Automatic control method and control system for underground original domain filling drum type coal gangue sorting machine

Abstract

The invention discloses an automatic control method and system for an underground original domain filling barrel type coal gangue sorting machine, and relates to the field of automatic control of mine ore sorting equipment. In combination with underground production practice, efficient and stable operation of the drum type coal gangue sorting machine is effectively guaranteed, the whole operation process of equipment is remotely monitored and controlled, labor cost is saved, the service life of the equipment is prolonged, waste of water and electric energy is avoided, waste water is recycled and subjected to follow-up reasonable treatment, sorted gangue is subjected to original area filling, and the production efficiency is improved. Energy conservation and environmental protection are achieved, and the requirement for green and low-carbon mining of original area filling of an underground coal mine is met.

Description

Technical Field

[0001] The present invention relates to the field of automatic control of mine ore sorting equipment, in particular to an automatic control method and control system for an underground original-field filling drum type coal gangue sorting machine. Background Art

[0002] The drum ore washer is a widely used equipment for material washing in industries such as sand and gravel plants, mines, building materials, transportation, chemicals, water conservancy and hydropower, and concrete mixing stations. In the field of coal production, it has become a consensus to follow green and low-carbon mining, and the underground mining and filling mode has become the development direction of the industry. This requires the separation of coal and gangue in the coal mine, and then the sorted gangue is filled in the original production area underground. The efficient, green and automatic sorting of gangue has become a key link in the mining and filling technology of mines, and the gangue sorter is one of the key equipment. The drum ore washer sorts the ore by rotating and flushing. It can be used as a gangue sorter, which can effectively remove impurities in coal, efficiently sort the block coal and block gangue in the underground coal gangue mixture, and remove the powdered impurities, improve the sorting efficiency, and improve the filling effect.

[0003] Drum ore washers are divided into two types: drum type and drum plus screen type. Their working principle is to use a rotating drum and internal scrapers or stirring blades, as well as a high-pressure water washing system, to clean and screen the materials. After the materials enter the drum, they impact and rub against each other during the soaking and rotation process, which causes the clay and ore blocks to dissociate. The ore and ore mud smaller than the sieve holes pass through the sieve holes and are discharged, while the coarse-grained ore blocks are graded and discharged by the double-conical screen at the end of the drum. This equipment can not only process large pieces of ore, but also effectively separate ore and ore mud.

[0004] Although drum-type ore washers are widely used, there are also various problems in their operation. For example, when drum-type ore washers are used to sort coal gangue, they consume a lot of water resources and electric energy. Although they are also equipped with a control system to reduce the pressure of manual operation, the control system is relatively simple, and it is impossible to monitor the operating status of each component and the use of the equipment in real time during operation. The residue in the drum cannot be removed in time, and the staff neglects maintenance and care. Various factors cause premature aging of the equipment, reduce the washing efficiency, and shorten the service life of the equipment. At the same time, the waste of a large amount of water and electricity resources and the inability to effectively treat wastewater and waste residues have increased the production costs of enterprises. Summary of the invention

[0005] In order to solve the above-mentioned technical problems, the present invention provides an automatic control method and control system for an underground original-field filling drum-type coal gangue sorting machine. Combined with the actual underground production, it effectively ensures the efficient and stable operation of the drum-type coal gangue sorting machine, remotely monitors and controls the entire process of equipment operation, saves labor costs, extends the service life of the equipment, avoids the waste of water and electricity energy, recycles wastewater and subsequently reasonably treats it, and fills the sorted gangue in the original field, thereby achieving energy saving and environmental protection, and waste utilization, which meets the green and low-carbon mining needs of original-field filling in coal mines.

