control valve opens so that hydraulic oil is supplied to the boom cylinder 7 at a flow rate corresponding to this pilot pressure.

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

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

The swing control valve is interposed between the hydraulic pump 13 and the swing motor 10. When a pilot pressure corresponding to the amount of swing operation (right swing operation or left swing operation) is input to the pilot port, the swing control valve opens so that a flow rate of hydraulic oil corresponding to this pilot pressure is supplied to the swing motor 10.

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

As shown in FIG. 2, the work machine 100 includes an abnormality determination device 101 according to an embodiment of the present disclosure. The abnormality determination device 101 includes a plurality of detectors, a controller 70, and an alarm 80.

The multiple detectors include multiple operation detectors 31 and multiple motion detectors 32. Each of the multiple detectors inputs a detection result to the controller 70.

The multiple operation detectors 31 include a boom operation detector 31, an arm operation detector 31, a bucket operation detector 31, a swing operation detector 31, and a pair of travel operation detectors 31.

The boom operation detector 31 detects the operation direction and operation amount of the boom operation applied to the operation lever 41 of the boom operator 40. The arm operation detector 31 detects the operation direction and operation amount of the arm operation applied to the operation lever 41 of the arm operator 40. The bucket operation detector 31 detects the operation direction and operation amount of the bucket operation applied to the operation lever 41 of the bucket operator 40. The swing operation detector 31 detects the operation direction and operation amount of the swing operation applied to the operation lever 41 of the swing operator 40. The pair of travel operation detectors 31 includes a travel operation detector 31 that detects the operation direction and operation amount of the travel operation applied to the operation lever 41 of the right travel operator 40, and a travel operation detector 31 that detects the operation direction and operation amount of the travel operation applied to the operation lever 41 of the left travel operator 40.

The multiple motion detectors 32 include a boom motion detector 32, an arm motion detector 32, a bucket motion detector 32, a swing motion detector 32, and a pair of travel motion detectors 32.

The boom motion detector 32 detects the motion of the boom cylinder 7 or the motion of the boom 4. The arm motion detector 32 detects the motion of the arm cylinder 8 or the motion of the arm 5. The bucket motion detector 32 detects the motion of the bucket cylinder 9 or the motion of the bucket 6. The swing motion detector 32 detects the motion of the swing motor 10 or the swing motion of the upper swing body 2. The pair of traveling motion detectors 32 includes a traveling motion detector 32 that detects the motion of the right traveling motor 11 or the motion of the right traveling device, and a traveling motion detector 32 that detects the motion of the left traveling motor 11 or the motion of the left traveling device.

Specifically, the boom operation detector 32 may be a boom angle sensor that detects the angle of the boom 4 relative to the upper rotating body 2, a boom angle sensor that detects the angle of the boom 4 relative to the horizontal plane, a stroke sensor that detects the operation of the boom cylinder 7, or other sensors. Examples of boom angle sensors include a resolver, a rotary encoder, a potentiometer, and an IMU (inertial measurement unit). The stroke sensor may be one that detects the cylinder length of the hydraulic cylinder, or one that detects the position of the piston rod relative to the cylinder tube.

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 operation of the arm cylinder 8, or another 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 operation of the bucket cylinder 9, or another sensor. As the arm angle sensor and bucket angle sensor, the same ones as the boom angle sensor described above can be used.

The rotation motion detector 32 may be a sensor that detects the rotation motion of the rotation motor 10, or may be a sensor that detects the rotation motion of the upper rotating body 2 relative to the lower traveling body 1. The traveling motion detector 32 may be a sensor that detects the rotation motion of the traveling motor 11. These sensors may be, for example, a gyro sensor or a rotary encoder such as a resolver.

The controller 70 includes a computer including an arithmetic processing unit and a memory. The controller 70 prestores reference operation characteristics as a standard for the characteristics of the operation amount of the operation given to the operation device 40. The controller 70 acquires actual operation characteristics, which are the actual characteristics of the operation amount of the operation, using the detection result of the operation amount of the operation by the operation detector 31, and when the actual operation characteristics correspond to the reference operation characteristics, judges an abnormality of the work machine 100 using the detection result of the operation of the work machine 100 by the operation detector 32, and when the actual operation characteristics do not correspond to the reference operation characteristics, reserves the judgment of the abnormality. Specifically, it is as follows.

