Method and device for controlling working device of excavator and excavator

Abstract

The present disclosure provides a method and apparatus of controlling a working device of an excavator, and an excavator, and relates to the technical field of engineering machinery. The method comprises: monitoring an action signal of any working device of the excavator; enabling an action control function corresponding to the action signal of the working device; enabling a safety control function corresponding to the action signal of the working device; and in case that the safety control function determines that a fault occurs, turning off a solenoid valve corresponding to the action signal of the working device, thereby meeting the safety requirement.

Description

CROSS-REFERENCE TO RELATED APPLICATIONS

[0001] The present application is based on and claims the priority to the Chinese patent application No. 202311493441.5 filed on November 10, 2023, the disclosure of which is incorporated by reference herein in its entirety.TECHNICAL FIELD

[0002] The present disclosure relates to the technical field of engineering machinery, and particularly to a method and apparatus of controlling a working device of an excavator, and an excavator.BACKGROUND

[0003] Excavators have been widely used in various infrastructure construction processes. In some complex places, the construction of the excavators often requires continuous operations on working devices such as booms, arms, and buckets.

[0004] In the current working environment, action execution processes of working devices of the excavator, such as boom ascending and descending, mainly depend on instructions of an operator. Whether the action execution processes meet expectations of the operator, whether a fault is encountered, emergency handling of the fault and the like are all presented to the operator for subjective judgment, which seriously depends on the excavator operation experience of the operator, and does not meet functional safety requirements. Especially, with the rapid development of electric control technology, action control complexity of working devices of an electric control excavator continuously increases, and problems such as communication faults, failures of electronic parts and components may result in more safety risks.SUMMARY

[0005] Some embodiments of the present disclosure provide a method of controlling a working device of an excavator, comprising: monitoring an action signal of any working device of the excavator; enabling an action control function corresponding to the action signal of the working device; enabling a safety control function corresponding to the action signal of the working device; and turning off a solenoid valve corresponding to the action signal of the working device in case that the safety control function determines that a fault occurs.

[0006] In some embodiments, the method further comprises: determining probability values of fault causes resulting in the fault according to a Bayesian fault diagnosis model, to perform troubleshooting on the fault causes item by item in a descending order of the probability values of the fault causes.

[0007] In some embodiments, the method further comprises: performing learning training on historical fault data of each working device of the excavator by using a Bayesian learning algorithm, to construct the Bayesian fault diagnosis model

[0008] In some embodiments, the historical fault data comprises a historical fault and a historical fault cause resulting in the historical fault.

[0009] In some embodiments, the method further comprises: determining, by the safety control function, whether the action signal of the working device belongs to at least one of non-command activation, non-on-demand execution, non-command deactivation, or non-on-demand release, and determining that the fault occurs in the working device in case that the action signal belongs to the at least one of non-command activation, non-on-demand execution, non-command deactivation or non-on-demand release.

[0010] In some embodiments, the working device comprises at least one of a boom, an arm, or a bucket.

[0011] In some embodiments, the action signal of the working device comprises at least one of boom ascending, boom descending, arm retraction, arm release, bucket excavation, or bucket unloading.

[0012] In some embodiments, the method comprises: monitoring a signal of boom ascending or boom descending of the excavator; enabling an action control function for the boom ascending or boom descending; enabling a safety control function for the boom ascending or boom descending; and turning off a solenoid valve for controlling the boom ascending or boom descending, in case that the safety control function determines at least one of non-command activation, non-on-demand execution, non-command deactivation, or non-on-demand release occurs.

[0013] In some embodiments, the method comprises: monitoring a signal of bucket excavation or bucket unloading of the excavator; enabling an action control function for the bucket excavation or bucket unloading; enabling a safety control function for the bucket excavation or bucket unloading; and in case that the safety control function determines that at least one of non-command activation, non-on-demand execution, non-command deactivation, or non-on-demand release occurs, turning off a solenoid valve for controlling the bucket excavation or bucket unloading.

[0014] In some embodiments, the method comprises: monitoring a signal of arm retraction or arm release of the excavator; enabling an action control function for the arm retraction or arm release; enabling a safety control function for the arm retraction or arm release; and in case that the safety control function determines that at least one of non-command activation, non-on-demand execution, non-command deactivation, or non-on-demand release occurs, turning off a solenoid valve for controlling the arm retraction or arm release.

