Intelligent distribution sensing type pulse pressurization unblocking system and method for mine filling pipeline

Abstract

The invention relates to an intelligent distribution sensing type pulse pressurization unblocking system for a mine filling pipeline, which comprises a pulse pressurization unit, injection units, a driving circuit and a data processor, and is characterized in that a monitoring pipeline is provided with at least one injection unit, and each injection unit is communicated with the pulse pressurization unit; at least one pulse pressurizing unit is electrically connected with the driving circuit, and the driving circuit is connected with the outer side face of the pulse pressurizing unit. The using method comprises the two steps of system assembly, data acquisition and blockage removal. According to the method, efficient, accurate and intelligent blockage removal operation can be achieved under the complex and changeable mine filling working conditions without additionally arranging joints prone to blockage on the inner wall of the pipeline; and meanwhile, based on partial differential equation modeling, intelligent optimization algorithms (MPC, RL and ILC) and multi-source data fusion, excellent operation performance and long-period stability are provided for the mine filling system, and the mine filling production efficiency and the safety guarantee level are remarkably improved.

Description

Technical Field

[0001] The invention relates to an intelligent distributed sensing pulse pressurization unblocking system and method for a mine filling pipeline, belonging to the technical field of fluid material transportation. Background Art

[0002] Mine filling mining has become a green mining method encouraged by the state after mine caving mining because it can dispose of solid waste such as gangue or tailings underground, replace covered mineral resources, and achieve water conservation. However, through on-site investigation of the operation of filling systems in different mines, it was found that during the flow of filling slurry along the filling pipeline, the long-term precipitation and accumulation of solid particles in the slurry caused the pipeline blockage problem, which is one of the main reasons for the paralysis of the filling system in various mines. Especially in the context of the increasing demand for long-distance pipeline transportation (transportation distance greater than 10km), the filling pipe blockage problem has become a pain point and difficulty in the mine filling industry. At present, in order to solve the problem of pipe blockage during filling, a variety of monitoring, anti-blocking or unblocking means have been developed for filling pipelines, such as the coarse aggregate paste filling pipeline pressure monitoring and pipe blockage early warning method and system in the invention patent publication number CN116608006A, which pastes sensors on the inner wall of the pipeline to monitor the flow state of the slurry to prevent pipeline blockage; the invention patent publication number CN115266904A is based on a magnetic resistance sensor to prevent the filling pipeline from being blocked. The device and method for preventing the blockage of the filling pipeline, which is based on a magnetic resistance sensor, is equipped with a valve inside the pipeline to achieve the purpose of unblocking the pipeline after it is blocked. However, these methods are not only costly when used in long-distance transportation pipelines, but also easily form easy-to-block points on the inner wall of the pipeline, causing the slurry to be blocked first in the easy-to-block point area when flowing in the pipeline.

[0003] In consideration of how to solve the blockage problem of the filling pipe at a low cost without adding devices to the inner wall of the pipe to form easy blockage points, the present invention designs an intelligent distributed sensing pulse pressurization unblocking system and method for mine filling pipes used at the end of the filling pipe. When the filling pipe is just blocked, the inventive device is immediately used to seal the end of the grouting pipe, and at the same time, the slurry in the pipe is pulse-pressurized, and the solid particle blockage points are promptly flushed out using the counter-jet theory to achieve the purpose of unblocking the filling pipe. Summary of the invention

[0004] In order to address the deficiencies in the prior art, the present invention provides an intelligent distributed sensing pulse pressurization unblocking system and method for mine filling pipelines. Compared with the prior art, the present invention does not require additional easily blocked nodes on the inner wall of the pipeline, and can achieve efficient, accurate and intelligent unblocking operations under complex and changeable mine filling conditions. At the same time, based on partial differential equation modeling, intelligent optimization algorithms (MPC, RL, ILC) and multi-source data fusion, the mine filling system is provided with superior operating performance and long-term stability, which significantly improves the mine filling production efficiency and safety assurance level.

[0005] In order to achieve the above object, the present invention is implemented through the following technical solutions:

[0006] An intelligent distributed sensing pulse pressurization and unblocking system for mine filling pipelines includes a pressure sensor, a pulse pressurization unit, an injection unit, a drive circuit and a data processor, wherein there are several pressure sensors, and each monitoring pipeline is provided with several pressure sensors, and the pressure sensors on the same monitoring pipeline are evenly distributed along the axis of the pipeline. At the same time, the monitoring pipeline is also provided with at least one injection unit, and each injection unit is distributed along the axis of the monitoring pipeline. At the same time, each injection unit is connected to the pulse pressurization unit, at least one pulse pressurization unit is electrically connected to the drive circuit, the drive circuit is connected to the outer side of the pulse pressurization unit, and is electrically connected to the pressure sensor and the injection unit. At the same time, the drive circuit also establishes a data connection with the data processor through a communication network.

[0007] Furthermore, when there are two or more monitoring pipelines, the pressure sensors, pulse pressurizing units, and injection units installed on each monitoring pipeline share a set of driving circuits and data processors. At the same time, when there are two or more pulse pressurizing units, each pulse pressurizing unit is connected to at least one injection unit through a guide pipe to form an operating group.

