State-driven motion control method for coal mining machines

Abstract

This invention relates to a state-driven coal mining machine motion control method. The method includes: dividing the operation process of the coal mining machine into multiple discrete states based on a state modeling mechanism, and determining the current state of the coal mining machine based on its actual operating conditions; switching the state of the coal mining machine during operation based on a state switching mechanism; and determining the execution permission of the coal mining machine's actions based on its current state based on an action permission mapping mechanism. This state-driven coal mining machine motion control method of the present invention improves the security of the coal mining machine system by authorizing actions based on the state of the coal mining machine.

Description

Technical Field

[0001] This invention relates to the field of coal mining equipment technology; specifically, it relates to a state-driven method for controlling the motion of a coal mining machine. Background Technology

[0002] In coal mining operations, the coal mining machine, as the core equipment, typically involves the coordinated operation of multiple key actions, including the starting and stopping of the pump motor, the cutting motor, and the traction motor, as well as the raising and lowering of the coal mining machine's boom and the adjustment of the traction speed. To ensure operational safety, the execution of these actions must meet strict preconditions.

[0003] However, in traditional control systems, the determination of action permissions often relies on decentralized variable judgment and manual judgment, or adopts a control strategy of "command triggering + partial condition judgment". These existing technologies have drawbacks such as weak coupling between action execution and equipment state, resulting in low security. Summary of the Invention

[0004] In view of this, the present invention provides a state-driven coal mining machine motion control method, thereby solving or at least alleviating one or more of the above-mentioned problems and other problems existing in the prior art.

[0005] To achieve the aforementioned objectives, the present invention provides a state-driven coal mining machine motion control method, wherein the method includes:

[0006] Based on the state modeling mechanism, the operation process of the coal mining machine is divided into multiple discrete states, and the state of the coal mining machine is determined according to the actual operation of the coal mining machine.

[0007] Based on the state switching mechanism, the state of the coal mining machine is switched during the operation of the coal mining machine;

[0008] Based on the action permission mapping mechanism, the execution permission of the coal mining machine is determined according to the current state of the coal mining machine.

[0009] In the method described above, optionally, the coal mining machine is in one or more states at each moment during operation, the states including:

[0010] State S0, which is the power-on uninitialized state;

[0011] State S1, which is the initialization state;

[0012] State S2, wherein state S2 is the pump motor standby idle state;

[0013] State S3, wherein state S3 is the standby idle state of the cutting motor;

[0014] State S4, which is the traction motor standby idle state;

[0015] State S5, where state S5 is the pump motor running state;

[0016] State S6, where state S6 is the state in which the cutting motor is running;

[0017] State S7, where state S7 is the state of the traction motor in operation;

[0018] State S8, where the pump motor is locked.

[0019] State S9, wherein state S9 is the cutting motor locked state;

[0020] State S10, wherein state S10 is the traction motor locked state;

[0021] State S11, which is an initialization failure state.

[0022] Optionally, in the method described above, the state switching mechanism includes:

[0023] After the main controller of the coal mining machine is powered on, the coal mining machine is in state S0;

[0024] When the coal mining machine is in state S0, initialization begins. During the initialization process, the state of the coal mining machine switches to state S1.

[0025] When the coal mining machine is in state S1, if the initialization fails, the state of the coal mining machine switches to state S11; if the initialization is completed, the state of the coal mining machine switches to state S2.

[0026] When the coal mining machine is in state S2, if the pump motor malfunctions, the state of the coal mining machine switches to state S8. When the pump motor starts and runs normally, the coal mining machine switches from state S2 to multiple states, including a first state L1, a second state L2, and a third state L3.

[0027] Wherein, the first state L1 is any one of the states S2, S5 or S8, the second state L2 is any one of the states S3, S6 or S9, and the third state L3 is any one of the states S4, S7 or S10.

[0028] In the method described above, optionally, the process of determining the first state L1 includes:

[0029] When the pump motor is stopped and not locked, the first state L1 is the same as the state S2.

[0030] When the first state L1 is state S2, after the pump motor starts running, the first state L1 switches to state S5.

[0031] When the pump motor malfunctions, the first state L1 becomes state S8.

[0032] When the first state L1 is state S8, after the pump motor has no abnormalities and after manual confirmation, the first state L1 is switched to state S2.

[0033] The process of determining the second state L2 includes:

[0034] When the cutting motor is stopped and not locked, the second state L2 is the same as state S3.

[0035] When the first state L1 is state S5 and the second state L2 is state S3, after the cutting motor starts running, the second state L2 switches to state S6.

[0036] When the cutting motor malfunctions, or when the first state L1 is state S8, the second state L2 is state S9.

[0037] When the second state L2 is the state S9, after the first state L1 is not the state S8 and the cutting motor is not in any abnormal condition, the second state L2 is switched to the state S3 after manual confirmation.

[0038] And, the process of determining the third state L3 includes:

[0039] When the traction motor is stopped and not locked, the third state L3 is the same as state S4.

[0040] When the first state L1 is state S5 and the third state L3 is state S4, after the traction motor starts running, the third state L3 switches to state S7.

[0041] When the traction motor malfunctions, or when the first state L1 is state S8, the third state L3 becomes state S10.

[0042] When the third state L3 is the state S10, after the first state L1 is not the state S8 and the traction motor does not have any abnormalities, the third state L3 is switched to the state S4 after manual confirmation.