[0015] Some embodiments of the present disclosure provide an apparatus of controlling a working device of an excavator, comprising: a memory; and a processor coupled to the memory, the processor being configured to perform, based on instructions stored in the memory, the method of controlling a working device of an excavator.

[0016] Some embodiments of the present disclosure provide an apparatus of controlling a working device of an excavator, comprising: a monitoring module configured to monitor an action signal of any working device of the excavator; a first enabling module configured to enable an action control function corresponding to the action signal of the working device; a second enabling module configured to enable a safety control function corresponding to the action signal of the working device; and a control module configured to, in case that the safety control function determines that a fault occurs, turn off a solenoid valve corresponding to the action signal of the working device.

[0017] In some embodiments, the apparatus further comprises: a diagnosis module configured to determine probability values of fault causes resulting in the fault according to a Bayesian fault diagnosis model, to perform troubleshooting on the fault causes item by item in a descending order of the probability values of the fault causes.

[0018] In some embodiments, the apparatus further comprises: a learning module configured to perform learning training on historical fault data of each working device of the excavator by using a Bayesian learning algorithm, to construct the Bayesian fault diagnosis model.

[0019] Some embodiments of the present disclosure provide an excavator, comprising: the apparatus of controlling a working device of an excavator.

[0020] Some embodiments of the present disclosure provide a computer-readable storage medium stored a computer program which, when executed by a processor, implements the steps of the method of controlling a working device of an excavator.BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The accompanying drawings that need to be used in the description of the embodiments or the related art will be briefly described below. The present disclosure will be more clearly understood according to the following detailed description, which proceeds with reference to the accompanying drawings.

[0022] It should be apparent that the drawings in the following description are merely some embodiments of the present disclosure and for those of ordinary skill in the art, other drawings may be obtained according to these drawings without paying creative labor. Fig. 1 illustrates a schematic flow diagram of a method of controlling a working device of an excavator according to some embodiments of the present disclosure. Fig. 2 illustrates a schematic flow diagram of a method of controlling a working device of an excavator according to some embodiments of the present disclosure. Fig. 3 illustrates a schematic flow diagram of a safety control function for boom ascending / descending according to some embodiments of the present disclosure. Fig. 4 illustrates a schematic flow diagram of a safety control function for arm retraction / release according to some embodiments of the present disclosure. Fig. 5 illustrates a schematic flow diagram of a safety control function for bucket excavation / unloading according to some embodiments of the present disclosure. Fig. 6 illustrates a schematic diagram of one example of a Bayesian fault diagnosis model according to some embodiments of the present disclosure. Fig. 7 illustrates a schematic structural diagram of an apparatus of controlling a working device of an excavator according to some embodiments of the present disclosure. Fig. 8 illustrates a schematic structural diagram of an apparatus of controlling a working device of an excavator according to some embodiments of the present disclosure. Fig. 9 illustrates a schematic structural diagram of an excavator according to some embodiments of the present disclosure. DETAILED DESCRIPTION

[0023] It should be noted that: the relative arrangement, numerical expressions and numerical values of parts and steps set forth in these embodiments do not limit the scope of the present disclosure unless otherwise specified.

[0024] It can be understood by those in the art that the terms "first", "second", etc. in the embodiments of the present disclosure are used only for distinguishing different steps, devices or modules, etc., and do not represent any specific technical meaning or necessary logical order therebetween.

[0025] It should also be understood that in the embodiments of the present disclosure, "a plurality" may refer to two or more than two, and "at least one" may refer to one, two or more than two.

[0026] It should also be understood that for any component, data, or structure mentioned in the embodiments of the present disclosure, without explicit limitations or contrary indications given in the context, it may be generally understood as one or more.

[0027] In addition, the term "and / or" in the present disclosure is only an association describing associated objects, which indicates that there can be three relationships, for example, A and / or B can indicate: the presence of A alone, the presence of both A and B, and the presence of B alone. In addition, the character " / " in the present disclosure generally indicates that preceding and succeeding associated objects are in an "or" relationship.

[0028] It should also be understood that the description of the embodiments in the present disclosure emphasizes differences between the embodiments, and for same or similar parts between them, reference may be made to each other, so that they will not be repeated one by one for brevity.

