Intelligent coal slime flotation system and method based on energy precise adaptation

Abstract

The present application relates to a kind of coal slime intelligent flotation system and method based on energy precision adaptation, belong to coal slime flotation technical field, solve the problem of energy adaptation inaccuracy in the coal slime separation process in prior art.The present application includes flotation unit, monitoring device and central control system, the flotation unit includes multiple flotation machines, a monitoring device is provided on each flotation machine, the flotation machine and the monitoring device are electrically connected with the central control system.The present application is real-time, accurate monitoring to the material properties in the coal slime flotation process, and timely adjusts energy input, reaches the precision adaptation of flotation operation energy.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of coal slime flotation, and particularly relates to a coal slime intelligent flotation system and method based on energy precise adaptation. BACKGROUND

[0002] Coal is an important pillar of China's main energy sources, and its main position will not be shaken in a very long period of time. With the rapid development of mechanized coal mining and dense medium coal preparation technology, the content of coal slime is getting higher and higher, and the coal slime in China presents the characteristics of micro-fining, high ash content and large amount of intergrowth, which leads to the increased difficulty of coal slime separation. Flotation is one of the most effective methods for treating fine coal, however, with the change of coal quality and the increasing requirements of users for clean coal products, the contradiction between the recovery rate of the flotation process and the quality of clean coal is more prominent. However, due to the complexity of the separation process, there are still many technical bottlenecks in coal slime separation that need to be solved.

[0003] With the increase of the proportion of high-ash and difficult-to-separate coal slime, the coal slime separation process puts forward higher requirements for coal slime separation equipment. However, the process efficiency of some coal slime separation equipment in China is relatively low, and the recovery rate of clean combustible material is often ensured by sacrificing the treatment capacity, which is difficult to adapt to the current large amount of coal slime separation in China, resulting in low equipment efficiency, high energy consumption and high operation cost. At present, the flotation machine still occupies a dominant position in the fine mineral separation equipment in China, and the flotation machine has obvious advantages in high-efficiency recovery of minerals. In the actual flotation process, the floatability of the mineral particles becomes worse and worse with the flotation process, and the separation mode of the flotation machine is single and repeated slot separation, and the separation conditions of each slot are almost the same, which is a linear separation process. Only by increasing the number of slots can the separation index be improved, and the flotation power input of the whole flotation process is maintained at the same level, which is difficult to adapt to the physical characteristics of the gradual deterioration of the floatability of the coal slime with the increase of the number of slots, resulting in waste of energy and resources.

[0004] In recent years, researchers have realized that the floatability of the material gradually deteriorates with the flotation, and it is found that the multi-slot stirring of the flotation machine is good for the recovery of coarse particles, but the high stirring intensity is not good for the selective recovery of micro-fine materials. A reasonable coal slime separation process should be a separation process that can adapt to the change of the floatability of the coal slime separation, that is, to select a suitable mineralization reaction fluid environment to adapt to the property change of the material and achieve a more perfect separation process. Therefore, it is urgent to strengthen the coal slime separation process and improve the process adaptability and separation efficiency of the separation equipment through technical innovation.

[0005] With the rapid development of science and technology such as artificial intelligence, 5G, industrial internet of things, cloud computing, etc., the coal preparation method will also undergo a revolutionary change, and intelligent coal preparation plant will become the mainstream of the coal washing industry in the future. Through technological progress, safe, efficient, intelligent and green mining and clean and efficient utilization will be the direction of high-quality development of China's coal industry. Combining the energy distribution of the flotation process with the floatability change characteristics of slime in the flotation process, and combining intelligence with the slime separation process, the interconnection of various monitoring devices is realized, which is of great significance to efficient flotation of coal. Therefore, it is extremely necessary to develop an intelligent flotation system and method based on energy precise adaptation. SUMMARY

[0006] In view of the above analysis, the embodiments of the present application aim to provide a slime intelligent flotation system and method based on energy precise adaptation to solve the problem of inaccurate energy adaptation in the existing slime separation process.

[0007] On the one hand, the present application provides a slime intelligent flotation system based on energy precise adaptation, which comprises a flotation unit, a monitoring device and a central control system, the flotation unit comprises a plurality of flotation machines, each of which is provided with a monitoring device, and the flotation machine and the monitoring device are electrically connected with the central control system.