[0008] Furthermore, the injection unit includes a boost lumen, a jet nozzle, a drive motor, a hydraulic motor, a guide vane, an ultrasonic / electromagnetic flowmeter, a fiber grating strain gauge, an accelerometer, a high-frequency conductivity and acoustic transmission sensor, wherein the boost lumen is a tubular structure coaxially distributed with the monitoring pipeline, located between two sections of interconnected monitoring pipelines, and its two ends are connected to the monitoring pipeline through connecting flanges, and the jet nozzles are at least three, embedded in the inner side of the boost lumen and evenly distributed around the axis of the boost lumen, and the axis of the jet nozzle is at an angle of 0°-30° with the axis of the boost lumen, and each jet nozzle is located on one side of the boost lumen outlet, and each jet nozzle is respectively connected to the pulse pressurization unit, and the guide vane is located in the boost lumen and coaxially distributed with the boost lumen. The guide vane is connected to the drive motor and the hydraulic motor respectively through a transmission mechanism, and the drive motor and the hydraulic motor are connected to the outer side of the boost lumen. At the same time, at least one drainage port is provided on the wall of the boost lumen behind the guide vane, and the axis of the drainage port intersects with the axis of the boost lumen. At the same time, the boost lumen is connected to the pulse pressurizing unit through the drainage port. There are two ultrasonic / electromagnetic flowmeters, fiber grating strain gauges, accelerometers, high-frequency conductivity and acoustic transmission sensors, which are respectively located at the front end face and the rear end face of the boost lumen. The drive motor, ultrasonic / electromagnetic flowmeter, fiber grating strain gauge, accelerometer, high-frequency conductivity and acoustic transmission sensors are all electrically connected to the drive circuit, and the hydraulic motor is also connected to the pulse pressurizing unit.

[0009] Furthermore, the guide impeller includes a load-bearing ring, a guide vane, a guide slot, and a driving gear ring. The load-bearing ring is a closed ring structure coaxially distributed with the booster cavity, and is slidably connected to the inner side of the booster cavity through the guide slot. The guide slot is a closed ring structure with an "L"-shaped cross section, and the two guide slots are symmetrically distributed on both sides of the load-bearing ring. The inner side of the booster cavity corresponding to the guide slot is provided with an assembly slot, the guide slot is embedded in the assembly slot, and is coaxially distributed with the booster cavity, and the upper end surface of the guide slot is connected to the inner side of the booster cavity. The bearing ring is flush with the surface, and a driving gear ring coaxially distributed therewith is provided, and the driving gear ring is located between the two guide grooves, abutted against and slidably connected to the guide grooves, and the driving gear ring is respectively connected to the driving motor and the hydraulic motor through a transmission mechanism, and there are at least three guide blades embedded in the bearing ring and evenly distributed around the axis of the bearing ring, and the guide blades are connected to the inner surface of the bearing ring, and the blade surface of the guide blade forms an angle of 15°-70° with the axis of the bearing ring, and the length of the guide blade is not greater than 1 / 2 of the radius of the bearing ring.

[0010] Furthermore, the pulse pressurizing unit includes a supporting frame, an air-liquid booster cylinder, a plunger pump, a resonant energy storage chamber, a sealing valve, a pressure sensor, a flow sensor, a drainage tube, and a shunt tube, wherein the supporting frame is a rectangular frame structure, and the air-liquid booster cylinder, the plunger pump, and the resonant energy storage chamber are all located in the supporting frame and connected to the bottom of the supporting frame, and there are at least two air-liquid booster cylinders and plunger pumps, and an air-liquid booster cylinder and a plunger pump are interconnected through a guide tube to form a working group, and two adjacent working groups are connected in series through a guide tube; wherein the plunger pump in the working group at the very end is connected to the drainage tube through a sealing valve, and the drainage tube is connected to the drainage port of the injection unit through a sealing valve, and at the same time, the air-liquid booster cylinder located in the front end working group is connected to the drainage tube through a sealing valve. The cylinder is connected to the resonant energy storage chamber through a guide tube, the resonant energy storage chamber is connected to a shunt tube, and the resonant energy storage chamber and the shunt tube are connected through a sealing valve, the shunt tube is connected to each jet nozzle of the injection unit, and at the same time, in two adjacent working groups, the gas-liquid booster cylinder located in the latter working group is connected to the plunger pump of the former working group through a guide tube, and at the same time, the two adjacent working groups are connected to the guide tube through a sealing valve, there are several pressure sensors and flow sensors, and a pressure sensor and a flow sensor are arranged on the guide tube connected to the output port of each gas-liquid booster cylinder and plunger pump, the gas-liquid booster cylinder, the plunger pump, the pressure sensor, and the flow sensor are all electrically connected to the drive circuit, and at the same time, the guide tube and the shunt tube are connected to the outer side of the supporting frame.

[0011] Furthermore, the resonant energy storage cavity includes a high-pressure bearing cavity, a pressure regulating plate, a counterweight, a spring column, an electromagnet, and a pressure valve, wherein the high-pressure bearing cavity is a closed cavity structure, and a pressure regulating plate is arranged inside the cavity and is distributed perpendicularly to its axis. The pressure regulating plate divides the interior of the high-pressure bearing cavity into a resonant cavity and a pulse cavity, wherein the high-pressure bearing cavity corresponding to the pulse cavity is provided with an inlet and an outlet, wherein a pressure valve is arranged at the outlet and is connected to the guide pipe through the pressure valve, and the counterweight and the spring column are both located in the resonant cavity, wherein at least one counterweight is connected to the plate surface of the pressure regulating plate and is an annular structure coaxially distributed with the pressure regulating plate, and at least one spring column has an axis parallel to the axis of the high-pressure bearing cavity, one end of which is connected to the pressure regulating plate, and the other end is connected to the high-pressure bearing cavity, and the electromagnet is located in the inner side surface of the high-pressure bearing cavity corresponding to the resonant cavity, is coaxially distributed with the pressure regulating plate, and is electrically connected to the drive circuit.

[0012] Furthermore, the driving circuit is a circuit system based on a programmable controller, and the data processor is a network server based on an artificial neural network system, and the data processor is also provided with a control data calculation function.