[0006] In order to achieve the above object, the technical solution adopted by the present invention is: An automatic control method for an underground original-field filling drum type coal gangue separator is implemented by the following steps: 1) Design a basic automatic control system. The drum-type coal gangue separator adopts a drum ore washer as the basic equipment structure. According to the structural composition and operation process of the drum ore washer, a basic automatic control system is designed to realize water inlet, water spraying in the drum and rotating to wash the coal gangue ore, separate discharge of coal and gangue after sorting, high-pressure water backwashing, and collection and treatment of wastewater; 2) Adjustment of the cleaning liquid level in the cylinder. A water quality detection device and a water quality pretreatment device are arranged at the front end of the water inlet device. The water quality is adjusted to within the qualified threshold range before water inlet. The water spray pipe in the cylinder is set to a high-pressure spray state. The cleaning motor is set to a variable frequency speed regulating motor. A liquid level sensor is arranged on one side of the cylinder. The automatic control system receives the liquid level data collected by the liquid level sensor and realizes online adjustment of the liquid level in the cylinder by adjusting the opening of the water inlet valve, adjusting the cleaning time of the gangue ore in the cylinder, or adjusting the speed of the cleaning motor. 3) Utilization of wastewater: a simple sedimentation tank is set up underground, and the wastewater generated by cleaning is introduced into the simple sedimentation tank. A liquid level sensor is set in the simple sedimentation tank. The clarified water on the upper part of the sedimentation tank is pumped out by a water pump, filtered through a filter device, and then reconnected to the water inlet pipe and high-pressure water backwashing pipe for recycling. When the liquid level is lower than the minimum threshold of the liquid level sensor, the water pump stops working. When the wastewater deposited at the bottom of the simple sedimentation tank reaches the specified liquid level threshold, the wastewater deposited at the bottom is pumped to the ground sedimentation tank for centralized treatment by a water pump; 4) Treatment of waste rock and slag. The wastewater and waste rock generated during the cleaning process are discharged at the same time. Before entering the simple sedimentation tank, they pass through a vibration filter component to filter out the waste rock and slag, collect them and fill them in the original area underground. The remaining wastewater, impurities, stone powder, etc. enter the simple sedimentation tank for treatment. The vibration motor of the vibration filter component is set as a variable frequency speed regulation motor, and its vibration speed and frequency are controlled by the control system; 5) To remove the residue inside the cylinder, a monitoring device capable of detecting the internal conditions of the cylinder is installed at one end of the cylinder close to the water inlet pipe, and a simple adjustable internal scraper is designed. The control system collects information about the internal conditions of the cylinder. For the residue that cannot be removed after high-pressure washing, the internal scraper is controlled to the designated position for removal; 6) According to the above steps and functions, design a field control cabinet structure with an explosion-proof grade, write a control program, implement field operation and parameter setting on the touch screen human-computer interaction interface, and communicate with the host computer through the network communication protocol to realize real-time monitoring and fault alarm of the equipment by the host computer, and perform data recording, analysis and storage and related remote control functions, as well as auxiliary design of remote control functions and mobile phone applet control functions.

[0007] A control system for an underground original-domain filling drum type coal gangue sorting machine, wherein the components and equipment used in the control system are all explosion-proof in design, and the control system designed according to the above automatic control method comprises a controller, a temperature sensor, a pressure sensor, an ore flow sensor, a barrel liquid level sensor, a sedimentation tank liquid level sensor, a data preprocessing module, a barrel rotating motor, a water inlet pipe solenoid valve, a high-pressure backwashing water pipe solenoid valve, a water pump, a vibration motor, a barrel monitoring device and an inner scraper electric component, wherein the controller adopts a programmable controller PLC or a single-chip microcomputer, and the temperature sensor, the pressure sensor, the ore flow sensor, the barrel liquid level sensor, and the sedimentation tank liquid level sensor are respectively connected to the data preprocessing module, the data preprocessing module is connected to the input end of the controller, and the output end of the controller is respectively connected to the barrel rotating motor, the water inlet pipe solenoid valve, the high-pressure backwashing water pipe solenoid valve, the water pump, the vibration motor and the inner scraper electric component, the barrel monitoring device is connected to the controller through an image processing module, the controller is connected to a display device and an alarm device, and a remote communication connection is realized with a host computer through a communication module.

[0008] The in-tube monitoring equipment described in step 5) uses an infrared night vision device or an all-round high-definition camera.

[0009] The control system also includes a water quality detection device and a water quality pretreatment device. The water quality detection device uses a simple instrument for measuring water quality. The water quality pretreatment device sets water quality parameters and performs pretreatment according to the characteristics and water content of the coal gangue ore to be sorted. The water quality detection device is connected to the input end of the controller, and the water quality pretreatment device is connected to the output end of the controller.