[0008] Further, the flotation machine comprises a flotation tank and a stirring shaft, the stirring shaft is vertically arranged at the upper end of the flotation tank, and the lower end of the stirring shaft extends to the middle-lower part of the flotation tank.

[0009] Further, the flotation machine further comprises an air inlet pipe located outside the flotation tank, and the air inlet pipe is connected with the top of the stirring shaft.

[0010] Further, the flotation tank comprises a feed inlet and a tailings discharge port, and the feed inlet and the tailings discharge port are respectively arranged on both sides of the flotation tank.

[0011] Further, the flotation tank further comprises a froth overflow weir, which is arranged at the upper end of the flotation tank and located on the same side as the tailings discharge port.

[0012] Further, the stirring shaft is of hollow structure, and the lower end of the stirring shaft is provided with stirring blades and air exhaust holes.

[0013] Further, the monitoring device comprises a particle collision sensor and a pressure sensor, the particle collision sensor is arranged at the middle position of the flotation tank, and the pressure sensor is arranged at the middle-upper position of the flotation tank and close to the froth overflow weir.

[0014] Further, the monitoring device further comprises an air flow meter and a camera, the air flow meter is arranged on the air inlet pipe, and the camera is arranged above the flotation tank.

[0015] Further, the central control system comprises a PLC controller and a computer, the PLC controller comprises a signal output end and a signal input end, the signal input end is connected with the particle collision sensor, the pressure sensor, the air flow meter and the camera, and the signal output end is connected with the computer and a motor driving the stirring shaft.

[0016] In another aspect, the present application provides a slime intelligent flotation method based on energy precise adaptation, which adopts the slime intelligent flotation system based on energy precise adaptation, and comprises the following steps:

[0017] Step 1: establishing a database;

[0018] Exploring the relationship between the pulp concentration and the working condition parameter change and the rotating speed of the stirring shaft, and storing into the sample database of the central control system;

[0019] Step 2: starting flotation;

[0020] The feeding material is transported to the flotation machine, the motor is started, and the flotation operation starts;

[0021] Step 3: signal input;

[0022] During the flotation process, the monitoring device monitors the different working condition parameter changes in the running process of the flotation machine, and then transmits the signals to the central control system;

[0023] Step 4: signal pre-judgment;

[0024] The central control system judges whether the rotating speed of the stirring shaft corresponding to the working condition parameter is in the preset range, if not, step 5 is performed;

[0025] Step 5: signal output;

[0026] The central control system transmits the optimal value of the rotating speed of the stirring shaft corresponding to the working condition parameter to the actuator;

[0027] Step 6: adjusting the rotating speed;

[0028] The actuator acts on the controlled motor after receiving the signal, and realizes the optimal setting of the rotating speed of the stirring shaft by adjusting the motor;

[0029] Step 7: energy adaptation slime flotation;

[0030] During the whole flotation operation, each flotation machine repeats steps 3-6 to complete the energy precise adaptation slime intelligent flotation process.

[0031] Compared with the prior art, the present application can at least achieve one of the following beneficial effects:

[0032] (1) The present application sets up a monitoring device closely related to the flotation process on the original flotation machine, controls the energy input of the flotation machine under different material properties of the slurry by the PLC central control system, applies the sensor detection technology and the PCL control system to the slime flotation field, thereby realizing the process coupling of energy input and material properties, achieving real-time and accurate monitoring of the material properties in the slime flotation process, and timely adjusting the energy input to achieve accurate adaptation of the flotation operation energy.

[0033] (2) Compared with the traditional single and repeated tank flotation system and method, the flotation machine and the monitoring and control method of the present application can comprehensively consider the different material properties of the slurry in the flotation process of the flotation machine, change the energy input by adjusting the motor power in time and in an appropriate amount, and achieve the adaptive coupling of energy input and slime properties.

[0034] (3) The present application uses a sensor to monitor the real-time working condition parameters of the flotation operation, can accurately obtain different property parameters in the flotation process, and can feed back the slurry concentration and the floatability of particles in any separation process from the monitoring of the particle collision frequency and the degree of foam viscosity. The technical effect of the present application realizes that a lower clean coal ash can be obtained under low speed conditions in the early stage of the flotation process, which ensures the quality of the clean coal to a certain extent. In the later operation, difficult-to-float materials are recovered through high energy input, which ensures the overall clean coal combustible recovery rate and improves the flotation effect.

