CN110344876A - Filling pipeline valve intelligence switching control and method, goaf filling method - Google Patents

Abstract

The invention discloses an intelligent switching control device and method for filling pipeline valves, and a goaf filling method. Filling pipeline valve intelligent switching control device, used for valve control on mine water-solid mixed slurry transmission pipeline, including filling main pipeline, filling branch pipe and drainage branch pipe. Filling branch pipe is equipped with filling valve for on-off control. The drainage branch pipe is equipped with a drainage valve to control on-off, and the main filling main line is equipped with an ultrasonic sensing device for reflecting the fluid state in the main filling main line through ultrasonic directional transmission. The filling valve, drainage valve and ultrasonic sensing device are respectively The communication is connected to the controller, and the controller is connected to the filling station console. The controller controls the opening and closing switching between the filling valve and the drain valve according to the command signal sent by the filling station console and the signal output by the ultrasonic sensor device. Accurately realize the valve switching between the filling valve and the draining valve to ensure the filling quality.

Description

Filling pipeline valve intelligent switching control device and method, goaf filling method

technical field

The invention relates to the technical field of filling control in filling mining, in particular to an intelligent switching control device for filling pipeline valves based on ultrasonic monitoring. In addition, the present invention also relates to a filling pipeline valve intelligent switching method comprising the filling pipeline valve intelligent switching control device. In addition, the present invention also relates to a goaf filling method including the above-mentioned method for intelligent switching of filling pipeline valves.

Background technique

The filling mining method has been proven to have the best adaptability in terms of protecting the ecological environment of mining areas, regional geological structures, protective mining, and mining safety. For this reason, some provinces have issued documents requiring new mines to adopt the filling mining method; the mining design specification clearly requires that the selection of mine mining methods must be compared with the filling mining method. These details show that the filling and filling mining method is bound to become the leading direction of mining method development.

The gob filling of the filling mining method is generally carried out by pipeline transportation of filling slurry. The filling slurry is a water-solid mixed slurry composed of water and solid materials according to a certain mass concentration. The filling process is as follows: (1) Conveying the lead pipe Rinse the pipeline with water; (2) transport the filling slurry; (3) transport flushing water to clean the pipeline after filling. It can be seen from the filling process that the water consumption during the filling process is huge, and the water consumption for ^flushing the pipeline is usually twice the capacity ^of the pipeline. The water volume is 20m ³ -100m ³ , but water entering the filling area will dilute the filling slurry, causing segregation and delamination of the filling slurry, and reducing the strength of the filling body after the solidification of the filling slurry.

In order to solve the diversion of filling slurry and water (prime pipe water and pipe washing water), a tee is generally installed at the end of the main filling pipeline, and one branch pipeline is used to transport the filling slurry to the filling stope; the other branch pipeline is To the ditch or sedimentation tank, used to discharge the pilot water and flushing water, and set a shut-off valve on each branch pipeline to control the flow direction of the main filling pipeline, so as to realize the diversion of filling slurry and water. From the above switching process, it can be seen that accurately grasping the switching timing of the valve is the basis for realizing the flow of filling slurry and water.

The existing method of judging the switching timing of valves mostly adopts the manual on-duty method. The switching timing is judged by observing the color change of the slurry in the pipeline. It is also difficult to observe the color change in the pipeline with the naked eye. It can only be judged when the pipeline is flushed to see clear water. At this time, a large amount of flushing water has been discharged into the stope.

There are two types of filling slurry for pipeline transportation: self-flowing and pumping, both of which are conveyed under pressure. Operators are on duty at the side of the pipeline for a long time. If the pipeline is blocked, it will cause the pipeline to burst and easily cause safety accidents. The use of manually operated valves is time-consuming, labor-intensive, poor in safety, and high in labor costs.

The timing of switching is judged by collecting pressure. Since the pressure in the pipeline changes during the filling process, such as blocked pipes, dissatisfied pipe flow and concentration changes, etc., there will be pressure loss or overpressure in the pipeline, and the monitored pressure is not the pipeline. Due to the normal pressure of the road, it is prone to misoperation, resulting in wrong diversion of filling slurry and water. The pipeline transmission pressure is collected by contact, the pressure sensor is easy to block and wear, the monitoring accuracy is poor, the error is large, and it is difficult to judge the switching time.

Contents of the invention

The invention provides a filling pipeline valve intelligent switching control device and method, and a goaf filling method to solve the problem of judging the switching timing of the existing goaf filling slurry delivery pipeline valve. The manual on-duty mode is easy to cause safety accidents and is easy to make mistakes. Judgment; Poor monitoring and control accuracy of pressure collection method, easy to misuse and delay switching timing, which in turn affects filling quality and causes technical problems of resource waste.

According to one aspect of the present invention, an intelligent switching control device for filling pipeline valves is provided, which is based on ultrasonic monitoring technology and is used for filling control in filling mining methods, including main filling pipelines, filling branch pipes and drainage branch pipes. There is a filling valve for controlling on-off, and a drainage valve for controlling on-off is provided on the drainage branch pipe. On the main filling main line, there is an ultrasonic sensor device for reflecting the fluid state in the main filling main line through ultrasonic directional transmission. The filling valve, The drainage valve and the ultrasonic sensing device are respectively connected to the controller by communication, and the controller is connected to the console of the filling station by communication. The controller controls the filling valve and the drainage valve according to the command signal sent by the console of the filling station and the signal output by the ultrasonic sensing device. switch between on and off.

Further, the controller adopts the stable ultrasonic amplitude signal output by the ultrasonic sensing device as the switching control signal for controlling the opening and closing switching between the filling valve and the drain valve; or the controller adopts the material corresponding to the ultrasonic amplitude output by the ultrasonic sensing device. The slurry mass concentration signal is used as a switching control signal to control the opening and closing switching between the filling valve and the drainage valve; or the controller uses the ultrasonic amplitude mutation signal output by the ultrasonic sensor device to control the switching control of the opening and closing switching between the filling valve and the drainage valve Signal.

Further, the controller includes a filter module for filtering the signal output by the ultrasonic sensing device to remove clutter, a calculation module for collecting and calculating the amplitude of the ultrasonic waves, and a storage module for storing signal data in chronological order; The amplitude obtained by the controller within the set time period is stable, attenuated or enhanced, and the opening and closing of the filling valve and the drain valve are automatically switched according to the preset delay time according to the amplitude characteristics.

Further, the controller also includes a manual operation interface for manually confirming the start and stop commands of the filling valve and the drain valve issued by the controller.

According to another aspect of the present invention, there is also provided a method for intelligent switching of filling pipeline valves, using the above-mentioned intelligent switching control device for filling pipeline valves, comprising the following steps: opening the drain valve, closing the filling valve; The main filling pipeline conveys the filling slurry; monitors the fluid state in the main filling pipeline, and judges that when the filling slurry is delivered from the main filling pipeline to the position of the ultrasonic sensing device, open the filling valve immediately or after a set delay until it is fully opened Close the drainage valve; fill the main pipeline to transport the filling slurry to fill the goaf until the predetermined filling volume is filled; fill the main pipeline to transport the filling slurry in the flushing water push pipe and flush the pipeline; monitor the fluid state in the main filling pipeline , when judging that the flushing water is delivered from the main filling pipeline to the position of the ultrasonic sensing device, open the drain valve immediately or delay according to the setting until it is fully opened and then close the filling valve; the main filling pipeline transports the flushing water until the flushing is completed.

