JPH1020931A - Anomaly notification device - Google Patents

Abstract

(57) [Summary] [Problem] To easily inform a customer of an abnormality such as a failure without causing unnecessary confusion to a customer. An abnormality notification device includes an operator C for controlling a control device, an abnormality determination unit for detecting a plurality of types of abnormality and determining the type of the abnormality, and a plurality of types of the abnormality determination unit. Abnormality processing means for detecting at least one of the above-mentioned abnormalities, and notifying the type of the detected abnormality when the operator C performs a predetermined special operation different from the operation performed by the normal control. B.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

The present invention relates to a transportation vehicle,
The present invention relates to an abnormality notification device mounted on an electric vehicle, a human-powered vehicle with auxiliary power, and the like.

[0002]

2. Description of the Related Art Conventionally, various types of lamps and the like, for example, indicating that a vehicle has failed have been employed in a transport vehicle, an electric vehicle, a human-powered vehicle with auxiliary power, and the like. By the way, as a means for a repairman to know an abnormal place such as a failure of a vehicle in a vehicle or the like, there are mainly the following methods. For example, in addition to the display unit that indicates an abnormality such as a failure, a dedicated circuit that indicates the location of the abnormality such as a failure, an operation unit, a method of originally mounting the display unit on the vehicle, and a dedicated tool for displaying an abnormality such as a failure when a failure occurs A method of connecting from the outside and using only an indicator of an abnormal location such as a failure, and if a failure occurs, does not display "failure occurred" but suddenly "-has failed"
Is displayed.

[0003]

However, in this case, an extra arrangement space is required and the weight increases, so that the livability and the vehicle operability decrease, and the cost increases, resulting in an expensive product. In the case of (1), when a dedicated tool is externally connected, in most cases, it is necessary to disassemble the vehicle, which takes time and increases labor costs. In addition, in the case of, in most cases, the customer wants only the information of "failure", and displaying the failure point (relatively complicated information) to the customer is apt to cause unnecessary confusion and is less necessary. It is not information. Even so, when displaying a failure location, it is necessary to display it in an easy-to-understand manner, but the cost increases.

[0004] As described above, there is an annunciating device for notifying only that a failure has occurred, and when a repairer wants to know the details of the failure, an inspection device is externally connected to the control device to investigate the failure. It is necessary to bring the inspection device every time, and it is troublesome.

[0005] In addition, there is a notifying device for simultaneously notifying that a failure has occurred and the content of the failure at the time of a failure. Usually, the customer wants to know only whether or not the failure has occurred. Instead, unnecessary confusion is likely to occur.

The present invention has been made in view of the above circumstances, and has as its object to provide an abnormality notification device that can easily notify a customer of an abnormality such as a failure without causing unnecessary confusion to a customer. .

[0007]

In order to solve the above-mentioned problems and to achieve the object, an abnormality notification device according to the first aspect of the present invention comprises an operator for controlling a control device, and a plurality of types of abnormalities. And an abnormality determining means for detecting the type of the abnormality, the abnormality determining means detecting at least one abnormality of the plurality of types of abnormality, and an operation performed by the operation element under normal control An abnormality processing means for notifying the type of the detected abnormality when a different predetermined special operation is performed is provided.

When the operator performs a predetermined special operation different from the operation performed by normal control, the type of the detected abnormality is notified, and the trouble easily occurs without causing unnecessary confusion to the customer. Etc. can be notified. Further, since the operator operated to notify the contents of the abnormality is normally used when controlling the control device, there is no need to provide a special operator, and thus the device can be made compact and the cost can be reduced.

According to a second aspect of the present invention, in the abnormality notification device, the abnormality processing unit includes a notification unit, and when at least one of the plurality of types of abnormality is detected, the occurrence of the abnormality is detected. The information is notified by the notification means, and when the special operation of the operation element is performed, the type of the abnormality is notified by the notification means instead of the notification.

Since the type of the abnormality is also reported by using the same reporting means as that for reporting the occurrence of an abnormality, the number of parts can be reduced, and the apparatus can be made more compact and cost can be reduced. The customer can also be notified of the abnormality.

[0011]

Embodiments of the present invention will be described below with reference to the drawings.

The first embodiment shows an abnormality notification device mounted on an electric wheelchair of an electric vehicle, and FIG. 1 is a configuration diagram of the abnormality notification device of the electric vehicle.