[0035] (4) The present application realizes real-time monitoring and control of the flotation operation by setting the monitoring device and the central control system, and makes the flotation process tend to be automated and intelligent.

[0036] In the present application, the above technical solutions can be combined with each other to realize more preferred combination solutions. Other features and advantages of the present application will be described in the subsequent specification, and some advantages will become apparent from the specification or be understood by implementing the present application. The purpose and other advantages of the present application can be achieved and obtained from the contents specifically pointed out in the specification and the drawings. BRIEF DESCRIPTION OF DRAWINGS

[0037] The accompanying drawings are included to provide a further understanding of the application and are incorporated herein and constitute a part of the application. The drawings illustrate embodiments of the application and, together with the description, serve to explain the principles of the application. In the drawings:

[0038] Figure 1 is a schematic diagram of a slime intelligent flotation system based on energy accurate adaptation of a specific embodiment;

[0039] Figure 2A flow chart of the coal slime intelligent flotation method based on energy precise adaptation for the specific embodiment.

[0040] Reference signs:

[0041] 1 - flotation machine; 11 - flotation tank; 111 - feed inlet; 112 - tailings discharge port; 113 - froth overflow weir; 12 - stirring shaft; 13 - air inlet pipe; 14 - motor; 2 - monitoring device; 21 - particle collision sensor; 22 - pressure sensor; 23 - gas flow meter; 24 - camera; 3 - central control system; 31 - PLC controller; 311 - signal output end; 312 - signal input end; 32 - computer. DETAILED DESCRIPTION

[0042] The preferred embodiments of the present application will be described in detail below with reference to the drawings, wherein the drawings constitute a part of the present application and serve to explain the principles of the embodiments of the present application, but are not used to limit the scope of the present application.

[0043] In the description of the embodiments of the present application, it should be noted that unless otherwise explicitly specified and limited, the term "connected" should be understood in a broad sense, for example, it can be fixedly connected, or detachably connected, or integrally connected, it can be mechanically connected, or electrically connected, it can be directly connected, or indirectly connected through an intermediate medium. For those skilled in the art, the specific meaning of the above-mentioned term in the present application can be understood according to the specific circumstances.

[0044] The terms "top", "bottom", "above", "under" and "on" used throughout the description are relative positions of the components of the device, for example, the relative positions of the top and bottom substrates inside the device. It can be understood that the device is multifunctional, regardless of their orientation in space.

[0045] Embodiment 1

[0046] As shown in the specific embodiment of the present application, Figure 1 a coal slime intelligent flotation system based on energy precise adaptation (hereinafter referred to as a coal slime intelligent flotation system) is disclosed, which comprises a flotation machine group, a monitoring device 2 and a central control system 3. The monitoring device 2 is arranged on the flotation machine group, and the central control system 3 is electrically connected with the flotation machine group and the monitoring device 2 respectively.

[0047] The flotation machine group comprises a plurality of flotation machines 1, and the monitoring device 2 is also provided with a plurality of monitoring devices 2, each monitoring device 2 corresponding to one flotation machine 1. The monitoring device 2 is arranged on the flotation machine 1 and connected with the central control system 3 through wires. It should be noted that the number of flotation machines 1 can be set according to product requirements. In this embodiment, there are four flotation machines 1.

[0048] The flotation machine 1 comprises a flotation tank 11, a feed inlet 111 arranged at a middle upper position of one side of the flotation tank 11 and communicated with the flotation tank 11, and a tailings discharge outlet 112 arranged at a lower position of one side of the flotation tank 11 and communicated with the flotation tank 11. Adjacent flotation machines 1 are connected through pipelines. Specifically, the tailings discharge outlet 112 of a previous flotation machine 1 is communicated with the feed inlet 111 of a subsequent flotation machine 1 through a pipeline.

[0049] In this embodiment, the feed inlet 111 and the tailings discharge outlet 112 are respectively arranged at opposite sides of the flotation tank 11, and the feed inlet 111 and the tailings discharge outlet 112 are both used for connecting material conveying pipelines.

[0050] The flotation tank 11 is further provided with a froth overflow weir 113 arranged at an upper end of the flotation tank 11, and the froth overflow weir 113 is arranged at the same side of the flotation tank 11 as the tailings discharge outlet 112.