Further, the drain valve is opened and the filling valve is closed, specifically: the controller performs automatic monitoring before delivering the pilot water for the pipe moistening step; the controller monitors whether the filling valve is in the closed state, and controls the filling valve to switch to Closed state; the controller monitors whether the drain valve is in the open state, and when it is not in the open state, the control switches to the open state; after the above operations are completed, the automatic monitoring is completed and it is in a standby state.

Further, monitor the fluid state in the main filling pipeline, and judge that when the filling slurry is transported from the main filling pipeline to the position of the ultrasonic sensing device, open the filling valve immediately or according to the set delay until it is fully opened and then close the drain valve, specifically: When the filling main pipeline conveys the water in the lead pipe to the filling slurry, the controller monitors the obvious ultrasonic mutation amplitude from the water in the lead pipe to the filling slurry through the ultrasonic sensing device, and judges that the filling slurry has reached the ultrasonic sensor. The position of the sensing device, and then a signal is sent when the monitored ultrasonic amplitude changes from a sudden change to a steady state; the controller receives the signal from the ultrasonic sensing device and executes valve control immediately or with a delay according to the set time, and starts filling first. Valve, after the valve is opened in place, close the drain valve; when the main filling pipeline transports the filling slurry to the flushing water, monitor the fluid state in the main filling pipeline, and judge when the main filling pipeline transports the flushing water to the position of the ultrasonic sensor device , open the drain valve immediately or according to the set delay until it is fully opened and then close the filling valve, specifically: the controller detects an obvious sudden change from the filling slurry to the mixed fluid of filling slurry and flushing water through the ultrasonic sensing device Ultrasonic mutation amplitude, judging that the flushing water pushes the filling slurry to reach the position of the ultrasonic sensing device, and then sends a signal when the monitored ultrasonic amplitude changes from a sudden change to a steady state; the controller receives the signal from the ultrasonic sensing device and Perform valve control immediately or with a delay according to the set time, first open the drain valve, and close the filling valve after the valve is fully opened.

Further, monitor the fluid state in the main filling pipeline, and judge that when the filling slurry is transported from the main filling pipeline to the position of the ultrasonic sensing device, open the filling valve immediately or according to a preset delay until it is fully opened and then close the drain valve, specifically: When the filling main pipeline transports the lead pipe water to the filling slurry, the controller monitors the fluid in the main filling pipeline through the ultrasonic sensing device, and converts the ultrasonic amplitude signal output by the ultrasonic sensing device into the mass concentration signal of the fluid ; When the main filling pipeline transports the lead pipe water to the filling slurry, and the fluid concentration obtained by the controller is greater than or equal to the set concentration threshold, it judges that the filling slurry has reached the position of the ultrasonic sensing device, and the controller immediately Or perform valve control according to the set time delay, first open the filling valve, and then close the drain valve after the valve is fully opened; when the filling main pipeline transports the filling slurry to the flushing water, the fluid concentration obtained by the controller is less than or equal to the set value When the concentration threshold is reached, it is judged that the filling and flushing water has reached the position of the ultrasonic sensing device. At this time, the controller executes the valve control immediately or according to the set delay. Firstly, the drain valve is opened, and after the valve is fully opened, the filling valve is closed; continue to transport the flushing water When the fluid concentration acquired by the controller is less than or equal to the set concentration threshold, the delivery of flushing water is stopped.

Further, monitor the fluid state in the main filling pipeline, and judge that when the filling slurry is transported from the main filling pipeline to the position of the ultrasonic sensing device, open the filling valve immediately or according to the set delay until it is fully opened and then close the drain valve, specifically: When the filling main pipeline transports the water in the lead pipe to the filling slurry, the controller monitors the fluid in the main filling pipeline through the ultrasonic sensing device. When the ultrasonic sensing device outputs a sudden ultrasonic amplitude signal, the controller receives the ultrasonic wave. Amplitude mutation signal and execute the valve control instruction; the controller executes the valve control immediately or according to the set delay, firstly open the filling valve, after the valve is fully opened, close the drain valve; when the filling main pipeline transports the filling slurry to the flushing water During the transition, monitor the fluid state in the main filling pipeline, and when it is judged that the fluid delivered from the main filling pipeline to the position of the ultrasonic sensing device has a sudden change, open the drain valve until it is fully opened and then close the filling valve, specifically: the controller passes the ultrasonic sensor The device monitors the ultrasonic mutation amplitude that changes from the filling slurry to the mixed fluid of filling slurry and flushing water, judges that the filling slurry is mixed with flushing water and has reached the position of the ultrasonic sensing device, and sends a signal; the controller After receiving the ultrasonic amplitude mutation signal and issuing an instruction to execute the valve control, the controller executes the valve control immediately or according to the set delay. Firstly, the drain valve is opened, and after the valve is fully opened, the filling valve is closed.

According to another aspect of the present invention, there is also provided a goaf filling method. Using the above intelligent switching method for filling pipeline valves, the filling station console sends an instruction to start filling preparation to the controller; the controller monitors and/or controls the filling valve It is in the closed state and the drainage valve is in the open state; the console of the filling station sends out an instruction to transport the water in the lead pipe, and the controller receives the instruction and enters the working state; first conveys the water in the lead pipe, and then conveys the filling slurry; real-time through the ultrasonic sensing device Sensing and monitoring the fluid state in the main filling pipeline. When the filling slurry passes through, the ultrasonic sensing device sends a signal to the controller. The controller receives the signal and controls the opening of the filling valve and the closing of the drainage valve for filling. The controller is in a standby state ; After the filling is completed, the console of the filling station sends out a flushing pipe instruction, and the controller is in the working state; the flushing water is transported; the ultrasonic sensing device is used to sense and monitor the fluid state in the main filling pipeline in real time, and the ultrasonic sensing device sends out a signal when the flushing water passes through; The signal is sent to the controller, the controller receives the signal and controls the drain valve to open, then controls the filling valve to close, and continues to flush the pipeline; after flushing, the controller is in a standby state.

The present invention has the following beneficial effects:

The present invention is based on the ultrasonic monitoring intelligent switching control device for filling pipeline valves. An ultrasonic sensing device is installed on the main filling road. Ultrasonic directional transmission, and reflects the state of the fluid by the amplitude change during the directional transmission of the ultrasonic wave and the Doppler effect generated by the flowing fluid, so as to monitor the fluid state in the main pipeline in real time. The ultrasonic sensing device is based on the real-time monitoring of the fluid state in the filling main pipeline and transmits the information data to the controller; the controller is based on the operation instructions sent by the filling station console and the information data received from the ultrasonic sensing device, and then timely Obtain the valve switching timing between the filling valve and the drain valve, and combine the positional relationship between the ultrasonic sensing device, the filling valve, and the drain valve, as well as the fluid volume in the connecting pipeline between the three, and then accurately realize the filling valve and the drain valve switch between the valves; ensure that the continuous and stable filling slurry can pass through the filling valve and fill the corresponding goaf, while the lead pipe water, flushing water, filling slurry mixed with lead pipe water, and filling slurry mixed with flushing water All are discharged through the drain valve to ensure the filling quality; reasonable and quantitative use of pilot water, flushing water and filling slurry is used to achieve the purpose of saving resources.

