Hydraulic support man-machine interaction device and method based on dual-core architecture and dynamic model
The hydraulic support human-machine interface device, with its dual-core architecture and multimodal interactive design, solves the problems of poor intuitiveness and insufficient real-time performance in underground coal mine operation, and achieves efficient and safe support for underground operations.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-11-07
- Publication Date
- 2026-04-10
AI Technical Summary
Existing hydraulic support human-machine interface controllers have poor intuitiveness, insufficient real-time performance, weak environmental adaptability, and low safety in underground coal mines. They are particularly prone to misoperation and roof support failure in high-noise, low-light, and dusty environments.
The hydraulic support human-machine interface device adopts a dual-core architecture, which uses a Linux main processor and an STM32 coprocessor to process data in real time and render 3D models synchronously. It combines multi-modal interaction and multi-level safety protection, including a color LCD screen, mechanical buttons, a piezoelectric buzzer and RGB LED warning lights. It supports operation with gloves and complies with the GB3836.1-2010 explosion-proof standard.
It improves operational intuitiveness, shortens the sensor data update cycle, enhances system reliability and safety, reduces the probability of misoperation, adapts to complex downhole environments, and meets the requirements for long-term stable operation.
Smart Images
Figure CN121833388A_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The application belongs to the technical field of industrial human-computer interaction, and particularly relates to a hydraulic support human-computer interaction device and method based on a dual-core architecture and a dynamic model. BACKGROUND
[0002] In the comprehensive mechanized mining operation in the coal mine, the hydraulic support, as the core equipment for supporting the roof and ensuring the safety of the operation space, directly affects the mining safety and production efficiency. At present, the human-computer interaction controller matched with the hydraulic support generally has the following technical defects: Poor interface display intuitiveness: the existing controller usually displays the support state (such as pressure and stroke) by using static numerical values or simple dynamic icons, and cannot intuitively reflect the real-time posture (such as lifting angle and pushing position) and motion changes of the hydraulic support. The operator needs to rely on long-term experience to interpret the data, which is easy to cause misoperation due to information understanding deviation, especially in the emergency working condition in the coal mine, which is easy to cause safety risks such as roof support failure.
[0003] Insufficient function module collaboration: the alarm module, control module and display module of most systems are independent of each other, and the data transmission relies on a single processor for time-sharing processing, resulting in obvious delay (usually >1s) of the alarm signal (such as pressure overrun and stroke anomaly) and interface display and operation feedback. When a fault occurs, the operator cannot quickly obtain the fault-related information, which prolongs the fault handling time.
[0004] Weak adaptability to underground environment: the coal mine underground has the characteristics of high noise, low illumination and much dust. The traditional controller uses single-key input and single-color indicator light feedback, and the alarm prompt is easy to be ignored in the high-noise environment, the key recognition is difficult in the low-illumination environment, and there is no protective design for dust coverage, which is easy to cause key jamming and display blur after long-term use.
[0005] Limited real-time performance and reliability: the existing controller usually uses a single-core processor architecture, which needs to undertake tasks such as sensor data collection, graphic rendering and control logic execution. Due to the limitation of single-core computing power, the sensor data update period is usually >50ms, the interface refresh delay is >1s, and the core task resource preemption is easy to cause system lag, which cannot meet the real-time control requirements of the hydraulic support; at the same time, the single-core architecture lacks redundancy design, and once the processor fails, the whole control system will be paralyzed.
[0006] In view of the above problems, it is urgent to design a human-computer interaction device and method with dynamic model visualization, dual-core collaborative processing and multi-modal interaction capability, so as to solve the deficiencies of the existing technology in intuitiveness, real-time performance and safety, and adapt to the complex operation environment in the coal mine. SUMMARY
[0007] In view of this, the purpose of the present application is to provide a hydraulic support human-computer interaction device and method based on a dual-core architecture and a dynamic model, which realizes real-time acquisition of sensor data and synchronous rendering of a three-dimensional model through dual-core collaborative processing, combines multi-modal interaction and multi-level safety protection, and solves the problems of poor intuitiveness, slow response, and high safety risk of underground operation.