[0051] The flotation machine 1 further comprises a stirring shaft 12 and an air inlet pipe 13. The stirring shaft 12 is vertically arranged at an upper end of the flotation tank 11, and a lower end of the stirring shaft 12 extends to a middle lower part of the flotation tank 11. The air inlet pipe 13 is connected with a top part of the stirring shaft 12 and located outside the flotation tank 11.

[0052] In order to enable gas to enter the flotation tank 11 and disperse small bubbles in the ore pulp, the stirring shaft 12 is a hollow structure, is connected with a motor 14 through a coupling, and is driven to operate by the power device motor 14. A lower end of the stirring shaft 12 is provided with stirring blades and air outlet holes. Gas is sprayed out of the air outlet holes and fully mixed with the ore pulp.

[0053] In order to obtain flotation working condition parameters in real time and accurately, the coal slime intelligent flotation system of this embodiment is provided with a monitoring device 2. The monitoring device 2 comprises a particle collision sensor 21, a pressure sensor 22, an air flow meter 23, and a camera 24. The particle collision sensor 21 is arranged at a middle position in the flotation tank 11 and used for monitoring the frequency of particle collision. The pressure sensor 22 is arranged at a middle upper position in the flotation tank 11, specifically, is arranged at a position close to the froth overflow weir 113 and used for monitoring the viscosity of the froth layer. The air flow meter 23 is arranged on the air inlet pipe 13 and used for monitoring the air inlet amount. The camera 24 is arranged above the flotation tank 11 and used for monitoring the running state of the flotation machine 1.

[0054] The central control system 3 comprises a PLC controller 31 and a computer 32, the PLC controller 31 comprises a signal output end 311 and a signal input end 312, the signal input end 312 is connected with the particle collision sensor 21, the pressure sensor 22, the air flow meter 23 and the camera 24, and is used for input of a flotation working condition parameter signal, and the signal output end 311 is connected with the computer 32 and the electrolysis 14 for driving the stirring shaft 12 to operate, and is used for reading the flotation working condition acquired by the monitoring device 2 and adjusting energy input.

[0055] Compared with the prior art, the coal slime intelligent flotation system provided in the embodiment applies sensor detection technology and a PCL control system to a coal slime flotation system, comprehensively considers different ore pulp material physical properties in a flotation process, can accurately obtain different physical property parameters in the flotation process, feeds back ore pulp concentration and particle floatability in any separation process from monitoring of particle collision frequency and foam viscosity, realizes that a lower clean coal ash content can be obtained under a low rotating speed condition in an initial stage of the flotation process, and to a certain extent, guarantees clean coal quality. In a later stage, difficult-to-float material is recycled through high energy input, the overall clean coal combustible recovery rate is guaranteed, the flotation effect is improved, real-time monitoring and control of the flotation operation are realized, and the flotation process tends to be automatic and intelligent.

[0056] Embodiment 2

[0057] As shown in the embodiment, a coal slime intelligent flotation method based on energy accurate adaptation is disclosed, and the coal slime intelligent flotation system in the embodiment 1 is adopted, and the steps include: Figure 2

[0058] Step 1: Establish a database. The relationship between ore pulp concentration and floatability and the stirring shaft 12 rotating speed is explored, and is stored in a sample database of the central control system 3.

[0059] Specifically, the relationship between ore pulp concentration and floatability and the stirring shaft 12 rotating speed is explored in a preliminary test, the best stirring shaft 12 rotating speed range corresponding to the working condition parameters is recorded, and is stored in a sample database of the central control system 3.

[0060] ​It should be noted that because of the slot-by-slot separation of the flotation machine 1, the concentration of the latter slot is always lower than that of the former slot. And as the flotation proceeds, the floatability of the coal particles in the slurry becomes worse and worse, and the energy required for the unit mass of coal particles to float up becomes larger and larger. In the initial stage of flotation, the slurry concentration is high, the floatability is relatively good, the particle collision frequency monitored by the particle collision sensor 21 is large, and the foam viscosity monitored by the pressure sensor 22 is high, the flotation speed of the material is fast, and a small energy input can obtain a large fine coal combustible recovery rate, and an excessively high speed will cause a certain degree of energy waste. As the flotation further proceeds, the slurry concentration gradually decreases, the feedability gradually deteriorates, and the difficult-to-float coal particles require high energy to float out, at which time the energy input needs to be gradually increased to obtain a certain recovery rate, but the energy input of the flotation process is not the larger the better, but needs to be reasonably formulated according to the specific test index requirements. In the whole flotation operation, the shaft speed of the flotation machine 1 is gradually increased to achieve the process coupling of energy input and material properties.

