Excavator emission degradation test method and device, terminal and storage medium

Abstract

The invention discloses an excavator emission degradation test method and device, a terminal and a storage medium, and the method comprises the steps: sending an operation instruction, and enabling an excavator bucket to execute unmanned no-load excavation operation; corresponding first remote monitoring information, second remote monitoring information and third remote monitoring information under different working durations of the excavator are obtained, the first remote monitoring information comprises test information which is output by the PEMS and represents the discharge level of the excavator, and the second remote monitoring information comprises excavator power system monitoring information; the third remote monitoring information comprises monitoring information of the SCR post-processing system of the excavator; and according to the first remote monitoring information, the second remote monitoring information and the third remote monitoring information, establishing a fitting relationship between the excavator emission level and the excavator power system monitoring information and the excavator SCR post-processing system monitoring information, thereby obtaining an excavator emission degradation test result. According to the invention, the accuracy of the emission degradation test result can be greatly improved.

Description

Technical Field

[0001] This invention relates to a method, apparatus, terminal, and storage medium for testing the emissions degradation of excavators, belonging to the field of excavator testing technology. Background Technology

[0002] Existing excavator emission degradation testing methods use working hours as the sole influencing factor. By conducting PEMS tests on excavators with different working hours and fitting the data, the relationship between excavator emission levels and working hours is obtained. However, the test environment, workload, and driver skill level have a significant impact on PEMS testing, reducing the accuracy of emission degradation test results. Summary of the Invention

[0003] The purpose of this invention is to overcome the shortcomings of the prior art and provide a method, device, terminal and storage medium for testing the emission degradation of excavators, thereby solving the technical problem of accurate test results for excavator emission degradation in the prior art.

[0004] To solve the above-mentioned technical problems, the present invention is implemented using the following technical solution:

[0005] In a first aspect, the present invention provides a method for testing the emission degradation of excavators, the method comprising:

[0006] Send an operation command to enable the excavator bucket to perform unmanned, unloaded excavation operations;

[0007] The first remote monitoring information, the second remote monitoring information, and the third remote monitoring information corresponding to different working times of the excavator are obtained. The first remote monitoring data includes test information output by PEMS that characterizes the emission level of the excavator. The second remote monitoring information includes monitoring information of the excavator's power system. The third remote monitoring information includes monitoring information of the excavator's SCR aftertreatment system.

[0008] Based on the first, second, and third remote monitoring information, a fitting relationship is established between the excavator emission level and the monitoring information of the excavator power system and the monitoring information of the excavator SCR aftertreatment system, thereby obtaining the excavator emission degradation test results.

[0009] In conjunction with the first aspect, the operation instructions further include:

[0010] Takeover command, used to remotely take over the excavator;

[0011] The bucket retraction and stick retraction commands are used to control the excavator to perform the bucket retraction and stick retraction actions to complete the digging operation;

[0012] The right turn command is used to control the excavator to perform a right turn action;

[0013] The bucket swing and stick swing commands are used to control the excavator to perform bucket swing and stick swing actions to complete the unloading operation;

[0014] The left turn command is used to control the excavator to perform a left turn action, so that the bucket returns to its original position.

[0015] In conjunction with the first aspect, the test information output by the PEMS that characterizes the excavator's emission level includes nitrogen oxide emissions per unit of engine power.

[0016] In conjunction with the first aspect, the excavator power system monitoring information further includes engine speed, engine power, engine torque percentage, engine coolant temperature, engine air intake volume, and engine fuel injection volume.

[0017] In conjunction with the first aspect, the monitoring information of the excavator SCR aftertreatment system further includes the SCR upstream temperature, SCR upstream NOx mass flow rate, SCR downstream NOx mass flow rate, DOC upstream temperature, DOC upstream NOx mass flow rate, and DOC downstream NOx mass flow rate.

[0018] In conjunction with the first aspect, further, establishing a fitting relationship between the excavator emission level and the excavator power system monitoring information and the excavator SCR aftertreatment system monitoring information based on the first remote monitoring information, the second remote monitoring information, and the third remote monitoring information includes:

[0019] The health coefficient of the excavator power system is calculated based on the various excavator power system monitoring information in the second remote monitoring information.

[0020] The excavator power system evaluation factor is calculated based on the weights of various excavator power system monitoring information and the corresponding excavator power system health coefficient.

[0021] The health coefficient of the excavator SCR after-processing system is calculated based on the monitoring information of each excavator SCR after-processing system in the third remote monitoring information.