[0013] A method for using an intelligent distributed sensing pulse pressurization unblocking system for a mine filling pipeline comprises the following steps:

[0014] S1, system assembly, first determine the normal operating parameters of each pipeline to be monitored, then set at least two injection units on each pipeline to be monitored, and at the same time, according to the number and working position of the injection units, set at least one pulse pressurizing unit and a matching drive circuit for each injection unit on each pipeline to be monitored, and finally build a data processor at a location far away from the construction site, establish a data connection with each drive circuit through a communication network, and set a material transportation operation function in the data processor;

[0015] S2, data collection and unblocking. During the transportation of mixed fluid materials through the pipeline to be monitored, the ultrasonic / electromagnetic flowmeter, fiber grating strain gauge, accelerometer, high-frequency conductivity and acoustic transmission sensor installed in each injection unit synchronously monitors the pressure, flow rate and flow parameters of the mixed fluid materials transported in the pipeline to be monitored, and when local pressure, flow rate and flow rate changes occur, the pulse pressurization unit and injection unit near each part are driven to operate, and the pipeline is locally pulse-pressurized and pulse-impacted to clean, and the mixed fluid materials transported in the pipeline to be monitored are restored to normal operating values, thereby preventing the mixed fluid materials transported in the pipeline to be monitored from being blocked.

[0016] Furthermore, the material transport operation function includes a fluid state prediction function and a pulse pressurization control strategy function; specifically:

[0017] Fluid state prediction function:

[0018]

[0019] Where x is the axial coordinate, A is the cross-sectional area of ​​the pipe, v is the average slurry velocity, p is the pressure, ρ is the slurry density, f(A, v, ρ) represents the viscous shear stress term and the particle deposition resistance term, and S(x) is the external source term (such as pulse pressure input).

[0020] The above partial differential equation is discretized by finite difference method (FDM) or finite volume method (FVM) to obtain the state prediction model:

[0021] x(k+1)=F(x(k),u(k))

[0022] Where x(k) is the state vector at a discrete time step (including pressure, flow rate, and particle concentration distribution), and u(k) is the control input (pulse intensity, injection direction, and sealing valve opening).

[0023] Pulse pressure control strategy function:

[0024]

[0025] The constraints of this function are:

[0026] p(i)≤p max ,||∈(i)||≤∈ max , v(i)≥v min ,v(i)≤v max

[0027] c(i)≤c max , u(i)∈u admissible

[0028] Where p(i), v(i), c(i) represent the distribution of pressure, flow rate, and particle concentration in the prediction interval, wp, wv, wc are weighting coefficients, and λ is the control increment penalty coefficient. A nonlinear optimization algorithm (NLPSolver), such as IPOPT or SQP, can be used to solve this optimization problem.

[0029] Furthermore, in the data processor, reinforcement learning (RL) and iterative learning control (ILC) mechanisms and fault diagnosis (FDI) and predictive maintenance (PHM) systems are also introduced;

[0030] in:

[0031] RL algorithms (such as Deep Q-Network, DQN or Proximal Policy Optimization, PPO) interact with the environment in the long run and update the strategy to minimize the average unblocking time and energy consumption;

[0032] The ILC algorithm uses historical data to iteratively optimize parameters of repeated operating conditions, thereby quickly finding the approximate optimal control input under similar congestion conditions.

[0033] The fault diagnosis (FDI) and predictive maintenance (PHM) system detects potential problems such as nozzle blockage, valve sticking or supercharger wear in advance by online monitoring of the energy consumption mode of the actuator and the statistical characteristics of the sensor data (such as Mahalanobis distance and control command distribution deviation), and automatically adjusts the control strategy or issues a maintenance alarm.

[0034] Compared with the prior art, the present invention does not require adding easily blocked nodes on the inner wall of the pipeline, and can achieve efficient, accurate and intelligent unblocking operations under complex and changeable mine filling conditions; at the same time, based on partial differential equation modeling, intelligent optimization algorithms (MPC, RL, ILC) and multi-source data fusion, it provides the mine filling system with superior operating performance and long-term stability, and significantly improves the mine filling production efficiency and safety level. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments;

[0036] Figure 1 It is a schematic diagram of the system structure of the present invention;

[0037] Figure 2 It is a schematic diagram of the partial structure of the injection unit in side section;

[0038] Figure 3 It is a schematic diagram of the partial structure of the guide impeller from the front view;

[0039] Figure 4 It is a schematic diagram of the local structure of the pulse pressurizing unit from a top view;

[0040] Figure 5 It is a schematic diagram of the partial structure of the resonant energy storage cavity;

[0041] Figure 6 It is a schematic diagram of the process of the present invention. DETAILED DESCRIPTION

[0042] In order to facilitate the construction of the technical means, creative features, objectives and effects achieved by the present invention, the present invention is further described below in conjunction with specific implementation methods.

[0043] like Figure 1-Figure 5As shown, an intelligent distributed sensing pulse pressurization and unblocking system for mine filling pipelines includes a pressure sensor 1, a pulse pressurization unit 2, an injection unit 3, a drive circuit 4 and a data processor 5, wherein there are several pressure sensors 1, and each monitoring pipeline is provided with several pressure sensors 1, and the pressure sensors 1 on the same monitoring pipeline are uniformly distributed along the axis direction of the pipeline. At the same time, the monitoring pipeline is also provided with at least one injection unit 3, and each injection unit 3 is distributed along the axis direction of the monitoring pipeline. At the same time, each injection unit 3 is connected to the pulse pressurization unit 2, at least one pulse pressurization unit 2 is electrically connected to the drive circuit 4, the drive circuit 5 is connected to the outer side of the pulse pressurization unit 2, and is electrically connected to the pressure sensor 1 and the injection unit 3, and at the same time, the drive circuit 4 establishes a data connection with the data processor 5 through a communication network.