[0029] Meanwhile, it should be understood that the size of each portion shown in the drawings is not drawn in an actual proportion for the convenience of description.

[0030] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way used as any limitation on this disclosure and its applications or uses.

[0031] Techniques, methods, and devices known to one of ordinary skill in the related art may not be discussed in detail but should be considered as part of the description where appropriate.

[0032] It should be noted that: similar reference numbers and letters refer to similar items in the following figures, and thus, once a certain item is defined in one figure, it need not be discussed further in subsequent figures.

[0033] In addition, in order to avoid obscuring this disclosure due to unnecessary details, only processing steps and / or device structures germane to at least the solution according to the present disclosure are shown in the drawings, while other details not germane to the present disclosure are omitted. It should also be noted that similar reference numerals and letters indicate similar items in the figures, and thus once a certain item is defined in one figure, it need not be discussed again for subsequent figures.

[0034] The embodiments of the present disclosure monitor an action executed by each working device of an excavator, and enable a safety control function, if a fault is monitored, enter a safety state, and turn off a corresponding solenoid valve, thereby meeting the safety requirement. In addition, probability analysis is performed on fault causes resulting in the current fault by using a Bayesian fault diagnosis model, thereby facilitating the user performing troubleshooting and removal, and favoring quickly resuming normal action control of the working device of the excavator.

[0035] Fig. 1 illustrates a schematic flow diagram of a method of controlling a working device of an excavator according to some embodiments of the present disclosure.

[0036] As shown in Fig. 1, the method of controlling a working device of an excavator of this embodiment comprises: steps 110-140, and may further comprise one or more of steps 150, 160.

[0037] In step 110, an action signal of any working device of the excavator is monitored.

[0038] The working device comprises at least one of a boom, an arm, or a bucket, but is not limited thereto.

[0039] The action signal of the working device comprises at least one of boom ascending, boom descending, arm retraction, arm release, bucket excavation, or bucket unloading, but is not limited thereto.

[0040] After the step 110, steps 120 and 130 are performed, both of which may be performed simultaneously, thereby ensuring that the working device completes the basic action and ensuring safety operation of the working device.

[0041] In step 120, an action control function corresponding to the action signal of the working device is enabled to ensure completion of the basic actions of the working device.

[0042] The action control function of the working device can refer to the prior art, so that it will not be repeated here.

[0043] In step 130, a safety control function corresponding to the action signal of the working device is enabled to ensure the safety operation of the working device.

[0044] The safety control function determines whether the action signal of the working device belongs to at least one of non-command activation, non-on-demand execution, non-command deactivation, or non-on-demand release, and if it belongs, determines that a fault occurs in the working device.

[0045] The non-command activation refers to that, an operator does not make a request, but the machine starts to move, and in the case of the non-command activation, specific machine movement is disabled.

[0046] The non-on-demand execution refers to that, movement of the machine is not made according to an instruction of the operator, and in the case of the non-on-demand execution, specific machine movement is disabled.

[0047] The non-command deactivation refers to that, the operator does not send a stop command, but the machine has stopped the action, and in the case of the non-command deactivation, specific machine movement is disabled.

[0048] The non-on-demand release refers to that, the operator requests that the machine be stopped, but the machine continues moving. In the case of the non-on-demand release, specific machine movement is disabled.

[0049] In step 140, in case that the safety control function determines that a fault occurs, a safety state is entered, and a solenoid valve corresponding to the action signal of the working device is turned off.

[0050] In step 150, probability values of fault causes resulting in the fault are determined according to a Bayesian fault diagnosis model.

[0051] Learning training on historical fault data of each working device of the excavator is performed by using a Bayesian learning algorithm, to construct the Bayesian fault diagnosis model. The historical fault data comprises a historical fault and a historical fault cause resulting in the historical fault.

[0052] In step 160, troubleshooting is performed on the fault causes item by item in a descending order of the probability values of the fault causes.

[0053] The embodiments of the present disclosure monitor an action executed by each working device of an excavator, and enable a safety control function, if a fault is monitored, enter a safety state, and turn off a corresponding solenoid valve, thereby meeting the safety requirement. In addition, probability analysis is performed on fault causes resulting in the current fault by using a Bayesian fault diagnosis model, thereby facilitating the user performing troubleshooting and removal, and favoring quickly resuming normal action control of the working device of the excavator.