[0043] In the method described above, optionally, the action includes:

[0044] Action A0, wherein action A0 is to start the pump motor;

[0045] Action A1, wherein action A1 is to start the cutting motor;

[0046] Action A2, where action A1 is to start the traction motor;

[0047] Action A3, wherein action A3 is to stop the pump motor;

[0048] Action A4, wherein action A4 is to stop the cutting motor;

[0049] Action A5, wherein action A5 is to stop the traction motor;

[0050] Action A6, wherein action A6 is to unlock the pump motor;

[0051] Action A7, wherein action A7 is to unlock the cutting motor;

[0052] Action A8, wherein action A8 is to unlock the traction motor;

[0053] Action A9, wherein action A9 is rocker arm lifting adjustment;

[0054] Action A10, wherein action A10 is traction speed adjustment.

[0055] Optionally, in the method described above, the action permission mapping mechanism includes:

[0056] Action A0 is permitted to be executed only when the state of the coal mining machine includes state S2;

[0057] Action A1 is permitted to be executed only when the state of the coal mining machine includes both state S5 and state S3;

[0058] Action A2 is permitted to be executed only when the state of the coal mining machine includes both state S5 and state S4;

[0059] Action A3 is permitted to be executed only when the state of the coal mining machine includes state S5;

[0060] Action A4 is permitted to be executed only when the state of the coal mining machine includes state S6;

[0061] Action A5 is permitted to be executed only when the state of the coal mining machine includes state S7;

[0062] Action A6 is permitted to be executed only when the state of the coal mining machine includes state S8;

[0063] Action A7 is permitted to be executed only when the state of the coal mining machine includes state S9;

[0064] Action A8 is permitted to be executed only when the state of the coal mining machine includes state S10;

[0065] Action A9 is permitted to be executed only when the state of the coal mining machine includes both state S5 and state S3;

[0066] Action A10 is permitted to be executed only when the state of the coal mining machine includes state S7.

[0067] Optionally, in the method described above, the method further includes: when the motor malfunctions, the motor enters a locked state, the locked state needs to be released through a motor unlocking process, the motor unlocking process including automatic determination of whether to unlock and manual confirmation of whether to unlock.

[0068] In the method described above, optionally, the motor unlocking process includes the following steps:

[0069] Step I: Determine whether the motor is in the locked state. If the motor is in the locked state, proceed to Step II; otherwise, exit the motor unlocking process.

[0070] Step II: The software determines whether the abnormal situation no longer exists. If the software determines that the abnormal situation no longer exists, then Step III is executed; otherwise, the motor is prevented from unlocking.

[0071] Step III: Manually confirm whether the abnormal situation no longer exists. If the abnormal situation is confirmed to no longer exist, proceed to Step IV; otherwise, prevent the motor from unlocking.

[0072] Step IV: Manually press the motor unlock button to proceed to step V;

[0073] Step V: The main controller of the coal mining machine reads the signal from the motor unlock button and executes step VI;

[0074] Step VI: The software confirms whether the motor unlock button has been pressed effectively. If the software confirms that the motor unlock button has been pressed effectively, the motor unlocking is completed; otherwise, the motor unlocking is prohibited.

[0075] In the method described above, optionally, in step VI, the basis for the motor unlock button being effectively pressed is that the duration of the motor unlock button being pressed is between 1.5 seconds and 3 seconds.

[0076] In the method described above, optionally, the motor includes a pump motor, a cutting motor, and a traction motor; the abnormal conditions include abnormal current, abnormal temperature, and motor overload; and the motor unlocking buttons include a pump motor unlocking button, a cutting motor unlocking button, and a traction motor unlocking button.

[0077] Furthermore, when the pump motor enters the locked state, the cutting motor and the traction motor also enter the locked state.

[0078] The state-driven coal mining machine action control method of the present invention authorizes actions according to the state of the coal mining machine, thereby improving the safety of the coal mining machine system. Attached Figure Description

[0079] The disclosure of this invention will become more apparent from the accompanying drawings. It should be understood that these drawings are for illustrative purposes only and are not intended to limit the scope of protection of this invention. In the drawings:

[0080] Figure 1 This is a schematic diagram of the state switching process in an embodiment of the state-driven coal mining machine motion control method of the present invention.

[0081] Figure 2 for Figure 1 A schematic diagram of the motor state switching process in the embodiment shown;

[0082] Figure 3 This is a schematic diagram of the motor unlocking process in an embodiment of the state-driven coal mining machine motion control method of the present invention. Detailed Implementation

[0083] Referring to the accompanying drawings and specific embodiments, the structure, composition, features, and advantages of the state-driven coal mining machine motion control method of the present invention will be described below by way of example. However, all descriptions should not be construed as limiting the present invention in any way.

[0084] Furthermore, for any single technical feature described or implied in the embodiments mentioned herein, or any single technical feature shown or implied in the various figures, the present invention still allows for any combination or deletion of these technical features (or their equivalents) without any technical obstacle, and thus these further embodiments according to the present invention should also be considered within the scope of this description.

[0085] Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first," "second," or "third" may explicitly or implicitly include at least one of those features.

[0086] Figure 1 This is a schematic diagram of the state switching process in an embodiment of the state-driven coal mining machine action control method of the present invention. The state modeling mechanism and action permission mapping mechanism in this embodiment will be explained below, in conjunction with... Figure 1 Explain the state switching mechanism in this embodiment.

[0087] First, there is the state modeling mechanism in this embodiment. Based on the state modeling mechanism, this embodiment divides the operation process of the coal mining machine into multiple discrete states, and determines the state of the coal mining machine according to its actual operation.

[0088] For example, the operation process of the coal mining machine control system is divided into several discrete states as shown in Table 1.

[0089] Table 1 State Division

[0090]

[0091] As shown in Table 1, in this embodiment, the above states include a total of 12 states, from S0 to S11, including states related to the initialization of the coal mining machine system and states related to the three motors of the coal mining machine.