[0010] The vibration motor is connected to a screen to form a vibration filtering component, and a waste rock and slag collecting and conveying device is arranged below the vibration filtering component for filling the original area underground.

[0011] A density detection device is arranged on the screen, and the density detection device is connected to a controller, and the controller adjusts the operating parameters of the vibration motor according to the density parameters of the gangue and waste slag. The inner scraper electric assembly includes a micro motor and an electric push rod. The front end of the electric push rod is connected to a foldable scraper, and the bottom is fixedly arranged on a magnetic movable base with rollers. The micro motor is arranged on the magnetic movable base to drive it to move. When the electric push rod pushes out the scraper, the scraper is in an unfolded state, and its bottom is close to the inner wall of the cylinder to scrape off the residue during movement. When the electric push rod is retracted, the scraper is in a folded state and placed on the magnetic movable base. A navigation system is arranged on the magnetic movable base. Through the position information of the residue in the cylinder monitored by the monitoring equipment in the cylinder, the controller sets the position navigation to control the magnetic movable base to move to the specified position in the cylinder.

[0012] When the magnetically movable base is in a moving state, the scraper is in a folded state and reaches a working position. The electric push rod is remotely controlled to push out the scraper to a working state. After completion, the electric push rod is remotely controlled to be in a retracted state to retract the scraper. The controller adopts FX2N-64RM type programmable controller PLC, and the touch screen of the display device adopts GT1575-VNBA type, which is connected to the programmable controller through RS232 serial port for on-site control.

[0013] A control system for an underground original-field filling drum type coal gangue sorting machine comprises a memory, a processor and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps of an automatic control method for an underground original-field filling drum type coal gangue sorting machine are implemented.

[0014] The beneficial effects of the present invention are as follows: 1) The structure of the drum ore washer is used as the basic structure of the underground original-field filling drum coal gangue separator, and a fully automatic control method and control system are designed according to its working principle and operation process. The operation status and parameters of the equipment are fully monitored to achieve remote control, remote control and on-site control, which is more convenient to operate and saves labor costs. The equipment effectively removes impurities such as mud and stone powder in the coal to obtain pure coal and improve the quality of the coal. At the same time, the gangue and waste slag separated are collected and filled in the original field for waste utilization; 2) Pretreatment of the washing water quality can ensure the washing effect and reduce equipment loss and water loss; 3) The liquid level in the cylinder is automatically adjusted online during the operation of the equipment to ensure the best sorting effect while ensuring the stability and safety of the equipment; 4) Designed the process of treating and recycling flushing wastewater to reduce the waste of water resources during operation; 5) The selected waste rock and slag can be collected at any time and filled in the original area underground, which realizes waste utilization and saves energy consumption. At the same time, the process parameters such as flushing water volume and flushing time can be adjusted in time during the operation process to reduce the amount of waste rock and slag generated while ensuring the washing effect; 6) A simple robot scraper is designed to remove the residue inside the cylinder. After detecting the location of the residue, it can remotely navigate into the cylinder to remove it. This solves the problem of residues or stubborn residues hidden in dead corners that cannot be washed away by high-pressure washing water. In combination with other conventional residue cleaning methods, it ensures the cleanliness of the inside of the cylinder and prevents the accumulation of residues that affect the normal operation and use of the equipment; 7) Based on the control method, a simple and efficient control system and corresponding control program were designed to realize the full automatic control of the coal gangue sorting machine, mainly real-time monitoring of the operating status and fault alarm, data recording and analysis, to provide data support for equipment maintenance and process optimization, and to upgrade the equipment system, which greatly improved the efficiency and effect of coal gangue sorting, extended the service life of the equipment, achieved energy saving and environmental protection, provided more control methods for large-scale equipment, saved labor, and was suitable for large-scale promotion and operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic flow chart of the control method of the present invention; Figure 2 It is a schematic diagram of the main structure of the drum-type coal gangue separator of the present invention; Figure 3 It is a schematic diagram of the principle of the control system of the present invention; Figure 4 A schematic structural diagram of the inner scraper assembly of the present invention in an expanded state; Figure 5 A schematic structural diagram of the inner scraper assembly of the present invention in a folded state; Figure 6 This is a partial circuit diagram of the data signal processing of the present invention. DETAILED DESCRIPTION