[0054] Fig. 2 illustrates a schematic flow diagram of a method of controlling a working device of an excavator according to some embodiments of the present disclosure. The method may be performed by, for example, an apparatus of controlling a working device of an excavator.

[0055] As shown in Fig. 2, the method of controlling a working device of an excavator of this embodiment comprises the following steps.

[0056] In step 210, an action signal of an excavator is monitored.

[0057] In step 220, it is determined whether a boom ascending signal is monitored, and if the boom ascending signal is monitored, in step 220a, an action control function for boom ascending is enabled to ensure that the action of the boom ascending is completed, while in step 220b, a safety control function for the boom ascending is enabled, in case that the safety control function determines that there is no fault, step 230 is performed, and in case that the safety control function determines that there is a fault, step 280 is performed.

[0058] In step 230, it is determined whether a boom descending signal is monitored, and if the boom descending signal is monitored, in step 230a, an action control function for boom descending is enabled to ensure that the action of the boom descending is completed, while in step 230b, a safety control function for the boom descending is enabled, in case that the safety control function determines that there is no fault, step 240 is performed, and in case that the safety control function determines that there is a fault, step 280 is performed.

[0059] In step 240, it is determined whether an arm release signal is monitored, and if the arm release signal is monitored, in step 240a, an action control function for arm release is enabled to ensure that the action of the arm release is completed, while in step 240b, a safety control function for the arm release is enabled, in case that the safety control function determines that there is no fault, step 250 is performed, and in case that the safety control function determines that there is a fault, step 280 is performed.

[0060] In step 250, it is determined whether an arm retraction signal is monitored, and if the arm retraction signal is monitored, in step 250a, an action control function for arm retraction is enabled to ensure that the action of the arm retraction is completed, while in step 250b, a safety control function for the arm retraction is enabled, in case that the safety control function determines that there is no fault, step 260 is performed, and in case that the safety control function determines that there is a fault, step 280 is performed.

[0061] In step 260, it is determined whether a bucket excavation signal is monitored, and if the bucket excavation signal is monitored, in step 260a, an action control function for bucket excavation is enabled to ensure that the action of the bucket excavation is completed, while in step 260b, a safety control function for the bucket excavation is enabled, in case that the safety control function determines that there is no fault, step 270 is performed, and in case that the safety control function determines that there is a fault, step 280 is performed.

[0062] In step 270, it is determined whether a bucket unloading signal is monitored, and if the bucket unloading signal is monitored, in step 270a, an action control function for bucket unloading is enabled to ensure that the action of the bucket unloading is completed, while in step 270b, a safety control function for the bucket unloading is enabled, in case that the safety control function determines that there is no fault, step 210 is performed, and in case that the safety control function determines that there is a fault, step 280 is performed.

[0063] In step 280, the faulty working device is controlled to enter a safety state, for example, a solenoid valve for the faulty working device is controlled to be powered off.

[0064] In step 290, a Bayesian fault diagnosis model is enabled, and probability values of fault causes resulting in the fault are determined through backward reasoning.

[0065] In step 2100, troubleshooting is performed on the fault causes item by item in a descending order of the probability values of the fault causes.

[0066] In step 2110, it is determined whether the fault cause has been removed. If the fault cause has been removed, step 2120 is performed, and if the fault cause has not been removed, step 2100 is performed to continue troubleshooting for a next fault cause.

[0067] In step 2120, normal action control of the working device of the excavator is resumed.

[0068] The embodiments of the present disclosure monitor an action executed by each working device of an excavator, and enable a safety control function, if a fault is monitored, enter a safety state, and turn off a corresponding solenoid valve, thereby meeting the safety requirement. In addition, probability analysis is performed on fault causes resulting in the current fault by using a Bayesian fault diagnosis model, thereby facilitating the user performing troubleshooting and removal, and favoring quickly resuming normal action control of the working device of the excavator.

[0069] Fig. 3 illustrates a schematic flow diagram of a safety control function for boom ascending / descending according to some embodiments of the present disclosure.

[0070] As shown in Fig. 3, the safety control function for boom ascending / descending of this embodiment comprises the following steps, which may be performed by, for example, an apparatus of controlling a working device of an excavator.