In addition to the objects, features and advantages described above, the present invention has other objects, features and advantages. Hereinafter, the present invention will be described in further detail with reference to the drawings.

Description of drawings

The accompanying drawings constituting a part of this application are used to provide further understanding of the present invention, and the schematic embodiments and descriptions of the present invention are used to explain the present invention, and do not constitute an improper limitation of the present invention. In the attached picture:

Fig. 1 is a schematic structural diagram of an intelligent switching control device for filling pipeline valves based on ultrasonic monitoring in a preferred embodiment of the present invention;

Fig. 2 is a flow chart of the steps of the intelligent switching method for filling pipeline valves based on ultrasonic monitoring in a preferred embodiment of the present invention;

Fig. 3 is a flow chart of the steps of the goaf filling method of filling mining according to the preferred embodiment of the present invention.

illustration:

1. Filling main line; 2. Filling branch pipe; 3. Drainage branch pipe; 4. Filling valve; 5. Drainage valve; 6. Ultrasonic sensor device; 7. Controller; 8. Filling station console.

Detailed ways

The embodiments of the present invention will be described in detail below with reference to the accompanying drawings, but the present invention can be implemented in various ways defined and covered below.

Fig. 1 is a schematic structural diagram of an intelligent switching control device for filling pipeline valves based on ultrasonic monitoring in a preferred embodiment of the present invention; Fig. 2 is a flow chart of the steps of an intelligent switching method for filling pipeline valves based on ultrasonic monitoring in a preferred embodiment of the present invention; Fig. 3 It is a flow chart of the steps of the goaf filling method for filling mining in the preferred embodiment of the present invention.

As shown in Figure 1, the filling pipeline valve intelligent switching control device of this embodiment is based on ultrasonic monitoring technology and is used for filling control in the filling mining method, including filling main pipeline 1, filling branch pipe 2 and drainage branch pipe 3, filling branch The pipe 2 is provided with a filling valve 4 for on-off control, the drainage branch pipe 3 is provided with a drain valve 5 for controlling on-off, and the main filling line 1 is provided with a directional transmission of ultrasonic waves to reflect the fluid in the main line 1 of filling. The ultrasonic sensing device 6 of the status, the filling valve 4, the drain valve 5 and the ultrasonic sensing device 6 are respectively connected to the controller 7 by communication, and the controller 7 is connected to the filling station console 8 by communication, and the controller 7 is connected to the filling station console 8 The command signal sent out and the signal output by the ultrasonic sensor device 6 are used to control the opening and closing switch between the filling valve 4 and the draining valve 5 . The present invention is based on the intelligent switching control device of the filling pipeline valve based on ultrasonic monitoring. An ultrasonic sensing device 6 is installed on the main filling pipeline 1. The transmitting end and the receiving end of the ultrasonic sensing device 6 are symmetrically arranged on both sides of the main filling pipeline 1. The ultrasonic wave of the sensing device 6 is transmitted directionally, and the state of the fluid is reflected by the amplitude change during the directional transmission of the ultrasonic wave and the Doppler effect generated by encountering the flowing fluid, so as to monitor the state of the fluid in the main filling pipeline 1 in real time. The ultrasonic sensing device 6 transmits the information data to the controller 7 based on the real-time monitoring of the fluid state in the filling main pipeline 1; information data, and then obtain the valve switching timing between the filling valve 4 and the drain valve 5 in time, and combine the positional relationship of the ultrasonic sensing device 6, the filling valve 4, and the drain valve 5, as well as the position in the connecting pipeline between the three Fluid volume, and then accurately realize the valve switching between the filling valve 4 and the draining valve 5; ensure that the continuous and stable filling slurry can pass through the filling valve 4 and carry out corresponding gob filling, while the pilot water, flushing water, mixed with the pilot water The filling slurry of the pipe water and the filling slurry mixed with the flushing water are all discharged through the drain valve 5 to ensure the filling quality; rational and quantitative use of the priming water, flushing water and filling slurry is used to achieve the purpose of saving resources. Optionally, multiple sets of ultrasonic sensing devices 6 are arranged on the main filling pipeline 1 , and the distance between adjacent ultrasonic sensing devices 6 is 1 m to 10 m.

In this embodiment, the controller 7 uses the ultrasonic amplitude stable signal output by the ultrasonic sensing device 6 as a switching control signal for controlling the opening and closing switching between the filling valve 4 and the drain valve 5; or the controller 7 uses the ultrasonic sensing device 6 The slurry mass concentration signal corresponding to the output ultrasonic amplitude is used as a switching control signal for controlling the switching between the filling valve 4 and the drain valve 5; or the controller 7 uses the ultrasonic amplitude mutation signal output by the ultrasonic sensing device 6 to control the filling. Switching control signal for switching between valve 4 and drain valve 5.

In this embodiment, the controller 7 includes a filter module for filtering the signal output by the ultrasonic sensor device 6 to remove clutter, a calculation module for collecting and calculating the ultrasonic amplitude, and a calculation module for storing signal data in time sequence The storage module; the amplitude obtained by the controller 7 within the set time period is stable or attenuated or enhanced, and the opening and closing of the filling valve 4 and the drain valve 5 are automatically switched according to the preset delay time according to the amplitude characteristics.

In this embodiment, the controller 7 also includes a manual operation interface for manually confirming the start and stop commands of the filling valve 4 and the drain valve 5 issued by the controller 7 . Manual confirmation is added to the valve start and stop command of the controller 7, that is, when the controller 7 monitors and judges that the switching requirement is met, the controller 7 first transmits the signal to the control room, and the controller confirms whether the water in the lead pipe is being transported according to the filling situation. and the switching timing of conveying filling slurry, or the switching timing of conveying filling slurry and conveying flushing water, the filling station console 8 confirms within the system setting time of the controller 7, and the filling station console 8 sends an execution to the controller 7 command; the filling station console 8 has no confirmation within the system setting time, and the controller 7 does not execute the switching command.