[0008] In order to achieve the above-mentioned purpose of the application, the technical solutions adopted are as follows: A hydraulic support human-computer interaction device based on a dual-core architecture and a dynamic model, comprising a human-computer interaction board and a control board; the human-computer interaction board is integrated with a display module, an input module, an alarm module, and a communication interface; the control board adopts a dual-core architecture, including a Linux main processor and an STM32 coprocessor, which realize data interaction through a preset communication protocol; The STM32 coprocessor is used to acquire sensor data and control state data of the hydraulic support in real time, the sensor data at least including pressure data, stroke data, and inclination data, and the acquired data is transmitted to the Linux main processor; The Linux main processor is built-in with a dynamic interface rendering engine, which can drive the display module to output a three-dimensional graphical model synchronized with the action of the physical hydraulic support according to the received sensor data and control state data; at the same time, the Linux main processor is also used to acquire operation signals of the input module, provide operation feedback through the matching indication elements of the input module, and drive the alarm module to trigger multi-modal alarms when a fault is diagnosed or abnormal data reported by the STM32 coprocessor is received; The input module includes an emergency stop locking switch, which is connected to the control board through a row of pins, and its trigger signal has the highest priority and can directly interrupt the current control logic.
[0009] As a further improvement of the present application, the display module is a 3.5-inch LCD color screen with a resolution of 320x240, which is connected to the Linux main processor through an RGB888 interface and an SPI interface, and the contrast ratio of the LCD color screen is ≥500:1, the viewing angle is ≥160°, and it supports glove operation.
[0010] As a further improvement of the present application, the input module includes 30 mechanical keys and an emergency stop locking switch; the 30 mechanical keys adopt a 5x6 matrix scanning design, and each key is equipped with an LED backlight indication element; the emergency stop locking switch is a self-locking button, which is directly connected to the external interrupt pin of the STM32 coprocessor, and its response time is ≤20ms.
[0011] As a further improvement of the application, the alarm module comprises a piezoelectric buzzer and an RGB LED warning light; the working frequency of the piezoelectric buzzer is 2.7 kHz, and the sound pressure is ≥85 dB; The multi-modal alarm comprises at least two levels, when the WARNING level alarm is triggered, the RGB LED warning light outputs yellow light, and the piezoelectric buzzer emits a prompt sound at a frequency of 1000 Hz and an interval of 200 ms; when the CRITICAL level alarm is triggered, the RGB LED warning light outputs red light, and the piezoelectric buzzer emits a warning sound at a frequency of 2000 Hz and an interval of 500 ms, while the Linux main processor locks the control function of the input module.
[0012] As a further improvement of the application, the communication interface comprises an infrared receiving window, which adopts an infrared receiving head; and all external interfaces of the human-computer interaction board and the control board are equipped with ESD protection circuits.
[0013] As a further improvement of the application, the Linux main processor adopts an NXP i.MX6UL series chip with a main frequency ≥696 MHz, and runs a customized Linux 5.4 kernel, mainly undertaking tasks of three-dimensional graphic model rendering, communication protocol analysis, fault diagnosis and alarm logic control; The STM32 coprocessor adopts an STM32 4 series chip with a main frequency ≥168 MHz, and its running tasks at least include a sensor data acquisition task, an emergency stop locking signal processing task and a communication task with the Linux main processor; wherein the cycle of the sensor data acquisition task is 1 ms, and the priority is the highest; the emergency stop locking signal processing task is realized through an interrupt service program, and the response time is ≤10 μs; the cycle of the communication task with the Linux main processor is 10 ms, and the DMA transmission mode is adopted to reduce the CPU occupancy rate.
[0014] As a further improvement of the application, the preset communication protocol is realized based on an SPI interface, when the STM32 coprocessor and the Linux main processor transmit data through the protocol, the data transmission rate meets the real-time update requirement of sensor data, and the delay from the collection of sensor data to the presentation on the display module is ≤500 ms.