[0092] States S0, S1, and S11 are states related to the initialization of the coal mining machine system. State S0 is the power-on uninitialized state, in which the main controller of the coal mining machine has been powered on but has not yet begun operations such as variable loading, module communication connection establishment, and module initialization. State S1 is the initialization in progress state, in which the coal mining machine system begins operations such as variable loading, module communication connection establishment, and module initialization. State S11 is the initialization failed state; if the coal mining machine is in this state, it indicates that the aforementioned operations such as module communication connection establishment and module initialization have failed.

[0093] States S2-S10 are states related to the coal mining machine motor. In this embodiment, the coal mining machine has a pump motor, a cutting motor, and a traction motor.

[0094] States S2, S3, and S4 represent the standby idle states of the three motors. Specifically, state S2 is the pump motor standby idle state; in this state, all initializations of the coal mining machine system are complete, the pump motor is allowed to start, and it awaits manual activation. State S3 is the cutting motor standby idle state; in this state, all initializations of the coal mining machine system are complete, the cutting motor is allowed to start, and it awaits manual activation. State S4 is the traction motor standby idle state; in this state, all initializations of the coal mining machine system are complete, the traction motor is allowed to start, and it awaits manual activation.

[0095] States S5, S6, and S7 represent the operating states of the three motors. Specifically, state S5 indicates that the pump motor is running, meaning the pump motor of the coal mining machine is currently operating; state S6 indicates that the cutting motor of the coal mining machine is running, meaning the cutting motor of the coal mining machine is currently operating; and state S7 indicates that the traction motor of the coal mining machine is running, meaning the traction motor of the coal mining machine is currently operating.

[0096] States S8, S9, and S10 represent the locked states of the three motors. State S8 indicates the pump motor is locked. When the coal mining machine is in this state, it means the pump motor is experiencing abnormal current, overheating, overload, or other abnormal conditions that prohibit its operation, resulting in the pump motor being locked and not allowed to start. The pump motor can only be restarted after being unlocked. State S9 indicates the cutting motor is locked. When the coal mining machine is in this state, it means the cutting motor is experiencing abnormal current, overheating, overload, or other abnormal conditions that prohibit its operation, resulting in the cutting motor being locked and not allowed to start. The cutting motor can only be restarted after being unlocked. State S10 indicates the traction motor is locked. When the coal mining machine is in this state, it means the traction motor is experiencing abnormal current, overheating, overload, or other abnormal conditions that prohibit its operation, resulting in the traction motor being locked and not allowed to start. The traction motor can only be restarted after being unlocked.

[0097] During the operation of a coal mining machine, its current state is determined based on its actual operating conditions. The coal mining machine can be in one or more states simultaneously, which can be represented by a set of states. For example, when all three motors are running simultaneously, the coal mining machine is in the state set {S5, S6, S7}; similarly, when all three motors are locked, the coal mining machine is in the state set {S8, S9, S10}. It should be noted that when describing a coal mining machine as being in one or more states, it means that the current state of the coal mining machine includes, but is not limited to, those states. Similarly, when describing a coal mining machine as being in a state set, it means that the current state of the coal mining machine includes, but is not limited to, the states in that state set; that is, the state set is a subset of the set of all current states of the coal mining machine. For example, when both the cutting motor and the traction motor are in standby idle, the coal mining machine is in the state set {S3, S4}. At this time, the coal mining machine can also be in other states besides S3 and S4, such as S2 or S5. Therefore, the state of the coal mining machine being in {S3, S4} includes any state set containing {S3, S4}, such as the state set {S2, S3, S4} or the state set {S2, S3, S4}.

[0098] In alternative embodiments, different state divisions may be employed to adapt the coal mining machine systems of various embodiments. For example, a more refined state division may be used to achieve finer control.

[0099] The aforementioned state modeling mechanism divides the operating state of the coal mining machine system into multiple states, including 12 typical states such as initialization, idle, running, and locked. This facilitates more precise handling of various operating conditions of the coal mining machine, more stable and secure control of the coal mining machine, and provides a state model for the subsequent action permission mapping mechanism. It makes it easy to bind actions to specific states, laying the foundation for the formation of a complete state-driven authorization mechanism. Furthermore, the unified state model makes the control logic have good readability and maintainability, and also facilitates later code maintenance and expansion.

[0100] The introduced locking state provides a unified response path for multiple triggering conditions such as faults and safety interlocks, preventing logical confusion or control failure in the system under abnormal conditions.

[0101] Furthermore, without a comprehensive understanding of the current operating state of the coal mining machine, subsequent automatic unlocking or locking operations cannot be performed, making the next action of the coal mining machine system unpredictable. This state modeling mechanism, however, allows the coal mining machine control system to know its specific current state, enabling it to perform automatic locking or unlocking operations based on that state, thus making the next action of the coal mining machine system predictable. Moreover, with precise knowledge of the current state of the coal mining machine, a fault-tolerant barrier can be formed against premature operations, accidental triggering, and unauthorized operations, helping to mitigate the risks of human error at the system level.

[0102] In this embodiment, the action permissions for all types of actions of the coal mining machine are determined based on the current state. For example, based on the state modeling mechanism described above, an action permission mapping mechanism as shown in Table 2 is established.