The electric wheelchair 1, which is an electric vehicle, includes a traveling device 2, an operation unit 3, and a control device 4.
The traveling device 2 has a right wheel traveling unit 20 and a left wheel traveling unit 21, and is provided with motors 22 and 23, respectively. The motors 22 and 23 are controlled by motor control units 24 and 25 based on a normal traveling command from the control device 4.
Driven by The rotation speed information of the motors 22 and 23 is
The rotation is detected by the rotation speed sensors 26 and 27, and this detection information is sent to the control device 4.

The operation unit 3 includes a self-propelled operation unit 30 and an assistance operation unit 31. The self-propelled operation unit 30 and the assistance operation unit 31 have power switches 32 and 33, respectively.
The maximum speed changeover switches 34 and 35 and the failure occurrence display red lamps 36 and 37 are provided. In the self-propelled operation unit 30, a traveling operation is performed with a joystick 38.
In 1, the traveling operation is performed by the forward / reverse switch 39. These maximum speed changeover switches 34 and 35, the joystick 38 and the forward / reverse switch 39 constitute an operator C for controlling the control device 4. Power switch 32, 3
In the case of 3, the system is started when any of them is turned on, and the system ends when any of them is turned off.

The control device 4 includes a control board 40
A failure alarm buzzer 41 and a CPU 42 are provided. The CPU 42 has a normal traveling mode unit 43, a failure stop mode unit 44, and a failure display service mode unit 45. The normal running mode section 43 includes an abnormality monitoring section 4 for each section.
6, the states of the motor control units 24 and 25 and the motors 22 and 23 of the traveling device 2, the outputs of the rotation speed sensors 26 and 27, the power switches 32 and 33 of the operation unit 3, the maximum speed changeover switches 34 and 35, and the joystick 38 And each output by the forward / reverse switch 39 is monitored. Each output is compared with a preset set value by monitoring of each part abnormality monitoring means 46, and when it is not out of the set value, it is determined that there is no abnormality such as a failure. In this case, the normal traveling command means 47 is activated. Then, the motor control units 24 and 25 of the traveling device 2 are operated. On the other hand, each output is compared with the set value by monitoring of the abnormality monitoring means 46, and when the output is out of the set value, it is determined that there is an abnormality such as a failure. Functioning, an abnormality determining means A for detecting a plurality of types of abnormalities by the normal traveling mode unit 43 and determining the types of abnormalities is configured.

In the failure stop mode section 44, the failure occurrence display commanding section 48 activates the failure section display mode determining section 49, and shifts to the failure display service mode section 45. In the failure display service mode section 45, the failure location display instructing means 50 causes the failure display red lamps 36, 3 to be displayed.
7. Activate the failure alarm buzzer 41.

The failure stop mode unit 44 and the failure display service mode unit 45, the failure occurrence display red lamps 36 and 37,
Abnormality processing means B is configured by the failure occurrence alarm buzzer 41. In the abnormality processing means B, the abnormality determination means A detects at least one abnormality among a plurality of types of abnormalities, and the operator C performs normal control. When a predetermined special operation different from the operation to be performed is performed, the type of the detected abnormality is notified based on the output.

When the operator C performs a predetermined special operation different from the operation performed by the normal control, the type of the detected abnormality is notified, and the customer can be easily used without causing unnecessary confusion. An abnormality such as a failure can be notified.
Further, an operator C operated to notify the contents of the abnormality
Is normally used when controlling the control device 4, so that there is no need to provide a special operation element, so that the size and cost of the device can be reduced.

The abnormality processing means B includes an alarm means D composed of failure occurrence display red lamps 36 and 37 and a failure occurrence alarm buzzer 41, and at least one of a plurality of types of abnormality is provided. Is detected, the occurrence of an abnormality is notified by the notifying means D, and when a special operation of the operation element C is performed, for example, the number of times of blinking of the failure occurrence display red lamps 36 and 37 is replaced with the notification. The type of abnormality is notified by the notification means D by changing the lighting pattern such as time or changing the number of alarms of the failure occurrence alarm buzzer 41 and the alarm pattern such as alarm time. Using the same notification means as that for notifying that an abnormality has occurred,
Since the type of abnormality is also notified, the number of parts can be reduced, and the size and cost of the device can be further reduced.
The customer can also be notified of the abnormality.