As shown in Figure 2, the intelligent switching method of filling pipeline valves in this embodiment adopts the above-mentioned intelligent switching control device for filling pipeline valves, and includes the following steps: opening the drain valve 5, closing the filling valve 4; pipe; filling main pipeline 1 conveys filling slurry; monitors the fluid state in filling main pipeline 1, and judges that when the filling main pipeline 1 transports filling slurry to the position of ultrasonic sensing device 6, open the filling valve immediately or according to the set delay 4. Close the drain valve 5 until it is fully opened; the filling main line 1 transports the filling slurry to fill the goaf until the predetermined filling volume is filled; the main filling line 1 transports the filling slurry in the flushing water push pipe and flushes the pipeline; Monitor the fluid state in the main filling pipeline 1, and judge that when the flushing water is delivered from the main filling pipeline 1 to the position of the ultrasonic sensing device 6, open the drain valve 5 immediately or after a set delay until it is fully opened and then close the filling valve 4; Road 1 delivers flushing water until flushing is complete. In the intelligent switching of the filling pipeline valve, the opening and closing switching between the filling valve 4 and the drain valve 5 means that the drain valve 5 is closed when the filling valve 4 is opened, and the drain valve 5 is opened when the filling valve 4 is closed. The opening and closing switching timing between the filling valve 4 and the draining valve 5 is based on the fluid state (including: fluid flow rate, fluid density, fluid concentration, etc.) in the main filling pipeline 1 monitored by the ultrasonic sensing device 6 in real time. The volume of the pipeline between the position 6 of the device and the position 5 of the drain valve, the volume of the pipeline between the position 6 of the ultrasonic sensor device and the position 4 of the filling valve, and then obtain the time for the filling slurry to be stably transported to the position 5 of the drain valve, so as to achieve the switching timing of filling , control to open the filling valve 4 and close the drain valve 5 for filling; obtain the time when the filling slurry mixed with flushing water reaches the position of the filling valve 4, and control the opening of the drain valve 5 and close the filling valve 4 before this time, so as to achieve flushing The switching timing can be adjusted to achieve the purpose of ensuring the filling quality. Optionally, multiple sets of ultrasonic sensing devices 6 are arranged on the main filling pipeline 1 , and the distance between adjacent ultrasonic sensing devices 6 is 1 m to 10 m. Optionally, when transporting the filling slurry, multiple sets of ultrasonic sensing devices 6 are used to monitor the fluid state in the main filling pipeline 1 at the same time, and respectively determine whether the main filling pipeline 1 is stably transporting the filling slurry to the position of the ultrasonic sensing device 6. Time node, and through the distance between adjacent ultrasonic sensing devices 6 and information such as the pipeline volume, fluid flow rate, and fluid flow rate within the distance, the monitoring time difference between adjacent ultrasonic sensing devices 6 is obtained, and comparative analysis is used to judge or calibrate Whether it is the time when the real filling slurry arrives and is transported smoothly; according to the judgment result as the valve switching timing, or according to the calibrated result as the valve switching timing, open the filling valve 4 until it is fully opened and then close the drain valve 5. Optionally, when flushing water is being delivered, multiple groups of ultrasonic sensing devices 6 are used to monitor the fluid state in the main filling pipeline 1 at the same time, and respectively determine the time points of sudden changes in the fluid transported from the main filling pipeline 1 to the position of the ultrasonic sensing device 6 , and obtain the monitoring time difference between adjacent ultrasonic sensing devices 6 through information such as the distance between adjacent ultrasonic sensing devices 6 and the pipeline volume, fluid flow rate, and fluid flow rate within the distance, and monitor through two sets of ultrasonic sensing devices 6 Compare the difference between the two groups of sudden change time nodes with the monitoring time difference, and then obtain the timing of valve switching according to the comparison result, or calibrate the switching timing of the valve according to the comparison result, and open the drain valve 5 according to the switching timing until it is in place Close filling valve 4.

In this embodiment, the drain valve 5 is opened, and the filling valve 4 is closed. Specifically, the controller 7 performs automatic monitoring before delivering the lead pipe water for the pipe moistening step; the controller 7 monitors whether the filling valve 4 is in the closed state, and is not in the closed state. , the control filling valve 4 is switched to the closed state; the controller 7 monitors whether the drain valve 5 is in the open state, and when it is not in the open state, the control is switched to the open state; after the above operations are completed, the automatic monitoring is completed and it is in a standby state to save energy.

In this embodiment, the fluid state in the main filling pipeline 1 is monitored, and when it is judged that the filling slurry is transported from the main filling pipeline 1 to the position of the ultrasonic sensing device 6, the filling valve 4 is opened immediately or after a set delay until it is fully opened and then closed. Drainage valve 5, specifically: when the filling main pipeline 1 transfers the lead pipe water to the filling slurry, the controller 7 monitors through the ultrasonic sensing device 6 the obvious ultrasonic mutation amplitude of the change from the lead pipe water to the filling slurry Value, to judge that the filling slurry has reached the position of the ultrasonic sensing device 6, and then send a signal when the monitored ultrasonic amplitude changes from a sudden change to a steady state; the controller 7 receives the signal from the ultrasonic sensing device 6 and according to the set Execute the valve control immediately or after a delay, first open the filling valve 4, and then close the drain valve 5 after the valve is fully opened; when the filling main line 1 transfers the filling slurry to the flushing water, monitor the fluid in the filling main line 1 state, judging that when the flushing water is delivered from the filling main line 1 to the position of the ultrasonic sensing device 6, the drain valve 5 is opened immediately or delayed according to the setting until it is fully opened and then the filling valve 4 is closed. Specifically: the controller 7 passes the ultrasonic sensor The device 6 monitors the ultrasonic mutation amplitude that changes from the filling slurry to the mixed fluid of the filling slurry and flushing water, and judges that the flushing water pushes the filling slurry to reach the position of the ultrasonic sensing device 6, and then the monitored ultrasonic A signal is sent when the amplitude changes from a sudden change to a steady state; the controller 7 receives the signal from the ultrasonic sensing device 6 and performs valve control immediately or with a delay according to the set time. Close filling valve 4.

In this embodiment, the fluid state in the main filling pipeline 1 is monitored, and when it is judged that the filling slurry is transported from the main filling pipeline 1 to the position of the ultrasonic sensing device 6, the filling valve 4 is opened immediately or according to a preset delay until it is fully opened and then closed. Drainage valve 5, specifically: when the filling main pipeline 1 transfers the lead pipe water to the filling slurry, the controller 7 monitors the fluid in the filling main pipeline 1 through the ultrasonic sensing device 6, and outputs the ultrasonic sensing device 6 The ultrasonic amplitude signal of the ultrasonic wave is converted into the mass concentration signal of the fluid; when the filling main pipeline 1 transports the lead pipe water to the filling slurry, and the fluid concentration obtained by the controller 7 is greater than or equal to the set concentration threshold, the filling material is judged The slurry has reached the position of the ultrasonic sensing device 6. At this time, the controller 7 executes the valve control immediately or according to the set delay. Firstly, the filling valve 4 is opened, and after the valve is fully opened, the drainage valve 5 is closed; When the slurry transfers to the conveying flushing water, when the fluid concentration obtained by the controller 7 is less than or equal to the set concentration threshold, it is judged that the filling flushing water has reached the position of the ultrasonic sensing device 6, and the controller 7 immediately or delays according to the setting To perform valve control, first open the drain valve 5, and then close the filling valve 4 after the valve is fully opened; continue to deliver the flushing water to the controller 7 when the fluid concentration obtained by the controller is less than or equal to the set concentration threshold, stop the flushing water delivery.