[0103] Table 2 Action Permission Mapping

[0104]

[0105] As shown in Table 2, in this embodiment, the method performs state-driven permission management of coal mining machine actions by setting a set of allowed states for the coal mining machine's actions. It should be noted that, as mentioned above, the state set represents the current state of the coal mining machine, including but not limited to the states in that set; that is, the state set is a subset of the set of all current states of the coal mining machine. Therefore, the allowed state set for a coal mining machine action means that the action is allowed to execute only when the set of all current states of the coal mining machine includes that allowed state set. For example, if the allowed state set for action A3 is {S5}, then action A3 is allowed to execute when the coal mining machine is in state sets {S5}, {S5, S6}, or {S5, S6, S7}, which contain {S5}.

[0106] The coal mining machine actions authorized through this action permission mapping mechanism include actions A0-A10 as shown in Table 2. This covers not only various operations on the pump motor, cutting motor, and traction motor of the coal mining machine, but also operations such as adjusting the lifting and lowering of the coal mining machine's rocker arm and adjusting the traction speed, thus achieving unified management of coal mining machine actions. A unified action permission management mechanism can solve or at least alleviate the fragmented implementation problem of action authorization in existing coal mining machine control systems. Specifically, in existing coal mining machine control systems, the execution conditions of each action are scattered and embedded in different logic modules of the program, forming a large number of redundant and heavily coupled judgment statements. This fragmented implementation makes subsequent program maintenance and logic modification extremely difficult. Once the execution permission of a certain action needs to be adjusted, it is often necessary to repeatedly locate and modify multiple code segments, which can easily lead to omissions or logical conflicts, seriously affecting the stability and maintainability of the system. At the same time, if action permission control does not form a unified standardized framework, it is also not conducive to the integration of new functions and the expansion of the system, further restricting the modularization and engineering development of the coal mining machine control system. The state-driven unified action permission management method in this embodiment can realize centralized management of action control logic, dynamic authorization and system-level collaboration, and improve the logical clarity and engineering maintainability of the coal mining machine control system.

[0107] In optional embodiments, the actions included in the action permission mapping mechanism can be determined based on actual circumstances to achieve different control objectives. For example, more coal mining machine actions can be added to the action permission mapping mechanism to more comprehensively control the coal mining machine's actions.

[0108] Actions A0, A1, and A2 are motor starting actions. Action A0 starts the pump motor, with a permissible operating state set of {S2}, meaning the pump motor can only be started when it is in standby idle state. Action A1 starts the cutting motor, with a permissible operating state set of {S5, S3}, meaning the cutting motor can only be started when the pump motor is running and the cutting motor is in standby idle state. Action A2 starts the traction motor, with a permissible operating state set of {S5, S4}, meaning the traction motor can only be started when the pump motor is running and the traction motor is in standby idle state. It can be seen that in the coal mining machine's control process, the starting and operation of the pump motors is fundamental to the machine's operation; only after the pump motors are running can the cutting and traction motors be started.

[0109] Actions A3, A4, and A5 are actions to stop the motors. Specifically, action A3 stops the pump motor, and its allowed operating state set is {S5}, meaning that stopping the pump motor is only permitted when the pump motor is running. Action A4 stops the cutting motor, and its allowed operating state set is {S6}, meaning that stopping the cutting motor is only permitted when the cutting motor is running. Action A5 stops the traction motor, and its allowed operating state set is {S7}, meaning that stopping the traction motor is only permitted when the traction motor is running.

[0110] Actions A6, A7, and A8 are motor unlocking operations. Specifically, action A6 is the pump motor unlocking action, with a permissible operating state set of {S8}, meaning the pump motor unlocking operation is only permitted when the pump motor is in a locked state; action A7 is the cutting motor unlocking action, with a permissible operating state set of {S9}, meaning the cutting motor unlocking operation is only permitted when the cutting motor is in a locked state; and action A8 is the traction motor unlocking action, with a permissible operating state set of {S10}, meaning the traction motor unlocking operation is only permitted when the traction motor is in a locked state.

[0111] In addition, action A9 is the rocker arm raising / lowering adjustment, and its allowed operating state set is {S5, S3}. That is, the coal mining machine is only allowed to perform rocker arm raising / lowering operation when the pump motor is running and the cutting motor is in standby idle state. This is because, for safety reasons, rocker arm raising / lowering operation is not allowed during the cutting process to prevent the cutting drum from cutting the top and bottom plates and causing danger. Action A10 is the traction speed adjustment action, and its allowed operating state set is {S7}. That is, the traction speed adjustment operation is only allowed when the traction motor is running. This is because the traction system requires the traction motor to provide power, and the speed of the traction motor is a key factor affecting the traction speed. Traction speed adjustment is usually achieved by controlling the speed of the traction motor.

[0112] In optional embodiments, a set of allowed states can be set for more or fewer coal mining machine actions, or a different action permission mapping relationship can be set to adapt to coal mining machine systems of different embodiments, or to match different state modeling mechanisms. For example, additional states can be introduced to restrict action authorization, or permission management can be implemented for more coal mining machine actions to achieve more precise or comprehensive control over coal mining machine actions and improve system security.

[0113] Furthermore, the state-driven coal mining machine motion control logic can be decoupled at the software and hardware levels, facilitating logic expansion, fault tracking, and on-site debugging.

[0114] Combining the aforementioned state modeling mechanism, the action permission mapping mechanism achieves a complete state-action matching mechanism, constructing a comprehensive state-action linkage model. By deeply binding action control logic with the system's operating state, and driving the execution permissions of all control actions through state determination, centralized permission management is achieved, significantly improving the accuracy of action triggering and the predictability of system behavior. This effectively prevents operational risks such as misoperation, repeated starts, and illegal actions, enabling the coal mining machine system to protect against misoperation and establishing a fault-tolerant barrier against premature operation, mis-triggering, and overstepping of authority, thus addressing the risks of human factors at the system level. For example, the aforementioned motor start operation is only allowed when the corresponding motor is in standby idle state; restarting is no longer permitted while the motor is running. Similarly, the aforementioned motor stop operation is only allowed when the corresponding motor is running; once stopped, the stop action is not repeated, eliminating the risk of repeated triggering. Furthermore, various operations can only be executed in their corresponding permitted states, eliminating the risk of illegal triggering.