A maximum speed changeover switch 35 is also arranged on the assisting operation section 31 so that the maximum speed changeover switch 3 is provided.
5 is operated by a special operation. Even if one of the maximum speed changeover switches 34, 35 of the self-propelled operation unit 30 or the assisting operation unit 31 cannot be used due to a failure or the like, the other maximum speed changeover switch 34 is not used. , 35 can be used to determine the type of abnormality.

Next, a second specific embodiment of the electric wheelchair of FIGS. 2 and 3 will be described. FIG. 2 is a block diagram showing a configuration of a control circuit including the embodiment of the present invention. FIG. 3 is a flowchart illustrating an example of a failure detection operation according to the first embodiment.

FIG. 2 is a diagram showing an application to an electric wheelchair.
Reference numeral 131 denotes an occupant operation panel, 132 denotes a power supply such as a storage battery, 133 and 134 denote motors for rotating left and right wheels, and 135 and 136 denote motor control units that drive the rotations of the motors 133 and 134.

Each of the motors 133, 134 is provided with a vehicle speed sensor 133a, 134a for detecting the rotational speed thereof. Further, each of the motors 133, 134
Relays 137 and 138 are interposed in the current path between the motors 135 and 136 as safety devices for interrupting the overcurrent.
Is supplied with current. That is, the relays 137 and 138 are turned on during normal energization, but turned off when an abnormality such as a short circuit occurs, thereby preventing overcurrent from flowing to the motors 133 and 134. In the state shown, the relays 137 and 138 are off. A motor current detection unit 133 is provided between each common terminal of relays 137 and 138 and motors 133 and 134.
b, 134b are inserted, and the motor current detection unit 13
3b and 134b output a current detection signal corresponding to the current flowing therebetween.

Reference numeral 139 denotes a warning light composed of an LED,
0 indicates a warning buzzer. The warning light 139 and the warning buzzer 140 are provided to notify the occupant that an abnormality such as welding of the movable contacts of the relays 137 and 138 has occurred. Reference numeral 111 denotes a controller, and the controller 111 is configured by hardware such as a CPU 112 and a memory.

The operation panel 131 includes a controller 11
Power switch 13 that opens and closes a circuit that supplies current to 1
1a is provided. When the power switch 131a is turned on, the system starts, and when the power switch 131a is turned off, the system ends.

The operation panel 131 is provided with a joystick (speed control operator) 131b for forward / reverse operation and speed control of each wheel, and a high / low speed switch 131c for switching between high speed and low speed. ing. When the occupant tilts the joystick 131b,
The joystick 131b outputs a voltage according to the tilt angle.

The CPU 112 receives various signal outputs and switch outputs from the input interfaces 127a to 127d, and outputs control signals such as various command values to the outside from the output interfaces 127e and 127f. The CPU 112 operates based on a predetermined program and performs various functions. In the figure, these functions are displayed in blocks assuming a joystick input unit 113, a commanded vehicle speed calculation unit 114, and the like, and the functions of each block will be described below. Note that these CPUs 1
Twelve functions can be performed by hardware.

The voltage output from the joystick 131b is A / D converted by the input interface 127a and input to the joystick input unit 113. The joystick input unit 113 outputs a tilt angle signal based on the digitally converted voltage value. In this way, the tilt angle signal is output from the joystick 131
Take a value according to the tilt angle of b. The tilt angle signal includes
There are a front-rear direction component and a left-right direction component. For example, when the joystick 131b is tilted forward, the front-rear direction component has a positive value, and when the joystick 131b is tilted rearward, the front-rear direction component has a negative value.

The command vehicle speed calculator 114 receives a high speed signal or a low speed signal from the high speed / low speed switch 131c via the input interface 127b, and calculates the speed at which each wheel should be rotated based on the tilt angle signal from the joystick input unit 113. Then, separate command vehicle speed signals are output for each of the left and right wheels. The PWM wave calculation unit 115 outputs a PWM wave serving as a control signal for each of the left and right wheels based on the command vehicle speed signal, and outputs the left and right motor control units 135 and 136.
Control. Thereby, each motor control unit 135, 13
6 controls the amount of current supplied to the motors 133 and 134, and controls the rotation speed of the motors 133 and 134, that is, the speed of each wheel. The vehicle speed calculation unit 116 receives the vehicle speed detection signals input from the vehicle speed sensors 133a and 134a, calculates the actual speeds of the left and right wheels, and outputs an actual vehicle speed signal. The PWM wave calculation unit 115 takes in the actual vehicle speed signal and performs feedback control of the motor control units 135 and 136.