[0016] The present invention is described in detail below with reference to the accompanying drawings and specific embodiments: like Figure 1 As shown, an automatic control method for an underground original-field filling drum type coal gangue separator is implemented by the following steps: 1) Design a basic automatic control system. The drum type coal gangue separator adopts a drum ore washer as the basic equipment structure. According to the structural composition and operation process of the drum ore washer, a basic automatic control system is designed to realize water inlet of the equipment, water spraying in the drum and rotating to wash the coal gangue ore, separate discharge of coal and gangue after sorting, high-pressure water backwashing, and collection and treatment of wastewater.

[0017] 2) Adjustment of the cleaning liquid level in the cylinder. A water quality detection device and a water quality pretreatment device are set at the front end of the water inlet device. The water quality is adjusted to the qualified threshold range before water inlet. The water spray pipe in the cylinder is set to a high-pressure spray state. The cleaning motor is set to a variable frequency speed regulating motor. A liquid level sensor is set on one side of the cylinder. The automatic control system receives the liquid level data collected by the liquid level sensor, and adjusts the opening of the water inlet valve, adjusts the cleaning time of the gangue ore in the cylinder, or adjusts the speed of the cleaning motor to achieve online adjustment of the liquid level in the cylinder. In order to ensure the washing effect and the normal operation of the equipment, it is usually necessary to control the liquid level in the ore washer within a certain range. If the liquid level is too low, the ore may not be fully soaked and rinsed, affecting the washing efficiency. If the liquid level is too high, it may increase the equipment's complexity, and even cause the ore to overflow, affecting the stability and safety of the equipment. Designing a control method for online adjustment of the liquid level can not only ensure the washing effect, but also save water and electricity energy and ensure the stability and safety of the equipment.

[0018] 3) Utilization of wastewater: a simple sedimentation tank is set up underground, and the wastewater generated by cleaning is introduced into the simple sedimentation tank. A liquid level sensor is set in the simple sedimentation tank, and the clarified water on the upper part of the sedimentation tank is pumped out by a water pump, filtered through a filter device, and reconnected to the water inlet pipe and the high-pressure water backwashing pipe for recycling. When the liquid level is lower than the minimum threshold of the liquid level sensor, the water pump stops working. When the wastewater deposited at the bottom of the simple sedimentation tank reaches the specified liquid level threshold, the wastewater deposited at the bottom is pumped to the ground sedimentation tank for centralized treatment by a water pump; of course, there are many other ways to utilize the wastewater in the ground sedimentation tank, such as agricultural irrigation, ecological environment restoration, other industrial water use, urban miscellaneous water use and other fields. These are all determined according to the water quality characteristics of the treated water, which will not be explained here one by one. This step only explains a wastewater utilization method in which a simple sedimentation tank is designed underground, and the clarified water on the upper part can be recycled in advance in the production link, thereby reducing the energy consumption and time consumption required in the wastewater treatment process.

[0019] 4) Treatment of waste rock and slag. The wastewater and waste rock generated during the cleaning process are discharged at the same time. Before entering the simple sedimentation tank, they pass through a vibrating filter component to filter out the waste rock and slag, collect them and fill them in the original area underground. The remaining wastewater, impurities, stone powder, etc. enter the simple sedimentation tank for treatment. The vibration motor of the vibration filter component is set as a variable frequency speed regulation motor. The vibration speed and frequency are controlled by the control system to achieve the purpose of saving electric energy.

[0020] 5) To remove the residue inside the cylinder, a cylinder monitoring device capable of detecting the internal conditions of the cylinder is installed at one end of the cylinder close to the water inlet pipe. A simple adjustable internal scraper is designed, and the control system collects information about the internal conditions of the cylinder. For residues that cannot be removed after high-pressure washing, the internal scraper is controlled to the designated position for removal.