[0115] Therefore, the aforementioned action permission mapping mechanism can solve or at least alleviate the problems of weak coupling between action execution and equipment status, and low safety in traditional coal mining machine control methods. For example, under traditional coal mining machine control methods, if an operator accidentally touches the pump motor start button when the equipment is first powered on and has not yet completed its initial self-test, the system may respond incorrectly, causing equipment damage or personal injury risks. As another example, under traditional coal mining machine control methods, if an operator accidentally touches the rocker arm raise / lower button during the cutting process, it may damage the equipment, because for safety reasons, rocker arm raising / lowering is not allowed during the cutting process to prevent the cutting drum from cutting the top and bottom plates and causing danger.

[0116] Furthermore, the aforementioned action permission mapping mechanism can achieve unified management of coal mining machine actions, solving or at least alleviating the problems of scattered, repetitive, and redundant action judgments in the program logic of existing coal mining machine control systems. Specifically, in existing coal mining machine control systems, the execution conditions of each action are scattered and embedded in different logic modules of the program, forming a large number of redundant and heavily coupled judgment statements. This fragmented implementation makes subsequent program maintenance and logic modification extremely difficult. Once it is necessary to adjust the execution permission of a certain action, it is often necessary to repeatedly locate and modify multiple code segments, which can easily lead to omissions or logical conflicts, seriously affecting the stability and maintainability of the system. At the same time, if action permission control does not form a unified standardized framework, it is also not conducive to the integration of new functions and the expansion of the system, further restricting the modularization and engineering development of the coal mining machine control system. However, the state-driven unified action permission management method in this embodiment can achieve centralized management, dynamic authorization, and system-level collaboration of action control logic, improve the logical clarity and engineering maintainability of the coal mining machine control system, and facilitate subsequent code maintenance and expansion.

[0117] Next, combine Figure 1 Explain the state switching mechanism in this embodiment.

[0118] like Figure 1 As shown, after the main controller of the coal mining machine is powered on, the coal mining machine system is in state set {S0}. After the system is in state set {S0}, initialization can begin, and during the initialization process, it switches to state set {S1}. If the initialization fails after the system is in state set {S1}, the current state switches to state set {S11}; otherwise, the initialization completes normally, and the current state switches to state set {S2}. This is because the control logic of this method requires waiting for the pump motor to start before allowing operations such as starting the cutting motor, starting the traction motor, and raising / lowering the rocker arm can be performed. If the pump motor experiences an abnormal condition after the system is in state set {S2}, such as abnormal motor current, excessive motor temperature, or motor overload, the current state switches to state set {S8}. Furthermore, when the system is in state set {S2}, the pump motor is allowed to start. If the pump motor runs normally after being manually started, the current state switches to state set {L1, L2, L3}; otherwise, if an abnormality occurs when or after the pump motor starts, the state switches to state set {S8}.

[0119] The aforementioned state set {L1, L2, L3} includes a first state L1, a second state L2, and a third state L3. These three states are collectively referred to as L1, L2, and L3, representing the states of the pump motor, the cutting motor, and the traction motor, respectively. State values ​​need to be assigned to L1, L2, and L3 based on the current actual state of these three motors. Specifically, the selectable range for the first state L1 is state S2, S5, or S8; the selectable range for the second state L2 is state S3, S6, or S9; and the selectable range for the third state L3 is state S4, S7, or S10.

[0120] The switching mechanism between the first state L1, the second state L2, and the third state L3 mentioned above will be discussed in conjunction with... Figure 2 Please provide an explanation.

[0121] In optional embodiments, a different state switching mechanism than that described above can be set to adapt to the coal mining machine system of different embodiments, or to match different state modeling mechanisms.

[0122] The aforementioned state switching mechanism is a crucial foundation for establishing a complete state-driven action control method. Through this mechanism, the coal mining machine control system can comprehensively determine the current state of the system and the appropriate state to switch to, making the system's next action predictable and improving its predictability. Furthermore, this mechanism sets appropriate restrictions on state switching, ensuring that the system only enters the corresponding state under permissible conditions, thus enhancing system safety. For example, the mechanism includes controlling the motor to enter and unlock states, preventing or reducing accidents caused by motor malfunctions. Additionally, this state-driven mechanism strengthens the engineering closed-loop capability of the coal mining machine control system, giving the machine greater operational safety, stability, and adaptability to different environments, providing solid technical support for intelligent control of coal mining equipment. Moreover, the unified state-driven mechanism ensures good readability and maintainability of the control logic, facilitating subsequent code maintenance and expansion.

[0123] In this embodiment, a state-driven coal mining machine action control method is implemented based on a state modeling mechanism, an action permission mapping mechanism, and a state-driven mechanism, which improves system security and can have the beneficial effects of the above mechanisms.

[0124] Figure 2 for Figure 1 The illustrated embodiment is a schematic diagram of the motor state switching process.

[0125] As mentioned earlier, this coal mining machine has three types of motors: a pump motor, a cutting motor, and a traction motor. The states of these three motors are represented by a first state L1, a second state L2, and a third state L3, respectively. The state switching of these three motors is based on the following... Figure 2 The state switching mechanism is shown.