The current detection signals from the motor current detectors 133b and 134b are A / D-converted by the input interface 127c, and the converted digital signals are taken into the current calculator 119. Then, the current calculator 119
Calculates the actual current value flowing through the left and right motors 133 and 134 based on this, and outputs the actual current signal.

The abnormality detection unit 120 determines whether or not an abnormality has occurred in one or both of the motors 133 and 134 based on the actual current signal from the current calculation unit 119. For example, when the detected value of the actual current exceeds a set value, that is, a large current value that does not normally flow, and is detected for a certain period of time or more, it is regarded as abnormal. Further, the abnormality detection unit 120 includes a current calculation unit 119.
It is determined whether or not an abnormality such as welding of the movable contacts of one or both of the relays 137 and 138 has occurred based on the actual current signal from.

Further, the abnormality detecting section 120 includes the vehicle speed calculating section 1
It is determined based on the actual vehicle speed signal from 16 whether or not one or both of the vehicle speed sensors 133a, 134a has an abnormality. For example, although the power supply command to the left and right motors 133 and 134 is output, the vehicle speed sensors 133a and 133
When there is no output of the signal 34a, or when a set value, for example, a high vehicle speed which is not output during normal running, is detected, it is determined that the abnormality is detected.

When it is determined that there is such an abnormality, the abnormality detecting section 120 outputs an ON signal to the LED lighting control section 121 and the buzzer control section 122 to notify the passenger. LED lighting control section 121 and buzzer control section 12
2 turns on the warning lamp 139 via the output interfaces 127g and 127h and causes the warning buzzer 140 to emit a warning sound in response to the ON signal from the abnormality detection unit 120, respectively. Further, the timer 123 outputs a signal corresponding to time, and the time counting unit 124 outputs an elapsed time signal based on this signal. This elapsed time signal is input to the abnormality detection unit 120 and is used to determine whether there is an abnormality. Such an abnormality determination is made only for a predetermined time, and within this predetermined time, the abnormality detection unit 120 outputs an OFF command signal to the relays 137 and 138, and supplies an energization instruction for abnormality inspection. PW signal
Output to M-wave calculation section 115. At this time, even if the command vehicle speed signal has been output from the command vehicle speed calculation unit 114, the PWM wave calculation unit 115 does not accept this.
Therefore, the wheels are not driven.

The number-of-blinks setting section 180 includes the abnormality detecting section 12.
The number of blinks of the warning light 139 is set according to the type of abnormality detected at 0. For example, it is set to blink once when there is an abnormal current in the right motor 134, and to blink twice when there is an abnormal current in the left motor 134. The right vehicle speed sensor 134a
Is set to blink three times when an abnormality is detected, and is set to blink four times when the left vehicle speed sensor 133a is abnormal. In addition, right relay 1
It is set to blink five times when there is a welding abnormality at 38, and to blink six times when there is a welding abnormality at the left relay 137.

Next, a failure detection operation will be described with reference to FIG. When the power switch 131a is turned on, the system is started (step a1), the warning light mode is turned on, and the time count is set to "0" (step b1). Then
It is determined whether or not a failure has occurred (step c1). If not, it is determined whether or not the high-speed / low-speed switch 131c has been switched (step d1). If not switched, the vehicle travels while maintaining the current speed (step e1),
The process proceeds to step g1 to determine the end of the system. If the system is switched, the command speed is changed (step f1).
1) Go to step g1 to judge system end.

In the case of a failure in step c1, a failure type is set in the abnormality detector 120 (step i).
1) If the warning light mode is checked and "lights on" (step j1), a warning sound is generated by the warning buzzer 140 for a fixed time (step k1), and the warning light 139 is turned on (step 11). The value of the count is determined (step m1), and if it is not "0", the time is counted up (step n1). A time count check is performed (step o1). When the set time is exceeded, the time count is set to "0", the switching count is set to "0" (step p1), and the process proceeds to step g1 to determine the end of the system.

In step o1, the switching of the high-speed / low-speed switch 131c is determined within the set time (step q1). If not, the process proceeds to step g1 to determine the end of the system. On the other hand, when switching is performed, the number of times of switching is counted up (step r1), the number of times of switching is checked (step s1), and the set value. Judge.