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.

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

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 characteristic, which is the characteristic of the operation actually applied to the operation lever 41 of the controller 40.

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

The abnormality determination unit 74 determines whether or not the actual operating characteristics calculated by the operating characteristics calculation unit 72 correspond to the reference operating characteristics stored in the reference characteristic storage unit 71. When the actual operating characteristics correspond to the reference operating characteristics, the abnormality determination unit 74 performs an abnormality determination to determine whether or not there is an abnormality in the work machine 100. On the other hand, when the actual operating characteristics do not correspond to the reference operating characteristics, the abnormality determination unit 74 reserves the abnormality determination. In other words, when the actual operating characteristics do not correspond to the reference operating characteristics, the abnormality determination unit 74 does not perform the abnormality determination.

In the abnormality judgment, the abnormality judgment unit 74 judges whether or not the actual operation characteristics calculated by the operation characteristic calculation unit 73 correspond to the reference operation characteristics stored in the reference characteristic storage unit 71. If the actual operation characteristics correspond to the reference operation characteristics, the abnormality judgment unit 74 judges that there is no abnormality in the components related to the actual operation characteristics in the work machine 100. On the other hand, if the actual operation characteristics do not correspond to the reference operation characteristics, the abnormality judgment unit 74 judges that there is an abnormality in the components related to the actual operation characteristics in the work machine 100.

When the abnormality determination unit 74 determines that there is an abnormality in a component related to the actual operation characteristics, it controls the operation of the alarm 80 so that an alarm is issued to inform the operator that there is an abnormality in the component. In addition, even when the abnormality determination unit 74 determines that there is no abnormality in the component related to the actual operation characteristics, it may control the operation of the alarm 80 so that an alarm is issued to inform the operator that there is no abnormality in the component.

The alarm 80 may include a display that displays a message to inform the operator of the presence or absence of an abnormality in the component, and may include an audio device that audibly informs the operator of the presence or absence of an abnormality in the component. The alarm 80 may be disposed in the cab.

Figure 3 shows the excavation work, lifting and swinging work, soil removal work, and return swinging work performed by the work machine 100.

As shown in FIG. 3A, excavation work is work for storing soil and sand in the bucket 6 by moving the bucket 6 toward the lower traveling body 1 with part of the bucket 6 placed in the soil. This excavation work includes an arm retracting operation and a boom raising operation. The arm retracting 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. The boom raising operation is an operation in which the boom 4 rotates relative to the upper rotating body 2 so that the tip of the boom 4 moves away from the ground.

The lifting and rotating operation shown in FIG. 3B is an operation carried out after excavation work. The lifting and rotating operation includes a boom raising operation and a rotating operation carried out while the bucket 6 is loaded with soil during excavation work. By carrying out this lifting and rotating operation, the bucket 6 is positioned directly above the bed of the soil transport vehicle.

The soil dumping operation shown in FIG. 3(C) is an operation that is performed after the lifting and swinging operation. The soil dumping operation is an operation in which the soil in the bucket 6 is discharged onto the bed of the soil transport vehicle with the bucket 6 positioned directly above the bed. This soil dumping operation includes an arm pushing operation. This 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.

The return rotation operation shown in FIG. 3(D) is an operation carried out after the soil removal operation. The return rotation operation includes a boom lowering operation and a rotation operation. The boom lowering operation is an 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. By carrying out this return rotation operation, the bucket 6 is positioned directly above the soil to be excavated.

Next, an example of the calculation process performed by the controller 70 of the abnormality determination device 101 will be described with reference to the flowchart in FIG. 4. The following describes the calculation process when, for example, the soil dumping work shown in FIG. 3(C) is performed. When the soil dumping work shown in FIG. 3(C) is performed, the operator applies an arm push operation to the operating lever 41 of the arm operator 40 so that the arm 5 performs an arm push operation.

The reference characteristic memory unit 71 of the controller 70 prestores the reference operating characteristic of the arm pushing operation. The reference characteristic memory unit 71 also prestores the reference operating characteristic of the arm pushing operation of the arm 5. The reference operating characteristic of the arm pushing operation may be, for example, a characteristic as shown by the dashed line in FIG. 5. The reference operating characteristic of the arm pushing operation may be, for example, a characteristic as shown by the dashed line in FIG. 6.