[0022] The evaluation factor of the excavator SCR after-treatment system is calculated based on the weight of each monitoring information of the excavator SCR after-treatment system and the corresponding health coefficient of the excavator SCR after-treatment system.

[0023] Using the excavator power system evaluation factor as the first independent variable, the excavator SCR aftertreatment system evaluation factor as the second independent variable, and the test information characterizing the excavator emission level as the first dependent variable, a relationship between the excavator emission level and the monitoring information of the excavator power system and the excavator SCR aftertreatment system is established by fitting, so as to obtain the excavator emission degradation test results.

[0024] In conjunction with the first aspect, the calculation method for the health coefficient of the excavator power system is further shown in the following formula:

[0025]

[0026] In the formula: For the first The monitoring information of the excavator's power system during the working hours is Health coefficient at that time; For the first The monitoring information of the excavator's power system during the working hours is Real-time running data, For the first Health baseline of excavator power system monitoring information. This refers to the sequence number of the excavator power system monitoring information within the excavator power system monitoring information set.

[0027] The calculation method for the health coefficient of the excavator SCR after-treatment system is shown in the following formula:

[0028]

[0029] In the formula: For the first The monitoring information of the excavator's SCR after-processing system during the working time is Health coefficient at that time; For the first The monitoring information of the excavator's SCR after-processing system during the working time is runtime data; For the first Health baseline of monitoring information for the SCR after-processing system of an excavator; This refers to the sequence number of the SCR after-processing system monitoring information within the excavator's SCR after-processing system monitoring information set.

[0030] Secondly, the present invention provides an excavator emission degradation testing device, the device comprising:

[0031] Sending module: Used to send operation commands to enable the excavator bucket to perform unmanned, unloaded excavation operations;

[0032] Acquisition module: used to acquire the first remote monitoring information, the second remote monitoring information and the third remote monitoring information corresponding to different working times of the excavator. The first remote monitoring data includes test information output by PEMS that characterizes the emission level of the excavator. The second remote monitoring information includes monitoring information of the excavator's power system. The third remote monitoring information includes monitoring information of the excavator's SCR aftertreatment system.

[0033] Fitting module: used to establish a fitting relationship between the excavator emission level and the excavator power system monitoring information and the excavator SCR after-treatment system monitoring information based on the first remote monitoring information, the second remote monitoring information and the third remote monitoring information, so as to obtain the excavator emission degradation test results.

[0034] Thirdly, the present invention provides a computer device including a processor and a memory connected to the processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the steps of the method as described in any of the first aspects are performed.

[0035] Fourthly, the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the method described in any of the first aspects.

[0036] Compared with the prior art, the beneficial effects achieved by the present invention are as follows:

[0037] The present invention provides a technical solution in which an excavator performs unmanned, unloaded excavation operations, and uses PEMS to test the excavator's emission levels at different working times, and establishes the relationship between the excavator's emission levels and the excavator's power system and SCR after-treatment system, thereby obtaining the excavator's emission degradation test results. Compared with emission degradation test methods that only consider working time as a single influencing factor, the accuracy is greatly improved. Attached Figure Description

[0038] Figure 1 This is a flowchart illustrating the excavator emission degradation test method in one embodiment;

[0039] Figure 2 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0040] The technical solution of the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the embodiments and specific features in the embodiments are detailed descriptions of the technical solution of the present application, rather than limitations thereof. In the absence of conflict, the embodiments and technical features in the embodiments can be combined with each other.

[0041] In this article, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, the character " / " in this article generally indicates that the preceding and following related objects have an "or" relationship.

[0042] In one embodiment, such as Figure 1The flowchart shown illustrates a method for testing the emissions degradation of excavators. This flowchart merely illustrates the logical sequence of the method described in this embodiment; however, in other possible embodiments of the invention, different methods may be used, provided there are no conflicts. Figure 1 The steps shown or described are performed in the indicated sequence. In this embodiment, the method includes the following steps:

[0043] Step 1: Send an operation command to enable the excavator bucket to perform unmanned, unloaded excavation operations;

[0044] Choosing unmanned, unloaded excavation operations avoids the impact of workload and driver skill on emissions degradation testing, thus improving the accuracy of test results. Operating commands are sent via a command transmitter, which connects to a command receiver via remote communication. The command receiver begins operation upon being powered on. The controller communicates with the command receiver via a CAN bus to receive operating commands. After taking over, the controller executes subsequent control and testing procedures.