[0044] In this embodiment, when there are two or more monitoring pipelines, the pressure sensors 1, pulse pressurizing units 2, and injection units 3 arranged on each monitoring pipeline share a set of driving circuits 4 and data processors 5. At the same time, when there are two or more pulse pressurizing units 2, each pulse pressurizing unit 2 is connected to at least one injection unit 3 through a guide pipe to form an operating group.

[0045] It is emphasized that the injection unit 3 includes a boost lumen 31, a jet nozzle 32, a drive motor 33, a hydraulic motor 34, a guide vane 35, an ultrasonic / electromagnetic flowmeter 36, a fiber grating strain gauge 37, an accelerometer 38, and a high-frequency conductivity and acoustic transmission sensor 39. The boost lumen 31 is a tubular structure coaxially distributed with the monitoring pipeline, located between two sections of interconnected monitoring pipelines, and its two ends are connected to the monitoring pipeline through a connecting flange 30. There are at least three jet nozzles 32, which are embedded in the inner side of the boost lumen 31 and are evenly distributed around the axis of the boost lumen 31, and the axis of the jet nozzle 32 is at an angle of 0°-30° with the axis of the boost lumen 31. At the same time, each jet nozzle 32 is located on one side of the outlet of the boost lumen 31, and each jet nozzle 32 is respectively connected to the pulse pressurizing unit 2. The guide vane 35 is located in the boost lumen 31 and coaxially distributed with the boost lumen 31, and the The guide vane 35 is connected to the drive motor 33 and the hydraulic motor 34 respectively through a transmission mechanism, and the drive motor 33 and the hydraulic motor 34 are both connected to the outer side of the boost lumen 31. At the same time, at least one drainage port 301 is provided on the wall of the boost lumen 31 behind the guide vane 35, and the axis of the drainage port 301 intersects with the axis of the boost lumen 31. At the same time, the boost lumen 31 is connected to the pulse pressurizing unit 2 through the drainage port 301. There are two ultrasonic / electromagnetic flowmeters 36, fiber grating strain gauges 37, accelerometers 38, and high-frequency conductivity and acoustic transmission sensors 39, which are respectively located at the front end face and the rear end face of the boost lumen 31. The drive motor 33, ultrasonic / electromagnetic flowmeter 36, fiber grating strain gauges 37, accelerometers 38, and high-frequency conductivity and acoustic transmission sensors 39 are all electrically connected to the drive circuit 4, and the hydraulic motor 34 is also connected to the pulse pressurizing unit 2.

[0046] At the same time, the guide impeller 35 includes a load-bearing ring 351, a guide vane 352, a guide slot 353, and a driving gear ring 354. The load-bearing ring 351 is a closed annular structure coaxially distributed with the boosting cavity 31, and is slidably connected with the inner side of the boosting cavity 31 through the guide slot 353. The guide slot 353 is a closed annular structure with an "L"-shaped cross section, and the two guide slots 353 are symmetrically distributed on both sides of the load-bearing ring 351. The inner side of the boosting cavity 31 corresponding to the guide slot 353 is provided with an assembly slot 355. The guide slot 353 is embedded in the assembly slot 355 and is coaxially distributed with the boosting cavity 31, and the upper end surface of the guide slot 353 is connected to the boosting cavity 31. 1 The inner side surface of the bearing ring 351 is flush with each other, and the bearing ring 351 is provided with a driving gear ring 354 coaxially distributed therewith, and the driving gear ring 354 is located between the two guide grooves 353, and is abutted and slidably connected with the guide grooves 353. At the same time, the driving gear ring 354 is respectively connected with the driving motor 33 and the hydraulic motor 34 through a transmission mechanism. There are at least three guide blades 352, which are embedded in the bearing ring 351 and are evenly distributed around the axis of the bearing ring 351. The guide blades 352 are connected to the inner surface of the bearing ring 351, and the blade surface of the guide blade 352 forms an angle of 15°-70° with the axis of the bearing ring 351, and the length of the guide blade 352 is not greater than 1 / 2 of the radius of the bearing ring 351.

[0047] The guide impeller provided can, during operation, not only provide sufficient power for the material transported in the pipeline through the jet nozzle, but also drive the material in the pipeline to rotate and stir and provide auxiliary driving force, thereby achieving sufficient driving force for the material transported in the pipeline and preventing pipeline blockage caused by material deposition.

[0048] It is particularly noted that the pulse pressurizing unit 2 includes a supporting frame 21, a gas-liquid booster cylinder 22, a plunger pump 23, a resonant energy storage chamber 24, a sealing valve 25, a pressure sensor 1, a flow sensor 26, a drainage tube 27, and a shunt tube 28, wherein the supporting frame 21 is a rectangular frame structure, the gas-liquid booster cylinder 22, the plunger pump 23, and the resonant energy storage chamber 24 are all located in the supporting frame 21 and connected to the bottom of the supporting frame 21, and there are at least two gas-liquid booster cylinders 22 and plunger pumps 23, and one gas-liquid booster cylinder 22 and one plunger pump 23 are interconnected through a guide tube to form a working group, and two adjacent working groups are connected in series through a guide tube; wherein the plunger pump 23 in the working group at the very end is connected to the drainage tube 27 through a sealing valve 25, and the drainage tube 27 is connected to the drainage port 301 of the injection unit 3 through a sealing valve 25, and at the same time, the gas-liquid booster cylinder 22 and the plunger pump 23 in the working group at the very front end are connected to the drainage tube 27 through a sealing valve 25. The booster cylinder 22 is connected to the resonance energy storage chamber 24 through a guide tube, the resonance energy storage chamber 24 is connected to the shunt tube 28, and the resonance energy storage chamber 24 and the shunt tube 28 are connected through a sealing valve 25, the shunt tube 28 is connected to each jet nozzle 32 of the injection unit 3, and at the same time, in two adjacent working groups, the gas-liquid booster cylinder 22 located in the latter working group is connected to the plunger pump 23 of the previous working group through a guide tube, and at the same time, the two adjacent working groups are connected to the guide tube through the sealing valve 25, and there are several pressure sensors 1 and flow sensors 26, and a pressure sensor 1 and a flow sensor 26 are arranged on the guide tube connected to the output port of each gas-liquid booster cylinder 22 and plunger pump 23, the gas-liquid booster cylinder 22, the plunger pump 23, the pressure sensor 1, and the flow sensor 26 are all electrically connected to the drive circuit 4, and at the same time, the guide tube 27 and the shunt tube 28 are all connected to the outer side of the supporting frame 21.