[0126] like Figure 2 As shown, when the motor is stopped and there is no abnormal situation that would lock the motor, the motor is in a standby idle state. If the motor is started normally at this time, the motor will switch to the running state. If the motor encounters an abnormality in the standby idle state, or fails to start normally, the motor will enter a locked state.

[0127] Specifically, for the pump motor, its standby idle state is state S2. Its starting conditions include being in the standby idle state, and abnormal situations that would cause it to be locked include abnormal motor current, abnormal motor temperature, and motor overload, which require prohibiting its start-up. For the cutting motor and traction motor, their standby idle states are states S3 and S4, respectively. In addition to being in the standby idle state, their starting conditions further include the condition that the pump motor is in operation, as demonstrated by the aforementioned action permission mapping mechanism. Furthermore, the abnormal situations for the cutting motor and traction motor, in addition to their own abnormal motor current, abnormal motor temperature, and motor overload, also include the situation where the pump motor exhibits the aforementioned abnormalities.

[0128] like Figure 2 As shown, when the motor is running, it is permissible to stop the motor and return it to standby idle state. If the motor malfunctions during operation or at any other time, it will enter a locked state.

[0129] Specifically, for the pump motor, its operating state is S5, and its abnormal conditions include abnormal motor current, abnormal motor temperature, and motor overload, which require prohibiting its start-up and operation. For the cutting motor and traction motor, their operating states are S6 and S7, respectively. In addition to their own abnormal conditions such as abnormal motor current, abnormal motor temperature, and motor overload, which require prohibiting their start-up and operation, their abnormal conditions also include the aforementioned abnormalities of the pump motor.

[0130] like Figure 2 As shown, when the motor is in a locked state, it is not allowed to run and must be unlocked to switch to a standby idle state. The motor unlocking process in this embodiment includes a conditional judgment to determine whether the abnormal situation no longer exists, and manual confirmation.

[0131] Specifically, the locked states for the pump motor, cutting motor, and traction motor are states S8, S9, and S10, respectively. Furthermore, when the pump motor enters the locked state, the cutting motor and traction motor also enter the locked state. Therefore, the unlocking conditions for the cutting motor and traction motor, in addition to the cessation of their own abnormal conditions, further include the pump motor not being locked.

[0132] As mentioned above, the starting conditions for the cutting motor and traction motor include not only that they are not in a locked state, but also that the pump motor is running. Furthermore, among the abnormal conditions of the aforementioned motors, pump motor abnormalities include abnormal motor current, overheating, and overload, which require prohibiting their start-up. Similarly, the abnormal conditions of the cutting motor and traction motor include not only their own abnormal motor current, overheating, and overload, but also the aforementioned abnormalities of the pump motor. This demonstrates that in the control process of the coal mining machine, the start-up of the pump motor is fundamental to the machine's operation. Only after the pump motor is running can the cutting motor and traction motor be started; otherwise, they are not permitted to start. Likewise, when the pump motor switches from running to stopping, if the cutting motor and traction motor are running at the same time, then the linked cutting motor and traction motor also need to be stopped.

[0133] Since the first state L1, the second state L2, and the third state L3 each have three possible states, the state set {L1, L2, L3} has a total of 27 possible combinations. However, due to the above constraints, when the first state L1 is not S5 (i.e., the pump motor is not running), the second state L2 cannot be S6 (i.e., the cutting motor cannot run), and the third state L3 cannot be S7 (i.e., the traction motor cannot run). Furthermore, when the first state L1 is S8 (i.e., the pump motor is locked), the second state L2 and the third state L3 are S9 and S10 respectively, meaning the cutting motor and the traction motor are also locked. Therefore, the following 13 cases will not exist: {S2, S6, S4}, {S2, S6, S7}, {S2, S6, S10}, {S2, S3, S7}, {S2, S9, S7}, {S8, S6, S4}, {S8, S6, S7}, {S8, S6, S10}, {S8, S3, S7}, {S8, S9, S7}, {S8, S3, S4}, {S8, S3, S10}, {S8, S9, S4}. Therefore, the state set {L1, L2, L3} has only 14 possible cases, as follows: {S2, S3, S4}, {S2, S3, S10}, {S2, S9, S4}, {S2, S9, S10}, {S5, S3, S4}, {S5, S3, S7}, {S5, S3, S10}, {S5, S6, S4}, {S5, S6, S7}, {S5, S6, S10}, {S5, S9, S4}, {S5, S9, S7}, {S5, S9, S10}, {S8, S9, S10}.

[0134] The joint control of multiple motor state switching further improves the state switching mechanism of this embodiment. Therefore, in addition to the beneficial effects of the above-mentioned state switching mechanism, it further enhances the predictability, safety, engineering closed-loop capability, operational stability and field adaptability of the coal mining machine system.

[0135] In optional embodiments, different motor state switching mechanisms can be designed, and the motor state switching mechanism can be made applicable to more motors. Through targeted design, the adaptability with the coal mining machine system can be improved, and the system can be controlled more comprehensively and uniformly.

[0136] Figure 3 This is a schematic diagram of the motor unlocking process in an embodiment of the state-driven coal mining machine motion control method of the present invention.

[0137] In this embodiment, the method has a unified locking and unlocking mechanism. The coal mining machine has a pump motor, a cutting motor, and a traction motor. When a motor malfunctions, it is automatically locked. The motor can only be allowed to run after the lock is released. Since the pump motor, cutting motor, and traction motor are the core components of the coal mining machine, the motor unlocking process is performed using a combination of data judgment and manual confirmation to ensure the safety of the coal mining machine's operation.

[0138] Depending on the specific implementation, this unified locking and unlocking mechanism can be tailored to the coal mining machine system of each implementation, thereby improving adaptability and professionalism.