In this embodiment, the fluid state in the main filling pipeline 1 is monitored, and when it is judged that the filling slurry is transported from the main filling pipeline 1 to the position of the ultrasonic sensing device 6, the filling valve 4 is opened immediately or after a set delay until it is fully opened and then closed. Drainage valve 5, specifically: when the filling main pipeline 1 transfers the lead pipe water to the filling slurry, the controller 7 monitors the fluid in the filling main pipeline 1 through the ultrasonic sensing device 6, and when the output of the ultrasonic sensing device 6 changes suddenly When the ultrasonic amplitude signal is high, the controller 7 receives the ultrasonic amplitude mutation signal and sends out a command to execute the valve control. At the same time, according to the inner volume of the pipe between the position of the ultrasonic sensing device 6 and the filling valve 4 and the flow rate of the fluid in the pipe, it is estimated that the fluid changes from the ultrasonic wave to the filling valve 4. The estimated time from the position of the sensing device 6 to the position of the filling valve 4; the controller 7 immediately or according to the set delay uses the estimated time to delay the implementation of valve control, firstly open the filling valve 4, and after the valve is fully opened, close the drain valve 5; When the filling main pipeline 1 transfers the filling slurry to the flushing water, monitor the fluid state in the filling main pipeline 1, and when it is judged that the fluid delivered from the filling main pipeline 1 to the position of the ultrasonic sensing device 6 has a sudden change, open the drain valve 5 until Close the filling valve 4 after opening in place, specifically: the controller 7 monitors through the ultrasonic sensing device 6 the ultrasonic mutation amplitude of the obvious sudden change from the filling slurry to the mixed fluid of the filling slurry and flushing water, and judges the filling slurry The flushing water is mixed in the water and has reached the position of the ultrasonic sensing device 6, and sends out a signal; the controller 7 receives the ultrasonic amplitude mutation signal and issues an instruction to execute the valve control, and at the same time, according to the distance between the position of the ultrasonic sensing device 6 and the drainage valve 5 The volume in the pipe and the fluid flow rate in the pipe estimate the estimated time for the fluid to flow from the position of the ultrasonic sensor device 6 to the position of the drain valve 5; the controller 7 immediately or according to the set delay uses the estimated time delay to perform valve control, and first opens the drain valve 5, After the valve is opened in place, close the filling valve 4.

As shown in Figure 3, the goaf filling method of this embodiment adopts the above-mentioned filling pipeline valve intelligent switching method, the filling station console 8 sends an instruction to start filling preparation to the controller 7; the controller 7 monitors and/or controls the filling valve 4 is in the closed state and the drainage valve 5 is in the open state; the filling station console 8 issues an instruction to convey water in the lead pipe, and the controller 7 receives the instruction and enters the working state; first conveys the water moistening pipe of the lead pipe, and then conveys the filling slurry; The sensing device 6 senses and monitors the fluid state in the filling main pipeline 1 in real time. When the filling slurry passes through, the ultrasonic sensing device 6 sends a signal to the controller 7. The controller 7 receives the signal and controls the filling valve 4 to open and controls the drain valve. 5 close, filling, the controller 7 is in the standby state; after filling, the console 8 of the filling station sends a flushing pipe command, and the controller 7 is in the working state; the flushing water is delivered; the ultrasonic sensing device 6 senses and monitors the filling supervisor in real time Fluid state in road 1, when flushing water passes through, ultrasonic sensing device 6 sends a signal to controller 7, controller 7 receives the signal and controls drain valve 5 to open, then controls filling valve 4 to close, and continues to flush the pipeline; after flushing, control 7 is in standby mode.

During implementation, an intelligent switching control device for filling pipeline valves based on ultrasonic monitoring of slurry concentration is provided, which can realize intelligent switching of filling slurry delivery pipelines. Through the synergy between the controller 7, the ultrasonic sensor (ultrasonic sensor device 6), and the filling station console 8, the concentration change of the conveyed material in the main filling pipeline 1 is automatically monitored, and it is judged that the conveyed material is lead pipe water, filling material Slurry or flushing water, realize the diversion of filling slurry, pilot water and flushing water, and realize intelligent operation of pipeline switching without unmanned operation.

The ultrasonic sensor (ultrasonic sensing device 6) adopts non-contact installation, and the medium conveyed by the filling pipe (filling main pipeline 1) will not cause damage to the ultrasonic sensor (ultrasonic sensing device 6), thus having a long service life, high precision and easy installation convenient. Ultrasonic sensor (ultrasonic sensing device 6) and controller 7 adopt dust-proof and waterproof packaging, which can be applicable to the bad environment in the well. Ultrasonic waves can penetrate all filling pipelines such as steel pipes, PVC pipes, PE pipes, polyvinyl chloride pipes and composite pipelines, making the intelligent switching control device for filling pipeline valves of the present invention have a wider application range. In a short period of time, the filling pipeline (filling main pipeline 1) is in the same state, and the method of judging the switching timing by the ultrasonic amplitude does not need to consider factors such as the material of the pipeline, whether the pipeline is damaged or worn, so that the intelligent switching control of the filling pipeline valve of the present invention The applicability of the device is strong.

Optionally, adding the command feedback confirmation of the console 8 of the filling station can avoid misoperation, has a low failure rate, can realize unattended operation, and has high safety.

Optionally, the filling valve 4 and the drain valve 5 use electromagnetically controlled knife gate valves or hydraulically controlled knife gate valves or pneumatically controlled knife gate valves to shorten the switching time between the filling valve 4 and the drain valve 5 .

The controller 7 adopts the method of stably judging the switching timing by the ultrasonic amplitude, and does not need to carry out complicated work such as ultrasonic calibration. The smart shift control is easy to use.

The controller 7 adopts the method of judging the switching timing by the mass concentration of the conveyed slurry, and can accurately switch the valve according to the set concentration threshold, which can not only ensure a good filling effect in the stope, but also make the solid content of the flushing pipe water outside the discharge small, Subsequent processing is convenient and convenient, thereby reducing production costs.

As shown in Figure 1, an intelligent switching control device for filling pipeline valves based on ultrasonic monitoring of slurry concentration is provided, including a main filling pipeline 1, a filling branch pipe 2, a drainage branch pipe 3, a filling valve 4, a drainage valve 5, and a filling valve. An ultrasonic sensor (ultrasonic sensing device 6) and a controller 7 are arranged on the main pipeline 1; the filling valve 4, the drainage valve 5, and the ultrasonic sensor (ultrasonic sensing device 6) are connected to the controller 7 through a line, and the controller 7 is connected through a signal line Communicate with filling station console 8. Optionally, the filling valve 4, the draining valve 5, and the ultrasonic sensor (ultrasonic sensing device 6) can also be connected to the controller 7 in a wireless receiving and non-transmitting manner.

The ultrasonic sensor (ultrasonic sensing device 6) is installed on the filling main pipeline 1 in a transmission mode, the transmitter and receiver of the ultrasonic sensor (ultrasonic sensing device 6) are symmetrically installed on both sides of the filling main pipeline 1, and the controller 7 sends out The signal excites the ultrasonic sensor (ultrasonic sensing device 6), then the transmitter sends the ultrasonic signal, the receiver receives the signal, and uploads the signal to the controller 7 for storage and processing.