[0049] The resonant energy storage cavity 24 includes a high-pressure bearing cavity 241, a pressure regulating plate 242, a counterweight 243, a spring column 244, an electromagnet 245, and a pressure valve 246. The high-pressure bearing cavity 241 is a closed cavity structure, and a pressure regulating plate 242 is arranged inside the cavity and is perpendicular to its axis. The pressure regulating plate 242 divides the high-pressure bearing cavity 241 into a resonant cavity 247 and a pulse cavity 248. The high-pressure bearing cavity 241 corresponding to the pulse cavity 248 is provided with an inlet 249 and an outlet 240. The outlet 240 is provided with a pressure valve 246 and is connected to the resonant cavity 247. The overpressure valve 246 is connected to the guide tube, and the counterweight block 243 and the spring column 244 are both located in the resonance cavity 247, wherein at least one of the counterweight blocks 243 is connected to the plate surface of the pressure regulating plate 242 and is an annular structure coaxially distributed with the pressure regulating plate 242, and at least one of the spring columns 244 has its axis parallel to the axis of the high-pressure bearing cavity 241, one end of which is connected to the pressure regulating plate 242, and the other end is connected to the high-pressure bearing cavity 241, and the electromagnet 245 is located in the inner side surface of the high-pressure bearing cavity 241 corresponding to the resonance cavity 247, is coaxially distributed with the pressure regulating plate 242 and is electrically connected to the drive circuit 4.

[0050] In operation:

[0051] High-pressure bearing chamber: It is a high-pressure resistant chamber made of high-strength metal alloy. The internal surface is precisely processed and specially coated to ensure reliability and durability under high pressure and high-frequency vibration conditions;

[0052] Pressure regulating plate: It can flexibly adjust the volume of the high-pressure bearing chamber as the pressure changes, and affect the compressibility characteristics of the fluid through volume changes, thereby tuning the resonant frequency of the system;

[0053] Spring column: provides elastic potential energy reserve. Its stiffness can be dynamically adjusted by replacing springs with different stiffness, adjusting the pre-compression amount or using an adjustable spring seat;

[0054] Counterweight: This can be an internal floating piston or a suspended mass, the mass can be fine-tuned by adding or removing counterweights;

[0055] Electromagnet: It can assist in adjusting the response efficiency of the spring column extension and contraction adjustment, thereby tuning the resonant frequency of the system.

[0056] In this embodiment, the driving circuit 4 is a circuit system based on a programmable controller, and the data processor 5 is a network server based on an artificial neural network system, and the data processor 5 is also provided with a control data calculation function.

[0057] like Figure 6 As shown, a method for using an intelligent distributed sensing pulse pressurization unblocking system for a mine filling pipeline includes the following steps:

[0058] S1, system assembly, first determine the normal operating parameters of each pipeline to be monitored, then set at least two injection units on each pipeline to be monitored, and at the same time, according to the number and working position of the injection units, set at least one pulse pressurizing unit and a matching drive circuit for each injection unit on each pipeline to be monitored, and finally build a data processor at a location far away from the construction site, establish a data connection with each drive circuit through a communication network, and set a material transportation operation function in the data processor;

[0059] S2, data collection and unblocking. During the transportation of mixed fluid materials through the pipeline to be monitored, the ultrasonic / electromagnetic flowmeter, fiber grating strain gauge, accelerometer, high-frequency conductivity and acoustic transmission sensor installed in each injection unit synchronously monitors the pressure, flow rate and flow parameters of the mixed fluid materials transported in the pipeline to be monitored, and when local pressure, flow rate and flow rate changes occur, the pulse pressurization unit and injection unit near each part are driven to operate, and the pipeline is locally pulse-pressurized and pulse-impacted to clean, and the mixed fluid materials transported in the pipeline to be monitored are restored to normal operating values, thereby preventing the mixed fluid materials transported in the pipeline to be monitored from being blocked.

[0060] It is important to note that the material transport operation function includes a fluid state prediction function and a pulse pressurization control strategy function; specifically:

[0061] Fluid state prediction function:

[0062]

[0063] Where x is the axial coordinate, A is the cross-sectional area of ​​the pipe, v is the average slurry velocity, p is the pressure, ρ is the slurry density, f(A, v, ρ) represents the viscous shear stress term and the particle deposition resistance term, and S(x) is the external source term (such as pulse pressure input).

[0064] The above partial differential equation is discretized by finite difference method (FDM) or finite volume method (FVM) to obtain the state prediction model:

[0065] x(k+1)=F(x(k),u(k))

[0066] Where x(k) is the state vector at a discrete time step (including pressure, flow rate, and particle concentration distribution), and u(k) is the control input (pulse intensity, injection direction, and sealing valve opening).