[0139] This locking and unlocking mechanism designs a unified locking state for several abnormal events and sets up an unlocking mechanism triggered by fault troubleshooting, manual reset, and other conditions. This ensures the safe closed-loop operation of the control system, strengthens its engineering closed-loop capability, and gives the coal mining machine greater operational safety, stability, and field adaptability, providing solid technical support for the intelligent control of coal mining equipment. Specifically, the locking mechanism provides a unified response path for multiple triggering conditions such as faults and safety interlocks, preventing logical confusion or control failure in the coal mining machine system under abnormal conditions. The unlocking mechanism clarifies the boundaries and processes for abnormal recovery, and is executed collaboratively through manual intervention and automatic reset.

[0140] Specifically, such as Figure 3 As shown, the motor unlocking process in this embodiment includes the following steps:

[0141] Step I: After the motor unlocking process begins, determine whether the motor is in a locked state. If the motor is in a locked state, proceed to Step II; otherwise, exit the motor unlocking process.

[0142] Step II: Determine whether the abnormal condition of the motor no longer exists through software. If the software determines that the abnormal condition of the motor no longer exists, proceed to Step III; otherwise, prevent the motor from being unlocked.

[0143] Step III: Manually confirm whether the abnormal condition of the motor no longer exists. If it is confirmed that the abnormal condition of the motor no longer exists, proceed to Step IV; otherwise, the motor is prohibited from being unlocked.

[0144] Step IV: Manually press the motor unlock button, then proceed to step V;

[0145] Step V: The main controller of the coal mining machine reads the signal from the motor unlock button and then executes step VI;

[0146] Step VI: Verify the effectiveness of pressing the motor unlock button using software. If the software determines that the motor unlock button has been pressed effectively, the motor unlocking is complete; otherwise, the motor unlocking is prohibited.

[0147] In other embodiments, some details of the motor unlocking process described above can be designed according to different actual situations. For example, the software judgment logic can be designed according to the actual situation of the coal mining machine system, the manual confirmation process can allow staff to make professional judgments using different methods, and the motor unlocking button is only an exemplary form, which can be replaced with or added to other forms such as touch screen or joystick as needed.

[0148] Furthermore, in alternative embodiments, a different motor unlocking process can be designed to meet specific design requirements. For example, more unlocking steps can be introduced.

[0149] like Figure 3 As shown, exemplarily, the software determines whether the motor unlock button is validly pressed based on whether the button is pressed for a duration greater than 1.5 seconds and less than 3 seconds. Exemplarily, this can be achieved through hardware or software debouncing. This condition setting can filter out some situations where the button is accidentally pressed, such as when the button is pressed for a long time due to being squeezed by a person or object, or when an employee accidentally presses the button and then quickly releases it.

[0150] In optional embodiments, different effective press duration ranges can be set, or other different button signal judgment conditions can be designed.

[0151] Furthermore, if the judgment button is accidentally touched, an alarm can be triggered to remind maintenance personnel to investigate the situation. The alarm can also be recorded to enrich the problem log.

[0152] The above motor unlocking process applies to pump motors, cutting motors, and traction motors. The aforementioned motor unlocking buttons include corresponding unlocking buttons for pump motors, cutting motors, and traction motors. Furthermore, this locking mechanism also includes the condition that when the pump motor enters a locked state, the cutting motor and traction motor also enter a locked state. Therefore, the unlocking mechanism further includes the condition that, in addition to the absence of their own abnormal conditions, the pump motor is also not locked, for the unlocking of the cutting motor and traction motor.

[0153] Therefore, the locking and unlocking of the aforementioned motors are not entirely independent. The correlation between these locking and unlocking mechanisms takes into account the actual relationships between multiple motors in the coal mining machine's process flow, such as the impact of the pump motor on other motors. This makes the control logic more realistic, ensuring efficient collaboration among multiple motors and overall operational stability. Furthermore, any anomalies arising from these interrelationships are also uniformly managed through locking and unlocking, ensuring the clarity of the control logic and the maintainability of the engineering.

[0154] In summary, some embodiments of the present invention have one or more of the following beneficial effects:

[0155] (1) A state-action matching mechanism has been implemented, which sets a unique or multiple allowed states for each type of action, forming a complete state-driven authorization mechanism, which improves the accuracy of action triggering and the predictability of system behavior, and prevents operational risks such as misoperation, repeated startup, and illegal actions.

[0156] (2) A state-driven unified action permission management method was constructed to realize centralized management, dynamic authorization and system-level collaboration of action control logic, and improve the clarity of coal mining machine control logic and engineering maintainability;

[0157] (3) Decoupling is achieved at the software and hardware layers, which facilitates logic expansion, fault tracking and on-site debugging, and improves system security and maintainability;

[0158] (4) The unified state model and action authorization mechanism make the control logic have good readability and maintainability, and also facilitate the later code maintenance and expansion;

[0159] (5) It provides a unified response path for multiple triggering conditions such as faults and safety interlocks, avoids logical confusion or control failure in the system under abnormal conditions, and clarifies the boundary and process of abnormal recovery. Through the overall coordinated execution of manual intervention and automatic reset, it ensures the safe closed-loop operation of the control system.

[0160] The technical scope of this invention is not limited to the contents of the above specification. Those skilled in the art can make various modifications and variations to the above embodiments without departing from the technical concept of this invention, and all such modifications and variations should fall within the scope of this invention.