[0021] There are many ways to clean the residue on the inner wall of the cylinder, usually high-pressure water jet cleaning method, which requires attention to controlling water pressure and cleaning time to avoid damage to the inner wall of the cylinder; chemical cleaning agents can also be used to react chemically with the residues to dissolve or peel off the residues. This requires determining the type and concentration of the cleaning agent based on the material of the cylinder and the properties of the residues, and operating in accordance with certain regulations, which is more troublesome; there are also fixed inner scrapers on the inner wall of the cylinder to remove the residues, but there are strict requirements on the position, angle, wear and maintenance of the scraper after long-term use, and it is inconvenient to operate in a large cylinder; therefore, an inner scraper structure similar to a simple robot is designed, which can be located and removed according to the position of the residues in the cylinder, and can be remotely controlled for easy operation.

[0022] 6) According to the above steps and functions, design a field control cabinet structure with an explosion-proof grade, write a control program, implement field operation and parameter setting on the touch screen human-computer interaction interface, and communicate with the host computer through the network communication protocol to realize real-time monitoring and fault alarm of the equipment by the host computer, and perform data recording, analysis and storage and related remote control functions, as well as auxiliary design of remote control functions and mobile phone applet control functions.

[0023] like Figure 2-3As shown, the control system of the underground original-domain filling drum coal gangue sorting machine is designed to be explosion-proof because it is operated underground. The control system designed according to the automatic control method includes a controller 1, a temperature sensor 2, a pressure sensor 3, an ore flow sensor 4, a barrel liquid level sensor 5, a sedimentation tank liquid level sensor 6, a data preprocessing module 7, a barrel rotating motor 8, a water inlet pipe solenoid valve 9, a high-pressure backwashing water pipe solenoid valve 10, a water pump 11, a vibration motor 12, a barrel monitoring device 13 and an inner scraper electric component 14. The controller 1 adopts a programmable controller PLC or a single-chip microcomputer, and the temperature sensor 2, the pressure sensor 3, the ore flow sensor 4, the barrel liquid level sensor 5, and the sedimentation tank liquid level sensor 6 are respectively connected to the data preprocessing module 7. The data preprocessing module 7 is connected to the input end of the controller 1, and the output end of the controller 1 is respectively connected to the cylinder rotating motor 8, the water inlet pipe solenoid valve 9, the high-pressure backwashing water pipe solenoid valve 10, the water pump 11, the vibration motor 12 and the inner scraper electric assembly 14, the in-cylinder monitoring equipment 13 is connected to the controller 1 through the image processing module 15, the controller 1 is connected to the display device 16 and the alarm device 17, and realizes remote communication connection with the host computer 19 through the communication module 18.

[0024] As a preferred method, in this embodiment, the monitoring device 13 in the tube described in step 5) uses an infrared night vision device or an omnidirectional high-definition camera, which is selected according to the actual production situation and cost planning. The main principle of the infrared night vision device is based on photoelectric conversion technology, using an infrared searchlight to illuminate the target and receiving the reflected infrared radiation to form an image, which is relatively expensive. High-definition cameras are relatively common and have relatively low costs.

[0025] As a preferred mode, in this embodiment, the control system further includes a water quality detection device 20 and a water quality pretreatment device 21. The water quality detection device 20 uses a simple instrument for measuring water quality. The water quality pretreatment device 21 sets water quality parameters and performs pretreatment according to the characteristics and water content of the coal gangue to be sorted. The water quality detection device 20 is connected to the input end of the controller 1, and the water quality pretreatment device 21 is connected to the output end of the controller 1. The quality of washing water will affect the washing effect and the energy consumption of the equipment. Therefore, it is a very necessary measure to pretreat the washing water source to ensure that the water quality meets the washing requirements.

[0026] As a preferred method, in this embodiment, the vibration motor 12 is connected to a screen to form a vibration filtering component, and a waste rock collection and conveying device is provided below the vibration filtering component to collect and transport the waste rock to the original production area for filling, thereby realizing waste utilization and saving transportation and other processing costs.