[0045] Step 2: Obtain the first remote monitoring information, the second remote monitoring information, and the third remote monitoring information corresponding to different working times of the excavator. The first remote monitoring data includes test information output by PEMS that characterizes the emission level of the excavator. The second remote monitoring information includes monitoring information of the excavator's power system. The third remote monitoring information includes monitoring information of the excavator's SCR aftertreatment system.

[0046] It should be noted that PEMS stands for Portable Emissions Measurement System. It is a device system that can be mounted on mobile pollution sources (such as vehicles and construction machinery) to collect and analyze their exhaust pollutant emission data in real time. Its core function is to overcome the limitations of traditional bench testing, accurately measuring and recording pollutant emission levels under actual operating conditions, providing data support for assessing the true emission status of mobile pollution sources.

[0047] Typically, a PEMS system includes a sampling unit, an analysis unit, a working condition and environmental data acquisition unit, and a data processing and storage unit. The acquisition unit generally extracts exhaust gas samples from the exhaust pipe using a probe; some systems also support direct measurement. The analysis unit can be used for gaseous pollutant analysis and particulate matter analysis. The working condition and environmental data acquisition unit synchronously collects parameters such as engine speed, torque, power, fuel consumption, and ambient temperature, humidity, and air pressure to correct emission data and correlate them with working conditions. The data processing and storage unit performs real-time calculations on the collected raw data and stores it for subsequent analysis. As one example, the test information output by the PEMS characterizing the excavator's emission level can be the engine's nitrogen oxide emissions per unit of work.

[0048] As one example, when the excavator's working time is At that time, the corresponding excavator emission level was defined as Excavator working hours obtained based on vehicle-mounted terminal PEMS was used to test the excavator at different working hours. The emission levels are denoted by set F, F = { , , , ..., }, The emission level is for an excavator operating for 1 hour. The emission levels for an excavator operating for 2 hours can be extrapolated accordingly. This represents the emission level for an excavator operating for 3 hours, and so on. The emission level of the excavator during a working time of t.

[0049] Optionally, the excavator power system monitoring information includes engine speed, engine power, engine torque percentage, engine coolant temperature, engine air intake, and engine fuel injection quantity.

[0050] The SCR aftertreatment system is an abbreviation for Selective Catalytic Reduction System, which is used to reduce nitrogen oxides (NOx) in exhaust gas. x One of the core technologies for NO emission reduction is the selective chemical reaction that removes harmful NO. x It is converted into harmless nitrogen (N2) and water (H2O). Therefore, optionally, the monitoring information of the excavator SCR aftertreatment system includes the SCR upstream temperature, SCR upstream NOx mass flow rate, SCR downstream NOx mass flow rate, DOC upstream temperature, DOC upstream NOx mass flow rate, and DOC downstream NOx mass flow rate.

[0051] Step 3: Based on the first, second, and third remote monitoring information, establish a fitting relationship between the excavator emission level and the monitoring information of the excavator power system and the monitoring information of the excavator SCR aftertreatment system, thereby obtaining the excavator emission degradation test results.

[0052] In summary, the method provided in this embodiment uses PEMS to test the emission levels of excavators at different working durations and establishes the relationship between the excavator emission levels and the excavator's power system and SCR aftertreatment system, thereby obtaining the excavator emission degradation test results. Compared with emission degradation methods that only consider working duration as a single influencing factor, the accuracy is greatly improved.

[0053] In some embodiments, the operation instructions include:

[0054] Takeover command, used to remotely take over the excavator;

[0055] The bucket retraction and stick retraction commands are used to control the excavator to perform the bucket retraction and stick retraction actions to complete the digging operation;

[0056] The right turn command is used to control the excavator to perform a right turn action, so that the bucket moves to the unloading position;

[0057] The bucket swing and stick swing commands are used to control the excavator to perform bucket swing and stick swing actions to complete the unloading operation;

[0058] The left turn command is used to control the excavator to perform a left turn action, so that the bucket returns to its original position.

[0059] It should be understood that the right turn command and the left turn command are just examples. When performing unloaded excavation operations, you can first execute the left turn command to move the bucket to the unloading position, and then execute the right turn command to reset the bucket.