[0061] Step 2: Start flotation. The feed material is delivered to the flotation machine 1, the motor 14 is started, and the flotation operation begins.

[0062] Specifically, the feed material is delivered to the flotation tank 11 through the feed pipe from the feed port 111 on one side of the flotation tank 11, the motor 14 is started to drive the stirring shaft 12 to operate, at the same time, the gas is injected into the flotation tank 11 through the exhaust hole, and is fully mixed with the slurry in the flotation tank 11 to form mineralized bubbles, which gradually rise to the top of the flotation tank 11.

[0063] Step 3: Signal input. During the flotation process, the monitoring device 2 monitors the changes of different working condition parameters during the operation of the flotation machine 1, and then transmits the signals to the central control system 3.

[0064] Specifically, during the flotation process, the particle collision sensor 21, the pressure sensor 22, the gas flow meter 23 and the camera 24 monitor the parameter changes under different working conditions in real time, and then transmit the signals to the central control system 3 through the wires from the signal input end 312 of the PLC controller 31.

[0065] Among them, the particle collision sensor 21 monitors the slurry concentration in real time through the frequency of particle collision in the slurry; the pressure sensor 22 monitors the floatability of the flotation material in real time through the viscosity of the foam layer, the more particles carried in the foam layer, the higher the viscosity of the foam layer, the greater the force acting on the pressure sensor 22, the better the floatability of the material, and vice versa; the gas flow meter 23 can monitor the gas flow in real time; the camera 24 can monitor the overall operation condition of the flotation machine 1 and the flotation phenomenon.

[0066] Step 4: signal pre-judgment. The central control system 3 judges whether the speed of the stirring shaft 12 corresponding to the input working condition parameter is in the preset range, and if not, step 5 is performed.

[0067] Specifically, the central control system 3 judges whether the speed of the stirring shaft 12 corresponding to the input working condition parameter is in the preset range, and if not, step 5 is performed.

[0068] Step 5: signal output.

[0069] The central control system 3 transmits the optimal value of the speed of the stirring shaft 12 corresponding to the input working condition parameter to the actuator.

[0070] Step 6: adjusting the speed. After receiving the signal, the actuator acts on the controlled object motor 14, and the optimal setting of the speed of the stirring shaft 12 is realized by adjusting the motor 14;

[0071] Specifically, after receiving the signal, the actuator acts on the controlled object motor 14 through the signal output end 311 of the PLC controller 31, and the optimal setting of the speed of the stirring shaft 12 is realized by adjusting the motor 14; at the same time, the signal output end 311 of the PLC controller 31 is connected with the computer 32, and the working condition parameter related data can be directly read and recorded on the computer 32, and the running condition and the flotation phenomenon of the flotation machine 1 can be observed.

[0072] Step 7: energy adaptation coal slime flotation. In the whole flotation operation, the steps 3-6 are repeated in each flotation machine to complete the energy precise adaptation of the coal slime intelligent flotation process.

[0073] Specifically, in the whole flotation operation, the tailings of the previous flotation tank 11 are discharged from the tailings discharge port 112 and enter the next flotation tank 11 through the material transportation pipeline as the flotation feed of the flotation tank 11. Each flotation machine 1 repeats the steps 3-6 to perform real-time monitoring and control of the flotation operation, and completes the energy precise adaptation of the coal slime intelligent flotation process.

[0074] Compared with the traditional single and repeated tank flotation system and method, the sensor is used to monitor the real-time working condition parameters of the flotation operation, and different physical parameters in the flotation process can be accurately obtained, and the concentration of the slurry and the floatability of the particles in any separation process can be fed back by monitoring the particle collision frequency and the degree of foam viscosity.

[0075] The technical effect of the present application realizes that a lower clean coal ash can be obtained under low rotating speed in the initial stage of the flotation process, and the clean coal quality is ensured to a certain extent. In the later stage, the difficult-to-float material is recovered through high energy input, the total clean coal combustible recovery rate is ensured, and the flotation effect is improved.