[0027] As a preferred method, in this embodiment, a density detection device is provided on the screen, and the density detection device is connected to the controller 1, and the controller 1 adjusts the operating parameters of the vibration motor 12 according to the density parameters of the small-particle waste slag. The density detection device can be a finished product or homemade according to the actual production situation, and does not need to be too precise. The purpose of designing the density detection device is to control and adjust the operating parameters of the vibration motor 12 through the density parameters of the waste slag to achieve energy saving and consumption reduction.

[0028] like Figure 4 , Figure 5 As shown, as a preferred mode, in this embodiment, the inner scraper electric assembly 14 includes a micro motor 141 and an electric push rod 142, the front end of the electric push rod 142 is connected to a foldable scraper 143, and the bottom is fixedly arranged on a magnetically movable base 144 with a roller, and the micro motor 141 is arranged on the magnetically movable base 144 to drive it to move, and the micro motor 141 and the electric push rod 142 are respectively connected to the signal output end of the control 1, and the electric push rod 142 When the scraper 143 is pushed out, the scraper 143 is in an unfolded state, and its bottom is close to the inner wall of the cylinder to scrape off the residue during operation. When the electric push rod 142 is retracted, the scraper 143 is in a folded state and placed on a magnetic movable base 144. A navigation system is set on the magnetic movable base 144. The position information of the residue in the cylinder monitored by the cylinder monitoring device 13 is used to set the position navigation of the controller 1 to control the magnetic movable base 144 to move to a specified position in the cylinder. The electric push rod 142 is set to have a rotation function. During the operation of the scraper 143, the lower side of the scraper is always used to scrape off the residue when it is unfolded. It is easy to be broken due to long-term use. The other side of the scraper 143 can be rotated to perform the scraping work, which is simple to operate, saves cost, and is easy to maintain and replace. The electric push rod 142, the micro motor 141 and the magnetic movable base 144 in this embodiment are all conventional products, so they are only expressed in the form of a simple diagram in the accompanying drawings.

[0029] As a preferred method, in this embodiment, the magnetic movable base 144 is in a moving state, the scraper 143 is in a folded state, and reaches the working position. The electric push rod 142 is remotely controlled to push out the scraper 143 to the working state. After completion, the electric push rod 142 is remotely controlled to be in a retracted state to retract the scraper 143.

[0030] As a preferred mode, in this embodiment, the programmable controller PLC adopts FX2N-64RM type, and the touch screen of the display device 16 adopts GT1575-VNBA type, which is connected to the programmable controller through RS232 serial port for on-site control.

[0031] The control system of the underground original-field filling drum type coal gangue separator includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps of the automatic control method of the underground original-field filling drum type coal gangue separator are implemented. Part of the data processing circuit is as follows Figure 6 As shown, some contents of the circuit can be realized by using basic circuits, and no further explanation will be given here.

[0032] In the specific implementation process of the present invention, the operation of the drum coal gangue sorting machine can be controlled on site through an explosion-proof control cabinet, or remote control, small program or host computer can be used for remote control. During the operation, the data of the temperature sensor 2, the pressure sensor 3, the ore flow sensor 4, and the liquid level sensor in the drum 5 are transmitted to the controller 1 in real time through the data preprocessing module 7. The control program loaded on the controller 1 analyzes and calculates according to the input signal, outputs a control signal, controls the operation and parameter adjustment of the drum rotating motor 8, the water inlet pipe solenoid valve 9, the high-pressure backwashing water pipe solenoid valve 10, the water pump 11, the vibration motor 12 and the inner scraper electric component 14, the display device 16 realizes human-computer interaction through the display screen, and the fault alarm device 17 starts the alarm. The controller 1 uploads real-time data to the host computer 19 through the communication module 18, realizes the real-time monitoring and fault alarm of the equipment by the host computer 19, and performs data recording, analysis and storage and related remote control functions. The in-drum monitoring device 13 can monitor the situation in the drum in real time. When scraping of residue is required, the internal scraper electric assembly 14 is controlled to enter the drum to work through the situation and position provided by the device, and then exit the drum after completion.