[0015] As a further improvement of the application, the three-dimensional graphic model synchronization algorithm of the dynamic interface rendering engine comprises the following steps: S1: receiving the sensor data transmitted by the STM32 coprocessor, and calculating the angle data of each joint of the support based on the preset hydraulic support structure parameters in real time; S2: smoothing the calculated joint angle data by using a quaternion interpolation algorithm to eliminate action lag; S3: According to the rendering frame rate of >=30fps, the processed joint angle data is converted into the posture parameters of the three-dimensional graphic model, and the display module is driven to output the updated three-dimensional graphic model.
[0016] As a further improvement of the application, the human-computer interaction board and the control board are physically connected and data transmission is realized through a 40pin FPC connector with a spacing of 1.0mm; the working temperature range of the whole device is -20℃~+60℃, and the high and low temperature impact test of -40℃~+85℃ can be passed; the standby power consumption of the device is <=5W, the peak power consumption is <=6W, the mean time between failures (MTBF) of continuous operation is >=80000 hours, the service life of the mechanical key is >=100 million times, and the whole device meets the GB3836.1-2010 explosive environment equipment standard A hydraulic support human-computer interaction method based on any of the above devices, comprising the following steps: S1: system power-on initialization, the STM32 coprocessor and the Linux main processor complete communication link establishment, and the Linux main processor drives the display module to load the initial three-dimensional model; S2: the STM32 coprocessor collects sensor data and control state data at a period of 1ms, and uploads the preprocessed data to the Linux main processor through the SPI interface at a period of 10ms; S3: the Linux main processor receives data, calculates the support joint angle through a dynamic interface rendering engine, updates the three-dimensional model using a quaternion interpolation algorithm, and drives the display module to realize synchronous display of the model; S4: when the operator performs an operation through the input module, the Linux main processor collects the operation signal, updates the control instruction and feeds back to the STM32 coprocessor, and provides operation feedback through the indicator light at the same time; S5: the Linux main processor monitors data anomalies and system failures in real time, and if the alarm condition is triggered, the alarm module is controlled to perform corresponding alarm operation according to the alarm level; if an emergency stop locking signal is received, the STM32 coprocessor immediately interrupts the control logic, and the Linux main processor synchronously locks the control function and updates the interface prompt.
[0017] Compared with the prior art, the application has the following remarkable beneficial effects: 1. The operation intuitiveness is greatly improved: the three-dimensional graphic model synchronized with the physical support in real time is generated through a dynamic interface rendering engine, and the traditional numerical pressure and stroke data are converted into visualized posture, so that the operator does not need to rely on experience to judge, and the probability of misoperation is reduced by >=60%; 2. Enhanced real-time performance and reliability: The dual-core architecture has a clear division of labor. The STM32 coprocessor is responsible for real-time data acquisition and emergency stop processing with a 1ms cycle, while the Linux main processor focuses on graphics rendering and logic control. The sensor data update cycle is shortened to within 10ms, the interface refresh latency is ≤500ms, and the system can run continuously for MTBF >80,000 hours, meeting the requirements for long-term stable operation in the well. 3. Environmental adaptability optimization: Multimodal interactive design (backlit buttons + sound and light alarm + wide viewing angle LCD) is adapted to the high noise and low light environment in the mine. The 85dB buzzer and high-brightness RGB LED ensure that no alarm information is missed. The LCD screen that supports glove operation improves the ease of operation when wearing protective equipment. 4. Hierarchical safety protection: Hardware emergency stop (response ≤20ms) works in conjunction with software locking, along with two-level audible and visual alarms, to build a full-link safety protection system of "acquisition-diagnosis-alarm-control", effectively reducing the safety risks caused by downhole faults; 5. Strong compatibility and scalability: The infrared communication interface supports remote parameter configuration and firmware upgrades; the ESD protection circuit is adapted to the underground electromagnetic environment and complies with the GB3836.1-2010 explosion-proof standard. It can directly replace the traditional controller of existing coal mine hydraulic supports without modifying the existing underground power supply and communication lines. Attached Figure Description
[0018] The accompanying drawings, which form part of this application, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings: Figure 1 This is a hardware block diagram of the hydraulic support human-machine interaction device of the present invention; Figure 2 This is a schematic diagram of the data flow and task division of the dual-core system of the present invention; Figure 3 This is the operating interface of the hydraulic support human-machine interaction device of the present invention; Figure 4 This is a schematic diagram of the layout of the human-computer interaction panel of the present invention. Detailed Implementation
[0019] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.