[0060] It should also be noted that before sending operation commands, the execution time of each command should be set. For example, the time for the bucket retraction and stick retraction command should be set to T1, and the time for the right turn command should be set to T2. To ensure that the excavator can return to its original position after completing the digging (bucket retraction and stick retraction command control), right turn (right turn command control), unloading (bucket swing and stick swing command control), and left turn (left turn command control), the time for the bucket swing and stick swing command should also be set to T3, and the time for the left turn command should be set to T4. The setting of the bucket swing and stick swing command time T3 is based on restoring the starting position of the bucket retraction and stick retraction command, and the setting of the left turn command time T4 is based on restoring the starting position of the right turn command. The laboratory has conventional levels of constant temperature, constant pressure, and constant radiation. Suitable ambient temperature, relative humidity, and wind speed for excavation conditions should be selected and set to quantitative values.

[0061] For step three, in some embodiments, establishing a fitting relationship between the excavator emission level and the excavator power system monitoring information and the excavator SCR aftertreatment system monitoring information based on the first remote monitoring information, the second remote monitoring information, and the third remote monitoring information includes:

[0062] Step 301: Calculate the health coefficient of the excavator power system based on the various excavator power system monitoring information in the second remote monitoring information;

[0063] As one embodiment, the set of monitoring information of various excavator power systems under the same working time can be defined as set A, A = {engine speed, engine power, engine torque percentage, engine coolant temperature, engine intake air volume, engine fuel injection quantity} = { , , , ..., When the parts are brand new and in normal operation, test the running data to obtain a health baseline. Record the current working hours. The operational data at the time is linked to the health baseline, and each monitoring information of the excavator power system has its own corresponding health coefficient, as shown in formula (1):

[0064] (1)

[0066] In the formula: For the first The monitoring information of the excavator's power system during the working hours is Health coefficient at that time; For the first The monitoring information of the excavator's power system during the working hours is Real-time running data, For the first Health baseline of excavator power system monitoring information. This refers to the sequence number of the excavator power system monitoring information within the excavator power system monitoring information set A; in this embodiment, It is a positive integer from 1 to 6.

[0067] Step 302: Calculate the excavator power system evaluation factor based on the weights of each excavator power system monitoring information and the corresponding excavator power system health coefficient;

[0068] As one embodiment, the weight set of each excavator power system monitoring information item can be defined as set B, B={ , , , ..., }, , , , ..., They are , , , ..., The weight of set B is such that the sum of all elements in set B is 1.

[0069] A method for calculating evaluation factors of excavator power systems was established, and the working time of the excavator was obtained. Evaluation factors of excavator power system at that time This can represent the aging degree of the excavator's power system, as shown in formula (2):

[0070] = (2)

[0071] In the formula: For the excavator to work for a period of time Evaluation factors for the excavator power system at that time.

[0072] Step 303: Calculate the health coefficient of the excavator SCR after-processing system based on the monitoring information of each excavator SCR after-processing system in the third remote monitoring information;

[0073] As one embodiment, the set of monitoring information from the excavator's SCR aftertreatment system is defined as set C, where C = {SCR upstream temperature, SCR upstream NOx mass flow rate, SCR downstream NOx mass flow rate, DOC upstream temperature, DOC upstream NOx mass flow rate, DOC downstream NOx mass flow rate} = { , , , ..., When the parts are brand new and in normal operation, test the running data to obtain a health baseline. Record the current working hours. The operational data at the time is linked to the health baseline, and the health coefficients of various excavator SCR after-treatment system monitoring information are shown in formula (3):

[0074] (3)

[0076] In the formula: For the first The monitoring information of the excavator's SCR after-processing system during the working time is Health coefficient at that time; For the first The monitoring information of the excavator's SCR after-processing system during the working time is runtime data; For the first Health baseline of monitoring information for the SCR after-processing system of an excavator; , where j is the sequence number of the SCR after-processing system monitoring information in the excavator SCR after-processing system monitoring information set B. In this embodiment, j is a positive integer from 1 to 6.

[0077] Step 304: Calculate the excavator SCR after-treatment system evaluation factor based on the weights of each excavator SCR after-treatment system monitoring information and the corresponding excavator SCR after-treatment system health coefficient;

[0078] As one embodiment, the weights of the influencing factors of the post-processing system can be defined as a set D, D={ , , , ..., }, , , , ..., They are , , , ..., The weights of all elements in set D are summed to 1.

[0079] Establish a method for calculating evaluation factors of the SCR post-processing system, and obtain the excavator's working time as follows: Evaluation factors of SCR post-processing system at that time This can represent the aging degree of the excavator's after-processing system, as shown in formula (4):

[0080] = (4)

[0081] In the formula: For the excavator to work for a period of time Evaluation factors for SCR post-processing systems at that time.