Claims

1. A state-driven action control method for a coal mining machine, characterized by, The method includes: Based on the state modeling mechanism, the operation process of the coal mining machine is divided into multiple discrete states, including power-on uninitialized state S0, initialization state S1, pump motor standby idle state S2, cutting motor standby idle state S3, traction motor standby idle state S4, pump motor running state S5, cutting motor running state S6, traction motor running state S7, pump motor locked state S8, cutting motor locked state S9, traction motor locked state S10, and initialization failed state S11. The state of the coal mining machine is determined according to the actual operation of the coal mining machine. Based on a state switching mechanism, the state of the coal mining machine is switched during its operation. This state switching mechanism includes: After the main controller of the coal mining machine is powered on, the coal mining machine is in state S0; When the coal mining machine is in state S0, initialization begins, and the state of the coal mining machine switches to state S1. When the coal mining machine is in state S1, if the initialization fails, the state of the coal mining machine switches to state S11; if the initialization is completed, the state of the coal mining machine switches to state S2. When the coal mining machine is in state S2, if the pump motor malfunctions, the state of the coal mining machine switches to state S8. When the pump motor starts and runs normally, the coal mining machine switches from state S2 to multiple states, including a first state L1, a second state L2, and a third state L3. Based on the action permission mapping mechanism, the execution permission of the coal mining machine's actions is determined according to the current state of the coal mining machine. These actions include: starting the pump motor (A0), starting the cutting motor (A1), starting the traction motor (A2), stopping the pump motor (A3), stopping the cutting motor (A4), stopping the traction motor (A5), unlocking the pump motor (A6), unlocking the cutting motor (A7), unlocking the traction motor (A8), adjusting the rocker arm lifting (A9), and adjusting the traction speed (A10). Action A0 is permitted to be executed only if the current state includes state S2; Action A1 is permitted to be executed only when the current state includes both state S5 and state S3; Action A2 is permitted to be executed only when the current state includes both state S5 and state S4; Action A3 is permitted to be executed only if the current state includes state S5; Action A4 is permitted to be executed only if the current state includes state S6; Action A5 is permitted to be executed only if the current state includes state S7; Action A6 is permitted to be executed only if the current state includes state S8; Action A7 is permitted to be executed only if the current state includes state S9; Action A8 is permitted to be executed only if the current state includes state S10; Action A9 is permitted to be executed only when the current state includes both state S5 and state S3; Action A10 is permitted to be executed only if the current state includes state S7.

2. The method as described in claim 1, characterized in that: The first state L1 is any one of the states S2, S5, or S8; the second state L2 is any one of the states S3, S6, or S9; and the third state L3 is any one of the states S4, S7, or S10.

3. The method of claim 2, wherein, The process of determining the first state L1 includes: When the pump motor is stopped and not locked, the first state L1 is the same as the state S2. When the first state L1 is state S2, after the pump motor starts running, the first state L1 switches to state S5. When the pump motor malfunctions, the first state L1 becomes state S8. When the first state L1 is state S8, after the pump motor has no abnormalities and after manual confirmation, the first state L1 is switched to state S2. The process of determining the second state L2 includes: When the cutting motor is stopped and not locked, the second state L2 is the same as state S3. When the first state L1 is state S5 and the second state L2 is state S3, after the cutting motor starts running, the second state L2 switches to state S6. When the cutting motor malfunctions, or when the first state L1 is state S8, the second state L2 is state S9. When the second state L2 is the state S9, after the first state L1 is not the state S8 and the cutting motor is not in any abnormal condition, the second state L2 is switched to the state S3 after manual confirmation. And, the process of determining the third state L3 includes: When the traction motor is stopped and not locked, the third state L3 is the same as state S4. When the first state L1 is state S5 and the third state L3 is state S4, after the traction motor starts running, the third state L3 switches to state S7. When the traction motor malfunctions, or when the first state L1 is state S8, the third state L3 becomes state S10. When the third state L3 is the state S10, after the first state L1 is not the state S8 and the traction motor does not have any abnormalities, the third state L3 is switched to the state S4 after manual confirmation.

4. The method of claim 1, wherein, The method further includes: when the motor malfunctions, the motor enters a locked state, which needs to be unlocked through a motor unlocking process, which includes automatic determination of whether to unlock and manual confirmation of whether to unlock.

5. The method as described in claim 4, characterized in that, The motor unlocking process includes the following steps: Step I: Determine whether the motor is in the locked state. If the motor is in the locked state, proceed to Step II; otherwise, exit the motor unlocking process. Step II: The software determines whether the abnormal situation no longer exists. If the software determines that the abnormal situation no longer exists, then Step III is executed; otherwise, the motor is prevented from unlocking. Step III: Manually confirm whether the abnormal situation no longer exists. If the abnormal situation no longer exists, proceed to Step IV; otherwise, prevent the motor from unlocking. Step IV: Manually press the motor unlock button to proceed to step V; Step V: The main controller of the coal mining machine reads the signal from the motor unlock button and executes step VI; Step VI: The software confirms whether the motor unlock button has been pressed effectively. If the software confirms that the motor unlock button has been pressed effectively, the motor unlocking is completed; otherwise, the motor unlocking is prohibited.

6. The method as described in claim 5, characterized in that, In step VI, the motor unlock button is considered to be effectively pressed if the duration of the press is between 1.5 seconds and 3 seconds.

7. The method according to any one of claims 4-6, characterized in that, The motors include a pump motor, a cutting motor, and a traction motor. The abnormal conditions include abnormal current, abnormal temperature, and motor overload. The motor unlocking buttons include pump motor unlocking buttons, cutting motor unlocking buttons, and traction motor unlocking buttons. Furthermore, when the pump motor enters the locked state, the cutting motor and the traction motor also enter the locked state.

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