[0071] In step 310, a safety control function for boom ascending / descending is enabled.

[0072] In step 320, an action execution process and an instruction of an operator are monitored in real time, and it is determined whether the boom ascending / descending belongs to non-command activation, if it belongs, in step 320a, a solenoid valve for controlling the boom ascending / descending is powered off, and if it does not belong, the step 330 is performed.

[0073] In step 330, it is determined whether the boom ascending / descending belongs to non-on-demand execution, if it belongs, in step 330a, the solenoid valve for controlling the boom ascending / descending is powered off, and if it does not belong, step 340 is performed.

[0074] In step 340, it is determined whether the boom ascending / descending belongs to non-command deactivation, if it belongs, in step 340a, the solenoid valve for controlling the boom ascending / descending is powered off, and if it does not belong, step 350 is performed.

[0075] In step 350, it is determined whether the boom ascending / descending belongs to non-on-demand release, if it belongs, in step 350a, the solenoid valve for controlling the boom ascending / descending is powered off, and if it does not belong, step 360 is performed.

[0076] In step 360, an action control function for the boom ascending / descending operates normally.

[0077] According to the embodiment of the present disclosure, in case that the safety control function determines that at least one of non-command activation, non-on-demand execution, non-command deactivation, or non-on-demand release occurs in boom ascending / descending, it is determined that a fault occurs in a boom, and a solenoid valve for controlling the boom ascending / descending is turned off.

[0078] Fig. 4 illustrates a schematic flow diagram of a safety control function for arm retraction / release according to some embodiments of the present disclosure.

[0079] As shown in Fig. 4, the safety control function for the arm retraction / release of this embodiment comprises the following steps, which can be performed by, for example, an apparatus of controlling a working device of an excavator.

[0080] In step 410, a safety control function for arm retraction / release is enabled.

[0081] In step 420, an action execution process and an instruction of an operator are monitored in real time, and it is determined whether the arm retraction / release belongs to non-command activation, if it belongs, in step 420a, a solenoid valve for controlling the arm retraction / release is powered off, and if it does not belong, step 430 is performed.

[0082] In step 430, it is determined whether the arm retraction / release belongs to non-on-demand execution, if it belongs, in step 430a, the solenoid valve for controlling the arm retraction / release is powered off, and if it does not belong, step 440 is performed.

[0083] In step 440, it is determined whether the arm retraction / release belongs to non-command deactivation, if it belongs, in step 440a, the solenoid valve for controlling the arm retraction / release is powered off, and if it does not belong, step 450 is performed.

[0084] In step 450, it is determined whether the arm retraction / release belongs to non-on-demand release, if it belongs, in step 450a, the solenoid valve for controlling the arm retraction / release is powered off, if it does not belong, step 460 is performed.

[0085] In step 460, an action control function for the arm retraction / release operates normally.

[0086] According to the embodiment of the present disclosure, in case that the safety control function determines that at least one of non-command activation, non-on-demand execution, non-command deactivation, or non-on-demand release occurs in arm retraction / release, it is determined that a fault occurs in an arm, and a solenoid valve for controlling arm retraction / release is turned off.

[0087] Fig. 5 illustrates a schematic flow diagram of a safety control function for bucket excavation / unloading according to some embodiments of the present disclosure.

[0088] As shown in Fig. 5, the safety control function for bucket excavation / unloading of this embodiment comprises the following steps, which can be performed by, for example, an apparatus of controlling a working device of an excavator.

[0089] In step 510, a safety control function for bucket excavation / unloading is enabled.

[0090] In step 520, an action execution process and an instruction of an operator are monitored in real time, and it is determined whether the bucket excavation / unloading belongs to non-command activation, if it belongs, in step 520a, a solenoid valve for controlling the bucket excavation / unloading is powered off, and if it does not belong, step 530 is performed.

[0091] In step 530, it is determined whether the bucket excavation / unloading belongs to non-on-demand execution, if it belongs, in step 530a, the solenoid valve for controlling the bucket excavation / unloading is powered off, and if it does not belong, step 540 is performed.

[0092] In step 540, it is determined whether the bucket excavation / unloading belongs to non-command deactivation, if it belongs, in step 540a, the solenoid valve for controlling the bucket excavation / unloading is powered off, and if it does not belong, step 550 is performed.