The horizontal axis of the graph in FIG. 5 is time, and the vertical axis of the graph in FIG. 5 is pilot pressure. This pilot pressure is a value that correlates with the amount of operation applied to the operation lever 41 as described above. Therefore, the vertical axis of the graph in FIG. 5 may be the amount of operation. The reference operation characteristic in FIG. 5 indicates the time change in pilot pressure input to the pilot port of the arm control valve, and indicates the time change in the amount of operation of the arm push operation applied to the operation lever 41 of the arm operation device 40. In the specific example of FIG. 5, the reference operation characteristic has a characteristic (time change in the amount of operation) such that the operation lever 41 of the arm operation device 40 is operated from the neutral position to the maximum operation position (full lever position) at an operation speed represented by the slope shown in FIG. 5, and then the position of the operation lever 41 is maintained at the maximum operation position.

The horizontal axis of the graph in FIG. 6 is time, and the vertical axis of the graph in FIG. 6 is the operating speed of the arm cylinder 8. The reference operating characteristic in FIG. 6 indicates the time change in the operating speed (retraction speed) of the arm cylinder 8. In the specific example in FIG. 6, the reference operating characteristic has a characteristic (time change in operating speed) in which the operating speed increases from a state in which the arm cylinder 8 is stopped with a slope as shown in FIG. 6, 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 that correlates with the operating speed of the arm 5, the reference operating characteristic in FIG. 6 may also indicate the time change in the operating speed of the arm 5.

In step S11, the controller 70 acquires information about the operation applied to the operator 40 from the operation detector 31, and acquires information about the operation of the work machine 100 (operation information) from the operation detector 32.

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

The controller 70 uses information on the arm pushing operation acquired from the arm operation detector 31 to calculate actual operation characteristics, for example as shown by the solid line in FIG. 5 (step S12). The actual operation characteristics in FIG. 5 represent the time change in the secondary pressure (pilot pressure) of the remote control valve of the arm operator 40, i.e., the time change in the amount of operation of the arm pushing operation actually performed by the operator. The actual operation characteristics in FIG. 5 have characteristics such 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 a slope as shown by the solid line in FIG. 5, and then the position of the operating lever 41 is maintained at the maximum operating position.

The controller 70 uses information on the operation of the arm cylinder 8 obtained from the arm operation detector 32, i.e., information on the arm pushing operation of the arm 5, to calculate actual operation characteristics, for example, as shown by the solid line in FIG. 6 (step S13). In the specific example of FIG. 6, the actual operation characteristics have a characteristic (time change in operation speed) in which the operation speed increases from a state in which the arm cylinder 8 is stopped, with a slope as shown by the solid line in FIG. 6, and then the operation speed gradually decreases over time.

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

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 of steps S15 and S16, and performs the process of step S11. That is, 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 prevents erroneous determinations from being made.

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

If the actual operating characteristics correspond to the reference operating characteristics (NO in step S15), the controller 70 performs the process of step S11. In this case, there is a high possibility that the components of the work machine 100 related to the actual operating characteristics are not abnormal. Examples of such components include the arm cylinder 8, the hydraulic pump 13, and the arm control valve.

On the other hand, if the actual movement characteristics do not correspond to the reference movement characteristics (YES in step S15), the controller 70 determines that there is an abnormality in the component related to the actual movement characteristics. Then, the controller 70 controls the operation of the alarm 80 so that an alarm is issued to inform the operator that there is an abnormality in the component related to the actual movement characteristics (step S16). For example, in the specific example shown in FIG. 6, the difference between the actual movement characteristics and the reference movement characteristics gradually increases over time, and when the difference exceeds the threshold value, it is determined that the actual movement characteristics do not correspond to the reference movement characteristics.

Figure 7 is a graph showing another example of the reference operation characteristics and the actual operation characteristics, and Figure 8 is a graph showing another example of the reference operation characteristics and the actual operation characteristics. In the specific example shown in Figures 7 and 8, a first operation for operating a first actuator of the multiple actuators and a second operation for operating a second actuator of the multiple actuators are performed simultaneously. The specific example shown in Figures 7 and 8 may be related to the excavation work shown in Figure 3 (A), for example. This excavation work includes an arm retraction operation and a 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 a boom raising operation, and the second operation is an arm retraction operation.