If the number of times of switching is equal to or more than the set value in step s1, the warning light mode is set to "blink" (step t1), and the process proceeds to step g1 to determine the end of the system.

In step m1, the time count value is "0".
In the case of (1), it is determined that the high-speed / low-speed switch 131c is to be switched (step u1). If not, the process proceeds to step g1 to determine the end of the system. On the other hand, when the switching is performed, the time is counted up and the number of times of switching is counted up (step v1), and the process proceeds to step g1 to determine the end of the system.

If the warning light mode is blinking at step j1, the blinking number setting unit 180 sets the number of blinking times according to the type of failure (step w1), and the warning light 13 is set to the number of times.
9 is blinked (step x1), and the process proceeds to step g1 to determine the end of the system.

In this embodiment, when a failure occurs, the warning light 139 is turned on and the warning buzzer 140 emits a warning sound to notify the customer that the failure has occurred. At this time, the lighting pattern (turned on and off) and the buzzer sounding pattern ("beep" sound) are one type, and the customer is notified only of "failure". When operating normally (when no failure occurs), the high-speed low-speed switch 131c
Has a function that can limit the maximum speed of the vehicle according to the setting. Similarly, when the warning light 139 is operating normally,
"Low battery level" (At this time, for example, warning buzzer 1
40 also beeps three times. ) Blinks and has a function such as a warning.

When a failure occurs, the vehicle automatically stops, and a warning light 1
After the failure display state is indicated by 39 and the "beep" sound of the warning buzzer 140 on the vehicle body side, and only the occurrence of the failure is displayed, when the high-speed / low-speed switch 131c is operated, a blinking display command is output. Then, the blinking number setting section 180 operates to blink the warning light 139 based on the type of abnormality set in advance. The failure location is displayed based on the number of times the warning light 139 blinks. A series of operations after the failure display state is mainly performed by a repairman / serviceman.

Immediately after the failure, the warning light 139 is only turned on, and the customer is not confused, but only the "failure" is clearly transmitted. In addition, repairman, serviceman,
Since there is no need to connect a dedicated tool and the failure location can be displayed by the number of blinks by operating the switch of the operation unit, the failure location can be quickly identified, repair can be speeded up, and the repair labor cost can be reduced.

Note that the notification means D can similarly issue a notification by using the warning buzzer 140 instead of the warning light 139. However, when the warning buzzer 140 is replaced, the warning buzzer 140 is kept constant immediately after the occurrence of a failure. Just let it be time,
Notify the customer that "failure has occurred".

After the occurrence of a failure, the warning buzzer 140 is sounded with an intermittent sound by a certain operation of the failed part, and the failure location is notified by the number of times of continuous operation.

Next, a third specific embodiment of the electric wheelchair of FIGS. 4 and 5 will be described. FIG. 4 is a block diagram showing a configuration of a control circuit including the embodiment of the present invention. FIG. 5 is a flowchart illustrating an example of a failure detection operation according to the embodiment.

In the third embodiment, the same components as those in the second embodiment shown in FIGS. 2 and 3 are denoted by the same reference numerals, and description thereof is omitted.

In the third embodiment, a self-propelled operation unit 200 and an assistance operation unit 201 are provided. The self-propelled operation unit 200 is provided with a power switch 131a and a joystick 131b.
b is output from the input interface 127
The signal is A / D converted by m and input to the joystick input unit 113. The assistance operation unit 201 is provided with a power switch 131a and a forward / reverse switch 131d,
The forward signal or the reverse signal output from the forward / reverse switch 131d is sent to the command vehicle speed calculation unit 114. The forward / reverse switch 131d is connected to the forward position a when pushed to one side, is connected to the backward position b when pushed to the other side, and enters the neutral position c when released. Either of the two power switches 131a of the self-propelled operation unit 200 and the assistance operation unit 201 is ON.
Then, the system starts up, and if both are turned off, the system ends.

When the joystick 131b of the self-propelled operation unit 200 is tilted left and right while pushing the forward / reverse switch 131d of the assistance operation unit 201 to the forward position a or the reverse position b in the occurrence and stop states of the abnormality, the type of abnormality is detected. Is displayed, and the number-of-blinks setting section 180 operates to detect a failure.