The controller 7 adopts the method of judging the timing of switching by means of stable ultrasonic amplitude or the method of judging the timing of switching by using the mass concentration of the transported slurry or the method of judging the timing of switching by means of a sudden change in the amplitude of ultrasonic waves.

The controller 7 adopts the method of stably judging the switching timing by the ultrasonic amplitude, filters the received ultrasonic signal, removes the clutter, collects and calculates the average value of the ultrasonic amplitude, and stores the average value in chronological order. When the controller 7 system When the amplitude is stable within the set time period, it is considered to have reached a new steady state, and the valve is automatically switched.

The controller 7 adopts the method of judging the switching timing of the mass concentration of the conveyed slurry, filters the received ultrasonic signal, removes clutter, calculates the average value of the ultrasonic amplitude and converts it into a concentration value, and stores the average value and concentration in chronological order , when the concentration reaches the system set concentration, the valve will be switched automatically.

The controller 7 uses ultrasonic amplitude mutation to judge the switching timing, filters the received ultrasonic signal, removes clutter, collects and calculates the average value of the ultrasonic amplitude, and stores the average value in chronological order. When the controller 7 is in the system When the amplitude decreases or increases within the set time period, the valve will be switched automatically according to the preset delay time.

According to the filling process, the state in the filling main pipeline 1 is:

(1) Conveying lead pipe water, during this period, the concentration value fluctuates little, is a stable process, and the ultrasonic amplitude value monitored by the ultrasonic sensor (ultrasonic sensor device 6) presents a steady state;

(2) In the transitional stage from conveying lead pipe water to conveying filling slurry, the mass concentration of the conveying medium in the filling main pipeline 1 is from 0% to 20% (because after the last filling, there may still be a small amount of solid particles in the pipeline) Increase to 50-90% (determined according to the properties of solid materials in different mines, for specific filling mines, in a smaller interval, such as 70-72% for a certain mine), during this period there is a large change in concentration, ultrasonic sensor (Ultrasonic sensing device 6) The monitored ultrasonic amplitude presents a mutation state;

(3) Conveying the filling slurry, during this period, the fluctuation of the concentration value is small, which is a stable process, and the amplitude of the ultrasonic wave is in a stable state;

(4) In the transitional stage from conveying the filling slurry to conveying flushing water, the mass concentration of the conveying medium in the main filling pipeline 1 is 50-90% (determined according to the properties of solid materials in different mines, generally a smaller one for specific filling mines) For example, in a certain mine, it drops from 70% to 72% to 0% to 20% (after filling, as long as the pipe is not blocked after washing the pipe, it will not affect the filling, and it is not required to drain all solid materials), ultrasonic sensor ( 6) The ultrasonic amplitude monitored by the ultrasonic sensing device presents a sudden change;

(5) Convey flushing water. During this period, the fluctuation of the concentration value is small, which is a stable process, and the ultrasonic amplitude monitored by the ultrasonic sensor (ultrasonic sensor device 6) presents a stable state.

Therefore, the change of the conveying medium in the filling main pipeline 1 can be monitored by monitoring the characteristic change of the ultrasonic amplitude or the change of the concentration value in the pipeline.

Optionally, the filling station console 8 sends instructions to the controller 7 when the pilot water is conveyed, so that the controller 7 enters the working state until it enters the standby state after switching, waiting for the filling station console 8 instructions; the filling station console 8. At the beginning of flushing the pipeline, send an instruction to the controller 7, so that the controller 7 enters the working state, and enters the standby state after switching, waiting for the instruction of the filling station console 8.

Optionally, manual confirmation is added to the valve start-stop command of the controller 7, that is, when the controller 7 monitors and judges that the switching requirement is met, the controller 7 first transmits the signal to the control room, and the controller confirms whether it is on or off according to the filling situation. The switching timing of the priming pipe hydration pipe and filling, or the switching timing of filling and flushing water flushing discharge, the filling station console 8 confirms within the system setting time of the controller 7, and the filling station console 8 sends an execution to the controller 7 command; the filling station console 8 has no confirmation within the system setting time, and the controller 7 does not execute the switching command.

Optionally, the controller 7 is connected to the central control room of the filling station console 8 through a signal line, and can upload the conveying medium of the filling main pipeline 1, the state of the filling valve 4 and the state of the drain valve 5 to the central control room of the filling station console 8, and receive The control command in the central control room directly controls the opening and closing switching of the filling valve 4 and the draining valve 5 in case of emergency.

The filling valve 4 and the draining valve 5 are electric actuator valves, which can receive instructions from the controller 7 to open or close the valves. The valve types of the filling valve 4 and the draining valve 5 are knife gate valves, flapper valves, pinch valves, gate valves or butterfly valves.

Optionally, the above-mentioned main filling pipeline 1 , branch filling pipe 2 , branch drainage pipe 3 , filling valve 4 and drainage valve 5 together form a three-way valve assembly.

Example 1: When using the method of determining the switching timing with a stable amplitude, the workflow of the intelligent switching control device for filling pipeline valves based on ultrasonic monitoring of slurry concentration:

(1) The filling station console 8 sends a start filling preparation command to the controller 7;

(2) The controller 7 receives an instruction from the filling station console 8 to start filling, and the controller 7 performs a self-check to check whether the filling valve 4 is in the closed state. When it is not in the closed state, it will automatically switch to the closed state; check whether the drain valve 5 is In the open state, when it is not in the open state, it will automatically switch to the open state; after completing the above operations, the self-test is completed and it enters the standby state;

(3) The control station 8 of the filling station sends out an instruction for conveying pilot water, and the controller 7 receives the instruction and enters the working state;

(4) Conveying lead pipe water;

(5) After conveying the water in the lead pipe, convey the filling slurry;

(6) The controller 7 monitors the obvious ultrasonic mutation amplitude from the lead pipe water to the filling slurry through the ultrasonic sensing device 6, and judges that the filling slurry has reached the position of the ultrasonic sensing device 6, and then the monitored ultrasonic A signal is sent when the amplitude changes from a sudden change to a steady state; the controller 7 receives the signal from the ultrasonic sensing device 6 and executes the valve control immediately or with a delay according to the set time. First, the filling valve 4 is opened, and after the valve is opened in place, Close the drain valve 5;

(7) continue to fill, controller 7 enters standby state;

(8) The console 8 of the filling station issues a flushing pipe instruction, and the controller 7 enters the working state;

(9) Transport flushing water;

(10) The controller 7 monitors through the ultrasonic sensing device 6 the ultrasonic mutation amplitude of the obvious sudden change from the filling slurry to the mixed fluid of the filling slurry and flushing water, and judges that the flushing water has pushed the filling slurry to reach the ultrasonic sensor. The position of the device 6, and then the monitored ultrasonic amplitude changes from a sudden change to a stable signal; the controller 7 receives the signal from the ultrasonic sensing device 6 and performs valve control immediately or delayed according to the set time, first Open the drain valve 5, and close the filling valve 4 after the valve is fully opened;

(11) The flushing is finished, and the controller 7 enters the standby state.