[0093] In step 550, it is determined whether the bucket excavation / unloading belongs to non-on-demand release, if it belongs, in step 550a, the solenoid valve for controlling the bucket excavation / unloading is powered off, and if it does not belong, step 560 is performed.

[0094] In step 560, an action control function for the bucket excavation / unloading operates normally.

[0095] According to the embodiment of the present disclosure, in case that the safety control function determines that at least one of non-command activation, non-on-demand execution, non-command deactivation, or non-on-demand release occurs in the bucket excavation / unloading, it is determined that a fault occurs in a bucket, and a solenoid valve for controlling the bucket excavation / unloading is turned off.

[0096] If it is determined that a fault occurs, while the safety control function is enabled to perform action protection, a cause resulting in the fault needs to be further diagnosed; in this embodiment, a fault diagnosis model is obtained by training historical fault data of each working device (namely each component) by using a Bayesian, and backward reasoning is performed on the fault to obtain the cause resulting in the fault, so that the fault is solved. (1) A working device fault set is constructed, denoted by S: S = s 1 ′ s 2 ′ s 3 … where s 1 is a boom fault, s 2 is an arm fault, and s 3 is a bucket fault. The fault set S may be expanded at any time. (2) Causes resulting in the working device fault are collected, denoted by a set R : R = r 1 ′ r 2 ′ r 3 ′ r 4 ′ r 5 … where r 1 is non-expectation instruction activation, r 2 is a bus communication fault, r 3 is a handle fault, r 4 is a solenoid valve fault, and r 5 is a mis-touch fault. The fault cause set R may be expanded at any time. (3) Learning training on the above historical fault data (the historical fault and the historical fault cause resulting in the historical fault) of the excavator working device is performed by using a Bayesian learning algorithm, to obtain a Bayesian fault diagnosis model. An exemplary Bayesian fault diagnosis model is shown in Fig. 6. (4) After the fault diagnosis model is trained, according to a Bayesian rule, probability values corresponding to the fault causes such as r 1 -r 5 are obtained through backward reasoning, denoted by P. P = p r 1 ′ p r 2 ′ p r 3 ′ p r 4 ′ p r 5 … (5) The probability values pr 1 - pr 5 of the fault causes are ranked in a descending order, and specific reasons resulting in the fault of the excavator working device are sequentially checked according to the ranking of the probability values, to solve the fault.

[0097] Fig. 7 illustrates a schematic structural diagram of an apparatus of controlling a working device of an excavator according to some embodiments of the present disclosure.

[0098] As shown in Fig. 7, the apparatus 700 of controlling a working device of an excavator according to this embodiment comprises: a memory 710 and a processor 720 coupled to the memory 710, the processor 720 being configured to perform, based on instructions stored in the memory 710, the method of controlling a working device of an excavator in any of the embodiments described above.

[0099] The apparatus 700 may also comprise an input / output interface 730, a network interface 740, a storage interface 750, and the like. These interfaces 730, 740, 750 as well as the memory 710 and the processor 720 may be connected via bus 760, for example.

[0100] The memory 710 may include, for example, a system memory, fixed non-volatile storage medium, and the like. The system memory has thereon stored, for example, an operating system, an application, a boot loader, other programs, and the like.

[0101] The processor 720 may be implemented by using a discrete hardware component such as a general-purpose processor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, a discrete gate or transistor.

[0102] The input / output interface 730 provides connection interfaces for input / output devices such as a display, a mouse, a keyboard, and a touch screen. The network interface 740 provides connection interfaces for various networking devices. The storage interface 750 provides connection interfaces for external storage devices such as an SD card and a USB flash disk. The bus 760 may employ any of a variety of bus architectures. For example, the bus architecture includes, but is not limited to, an industry standard architecture (ISA) bus, a micro channel architecture (MCA) bus, and a peripheral component interconnect (PCI) bus.

[0103] Fig. 8 illustrates a schematic structural diagram of an apparatus of controlling a working device of an excavator according to some embodiments of the present disclosure.

[0104] As shown in Fig. 8, the apparatus 800 of controlling a working device of an excavator according to this embodiment comprises: modules 810-840, and may also comprise at least one of modules 850 or 860 as needed.