[0020] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.
[0021] like Figures 1-4 As shown, a hydraulic support human-machine interaction device based on a dual-core architecture and dynamic model includes a human-machine interaction board and a control board; the human-machine interaction board integrates a display module, an input module, an alarm module and a communication interface; the control board adopts a dual-core architecture, including a Linux main processor and an STM32 coprocessor, which realize data interaction through a preset communication protocol; The STM32 coprocessor is used to acquire sensor data and control status data of the hydraulic support in real time. The sensor data includes at least pressure data, stroke data and tilt angle data, and the acquired data is transmitted to the Linux main processor. The Linux main processor has a built-in dynamic interface rendering engine, which can drive the display module to output a three-dimensional graphic model that is synchronized with the movement of the physical hydraulic support based on the received sensor data and control status data. At the same time, the Linux main processor is also used to collect the operation signals of the input module and provide operation feedback through the matching indicator element of the input module. When a fault is diagnosed or abnormal data is received from the STM32 coprocessor, the alarm module is driven to trigger a multi-modal alarm. The input module includes an emergency stop interlock switch, which is connected to the control board via a pin header. Its trigger signal has the highest priority and can directly interrupt the current control logic.
[0022] The display module is a 3.5-inch LCD color screen with a resolution of 320×240. It connects to the Linux host processor through an RGB888 interface and an SPI interface. The LCD color screen has a contrast ratio of ≥500:1, a viewing angle of ≥160°, and supports operation with gloves.
[0023] The input module includes 30 mechanical buttons and an emergency stop lockout switch; the 30 mechanical buttons adopt a 5×6 matrix scanning design, and each button is equipped with an LED backlight indicator; the emergency stop lockout switch is a self-locking button that is directly connected to the external interrupt pin of the STM32 coprocessor, and its response time is ≤20ms.
[0024] The alarm module includes a piezoelectric buzzer and an RGB LED warning light; the piezoelectric buzzer operates at a frequency of 2.7kHz and has a sound pressure level ≥85dB. The multimodal alarm includes at least two levels. When the WARNING level alarm is triggered, the RGBLED warning light outputs a yellow light, and the piezoelectric buzzer emits a warning sound at a frequency of 1000Hz and an interval of 200ms. When the CRITICAL level alarm is triggered, the RGBLED warning light outputs a red light, and the piezoelectric buzzer emits a warning sound at a frequency of 2000Hz and an interval of 500ms. At the same time, the Linux main processor locks the control function of the input module.
[0025] The communication interface includes an infrared receiving window, which uses a TSOP34138 infrared receiver head and supports NEC encoding; and all external interfaces of the human-machine interface board and control board are equipped with ESD protection circuits.
[0026] The Linux main processor uses an NXPi.MX6UL series chip with a main frequency of ≥696MHz and runs a customized Linux 5.4 kernel. It is mainly responsible for tasks such as 3D graphics model rendering, communication protocol parsing, fault diagnosis and alarm logic control. The STM32 coprocessor uses the STM32 4 series chip with a main frequency of ≥168MHz. Its tasks include at least sensor data acquisition, emergency stop interlocking signal processing, and communication with the Linux main processor. Among them, the sensor data acquisition task has a cycle of 1ms and the highest priority; the emergency stop interlocking signal processing task is implemented through an interrupt service routine with a response time of ≤10μs; the communication with the Linux main processor has a cycle of 10ms and uses DMA transfer to reduce CPU utilization.
[0027] The preset communication protocol is implemented based on the SPI interface. When the STM32 coprocessor and the Linux main processor transmit data through this protocol, the data transmission rate meets the real-time update requirements of the sensor data, and the delay from the acquisition of sensor data to its presentation on the display module is ≤500ms.
[0028] The 3D graphics model synchronization algorithm of the dynamic interface rendering engine includes the following steps: S1: Receives sensor data transmitted by the STM32 coprocessor and calculates the angle data of each joint of the support in real time based on the preset hydraulic support structure parameters. S2: The calculated joint angle data is smoothed using a quaternion interpolation algorithm to eliminate motion stuttering; S3: At a rendering frame rate of ≥30fps, the processed joint angle data is converted into the pose parameters of the 3D graphics model, and the display module is driven to output the updated 3D graphics model.