[0076] Compared with the traditional coal slime flotation system and method, the present application can comprehensively consider the different properties of the slurry material in the flotation process of the flotation machine, design a separation process matched with the gradual deterioration of the floatability of the material along with the separation process, and adjust the motor power to change the energy input in time and in an appropriate amount through the setting of the monitoring device and the central control system, so as to realize the coupling of the energy input and the properties of the coal slime, realize the real-time monitoring and control of the flotation operation, and make the flotation process tend to be automatic and intelligent.

[0077] The above is only the preferred specific implementation of the present application, but the protection scope of the present application is not limited to this. Any change or replacement that can be easily thought of by those skilled in the art within the technical range disclosed by the present application should be covered within the protection scope of the present application.

Claims

1. An intelligent slime flotation method based on energy precision adaptation, characterized in that, The coal slime intelligent flotation system based on energy precise adaptation includes a flotation unit, a monitoring device and a central control system, the flotation unit includes a plurality of flotation machines, each flotation machine is provided with a monitoring device, and the flotation machine and the monitoring device are electrically connected with the central control system; the flotation machine includes a flotation tank, a stirring shaft, an air inlet pipe, a feed inlet and a tailing discharge port, the tailing discharge port of a previous flotation machine is communicated with the feed inlet of a subsequent flotation machine through a pipeline; the monitoring device includes a particle collision sensor, a pressure sensor, an air flow meter and a camera; the particle collision sensor is arranged at a middle position in the flotation tank and is used for monitoring the frequency of particle collision; the pressure sensor is arranged at an upper middle position in the flotation tank and is used for monitoring the viscosity of a foam layer; the air flow meter is arranged on the air inlet pipe and is used for monitoring the air inlet amount; the camera is arranged above the flotation tank and is used for monitoring the running state of the flotation machine; The coal slime intelligent flotation method includes the following steps: step 1: establishing a database; exploring the relationship between the pulp concentration and the working condition parameter change and the rotating speed of the stirring shaft, and storing the relationship in the sample database of the central control system; step 2: starting flotation; the material to be floated is delivered to the flotation machine, the motor is started, and the flotation operation starts; step 3: signal input; during the flotation process, the monitoring device monitors different working condition parameter changes in the running process of the flotation machine, and then transmits signals to the central control system; step 4: signal pre-judgment; The central control system judges whether the rotating speed of the stirring shaft corresponding to the working condition parameter is within a preset range, if not, step 5 is performed; step 5: signal output; the central control system transmits the optimal value of the rotating speed of the stirring shaft corresponding to the working condition parameter to an executing mechanism; step 6: adjusting the rotating speed; the executing mechanism acts on the controlled motor after receiving the signal, and the optimal setting of the rotating speed of the stirring shaft is realized by adjusting the motor; step 7: energy adaptation coal slime flotation; in the whole flotation operation, each flotation machine repeats steps 3-6 to complete the energy precise adaptation of the coal slime intelligent flotation process.

2. The slime intelligent flotation method based on energy precision adaptation according to claim 1, characterized in that, The stirring shaft is vertically arranged at the upper end of the flotation tank, and the lower end of the stirring shaft extends to the middle lower part in the flotation tank.

3. The slime intelligent flotation method based on energy precision adaptation according to claim 2, characterized in that, The air inlet pipe is located outside the flotation tank, and the top of the air inlet pipe is connected with the stirring shaft.

4. The slime intelligent flotation method based on energy precision adaptation according to claim 3, characterized in that, The feed inlet and the tailing discharge port are arranged at two sides of the flotation tank respectively.

5. The slime intelligent flotation method based on energy precision adaptation according to claim 4, characterized in that, The flotation tank further includes a foam overflow weir, the foam overflow weir is arranged at the upper end of the flotation tank and is located at the same side as the tailing discharge port.

6. The slime intelligent flotation method based on energy precise adaptation according to any one of claims 2-5, characterized in that, The stirring shaft has a hollow structure, and the lower end of the stirring shaft is provided with stirring blades and an air exhaust hole.

7. The slime intelligent flotation method based on energy precision adaptation according to claim 1, characterized in that, The central control system includes a PLC controller and a computer, the PLC controller includes a signal output end and a signal input end, the signal input end is connected with the particle collision sensor, the pressure sensor, the air flow meter and the camera, and the signal output end is connected with the computer and a motor driving the stirring shaft.

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