[0105] A monitoring module 810 is configured to monitor an action signal of any working device of the excavator. The working device comprises at least one of a boom, an arm, or a bucket. The action signal of the working device comprises at least one of boom ascending, boom descending, boom retraction, boom release, bucket excavation, or bucket unloading.

[0106] A first enabling module 820 is configured to enable an action control function corresponding to the action signal of the working device.

[0107] A second enabling module 830 is configured to enable a safety control function corresponding to the action signal of the working device, the safety control function determining whether the action signal of the working device belongs to at least one of non-command activation, non-on-demand execution, non-command deactivation, or non-on-demand release, and if it belongs, determining that a fault occurs in the working device.

[0108] A control module 840 is configured to, in case that the safety control function determines that the fault occurs, turn off a solenoid valve corresponding to the action signal of the working device.

[0109] In some embodiments, the apparatus 800 further comprises: a diagnosis module 850 configured to determine probability values of fault causes resulting in the fault according to a Bayesian fault diagnosis model, to perform troubleshooting on the fault causes item by item in a descending order of the probability values of the fault causes.

[0110] In some embodiments, the apparatus 800 further comprises: a learning module 860 configured to perform learning training on historical fault data of each working device of the excavator by using a Bayesian learning algorithm, to construct the Bayesian fault diagnosis model. The historical fault data comprises a historical fault and a historical fault cause resulting in the historical fault.

[0111] Fig. 9 shows a schematic structural diagram of an excavator according to some embodiments of the present disclosure.

[0112] As shown in Fig. 9, the excavator 900 of this embodiment comprises: the apparatus 700, 800 of controlling a working device of an excavator, and may further comprise a Bayesian fault diagnosis model 910, a handle 920, a sensor 930, a control valve 940 of the working device, and the like. The apparatus 700, 800 of controlling a working device of an excavator is configured to perform and implement the method of controlling a working device of an excavator. The handle 920 is configured to control, by an operator, each working device of the excavator. The apparatus 700, 800 of controlling a working device of an excavator learns an instruction of the operator according to a handle signal. The sensor 930 is configured to monitor an action execution status of each working device. The apparatus 700, 800 of controlling a working device of an excavator may, according to a sensor signal of each working device, monitor an execution process of the working device in real time. The apparatus 700, 800 of controlling a working device of an excavator may determine whether an action signal of the working device belongs to at least one of non-command activation, non-on-demand execution, non-command deactivation, or non-on-demand release, according to the action execution process of the working device and the instruction of the operator monitored in real time, and if it belongs, determine that a fault occurs in the working device, and then take a safety control measure.

[0113] It should be appreciated by those skilled in the art that, the embodiments of the present disclosure may be provided as a method, system, or computer program product. Accordingly, the present disclosure may take a form of an entire hardware embodiment, an entire software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present disclosure may take a form of a computer program product implemented on one or more non-transitory computer-readable storage media (including, but not limited to, a disk memory, CD-ROM, optical memory, etc.) having computer-usable program code embodied therein.

[0114] The present disclosure is described with reference to flow diagrams and / or block diagrams of the method, apparatus (system) and computer program product according to the embodiments of the present disclosure. It should be understood that each flow and / or block of the flow diagrams and / or block diagrams, and a combination of flows and / or blocks in the flow diagrams and / or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing devices to produce a machine, such that the instructions executed through the processor of the computer or other programmable data processing devices create means for implementing the functions specified in one or more flows of the flow diagrams and / or one or more blocks of the block diagrams.

[0115] These computer program instructions may also be stored in a computer-readable memory that can guide a computer or other programmable data processing devices to work in a specific manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the functions specified in one or more flows of the flow diagrams and / or one or more blocks of the block diagrams.

[0116] These computer program instructions may also be loaded onto a computer or other programmable data processing devices to cause a series of operational steps to be performed on the computer or other programmable devices to produce a computer-implemented process, such that the instructions executed on the computer or other programmable devices provide steps for implementing the functions specified in one or more flows of the flow diagrams and / or one or more blocks of the block diagrams. The above only describes the preferred embodiments of the present disclosure and is not used for limiting the present disclosure, and any modifications, equivalent substitutions, improvements and the like that are made within the spirit and principles of the present disclosure should be included within the scope of protection of the present disclosure.