[0067] Pulse pressure control strategy function:

[0068]

[0069] The constraints of this function are:

[0070] p(i)≤p max ,||∈(i)||≤∈ max , v(i)≥v min ,v(i)≤v max

[0071] c(i)≤c max , u(i)∈u admissible

[0072] Where p(i), v(i), c(i) represent the distribution of pressure, flow rate, and particle concentration in the prediction interval, wp, wv, wc are weighting coefficients, and λ is the control increment penalty coefficient. A nonlinear optimization algorithm (NLPSolver), such as IPOPT or SQP, can be used to solve this optimization problem.

[0073] In this embodiment, the data processor further introduces reinforcement learning (RL) and iterative learning control (ILC) mechanisms and a fault diagnosis (FDI) and predictive maintenance (PHM) system;

[0074] in:

[0075] RL algorithms (such as Deep Q-Network, DQN or Proximal Policy Optimization, PPO) interact with the environment in the long run and update the strategy to minimize the average unblocking time and energy consumption;

[0076] The ILC algorithm uses historical data to iteratively optimize parameters of repeated operating conditions, thereby quickly finding the approximate optimal control input under similar congestion conditions.

[0077] The fault diagnosis (FDI) and predictive maintenance (PHM) system detects potential problems such as nozzle blockage, valve sticking or supercharger wear in advance by online monitoring of the energy consumption mode of the actuator and the statistical characteristics of the sensor data (such as Mahalanobis distance and control command distribution deviation), and automatically adjusts the control strategy or issues a maintenance alarm.

[0078] In addition, when performing data calculations, follow the steps below:

[0079] Step S1: Parameter initialization and modeling calibration:

[0080] According to the mine design capacity, pipeline parameters, and slurry characteristics, the partial differential equation model parameters are solved and calibrated offline, the MPC and RL algorithm related parameters are initially set, and input into the control unit;

[0081] Step S2: Online monitoring and predictive analysis:

[0082] Real-time sensor data is distributed and fused and then input into the partial differential equation model for state estimation and prediction. When a decrease in flow rate, abnormal pressure gradient, or a trend of thickening particle deposition is predicted, the control unit issues a blockage warning;

[0083] Step S3: Rapid sealing and local isolation:

[0084] The sealing valve is commanded to close, and the nozzle parameters are adjusted by the actuator to construct a local highly enclosed space, providing conditions for directional pulse pressurization to remove blockage;

[0085] Step S4: Pulse pressure unblocking:

[0086] MPC solves the optimization problem to determine the pulse sequence and injection strategy, and RL fine-tunes the control parameters based on historical experience. The actuator drives the supercharger and nozzle to generate multi-frequency pulses to impact the particle accumulation point and break up the blockage;

[0087] Step S5: State reconstruction and recovery transmission:

[0088] When the state reconstruction results show that the pressure and flow rate have returned to the normal range, the control unit instructs the valve to reopen the pipeline and resume normal transportation. The control system records the operation data and optimizes the algorithm parameters offline;

[0089] Step S6: Long-term optimization and maintenance:

[0090] In subsequent operation, the system uses ILC and RL to continuously improve the control strategy, predict possible congestion patterns and intervene in advance. The PHM algorithm guides the inspection and maintenance plan based on the equipment life model and operation data.

[0091] In view of the shortcomings of the above-mentioned prior art, the advantages of the present invention are:

[0092] Low-interference plugging removal without additional inner wall devices:

[0093] The blockage is removed without attaching any additional devices to the inner wall of the pipeline. By setting up an intelligent pulse pressurization and sealing mechanism at the end of the pipeline, when the risk of blockage is detected, the end of the pipeline can be quickly blocked and high-frequency pulse pressure can be applied to cause strong turbulence and jet impact of the internal slurry, thereby breaking up the solid particle deposition group. This end-to-end blockage removal method can avoid the addition of new easy-to-block points inside the pipeline to the greatest extent, reducing the risk of re-blockage in the structure.

[0094] Low-cost, long-distance pipeline unblocking solution:

[0095] The present invention uses an independent device at the end of the pipeline to link with an external intelligent control unit, eliminating the need to implement multi-point sensor layout or structural modification inside the long-distance pipeline, thereby reducing initial construction and later maintenance costs. The solution has good versatility and scalability. Regardless of changes in pipeline length, transportation scale or slurry characteristics, it can be adapted by adjusting the pulse pressure amplitude, frequency and duration, thereby meeting the high reliability and high economic operation requirements of long-distance transportation pipelines.

[0096] Intelligent real-time monitoring and rapid response:

[0097] The present invention adopts distributed sensing and intelligent control strategies, which can make predictive judgments and timely intervention as soon as a blockage trend appears (such as abnormal changes in local pressure or a sharp drop in flow). When a blockage hazard occurs, the control unit can automatically instruct the end sealing valve to close quickly and implement pulse pressurization operations to improve the timeliness and efficiency of unblocking. Through the built-in optimization control algorithm and intelligent parameter adjustment capabilities, the present invention can dynamically adjust the pulse scheme according to real-time monitoring data to ensure accurate and efficient unblocking under different working conditions and complex conditions, reduce production downtime and improve the overall stability and operating efficiency of the mine filling system.