The reference characteristic memory unit 71 of the controller 70 prestores the reference operating characteristic (first reference operating characteristic) of the boom raising operation shown by the dashed line in FIG. 7, and the reference operating characteristic (second reference operating characteristic) of the arm pulling operation shown by the dashed line in FIG. 7. The reference characteristic memory unit 71 also prestores the reference operating characteristic (first reference operating characteristic) of the boom raising operation of the boom 4 shown by the dashed line in FIG. 8, and the reference operating characteristic (second reference operating characteristic) of the arm pulling operation of the arm 5 shown by the dashed line in FIG. 8.

In step S11 of FIG. 4, the controller 70 acquires information about the operation applied to the operator 40 from the operation detector 31, and acquires information about the operation of the work machine 100 from the operation detector 32.

Specifically, when a boom-raising operation is applied to the control 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 control lever 41 of the boom operator 40, the boom cylinder 7 operates according to the amount of operation 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).

When an arm pull operation is applied to the operation lever 41 of the arm operator 40, the arm operation detector 31 detects the secondary pressure (pilot pressure) of the remote control valve of the arm operator 40 and inputs the detection result to the controller 70 (step S11). When an arm pull operation is applied to the operation lever 41 of the arm operator 40, the arm cylinder 8 operates according to the amount of operation of the arm pull operation. The arm operation detector 32 detects, for example, the operating speed of the arm cylinder 8 and inputs the detection result to the controller 70 (step S11).

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

The controller 70 uses information on the operation of the boom cylinder 7 acquired from the boom operation detector 32, i.e., information on the boom raising operation of the boom 4, to calculate an actual operation characteristic (first actual operation characteristic) such as that shown by the solid line in FIG. 8 (step S13). The controller 70 also uses information on the operation of the arm cylinder 8 acquired from the arm operation detector 32, i.e., information on the arm pulling operation of the arm 5, to calculate an actual operation characteristic (second actual operation characteristic) such as that shown by the solid line in FIG. 8 (step S13). In the specific example of FIG. 8, the first actual operation characteristic has a characteristic (time change in operation speed) in which the operation speed increases from a state in which the boom cylinder 7 is stopped with a slope shown by the solid line in FIG. 8, and then the operation speed gradually decreases over time. The second actual operation characteristic has a characteristic (time change in operation speed) in which the operation speed increases from a state in which the arm cylinder 8 is stopped with a slope shown by the solid line in FIG. 8, and then the operation speed temporarily decreases, then increases again, and is maintained at an approximately constant value.

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 equal to or less than a preset threshold, determine that the first actual operating characteristic corresponds to the first reference operating characteristic, and if the difference exceeds the threshold, determine that the first actual operating characteristic does not correspond to the first reference operating characteristic.

The controller 70 also 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 equal to or less than a preset threshold, determine that the second actual operating characteristic corresponds to the second reference operating characteristic, and if the difference exceeds the threshold, determine that the second actual operating characteristic does not correspond to the second reference operating characteristic.

If the first actual operating characteristic does not correspond to the first reference operating characteristic (NO in step S14), the controller 70 does not perform steps S15 and S16, and performs step S11. Also, if the second actual operating characteristic does not correspond to the second reference operating characteristic (NO in step S14), the controller 70 does not perform steps S15 and S16, and performs step S11. That is, 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 prevents erroneous determinations from being made.

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

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

On the other hand, if the first actual movement characteristic does not correspond to the first reference movement characteristic (YES in step S15), the controller 70 determines that there is an abnormality in the component related to the first actual movement characteristic. Then, the controller 70 controls the operation of the alarm 80 so that an alarm is issued to inform the operator that there is an abnormality in the component related to the first actual movement characteristic (step S16). If the second actual movement characteristic does not correspond to the second reference movement characteristic (YES in step S15), the controller 70 determines that there is an abnormality in the component related to the second actual movement characteristic. Then, the controller 70 controls the operation of the alarm 80 so that an alarm is issued to inform the operator that there is an abnormality in the component related to the second actual movement characteristic (step S16). For example, in the specific example shown in FIG. 8, the second actual movement characteristic has a time period in which the movement speed temporarily decreases and then increases again, and if the difference between the second actual movement characteristic and the second reference movement characteristic during this time period exceeds the threshold value, it is determined that the second actual movement characteristic does not correspond to the second reference movement characteristic. The decrease in movement speed during this time period may be caused, for example, by the generation of negative pressure in the hydraulic circuit.