Example 2: When the method of judging the timing of switching by the mass concentration of the transported slurry is used, the workflow of the intelligent switching control device for the filling pipeline valve based on ultrasonic monitoring of the slurry concentration:

(1) The filling station console 8 sends a start filling preparation command to the controller 7;

(2) The controller 7 receives an instruction from the filling station console 8 to start filling, and the controller 7 performs a self-check to check whether the filling valve 4 is in the closed state. When it is not in the closed state, it will automatically switch to the closed state; check whether the drain valve 5 is In the open state, when it is not in the open state, it will automatically switch to the open state; after completing the above operations, the self-test is completed and it enters the standby state;

(3) The control station 8 of the filling station sends out an instruction for conveying pilot water, and the controller 7 receives the instruction and enters the working state;

(4) Conveying lead pipe water;

(5) After conveying the water in the lead pipe, convey the filling slurry;

(6) The controller 7 detects that the filling slurry reaches the position of the ultrasonic sensor (ultrasonic sensor device 6) and the concentration is greater than or equal to the set threshold (determined according to the concentration of the filling slurry, and the set mass concentration threshold range is 50% to 90%) ), the controller 7 issues an instruction to perform the operation immediately or with a delay according to the set time, firstly open the filling valve 4, and after the valve is fully opened, close the drain valve 5;

(7) continue to fill, controller 7 enters standby state;

(8) The console 8 of the filling station issues a flushing pipe instruction, and the controller 7 enters the working state;

(9) Transport flushing water;

(10) The controller 7 detects that the flushing water reaches the position of the ultrasonic sensor (ultrasonic sensor device 6) and that the concentration is less than or equal to the set threshold (determined according to the concentration of the filling slurry, and the set mass concentration threshold range is 0 to 20%), The controller 7 issues an instruction to execute the operation immediately or with a delay according to the set time. Firstly, the drain valve 5 is opened, and after the valve is fully opened, the filling valve 4 is closed;

(11) The flushing is finished, and the controller 7 enters the standby state.

Embodiment 3: The controller 7 uses ultrasonic amplitude mutation to judge the switching timing, and the workflow of the intelligent switching control device for filling pipeline valves based on ultrasonic monitoring of slurry concentration:

(1) The filling station console 8 sends a start filling preparation command to the controller 7;

(2) The controller 7 receives an instruction from the filling station console 8 to start filling, and the controller 7 performs a self-check to check whether the filling valve 4 is in the closed state. When it is not in the closed state, it will automatically switch to the closed state; check whether the drain valve 5 is In the open state, when it is not in the open state, it will automatically switch to the open state; after completing the above operations, the self-test is completed and it enters the standby state;

(3) The control station 8 of the filling station sends out an instruction for conveying pilot water, and the controller 7 receives the instruction and enters the working state;

(4) Conveying lead pipe water;

(5) After conveying the water in the lead pipe, convey the filling slurry;

(6) The controller 7 detects that the filling slurry reaches the position of the ultrasonic sensor (ultrasonic sensing device 6), and the amplitude of the ultrasonic wave changes suddenly. The controller 7 issues an instruction to perform the operation immediately or with a delay according to the set time, and firstly open the filling valve 4. After the valve is fully opened, close the drain valve 5;

(7) continue to fill, controller 7 enters standby state;

(8) The console 8 of the filling station issues a flushing pipe instruction, and the controller 7 enters the working state;

(9) Transport flushing water;

(10) The controller 7 detects that the flushing water reaches the position of the ultrasonic sensor (ultrasonic sensor device 6), and the amplitude of the ultrasonic wave changes suddenly, and the controller 7 issues an instruction to perform the operation immediately or with a delay according to the set time, firstly open the drain valve 5 , after the valve is opened in place, close the filling valve 4;

(11) The flushing is finished, and the controller 7 enters the standby state.

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and changes. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims (10)

1. a kind of filling pipeline valve intelligence switching control consolidates mixture based on monitoring ultrasonic technology and for mine water The valve control on delivery pipe diatom is starched,

It is equipped with including filling main line (1), filling branched pipe (2) and draining branched pipe (3), the filling branched pipe (2) The filling valve (4) of on-off is controlled, draining branched pipe (3) is equipped with the water discharging valve (5) of control on-off,

It is characterized in that,

The filling main line (1) is equipped with for being transmitted by ultrasonic directional to reflect in the filling main line (1) Fluid state supersonic sensing device (6),

The filling valve (4), the water discharging valve (5) and the supersonic sensing device (6) are communicatively connected to control respectively Device (7) processed, the controller (7) are communicatively connected to filling station control desk (8),

Command signal and the supersonic sensing device (6) of the controller (7) according to filling station control desk (8) sending The signal of output is switched with controlling the opening and closing between filling valve (4) and the water discharging valve (5).

2. filling pipeline valve intelligence switching control according to claim 1, which is characterized in that

The controller (7) is using the ultrasonic amplitude stationary signal of the supersonic sensing device (6) output as control institute State the switch-over control signal that switching is opened and closed between filling valve (4) and the water discharging valve (5)；Or

The corresponding pulp quality concentration of ultrasonic amplitude that the controller (7) is exported using the supersonic sensing device (6) Signal is opened and closed the switch-over control signal of switching as controlling between filling valve (4) and the water discharging valve (5)；Or

It is filled described in ultrasonic amplitude jump signal control of the controller (7) using the supersonic sensing device (6) output Fill out the switch-over control signal that switching is opened and closed between valve (4) and the water discharging valve (5).

3. filling pipeline valve intelligence switching control according to claim 1, which is characterized in that

The controller (7) includes that the signal for exporting the supersonic sensing device (6) is filtered and cleans The filter module of wave, the computing module for acquiring and calculating ultrasonic amplitude and for storage assembly number sequentially in time According to storage module；

The amplitude that the controller (7) obtains within the period of setting is in steady or decaying or enhancing trend, according to amplitude spy Levy the opening and closing for automatically switching filling valve (4) and water discharging valve (5) according to default delay time.

4. filling pipeline valve intelligence switching control according to claim 1, which is characterized in that

The controller (7) further includes the filling valve (4) issued for manual confirmation by the controller (7) and described The manual operation interface of the start and stop instruction of water discharging valve (5).

5. a kind of filling pipeline valve intelligent switch method, using filling pipeline valve described in any one of Claims 1-4 Intelligent switching control,

Characterized by comprising the following steps:

Water discharging valve (5) is opened, and filling valve (4) is closed；

Fill main line (1) conveying skirt water profit pipe；

It fills main line (1) and conveys filling slurry；

Fluid state in monitoring filling main line (1) judges to be conveyed filling slurry by filling main line (1) to supersonic sensing When device (6) position, water discharging valve (5) are closed afterwards in place until opening immediately or by setting delayed start-up filling valve (4)；

Filling main line (1) conveying filling slurry fills goaf, until being fills up to scheduled charging quantity；

Fill the filling slurry and flushing pipe in main line (1) conveying flushing water push pipe；

Fluid state in monitoring filling main line (1) judges that convey flushing water by filling main line (1) fills to supersonic sensing When setting (6) position, filling valve (4) is closed afterwards in place immediately or by setting delayed start-up water discharging valve (5) until opening；

Filling main line (1) conveying flushing water finishes until rinsing.