[0082] Step 305: Using the excavator power system evaluation factor as the first independent variable, the excavator SCR aftertreatment system evaluation factor as the second independent variable, and the test information characterizing the excavator emission level as the first dependent variable, fit and establish the relationship between the excavator emission level and the excavator power system monitoring information and the excavator SCR aftertreatment system monitoring information, so as to obtain the excavator emission degradation test results.

[0083] When the excavator's working time is At that time, the corresponding excavator emission level was The evaluation factor for the excavator power system is The evaluation factor for the post-processing system is Similarly, the excavator emission levels obtained from tests at different working durations will be mapped one-to-one with the excavator power system evaluation factors and after-treatment system evaluation factors to establish a database.

[0084] In one embodiment, when establishing the fitting relationship, the excavator power system evaluation factor is used as the first independent variable, the SCR after-treatment system evaluation factor is used as the second independent variable, and the excavator emission level is used as the first dependent variable. The relationship between the excavator emission level and the excavator power system and SCR after-treatment system is established by fitting the above multiple sets of data, thereby obtaining the excavator emission degradation test results.

[0085] It should be noted that this embodiment uses the application of the method to a computer device as an example for illustration. It is understood that the computer device can specifically be a terminal or a server. The terminal can be, but is not limited to, various personal computers, laptops, smartphones, tablets, etc. The server can be a standalone server or a server cluster composed of multiple servers.

[0086] Based on the same inventive concept, this application also provides an excavator emission degradation testing device for implementing the excavator emission degradation testing method described above. The solution provided by this device is similar to the solution described in the above method; therefore, the specific limitations of one or more excavator emission degradation testing device embodiments provided below can be found in the limitations of the excavator emission degradation testing method described above, and will not be repeated here.

[0087] In one embodiment, the excavator emissions degradation testing device includes a sending module, an acquisition module, and a fitting module, wherein:

[0088] Sending module: Used to send operation commands to enable the excavator bucket to perform unmanned, unloaded excavation operations;

[0089] Acquisition module: used to acquire the first remote monitoring information, the second remote monitoring information and the third remote monitoring information corresponding to different working times of the excavator. The first remote monitoring data includes test information output by PEMS that characterizes the emission level of the excavator. The second remote monitoring information includes monitoring information of the excavator's power system. The third remote monitoring information includes monitoring information of the excavator's SCR aftertreatment system.

[0090] Fitting module: used to establish a fitting relationship between the excavator emission level and the excavator power system monitoring information and the excavator SCR after-treatment system monitoring information based on the first remote monitoring information, the second remote monitoring information and the third remote monitoring information, so as to obtain the excavator emission degradation test results.

[0091] Each module in the aforementioned excavator emissions degradation testing device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device, or stored in the computer device's memory as software, so that the processor can call and execute the corresponding operations of each module.

[0092] Based on the same inventive concept, this application also provides a computer device, which can be a server, and its internal structure diagram can be as follows. Figure 2 As shown, the computer device includes a processor, memory, input / output (I / O) interfaces, and a communication interface. The processor, memory, and I / O interfaces are connected via a system bus, and the communication interface is also connected to the system bus via the I / O interfaces. The processor provides computational and control capabilities. The memory includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores the operating system, computer programs, and a database. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage medium. The database stores data acquired and generated in the excavator emissions degradation testing method. The I / O interfaces are used for exchanging information between the processor and external devices. The communication interface is used for communication with external terminals via a network connection. When the computer program is executed by the processor, it implements the excavator emissions degradation testing method described in the aforementioned embodiment.

[0093] Those skilled in the art will understand that Figure 2 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0094] The computer equipment provided in the embodiments of the present invention can execute the excavator emission degradation test method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of executing the method.

[0095] Based on the same inventive concept, this application also provides a computer-readable storage medium storing a computer program thereon, which is executed by a processor to implement the excavator emission degradation test method of the aforementioned embodiments.

[0096] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0097] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0098] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0099] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0100] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A method for testing the emission degradation of excavators, characterized in that, The method includes: Send an operation command to enable the excavator bucket to perform unmanned, unloaded excavation operations; The first remote monitoring information, the second remote monitoring information, and the third remote monitoring information corresponding to different working times of the excavator are obtained. The first remote monitoring data includes test information output by PEMS that characterizes the emission level of the excavator. The second remote monitoring information includes monitoring information of the excavator's power system. The third remote monitoring information includes monitoring information of the excavator's SCR aftertreatment system. Based on the first, second, and third remote monitoring information, a fitting relationship is established between the excavator emission level and the monitoring information of the excavator power system and the monitoring information of the excavator SCR aftertreatment system, thereby obtaining the excavator emission degradation test results.