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

As described above, in the abnormality determination device 101 according to this embodiment, the reference operating characteristics are stored in advance in the controller 70 as a reference for the characteristics of the operation amount of the operation, and the controller 70 determines an abnormality in the work machine 100 when the actual operating characteristics correspond to the reference operating characteristics, but reserves the determination of an abnormality when the actual operating characteristics do not correspond to the reference operating characteristics, in other words, when an operation having an unexpected operating characteristic is performed, so that erroneous determination can be suppressed. Note that various causes of abnormalities in the work machine 100 are assumed, such as those caused by aging deterioration of the various devices, parts, and other components included in the work machine 100, and those caused by the components being subjected to loads, impacts, etc. during work by the work machine 100.

In addition, in this embodiment, the controller 70 pre-stores reference operating characteristics as a standard for the characteristics of the operation of the work machine 100 corresponding to the reference operating characteristics in association with the reference operating characteristics, calculates actual operating 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 operation detector 32, and when the actual operating characteristics correspond to the reference operating characteristics, judges whether there is an abnormality by comparing the actual operating characteristics with the reference operating characteristics. In this case, the reference operating characteristics to be compared with the actual operating characteristics are pre-stored in association with the reference operating characteristics, and are operating characteristics expected when an operation having the reference operating characteristics is performed. Therefore, in this embodiment, the judgment of an abnormality is appropriately performed within a range expected in advance.

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 associated with an excavation operation and stored in the reference characteristic storage unit 71, a reference operating characteristic associated with a lifting and swinging operation and stored in the reference characteristic storage unit 71, a reference operating characteristic associated with an earth removal operation and stored in the reference characteristic storage unit 71, and a reference operating characteristic associated with a return swinging operation and stored in the reference characteristic storage unit 71. When the work performed by the work machine 100 is an excavation work, the controller 70 judges whether there is an abnormality using the reference operating characteristics associated with the excavation work, when the work performed by the work machine 100 is a lifting and swinging work, the controller 70 judges whether there is an abnormality using the reference operating characteristics associated with the lifting and swinging work, when the work performed by the work machine 100 is an earth dumping work, the controller 70 judges whether there is an abnormality using the reference operating characteristics associated with the earth dumping work, and when the work performed by the work machine 100 is a return swinging work, the controller 70 judges whether there is an abnormality using the reference operating characteristics associated with the return swinging work. In this way, the controller 70 can judge whether there is an abnormality appropriately for each work using the reference operating characteristics according to the content of the actual work. Note that the excavation work, the lifting and swinging work, the earth dumping work, and the return swinging work are each an example of a first work in this disclosure and an example of a second work in this disclosure.

In this embodiment, it is preferable that the controller 70 uses the detection results of the operation of the work machine 100 by the operation detector 32 to determine whether the operation being performed by the work machine 100 is an excavation operation, a lifting and swinging operation, an earth removal operation, or a return swinging operation. In this case, the controller 70 automatically determines the operation using the detection results by the operation detector 32, so that, for example, it is not necessary for the operator to input information to the controller 70 to identify the content of the operation.

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 associated with an excavation operation and stored in the reference characteristic storage unit 71, a reference operating characteristic associated with a lifting and swinging operation and stored in the reference characteristic storage unit 71, a reference operating characteristic associated with an earth removal operation and stored in the reference characteristic storage unit 71, and a reference operating characteristic associated with a return swinging operation and stored in the reference characteristic storage unit 71. When the work performed by the work machine 100 is an excavation work, the controller 70 judges whether there is an abnormality using the reference operating characteristic associated with the excavation work, when the work performed by the work machine 100 is a lifting and swinging work, the controller 70 judges whether there is an abnormality using the reference operating characteristic associated with the lifting and swinging work, when the work performed by the work machine 100 is an earth dumping work, the controller 70 judges whether there is an abnormality using the reference operating characteristic associated with the earth dumping work, and when the work performed by the work machine 100 is a return swinging work, the controller 70 judges whether there is an abnormality using the reference operating characteristic associated with the return swinging work. In this case, the controller 70 can judge whether there is an abnormality appropriately for each work using the reference operating characteristic according to the content of the actual work. Note that the excavation work, the lifting and swinging work, the earth dumping work, and the return swinging work are each an example of the first work in this disclosure and an example of the second work in this disclosure.