[0033] The design of the control method and control system of the present invention aims to improve its operation and functions, make operation more convenient, realize various forms of automatic control, save labor and manpower, and ultimately realize the equipment control upgrade of traditional mining machinery, extend the service life of the equipment, achieve energy saving and consumption reduction for resources such as water and electricity, and embody the ultimate environmental protection concept and environmental protection effect for the utilization of wastewater and waste slag. The fully automatic control system improves the automation degree of mining equipment, especially the automatic control and remote control of equipment in harsh underground environments, solves the personal safety issues of operators, and reduces the risk of health problems caused by harsh working environments. It will definitely be a major trend in the mining machinery industry in the future.

[0034] Of course, the above description is not a limitation of the present invention, and the present invention is not limited to the above examples. Changes, modifications, additions or substitutions made by technicians in this technical field within the essential scope of the present invention should also fall within the protection scope of the present invention.

Claims

1. An automatic control method for an underground original-field filling drum type coal gangue separator, characterized in that: This is accomplished by the following steps: 1) Design a basic automatic control system. The drum-type coal gangue separator adopts a drum ore washer as the basic equipment structure. According to the structural composition and operation process of the drum ore washer, a basic automatic control system is designed to realize water inlet, water spraying in the drum and rotating to wash the coal gangue ore, separate discharge of coal and gangue after sorting, high-pressure water backwashing, and collection and treatment of wastewater; 2) Adjustment of the cleaning liquid level in the cylinder. A water quality detection device and a water quality pretreatment device are arranged at the front end of the water inlet device. The water quality is adjusted to within the qualified threshold range before water inlet. The water spray pipe in the cylinder is set to a high-pressure spray state. The cleaning motor is set to a variable frequency speed regulating motor. A liquid level sensor is arranged on one side of the cylinder. The automatic control system receives the liquid level data collected by the liquid level sensor and realizes online adjustment of the liquid level in the cylinder by adjusting the opening of the water inlet valve, adjusting the cleaning time of the gangue ore in the cylinder, or adjusting the speed of the cleaning motor. 3) Utilization of wastewater: a simple sedimentation tank is set up underground, and the wastewater generated by cleaning is introduced into the simple sedimentation tank. A liquid level sensor is set in the simple sedimentation tank. The clarified water on the upper part of the sedimentation tank is pumped out by a water pump, filtered through a filter device, and then reconnected to the water inlet pipe and high-pressure water backwashing pipe for recycling. When the liquid level is lower than the minimum threshold of the liquid level sensor, the water pump stops working. When the wastewater deposited at the bottom of the simple sedimentation tank reaches the specified liquid level threshold, the wastewater deposited at the bottom is pumped to the ground sedimentation tank for centralized treatment by a water pump; 4) Treatment of waste rock and slag. The wastewater and waste rock generated during the cleaning process are discharged at the same time. Before entering the simple sedimentation tank, they pass through a vibration filter component to filter out the waste rock and slag, collect them and fill them in the original area underground. The remaining wastewater, impurities, stone powder, etc. enter the simple sedimentation tank for treatment. The vibration motor of the vibration filter component is set as a variable frequency speed regulation motor, and its vibration speed and frequency are controlled by the control system; 5) To remove the residue inside the cylinder, a monitoring device capable of detecting the internal conditions of the cylinder is installed at one end of the cylinder close to the water inlet pipe, and a simple adjustable internal scraper is designed. The control system collects information about the internal conditions of the cylinder. For the residue that cannot be removed after high-pressure washing, the internal scraper is controlled to the designated position for removal; 6) According to the above steps and functions, design a field control cabinet structure with an explosion-proof grade, write a control program, implement field operation and parameter setting on the touch screen human-computer interaction interface, and communicate with the host computer through the network communication protocol to realize real-time monitoring and fault alarm of the equipment by the host computer, and perform data recording, analysis and storage and related remote control functions, as well as auxiliary design of remote control functions and mobile phone applet control functions.