[0098] The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention to be protected. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. An intelligent distributed sensing pulse pressurization unblocking system for mine filling pipelines, characterized in that: The intelligent distributed sensing pulse pressurization and unblocking system for mine filling pipelines includes a pressure sensor, a pulse pressurization unit, an injection unit, a drive circuit and a data processor, wherein there are several pressure sensors, and each monitoring pipeline is provided with several pressure sensors, and the pressure sensors on the same monitoring pipeline are evenly distributed along the axis of the pipeline. At the same time, the monitoring pipeline is also provided with at least one injection unit, and each injection unit is distributed along the axis of the monitoring pipeline. At the same time, each injection unit is connected to the pulse pressurization unit, at least one pulse pressurization unit is electrically connected to the drive circuit, the drive circuit is connected to the outer side of the pulse pressurization unit, and is electrically connected to the pressure sensor and the injection unit. At the same time, the drive circuit also establishes a data connection with the data processor through a communication network.

2. The intelligent distributed sensing pulse pressurization unblocking system for mine filling pipes according to claim 1 is characterized in that: When there are two or more monitoring pipelines, the pressure sensors, pulse pressurizing units, and injection units installed on each monitoring pipeline share a set of driving circuits and data processors. At the same time, when there are two or more pulse pressurizing units, each pulse pressurizing unit is connected to at least one injection unit through a guide pipe to form an operating group.

3. The intelligent distributed sensing pulse pressurization unblocking system for mine filling pipeline according to claim 1 is characterized in that: The injection unit includes a boost lumen, a jet nozzle, a drive motor, a hydraulic motor, a guide vane, an ultrasonic / electromagnetic flowmeter, a fiber grating strain gauge, an accelerometer, a high-frequency conductivity and acoustic transmission sensor, wherein the boost lumen is a tubular structure coaxially distributed with the monitoring pipeline, located between two sections of interconnected monitoring pipelines, and its two ends are connected to the monitoring pipeline through connecting flanges, and the jet nozzles are at least three, embedded in the inner side of the boost lumen and evenly distributed around the axis of the boost lumen, and the axis of the jet nozzle is at an angle of 0°-30° with the axis of the boost lumen, and each jet nozzle is located on one side of the boost lumen outlet, and each jet nozzle is respectively connected to the pulse pressurization unit, the guide vane is located in the boost lumen and coaxially distributed with the boost lumen, and The guide impeller is connected to the drive motor and the hydraulic motor respectively through a transmission mechanism, and the drive motor and the hydraulic motor are connected to the outer side of the boost lumen. At the same time, at least one drainage port is provided on the wall of the boost lumen behind the guide impeller, and the axis of the drainage port intersects with the axis of the boost lumen. At the same time, the boost lumen is connected to the pulse pressurizing unit through the drainage port. There are two ultrasonic / electromagnetic flowmeters, fiber grating strain gauges, accelerometers, high-frequency conductivity and sound transmission sensors, which are respectively located at the front end face and the rear end face of the boost lumen. The drive motor, ultrasonic / electromagnetic flowmeter, fiber grating strain gauge, accelerometer, high-frequency conductivity and sound transmission sensors are all electrically connected to the drive circuit, and the hydraulic motor is also connected to the pulse pressurizing unit.

4. The intelligent distributed sensing pulse pressurization unblocking system for mine filling pipes according to claim 3 is characterized in that: The guide impeller includes a load-bearing ring, a guide vane, a guide slot, and a driving gear ring. The load-bearing ring is a closed ring structure coaxially distributed with the booster cavity, and is slidably connected with the inner side surface of the booster cavity through the guide slot. The guide slot is a closed ring structure with an "L"-shaped cross section, and the two guide slots are symmetrically distributed on both sides of the load-bearing ring. The inner side surface of the booster cavity corresponding to the guide slot is provided with an assembly slot, the guide slot is embedded in the assembly slot, and is coaxially distributed with the booster cavity, and the upper end surface of the guide slot is flush with the inner side surface of the booster cavity. The bearing ring is evenly distributed, and a driving gear ring coaxially distributed therewith is provided, and the driving gear ring is located between the two guide grooves, abutting against and slidably connected with the guide grooves, and the driving gear ring is respectively connected with the driving motor and the hydraulic motor through a transmission mechanism, and the guide blades are at least three, embedded in the bearing ring, and evenly distributed around the axis of the bearing ring, and the guide blades are connected to the inner surface of the bearing ring, and the blade surface of the guide blade forms an angle of 15°-70° with the axis of the bearing ring, and the length of the guide blade is not greater than 1 / 2 of the radius of the bearing ring.

5. The intelligent distributed sensing pulse pressurization unblocking system for mine filling pipeline according to claim 1 is characterized in that: The pulse pressurizing unit includes a supporting frame, an air-liquid booster cylinder, a plunger pump, a resonant energy storage chamber, a sealing valve, a pressure sensor, a flow sensor, a drainage tube, and a shunt tube, wherein the supporting frame is a rectangular frame structure, the air-liquid booster cylinder, the plunger pump, and the resonant energy storage chamber are all located in the supporting frame and connected to the bottom of the supporting frame, there are at least two air-liquid booster cylinders and plunger pumps, and an air-liquid booster cylinder and a plunger pump are interconnected through a guide tube to form a working group, and two adjacent working groups are connected in series through a guide tube; wherein the plunger pump in the working group at the very end is connected to the drainage tube through a sealing valve, and the drainage tube is connected to the drainage port of the injection unit through a sealing valve, and at the same time, the air-liquid booster cylinder in the working group at the very front end is connected to the drainage tube through a sealing valve. It is connected to the resonant energy storage chamber through a guide tube, the resonant energy storage chamber is connected to a shunt tube, and the resonant energy storage chamber and the shunt tube are connected through a sealing valve, the shunt tube is connected to each jet nozzle of the injection unit, and at the same time, in two adjacent working groups, the gas-liquid booster cylinder located in the rear working group is connected to the plunger pump of the previous working group through a guide tube, and at the same time, the two adjacent working groups are connected to the guide tube through a sealing valve, there are several pressure sensors and flow sensors, and a pressure sensor and a flow sensor are arranged on the guide tube connected to the output port of each gas-liquid booster cylinder and plunger pump, the gas-liquid booster cylinder, the plunger pump, the pressure sensor, and the flow sensor are all electrically connected to the drive circuit, and at the same time, the guide tube and the shunt tube are connected to the outer side of the supporting frame.