[Modification]
The abnormality determination device and the work machine equipped with the same according to the embodiment of the present disclosure have been described above, but the present disclosure is not limited to the above embodiment and includes, for example, the following modified examples.

(A) Modification 1
Fig. 9 is a flowchart showing another example of the calculation process performed by the controller 70. The flowchart shown in Fig. 9 differs from the flowchart shown in Fig. 4 in that it further includes processes of steps S21 and S22, but the other processes of steps S11 to S16 in Fig. 9 are similar to steps S11 to S16 shown in Fig. 4.

In this variant 1, even if the actual operating characteristics do not correspond to the reference operating characteristics (YES in step S15), instead of immediately performing the processing 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 value (step S22).

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

(B) Modification 2
Fig. 10 is a graph showing reference operating characteristics according to the amount of soil contained in the bucket 6 of the work machine 100. As shown in Fig. 10, the controller 70 may perform an abnormality determination using the reference operating characteristics according to the amount of soil contained in the bucket 6, thereby making it possible to further improve the accuracy of the abnormality determination.

The reference characteristic storage unit 71 of the controller 70 may, for example, prestore the reference operating characteristic when the capacity shown in FIG. 10 is zero, calculate the capacity of the soil in the bucket 6 using the detection results input from a detector for detecting information about the capacity, and calculate the reference operating characteristic according to the capacity using the calculated capacity and a preset relational expression. The reference characteristic storage unit 71 may also prestore multiple reference operating characteristics associated with one reference operating characteristic, calculate the capacity of the soil in the bucket 6 using the detection results input from the detector, and select the reference operating characteristic closest to the calculated capacity from the multiple reference operating characteristics. The controller 70 then uses the selected reference operating characteristic to determine whether there is an abnormality.

For example, in the specific example shown in FIG. 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 when the capacity of the bucket 6 is zero, a reference operating characteristic when the capacity is W1 greater than zero, and a reference operating characteristic when the capacity is W2 greater than W1. The controller 70 calculates the capacity of the bucket 6 using the detection results input from the detector, determines which of the capacity of zero, the capacity of W1, and the capacity of W2 the calculated capacity is closest to, and selects the reference operating characteristic corresponding to the closest capacity from the multiple reference operating characteristics. The controller 70 then uses the selected reference operating characteristic to determine an abnormality. The detector for detecting information regarding the capacity may be, for example, a pressure sensor that detects the head pressure of the boom cylinder 7, or a load cell that detects the capacity of the bucket 6.

(C) Modification 3
The controller 70 may perform the abnormality determination using a reference operating characteristic according to the posture of the working device 3, thereby making it possible to further improve the accuracy of the abnormality determination.

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

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

(D) Reference Operation Characteristics The controller 70 may create and store reference operation characteristics using the operation amount of the operation detected by the operation detector 31 and a model set in advance for creating the reference operation characteristics. The controller 70 may also create and store reference operation characteristics using the operation amount of the operation detected by the operation detector 31, operation information, which is information on the operation of the work machine 100 detected by the operation detector 32, and a model set in advance for creating the reference operation characteristics. In these configurations, even if the controller 70 does not store a large number of reference operation characteristics corresponding to various operations in advance, it can create reference operation characteristics suitable for the operation amount of the actual operation each time using the operation amount of the operation detected by the operation detector 31 and the model, or using the operation amount of the operation detected by the operation detector 31, the operation information detected by the operation detector 32, and the model, and store the created reference operation characteristics. In each of these configurations, for example, a method such as machine learning, deep learning, or artificial intelligence may be used to create the reference operation characteristics using the model. The model may be stored in the reference characteristic storage unit 71 in advance as a judgment model. The actual operation characteristics may be determined by inputting the operation amount detected by the operation detector 31 into the judgment model. The actual operation 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 operation characteristics in the reference characteristic storage unit 71, the controller 70 may acquire actual work data in advance and store the actual work data in advance, or may store model parameters calculated from the actual work data in advance. When creating a model from actual work data, techniques such as machine learning, deep learning, and artificial intelligence may be used.