[0029] The human-machine interface board and control board are physically connected and transmit data via a 40-pin FPC connector with a 1.0mm pitch. The entire device operates within a temperature range of -20℃ to +60℃ and can withstand high and low temperature shock tests from -40℃ to +85℃. The device has a standby power consumption of ≤5W, a peak power consumption of ≤6W, a mean time between failures (MTBF) of ≥80,000 hours, and a mechanical button lifespan of ≥1 million cycles. The overall device complies with GB3836.1-2010 Explosive Atmosphere Equipment Standard. A human-machine interaction method for a hydraulic support based on any of the above-described devices includes the following steps: S1: System power-on initialization, the STM32 coprocessor and the Linux main processor establish a communication link, and the Linux main processor drives the display module to load the initial 3D model; S2: The STM32 coprocessor acquires sensor data and control status data at a 1ms cycle, preprocesses the acquired data, and uploads it to the Linux main processor at a 10ms cycle via the SPI interface; S3: After receiving the data, the Linux main processor calculates the joint angle of the support frame through the dynamic interface rendering engine, updates the three-dimensional model using the quaternion interpolation algorithm, and drives the display module to realize the synchronous display of the model. S4: When the operator performs an operation through the input module, the Linux main processor collects the operation signal, updates the control instructions and feeds them back to the STM32 coprocessor, and provides operation feedback through indicator lights. S5: The Linux main processor monitors data anomalies and system faults in real time. If an alarm condition is triggered, the alarm module is controlled to perform the corresponding alarm operation according to the alarm level. If an emergency stop lockout signal is received, the STM32 coprocessor immediately interrupts the control logic, and the Linux main processor synchronously locks the control function and updates the interface prompts.
[0030] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, component splitting or combination, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.
Claims
1. A hydraulic support human-machine interaction device based on a dual-core architecture and dynamic model, characterized in that: It includes a human-machine interface board and a control board; the human-machine interface board integrates a display module, an input module, an alarm module and a communication interface; the control board adopts a dual-core architecture, including a Linux main processor and an STM32 coprocessor, which realize data interaction through a preset communication protocol; The STM32 coprocessor is used to acquire sensor data and control status data of the hydraulic support in real time. The sensor data includes at least pressure data, stroke data and tilt angle data, and the acquired data is transmitted to the Linux main processor. The Linux main processor has a built-in dynamic interface rendering engine, which can drive the display module to output a three-dimensional graphic model that is synchronized with the movement of the physical hydraulic support based on the received sensor data and control status data. At the same time, the Linux main processor is also used to collect the operation signals of the input module and provide operation feedback through the matching indicator element of the input module. When a fault is diagnosed or abnormal data is received from the STM32 coprocessor, the alarm module is driven to trigger a multi-modal alarm. The input module includes an emergency stop interlock switch, which is connected to the control board via a pin header. Its trigger signal has the highest priority and can directly interrupt the current control logic.
2. The hydraulic support human-machine interaction device based on a dual-core architecture and dynamic model according to claim 1, characterized in that: The display module is a 3.5-inch LCD color screen with a resolution of 320×240. It connects to the Linux host processor through an RGB888 interface and an SPI interface. The LCD color screen has a contrast ratio of ≥500:1, a viewing angle of ≥160°, and supports operation with gloves.
3. The hydraulic support human-machine interaction device based on a dual-core architecture and dynamic model according to claim 1, characterized in that: The input module includes 30 mechanical buttons and an emergency stop lockout switch; the 30 mechanical buttons adopt a 5×6 matrix scanning design, and each button is equipped with an LED backlight indicator; the emergency stop lockout switch is a self-locking button that is directly connected to the external interrupt pin of the STM32 coprocessor, and its response time is ≤20ms.