6. The intelligent distributed sensing pulse pressurization unblocking system for mine filling pipes according to claim 5 is characterized in that: The resonant energy storage cavity includes a high-pressure bearing cavity, a pressure regulating plate, a counterweight, a spring column, an electromagnet, and a pressure valve, wherein the high-pressure bearing cavity is a closed cavity structure, and a pressure regulating plate is arranged inside the cavity and is distributed perpendicularly to its axis. The pressure regulating plate divides the interior of the high-pressure bearing cavity into a resonant cavity and a pulse cavity, wherein the high-pressure bearing cavity corresponding to the pulse cavity is provided with an inlet and an outlet, wherein a pressure valve is arranged at the outlet and is connected to the guide pipe through the pressure valve, the counterweight and the spring column are both located in the resonant cavity, wherein at least one counterweight is connected to the plate surface of the pressure regulating plate and is an annular structure coaxially distributed with the pressure regulating plate, and at least one spring column has an axis parallel to the axis of the high-pressure bearing cavity, one end of the spring column is connected to the pressure regulating plate, and the other end is connected to the high-pressure bearing cavity, the electromagnet is located in the inner side surface of the high-pressure bearing cavity corresponding to the resonant cavity, is coaxially distributed with the pressure regulating plate, and is electrically connected to the drive circuit.

7. The intelligent distributed sensing pulse pressurization unblocking system for mine filling pipes according to claim 1 is characterized in that: The driving circuit is a circuit system based on a programmable controller, and the data processor is a network server based on an artificial neural network system, and the data processor is also provided with a control data calculation function.

8. The method for using the intelligent distributed sensing pulse pressurization unblocking system for mine filling pipes according to claim 1 is characterized in that: The method for using the intelligent distributed sensing pulse pressurization unblocking system for mine filling pipelines comprises the following steps: S1, system assembly, first determine the normal operating parameters of each pipeline to be monitored, then set at least two injection units on each pipeline to be monitored, and at the same time, according to the number and working position of the injection units, set at least one pulse pressurizing unit and a matching drive circuit for each injection unit on each pipeline to be monitored, and finally build a data processor at a location far away from the construction site, establish a data connection with each drive circuit through a communication network, and set a material transportation operation function in the data processor; S2, data collection and unblocking. During the transportation of mixed fluid materials through the pipeline to be monitored, the ultrasonic / electromagnetic flowmeter, fiber grating strain gauge, accelerometer, high-frequency conductivity and acoustic transmission sensor installed in each injection unit synchronously monitors the pressure, flow rate and flow parameters of the mixed fluid materials transported in the pipeline to be monitored, and when local pressure, flow rate and flow rate changes occur, the pulse pressurization unit and injection unit near each part are driven to operate, and the pipeline is locally pulse-pressurized and pulse-impacted to clean, and the mixed fluid materials transported in the pipeline to be monitored are restored to normal operating values, thereby preventing the mixed fluid materials transported in the pipeline to be monitored from being blocked.

9. The method for using the intelligent distributed sensing pulse pressurization unblocking system for mine filling pipes according to claim 8 is characterized in that: The material conveying operation function includes a fluid state prediction function and a pulse pressurization control strategy function; specific: Fluid state prediction function: Where x is the axial coordinate, A is the cross-sectional area of ​​the pipe, v is the average slurry velocity, p is the pressure, ρ is the slurry density, f(A, v, ρ) represents the viscous shear stress term and the particle deposition resistance term, and S(x) is the external source term (such as pulse pressure input). The above partial differential equation is discretized by finite difference method (FDM) or finite volume method (FVM) to obtain the state prediction model: x(k+1)=F(x(k),u(k)) Where x(k) is the state vector at a discrete time step (including pressure, flow rate, and particle concentration distribution), and u(k) is the control input (pulse intensity, injection direction, and sealing valve opening). Pulse pressure control strategy function: The constraints of this function are: p(i)≤p max ,||∈(i)||≤∈ max ,v(i)≥v min ,v(i)≤v max c(i)≤c max , Where p(i), v(i), c(i) represent the distribution states of pressure, flow rate, and particle concentration in the prediction interval, respectively; wp, wv, wc are weighting coefficients; and λ is the control increment penalty coefficient. A nonlinear optimization algorithm (NLPSolver), such as IPOPT or SQP, can be used to solve this optimization problem.

10. The method for using the intelligent distributed sensing pulse pressurization unblocking system for mine filling pipes according to claim 1, 8 or 9, characterized in that: In the data processor, reinforcement learning (RL) and iterative learning control (ILC) mechanisms and fault diagnosis (FDI) and predictive maintenance (PHM) systems are also introduced; in: RL algorithms (such as Deep Q-Network, DQN or Proximal Policy Optimization, PPO) interact with the environment in the long run and update the strategy to minimize the average unblocking time and energy consumption; The ILC algorithm uses historical data to iteratively optimize parameters of repeated operating conditions, thereby quickly finding the approximate optimal control input under similar congestion conditions. The fault diagnosis (FDI) and predictive maintenance (PHM) system detects potential problems such as nozzle blockage, valve sticking or supercharger wear in advance by online monitoring of the energy consumption mode of the actuator and the statistical characteristics of the sensor data (such as Mahalanobis distance and control command distribution deviation), and automatically adjusts the control strategy or issues a maintenance alarm.

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