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

(F) Regarding the reference characteristic storage unit The reference characteristic storage unit 71 does not necessarily have to be mounted on the work machine 100, and may, for example, be mounted on a management device such as a server that is located at a location away 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 transmit and receive data by wireless or wired communication with the reference characteristic storage unit 71. With this configuration, there is no need to provide the reference characteristic storage unit 71 on the work machine 100, and therefore the configuration of the work machine 100 can be simplified.

(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 a crane, a wheel loader, or a bulldozer. 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, a fork, or a nibbler.

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

(I) The alarm 80 may be provided on the work machine 100, or may be located at a location away from the work machine 100.

(J) At least one of the operation detector, the motion detector, and the controller of the abnormality determination device according to the present disclosure may be located at a position away from the work machine 100.

(K) During work by the work machine 100, the controller 70 may calculate actual operation characteristics based on the amount of operation detected by the operation detector 31 and operation information, which is information related to the operation of the work machine 100 detected by the operation detector 32. This allows the controller 70 to obtain actual operation characteristics that take into account changes in the actual operating conditions of the work machine 100. The changes in the actual operating conditions may be changes in the load acting on actuators such as hydraulic cylinders and hydraulic motors. The load may change, for example, depending on the amount of soil and sand contained in the bucket 6, and may also change depending on the moment of inertia, which depends on the attitude of the work device 3.

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

REFERENCE SIGNS LIST 1: Lower travel unit 2: Upper revolving unit 3: Work device 31: Operation detector 32: Motion detector 40: Operator 41: Operation lever 70: Controller 80: Alarm 100: Work machine 101: Abnormality determination device

Claims (9)

an operation detector that detects an amount of operation applied to an operation device by an operator to move the work machine;
a motion detector for detecting motion of the work machine;
A controller that stores in advance a reference operation characteristic as a reference for the characteristic of the operation amount of the operation,
The controller obtains actual operation characteristics, which are actual characteristics of the operation amount of the operation, using the detection result of the operation amount of the operation by the operation detector, and when the actual operation characteristics correspond to the reference operation characteristics, determines an abnormality of the work machine using the detection result of the operation of the work machine by the operation detector, and when the actual operation characteristics do not correspond to the reference operation characteristics, the abnormality determination device reserves the determination of the abnormality. The controller:
a reference operation characteristic serving as a reference for characteristics of the operation of the work machine corresponding to the reference operation characteristic is stored in advance in association with the reference operation characteristic;
acquiring an actual motion characteristic, which is an actual characteristic of the motion of the work machine, using a detection result of the motion of the work machine by the motion detector;
2. The abnormality determining device according to claim 1, wherein, when the actual operating characteristic corresponds to the reference operating characteristic, the abnormality is determined by comparing the actual operating characteristic with the reference operating characteristic. the reference operating characteristic is a first reference operating characteristic stored in the controller in association with a predetermined first task that is a task performed by the work machine;
2. The abnormality 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 and different from the first operation, and when the operation performed by the work machine is the first operation, determines whether or not there is an abnormality using the first reference operating characteristic, and when the operation performed by the work machine is the second operation, determines whether or not there is an abnormality using the second reference operating characteristic. 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 detection result of the work machine's operation by the operation detector. the reference operating characteristic is a first reference operating characteristic stored in the controller in association with a predetermined first operation which is an operation to be performed by the work machine;
3. The 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 and different from the first operation, and when the operation performed by the work machine is the first operation, determines whether or not there is an abnormality using the first reference operating characteristic, and when the operation performed by the work machine is the second operation, determines whether or not there is an abnormality using the second reference operating characteristic. The abnormality determination device according to claim 1, wherein the controller creates and stores the reference operation characteristic using the amount of operation detected by the operation detector and a model that is preset for creating the reference operation characteristic. The abnormality determination device according to claim 2, wherein the controller creates and stores the reference operating characteristic using the operation of the work machine detected by the operation detector and a model that is preset for creating the reference operating characteristic. The controller includes a reference characteristic storage unit that stores the reference operating characteristic,
the reference characteristic storage unit is provided in a management device that is arranged at a position remote from the work machine,
The abnormality determination device according to claim 1 , wherein the controller further comprises a communication device, the communication device being configured to transmit and receive data to and from the reference characteristic storage unit through wireless or wired communication. A work machine equipped with an abnormality determination device according to any one of claims 1 to 8.