2. The excavator emission degradation test method according to claim 1, characterized in that, The operation instructions include: Takeover command, used to remotely take over the excavator; The bucket retraction and stick retraction commands are used to control the excavator to perform bucket retraction and stick retraction actions to complete the digging operation; The right turn command is used to control the excavator to perform a right turn action; The bucket swing and stick swing commands are used to control the excavator to perform bucket swing and stick swing actions to complete the unloading operation; The left turn command is used to control the excavator to perform a left turn action, so that the bucket returns to its original position.

3. The excavator emission degradation test method according to claim 1, characterized in that, The test information output by the PEMS, characterizing the excavator's emission level, includes nitrogen oxide emissions per unit of engine power.

4. The excavator emission degradation test method according to claim 1, characterized in that, The excavator power system monitoring information includes engine speed, engine power, engine torque percentage, engine coolant temperature, engine air intake, and engine fuel injection quantity.

5. The excavator emission degradation test method according to claim 1, characterized in that, The monitoring information of the excavator's SCR aftertreatment system includes the SCR upstream temperature, SCR upstream NOx mass flow rate, SCR downstream NOx mass flow rate, DOC upstream temperature, DOC upstream NOx mass flow rate, and DOC downstream NOx mass flow rate.

6. The excavator emission degradation test method according to claim 1, characterized in that, The step of establishing a fitting relationship between the excavator emission level and the excavator power system monitoring information and the excavator SCR aftertreatment system monitoring information based on the first remote monitoring information, the second remote monitoring information, and the third remote monitoring information includes: The health coefficient of the excavator power system is calculated based on the various excavator power system monitoring information in the second remote monitoring information. The excavator power system evaluation factor is calculated based on the weights of various excavator power system monitoring information and the corresponding excavator power system health coefficient. The health coefficient of the excavator SCR after-processing system is calculated based on the monitoring information of each excavator SCR after-processing system in the third remote monitoring information. The evaluation factor of the excavator SCR after-treatment system is calculated based on the weight of each monitoring information of the excavator SCR after-treatment system and the corresponding health coefficient of the excavator SCR after-treatment system. Using the excavator power system evaluation factor as the first independent variable, the excavator SCR aftertreatment system evaluation factor as the second independent variable, and the test information characterizing the excavator emission level as the first dependent variable, a relationship between the excavator emission level and the monitoring information of the excavator power system and the excavator SCR aftertreatment system is established by fitting, so as to obtain the excavator emission degradation test results.

7. The excavator emission degradation test method according to claim 6, characterized in that, The calculation method for the health coefficient of the excavator's power system is shown in the following formula: ； In the formula: For the first The monitoring information of the excavator's power system during the working hours is Health coefficient at that time; For the first The monitoring information of the excavator's power system during the working hours is Real-time running data, For the first Health baseline of excavator power system monitoring information. This refers to the sequence number of the excavator power system monitoring information within the excavator power system monitoring information set. The calculation method for the health coefficient of the excavator SCR after-treatment system is shown in the following formula: ； In the formula: For the first The monitoring information of the excavator's SCR after-processing system during the working time is Health coefficient at that time; For the first The monitoring information of the excavator's SCR after-processing system during the working time is runtime data; For the first Health baseline of monitoring information for the SCR after-processing system of an excavator; This refers to the sequence number of the SCR after-processing system monitoring information within the excavator's SCR after-processing system monitoring information set.

8. A device for testing the emission degradation of excavators, characterized in that, The device includes: Sending module: Used to send operation commands to enable the excavator bucket to perform unmanned, unloaded excavation operations; Acquisition module: used to acquire the first remote monitoring information, the second remote monitoring information and the third remote monitoring information corresponding to different working times of the excavator. The first remote monitoring data includes test information output by PEMS that characterizes the emission level of the excavator. The second remote monitoring information includes monitoring information of the excavator's power system. The third remote monitoring information includes monitoring information of the excavator's SCR aftertreatment system. Fitting module: used to establish a fitting relationship between the excavator emission level and the excavator power system monitoring information and the excavator SCR after-treatment system monitoring information based on the first remote monitoring information, the second remote monitoring information and the third remote monitoring information, so as to obtain the excavator emission degradation test results.

9. A computer device, characterized in that, The method includes a processor and a memory connected to the processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the steps of the method as described in any one of claims 1 to 7 are performed.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by a processor, the program implements the steps of the method according to any one of claims 1 to 7.

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