2. A control system for an underground original-field filling drum type coal gangue separator, wherein the components and equipment used in the control system are all explosion-proof in design, and the characteristics are as follows: The control system designed according to the automatic control method comprises a controller (1), a temperature sensor (2), a pressure sensor (3), an ore flow sensor (4), a barrel liquid level sensor (5), a sedimentation tank liquid level sensor (6), a data preprocessing module (7), a barrel rotating motor (8), a water inlet pipe solenoid valve (9), a high-pressure backwashing water pipe solenoid valve (10), a water pump (11), a vibration motor (12), a barrel monitoring device (13) and an inner scraper electric component (14), wherein the controller (1) adopts a programmable controller PLC or a single-chip microcomputer, and the temperature sensor (2), the pressure sensor (3), the ore flow sensor (4), the barrel liquid level sensor (5), and the sedimentation tank liquid level sensor (6) are respectively connected to the data preprocessing module (7). The data preprocessing module (7) is connected to the input end of the controller (1); the output end of the controller (1) is respectively connected to the drum rotating motor (8), the water inlet pipe solenoid valve (9), the high-pressure backwashing water pipe solenoid valve (10), the water pump (11), the vibration motor (12) and the inner scraper electric assembly (14); the drum monitoring device (13) is connected to the controller (1) via the image processing module (15); the controller (1) is connected to the display device (16) and the alarm device (17), and is remotely connected to the host computer (19) via the communication module (18).

3. The control system of the underground original-field filling drum type coal gangue separator according to claim 2 is characterized in that: The in-tube monitoring device (13) described in step 5) uses an infrared night vision device or an all-round high-definition camera.

4. The control system of the underground original-field filling drum type coal gangue separator according to claim 2 is characterized in that: The control system further comprises a water quality detection device (20) and a water quality pretreatment device (21); the water quality detection device (20) adopts a simple instrument for measuring water quality; the water quality pretreatment device (21) sets water quality parameters and performs pretreatment according to the characteristics and water content of the coal gangue ore to be sorted; the water quality detection device (20) is connected to the input end of the controller (1); and the water quality pretreatment device (21) is connected to the output end of the controller (1).

5. The control system of the underground original-field filling drum type coal gangue separator according to claim 2 is characterized in that: The vibration motor (12) is connected to a screen to form a vibration filtering component, and a waste rock and slag collecting and conveying device is arranged below the vibration filtering component for filling the original area underground.

6. The control system of the underground original-field filling drum type coal gangue separator according to claim 5 is characterized in that: A density detection device is provided on the screen, and the density detection device is connected to a controller (1). The controller (1) adjusts the operating parameters of the vibration motor (12) according to the density parameters of the gangue waste slag.

7. The control system of the underground original-field filling drum type coal gangue separator according to claim 2 is characterized in that: The inner scraper electric assembly (14) comprises a micro motor (141) and an electric push rod (142); the front end of the electric push rod (142) is connected to a foldable scraper (143); the bottom of the electric push rod (142) is fixedly arranged on a magnetically movable base (144) with rollers; the micro motor (141) is arranged on the magnetically movable base (144) to drive the inner scraper to move; when the electric push rod (142) pushes out the scraper (143), the scraper (143) is in an unfolded state. The bottom of the scraper (143) is in close contact with the inner wall of the cylinder to scrape off residues during operation. When the electric push rod (142) is retracted, the scraper (143) is in a folded state and is placed on a magnetically movable base (144). A navigation system is provided on the magnetically movable base (144). Based on the position information of the residues in the cylinder monitored by the cylinder monitoring device (13), the controller (1) is set with position navigation to control the magnetically movable base (144) to move to a specified position in the cylinder.

8. The control system of the underground original-field filling drum type coal gangue separator according to claim 7 is characterized in that: The magnetically movable base (144) is in a moving state, and the scraper (143) is in a folded state. When the working position is reached, the electric push rod (142) is remotely controlled to push out the scraper (143) to the working state. After completion, the electric push rod (142) is remotely controlled to be in a retracted state to retract the scraper (143).

9. According to the control system of the underground original-field filling drum type coal gangue sorting machine of claim 2, the controller (1) adopts the FX2N-64RM type programmable controller PLC, and the touch screen of the display device (16) adopts the GT1575-VNBA type, which is connected to the programmable controller through the RS232 serial port for on-site control.

10. An underground original-field filling drum type coal gangue separator control system, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When executing the computer program, the processor implements the steps of the automatic control method of the underground original-field filling drum type coal gangue separator described in claim 1 above.

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