Claims

1. A method of controlling a working device of an excavator, <b>characterized by comprising: monitoring an action signal of any working device of the excavator; enabling an action control function corresponding to the action signal of the working device; enabling a safety control function corresponding to the action signal of the working device; and turning off a solenoid valve corresponding to the action signal of the working device in case that the safety control function determines that a fault occurs.

2. The method according to claim 1, characterized by further comprising: determining probability values of fault causes resulting in the fault according to a Bayesian fault diagnosis model, to perform troubleshooting on the fault causes item by item in a descending order of the probability values of the fault causes.

3. The method according to claim 2, characterized by further comprising: performing learning training on historical fault data of each working device of the excavator by using a Bayesian learning algorithm, to construct the Bayesian fault diagnosis model.

4. The method according to claim 3, characterized in that the historical fault data comprises a historical fault and a historical fault cause resulting in the historical fault.

5. The method according to any of claims 1-4, characterized by further comprising: determining, by the safety control function, whether the action signal of the working device belongs to at least one of non-command activation, non-on-demand execution, non-command deactivation, or non-on-demand release, and determining that the fault occurs in the working device in case that the action signal belongs to the at least one of non-command activation, non-on-demand execution, non-command deactivation or non-on-demand release.

6. The method according to any of claims 1-5, characterized in that the working device comprises at least one of a boom, an arm, or a bucket; or the action signal of the working device comprises at least one of boom ascending, boom descending, arm retraction, arm release, bucket excavation, or bucket unloading.

7. The method according to any of claims 1-6, <b>characterized by comprising: monitoring a signal of boom ascending or boom descending of the excavator; enabling an action control function for the boom ascending or boom descending; enabling a safety control function for the boom ascending or boom descending; and turning off a solenoid valve for controlling the boom ascending or boom descending, in case that the safety control function determines at least one of non-command activation, non-on-demand execution, non-command deactivation, or non-on-demand release occurs.

8. The method according to any of claims 1-6, <b>characterized by comprising: monitoring a signal of bucket excavation or bucket unloading of the excavator; enabling an action control function for the bucket excavation or bucket unloading; enabling a safety control function for the bucket excavation or bucket unloading; and turning off a solenoid valve for controlling the bucket excavation or bucket unloading, in case that the safety control function determines that at least one of non-command activation, non-on-demand execution, non-command deactivation, or non-on-demand release occurs.

9. The method according to any of claims 1-6, <b>characterized by comprising: monitoring a signal of arm retraction or arm release of the excavator; enabling an action control function for the arm retraction or arm release; enabling a safety control function for the arm retraction or arm release; and turning off a solenoid valve for controlling the arm retraction or arm release, in case that the safety control function determines that at least one of non-command activation, non-on-demand execution, non-command deactivation, or non-on-demand release occurs.

10. An apparatus of controlling a working device of an excavator, comprising: a memory; and a processor coupled to the memory, the processor being configured to perform, based on instructions stored in the memory, the method according to any of claims 1-9.

11. An apparatus of controlling a working device of an excavator, <b>characterized by comprising: a monitoring module configured to monitor an action signal of any working device of the excavator; a first enabling module configured to enable an action control function corresponding to the action signal of the working device; a second enabling module configured to enable a safety control function corresponding to the action signal of the working device; and a control module configured to turn off a solenoid valve corresponding to the action signal of the working device, in case that the safety control function determines that a fault occurs.

12. The apparatus according to claim 11, characterized by further comprising: a diagnosis module configured to determine probability values of fault causes resulting in the fault according to a Bayesian fault diagnosis model, to perform troubleshooting on the fault causes item by item in a descending order of the probability values of the fault causes.

13. The apparatus according to claim 12, characterized by further comprising: a learning module configured to perform learning training on historical fault data of each working device of the excavator by using a Bayesian learning algorithm, to construct the Bayesian fault diagnosis model.

14. An excavator, comprising: the apparatus of controlling a working device of an excavator according to any of claims 10-13.

15. A computer-readable storage medium stored a computer program which, when executed by a processor, implements the steps of the method according to any of claims 1-9.

16. A computer program, comprising: instructions which, when executed by a processor, cause the processor to perform the method according to any of claims 1-9.

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