4. The hydraulic support human-machine interaction device based on a dual-core architecture and dynamic model according to claim 1, characterized in that: The alarm module includes a piezoelectric buzzer and an LED warning light; the piezoelectric buzzer operates at a frequency of 2.7kHz and has a sound pressure level ≥85dB. The multimodal alarm includes at least two levels. When the WARNING level alarm is triggered, the LED warning light outputs a yellow light, and the piezoelectric buzzer emits a warning sound at a frequency of 1000Hz and an interval of 200ms. When the CRITICAL level alarm is triggered, the LED warning light outputs a red light, and the piezoelectric buzzer emits a warning sound at a frequency of 2000Hz and an interval of 500ms. At the same time, the Linux main processor locks the control function of the input module.
5. The hydraulic support human-machine interaction device based on a dual-core architecture and dynamic model according to claim 1, characterized in that: The communication interface includes an infrared receiving window, which uses an infrared receiver head; and all external interfaces of the human-machine interface board and the control board are equipped with ESD protection circuits.
6. The hydraulic support human-machine interaction device based on a dual-core architecture and dynamic model according to claim 1, characterized in that: The Linux main processor uses an NXPi.MX6UL series chip with a main frequency of ≥696MHz and runs a customized Linux 5.4 kernel. It is mainly responsible for tasks such as 3D graphics model rendering, communication protocol parsing, fault diagnosis and alarm logic control. The STM32 coprocessor uses the STM32 4 series chip with a main frequency of ≥168MHz. Its tasks include at least sensor data acquisition, emergency stop interlocking signal processing, and communication with the Linux main processor. Among them, the sensor data acquisition task has a cycle of 1ms and the highest priority; the emergency stop interlocking signal processing task is implemented through an interrupt service routine with a response time of ≤10μs; the communication with the Linux main processor has a cycle of 10ms and uses DMA transfer to reduce CPU utilization.
7. The hydraulic support human-machine interaction device based on a dual-core architecture and dynamic model according to claim 1, characterized in that: The preset communication protocol is implemented based on the SPI interface. When the STM32 coprocessor and the Linux main processor transmit data through this protocol, the data transmission rate meets the real-time update requirements of the sensor data, and the delay from the acquisition of sensor data to its presentation on the display module is ≤500ms.
8. The hydraulic support human-machine interaction device based on a dual-core architecture and dynamic model according to claim 1, characterized in that: The 3D graphics model synchronization algorithm of the dynamic interface rendering engine includes the following steps: S1: Receives sensor data transmitted by the STM32 coprocessor and calculates the angle data of each joint of the support in real time based on the preset hydraulic support structure parameters. S2: The calculated joint angle data is smoothed using a quaternion interpolation algorithm to eliminate motion stuttering; S3: At a rendering frame rate of ≥30fps, the processed joint angle data is converted into the pose parameters of the 3D graphics model, and the display module is driven to output the updated 3D graphics model.
9. The hydraulic support human-machine interaction device based on a dual-core architecture and dynamic model according to claim 1, characterized in that: The human-machine interface board and the control board are physically connected and transmit data through a 40-pin FPC connector with a 1.0mm pitch.
10. A human-machine interaction method for a hydraulic support based on the device described in any one of claims 1-9, characterized in that, Includes the following steps: S1: System power-on initialization, the STM32 coprocessor and the Linux main processor establish a communication link, and the Linux main processor drives the display module to load the initial 3D model; S2: The STM32 coprocessor acquires sensor data and control status data at a 1ms cycle, preprocesses the acquired data, and uploads it to the Linux main processor at a 10ms cycle via the SPI interface; S3: After receiving the data, the Linux main processor calculates the joint angle of the support frame through the dynamic interface rendering engine, updates the three-dimensional model using the quaternion interpolation algorithm, and drives the display module to realize the synchronous display of the model. S4: When the operator performs an operation through the input module, the Linux main processor collects the operation signal, updates the control instructions and feeds them back to the STM32 coprocessor, and provides operation feedback through indicator lights. S5: The Linux main processor monitors data anomalies and system faults in real time. If an alarm condition is triggered, the alarm module is controlled to perform the corresponding alarm operation according to the alarm level. If an emergency stop lockout signal is received, the STM32 coprocessor immediately interrupts the control logic, and the Linux main processor synchronously locks the control function and updates the interface prompts.