Next, a failure detection operation will be described with reference to FIG. One of the two power switches 131a of the self-propelled operation unit 200 and the assistance operation unit 201 is turned on, and by starting the system (step a2), the warning light mode is turned on (step b2). Next, it is determined whether or not a failure has occurred (step c2). If not, it is determined whether or not the high-speed / low-speed switch 131c has been switched (step d2). If the speed has not been switched, the vehicle travels while maintaining the current speed (step e2). The process proceeds to step n2 to determine the end of the system. If the speed has been switched, the command speed is changed (step f2). , Step n
Then, the process proceeds to step 2 to determine the end of the system.

If it is determined in step c2 that a failure has occurred, the failure detection unit 120 sets a failure type (step g).
2) If the warning light mode is checked and "lights on" (step h2), a warning sound is generated by the warning buzzer 140 for a fixed time (step i2) and the warning light 139 is turned on (step j2). The joystick 131b of the self-propelled operation unit 200 determines that the joystick 131b is tilted left and right (step k).
2) If not tilted left and right, step n
Then, the process proceeds to step 2 to determine the end of the system.

Also, in step k2, the joystick 1
When 31b is tilted in the left-right direction, it is determined whether the forward / reverse switch 131d of the assistance operation unit 201 is in the forward position a (step l2). Step m2), and proceed to step n2 to determine the end of the system.

If the forward / reverse switch 131d is not at the forward position a at step l2, it is determined whether or not it is at the reverse position b (step o2).
The process proceeds to step n2 if it is not the reverse position b.

If the warning light mode is blinking in step h2, the number of blinks according to the type of failure is set by the blinking number setting section 180 (step p2).
9 is blinked (step q2), and the process proceeds to step n2 to determine the end of the system.

In this embodiment, when the self-propelled side and the assistance side each have an operation section and a display section, the side having the operation right can be used for failure display and failure location display.

For example, FIG. 4 shows that the output from the power switch 131a of the self-propelled operation unit 200 and the output from the power switch 131a of the assistance operation unit 201 are input interface 127.
o, 127p to the operation selection unit 150, and the operation selection unit 150 includes the self-propelled operation unit 200 and the assistance operation unit 2
01 is selected as a priority, and output to the joystick input unit 113. Until both are invalidated, the self-propelled operation unit 200 previously activated is determined.
Alternatively, the operation selection unit 150 preferentially selects the operation of the operator of the assistance operation unit 201. Therefore, the side having the operation right preferentially selected by the operation selection unit 150 can be used for the failure display and the failure location display.

[0057]

As described above, according to the first aspect of the invention, when a predetermined special operation different from the operation performed by the normal control is performed on the operation element, the type of the detected abnormality is notified. In addition, it is possible to easily inform the customer of an abnormality such as a failure without causing unnecessary confusion. In addition, since the operator operated to notify the details of the abnormality is normally used when controlling the control device, there is no need to provide a special operator, and thus the device can be made more compact and the cost can be reduced. Can be.

According to the second aspect of the present invention, the type of the abnormality is reported by using the same reporting means as the reporting means for reporting the occurrence of the abnormality. Therefore, the number of parts can be reduced and the apparatus can be further improved. Compactness and cost reduction can be achieved, and abnormalities can be notified to the customer.

[Brief description of the drawings]

FIG. 1 is a configuration diagram of an abnormality notification device for an electric vehicle.

FIG. 2 is a block diagram illustrating a configuration of a control circuit including a second embodiment.

FIG. 3 is a flowchart illustrating an example of a failure detection operation according to the second embodiment.

FIG. 4 is a block diagram illustrating a configuration of a control circuit including a third embodiment.

FIG. 5 is a flowchart illustrating an example of a failure detection operation according to the third embodiment.

[Description of Signs] 1 Electric wheelchair 2 Traveling device 3 Operation unit 4 Control device A Abnormality judgment means B Abnormality processing means C Operator

Claims (2)

[Claims] An operator for controlling a control device, abnormality determining means for detecting a plurality of types of abnormalities and determining the type of the abnormalities, and the abnormality determining means includes at least one of the plurality of types of abnormalities. Abnormality detection means for detecting one abnormality and when the operator performs a predetermined special operation different from the operation performed by normal control, and notifies the type of the detected abnormality. Characteristic abnormality notification device. 2. The abnormality processing means includes a notifying means, and when detecting at least one of the plurality of types of abnormalities, notifies the occurrence of the abnormality by the notifying means. The abnormality notification device according to claim 1, wherein when the special operation is performed, the type of the abnormality is reported by the reporting unit instead of the report.