6. the filling pipeline valve intelligent switch method according to claim 5 based on monitoring ultrasonic, which is characterized in that

Water discharging valve (5) is opened, and filling valve (4) is closed, specifically:

Before conveying skirt water carries out profit pipe step, controller (7) is monitored automatically；

Controller (7) monitoring filling valve (4) whether in off position, not in off position when, control filling valve (4) switching To closed state；

Whether controller (7) monitors water discharging valve (5) in open state, and not in the open state, control is switched to open state； Monitoring finishes automatically after completion aforesaid operations, and is in standby.

7. the filling pipeline valve intelligent switch method according to claim 5 based on monitoring ultrasonic, which is characterized in that

Fluid state in monitoring filling main line (1) judges to be conveyed filling slurry by filling main line (1) to supersonic sensing When device (6) position, water discharging valve (5) are closed afterwards in place until opening immediately or by setting delayed start-up filling valve (4), tool Body are as follows:

Skirt water is conveyed to when conveying filling slurry transition when filling main line (1), and controller (7) passes through supersonic sensing device (6) it monitors the apparent ultrasonic wave mutation amplitude for being changed into filling slurry by skirt water, judges that filling slurry arrived ultrasound Wave sensing device (6) position, the ultrasonic amplitude and then monitored issue signal when being changed into and tended to be steady by being mutated；

Controller (7) receive the signal that supersonic sensing device (6) issue and according to the time of setting immediately or delayed execution valve Door control, first turn on filling valve (4), valve opening in place after, close water discharging valve (5)；

Filling slurry is conveyed to flow-like when conveying flushing water transition, in monitoring filling main line (1) when filling main line (1) State when judging to convey flushing water to supersonic sensing device (6) position by filling main line (1), is delayed immediately or by setting and opens It opens water discharging valve (5) and closes filling valve (4) afterwards in place until opening, specifically:

Controller (7) monitors to be changed by filling slurry the mixed of filling slurry and flushing water by supersonic sensing device (6) The ultrasonic wave mutation amplitude of interflow body being obviously mutated, judges that flushing water pushes filling slurry to arrived supersonic sensing device (6) position, the ultrasonic amplitude and then monitored issue signal when being changed into and tended to be steady by being mutated；Controller (7) receives Supersonic sensing device (6) issue signal and according to the time of setting immediately or delayed execution valve control, the row of first turning on Penstock (5), valve opening in place after, close filling valve (4).

8. the filling pipeline valve intelligent switch method according to claim 5 based on monitoring ultrasonic, which is characterized in that

Fluid state in monitoring filling main line (1) judges to be conveyed filling slurry by filling main line (1) to supersonic sensing When device (6) position, water discharging valve (5) are closed afterwards in place immediately or by default delayed start-up filling valve (4) until opening, tool Body are as follows:

Skirt water is conveyed to when conveying filling slurry transition when filling main line (1), and controller (7) passes through supersonic sensing device (6) fluid in monitoring filling main line (1), and the ultrasonic amplitude signal that supersonic sensing device (6) export is converted to The mass concentration signal of fluid；

Skirt water is conveyed to when conveying filling slurry transition when filling main line (1), and the fluid concentrations that controller (7) obtains are greater than Or equal to setting concentration threshold when, judge that filling slurry arrived supersonic sensing device (6) position, at this time controller (7) Immediately or by setting delayed execution valve control, first turn on filling valve (4), valve opening in place after, close water discharging valve (5)；

Filling slurry is conveyed to when conveying flushing water transition when filling main line (1), and the fluid concentrations that controller (7) obtains are less than Or equal to setting concentration threshold when, judge that filling flushing water arrived supersonic sensing device (6) position, controller at this time (7) immediately or by setting delayed execution valve control, first turn on water discharging valve (5), valve opening in place after, close filling valve Door (4)；Continue to convey the fluid concentrations that flushing water is obtained to controller (7) stopping when being less than or equal to the concentration threshold set Convey flushing water.

9. the filling pipeline valve intelligent switch method according to claim 5 based on monitoring ultrasonic, which is characterized in that

Fluid state in monitoring filling main line (1) judges to be conveyed filling slurry by filling main line (1) to supersonic sensing When device (6) position, water discharging valve (5) are closed afterwards in place until opening immediately or by setting delayed start-up filling valve (4), tool Body are as follows:

Skirt water is conveyed to when conveying filling slurry transition when filling main line (1), and controller (7) passes through supersonic sensing device (6) fluid in monitoring filling main line (1), when the ultrasonic amplitude signal of supersonic sensing device (6) output mutation, control Device (7) processed, which receives ultrasonic amplitude jump signal and issues, executes valve control instruction；

Controller (7) immediately or by setting delayed execution valve control, first turn on filling valve (4), valve opening in place after, It closes water discharging valve (5)；

Filling slurry is conveyed to flow-like when conveying flushing water transition, in monitoring filling main line (1) when filling main line (1) State opens drain valve when judging that the fluid for being transported to supersonic sensing device (6) position by filling main line (1) mutates Door (5) closes filling valve (4) until opening afterwards in place, specifically:

Controller (7) monitors to be changed by filling slurry the mixed of filling slurry and flushing water by supersonic sensing device (6) The ultrasonic wave mutation amplitude of interflow body being obviously mutated, judges to be mixed into flushing water in filling slurry and arrived supersonic sensing Device (6) position issues signal；Controller (7), which receives ultrasonic amplitude jump signal and issues, executes valve control instruction, Controller (7) immediately or by setting delayed execution valve control, first turn on water discharging valve (5), valve opening in place after, close It fills valve (4).

10. a kind of goaf filling method is intelligently switched using filling pipeline valve described in any one of claim 5 to 9 Method,

It is characterized in that,

Filling station control desk (8), which issues, starts to fill preparation instruction to controller (7)；

Controller (7) monitors and/or control filling valve (4) is in close state and water discharging valve (5) is in the open state；

It fills station control desk (8) and issues conveying skirt water instruction, controller (7), which receives, to be instructed and enter working condition；

First conveying skirt water profit pipe, then conveys filling slurry；

Pass through supersonic sensing device (6) real-time sensing and monitor the fluid state in filling main line (1), filling slurry passes through When supersonic sensing device (6) issue signal to controller (7), controller (7), which receives signal and simultaneously controls filling valve (4), to be opened And control water discharging valve (5) is closed, and is filled, controller (7) is in standby；

Station control desk (8) are filled after filling and issue flushing pipe instruction, and controller (7) is in running order；Convey flushing water；

Pass through supersonic sensing device (6) real-time sensing and monitor the fluid state in filling main line (1), when flushing water passes through Supersonic sensing device (6) issues signal to controller (7), after controller (7) receives signal and controls water discharging valve (5) unlatching Control filling valve (4) is closed, and pipe flushing is continued；

Controller (7) is in standby after flushing.