A time-sharing control method and control system for remote control and automatic deironing

Abstract

The application discloses a time-sharing control method for remote control and automatic iron removal, which comprises the following steps: S1, an iron remover is initially located above a feeding belt and is in an iron absorption excitation state; S2, the iron remover is controlled to enter an iron release walking state in a time-controlled or remote operation mode, and the walking distance is determined according to an infrared limiting distance and a walking time, and the walking time is accurate to a second level; S3, after the iron remover reaches an iron release position, the iron remover enters an iron release and magnetism release state, and the magnetism release time is determined according to the time for the iron remover to run stably to a stationary state and the time for the adsorbed iron pieces to be completely released; S4, after the iron release step is completed, the iron remover is controlled to enter an iron absorption walking state, and the walking distance is determined according to an infrared limiting distance and a walking time, and the walking time is accurate to a second level; and S5, when the iron remover reaches above the high-pressure roller feeding belt, the iron remover is controlled to enter the iron absorption excitation state, and the above steps are circularly executed. The application improves the production status of manual operation of the iron remover and effectively improves the work efficiency and safety.

Description

Technical Field

[0001] This application belongs to the field of mineral processing technology, specifically relating to a time-sharing control method and control system for remote and automatic iron removal, applicable to iron removal operations in the high-pressure roller feed iron removal process. Background Technology

[0002] In the wet pre-selection process of high-pressure rollers, if the material processed by the high-pressure rollers contains objects such as iron, it will damage the roller surface, seriously affecting the service life of the high-pressure rollers. At the same time, the roller pressing effect of the high-pressure rollers will also decrease, making it difficult to improve the production efficiency of the beneficiation plant.

[0003] In common high-pressure roller wet pre-selection processes, the high-pressure roller feed belt is equipped with a disc separator via guide rails and a traveling device to remove iron particles from the feed belt material. The manual iron removal process is as follows: the disc separator is energized above the feed belt to attract iron particles. When the operator notices that the disc separator is almost full of iron particles, the operator moves the disc separator to the outside of the feed belt to release the iron, and controls the disc separator to demagnetize and remove the iron particles. Then, the operator moves the separator back above the feed belt, energizes it again to attract iron, and begins the next cycle. The disadvantages of manual iron removal using this disc iron separator are: (1) The situation of iron adsorption by the disc iron separator is random when it is manually moved, and the iron removal effect cannot be guaranteed. In addition, it requires a dedicated person to operate it on site. With the development of smart manufacturing, the number of on-site operators has decreased, and it is difficult to achieve full automation of the iron removal process; (2) The iron removal process is not included in the plant automation system, which makes it difficult to operate the iron separator remotely and to deal with abnormal iron parts in a timely manner; (3) The movement of the iron separator is limited by infrared, but the dust accumulated on the production site will affect the effect of the infrared limiter and easily cause production accidents. Summary of the Invention

[0004] This application provides a time-sharing control method and control system for remote and automatic iron removal, which improves the current production situation of manual operation of iron removers and effectively enhances work efficiency and safety.

[0005] The technical solution to the technical problem solved in this application is as follows:

[0006] According to one aspect of this application, a time-sharing control method for remote-controlled and automatic iron removal is provided. This method uses a PLC automation system to control a disc-type iron separator above a high-pressure roller feeder belt to attract and release iron. A guide rail is provided above the high-pressure roller feeder belt, and the disc-type iron separator is mounted on the guide rail via a traveling mechanism. Infrared limit devices are respectively installed at the iron attraction and release positions of the disc-type iron separator. The iron attraction traveling signal, iron release traveling signal, iron release magnetic signal, iron attraction excitation signal, and infrared limit signal of the infrared limit devices are incorporated into the PLC automation system for control. The method steps are as follows:

[0007] S1. The disc separator is initially located above the high-pressure roller feed belt in the iron-attracting position and is in the iron-attracting excitation state.

[0008] S2. The disc separator can be operated remotely by the operator at a set time, so that the disc separator enters the iron discharge walking state through the walking mechanism. The walking distance is determined by the position spacing of the infrared limit devices at the iron suction and discharge positions and the walking time. The walking time accuracy is in the second range.

[0009] S3. After the disc separator reaches the iron discharge position, control it to enter the iron discharge and demagnetization state. The demagnetization time should take into account both the time for the disc separator to stabilize and stop, and the time for the adsorbed iron parts to be completely discharged.

[0010] S4. After the iron discharge stage is completed, the control disc iron separator enters the iron suction and walking state. The walking distance is determined by the position spacing of the infrared limit devices at the iron suction and discharge positions and the walking time. The walking time accuracy is in the second range.

[0011] S5. When the disc separator reaches above the high-pressure roller feed belt, it is controlled to start entering the iron-attracting excitation state, and then returns to S1 to perform the cycle.

[0012] Furthermore, the travel time of the disc separator in either the iron discharge or iron attraction state is determined by the travel speed of the disc separator; the magnetization time is determined based on the actual magnetization and iron discharge time of the disc separator on site.

[0013] Furthermore, ctq_man_ctrl is set as the manual remote operation signal, s_clock_hour, s_clock_minute, and s_clock_second are the hour, minute, and second values ​​of the PLC automation system, p11_yc and p11_yx are the remote and running signals of the high-pressure roller feed belt, ctq_lc is the excitation enable signal of the iron separator, ctq_ft_xw and ctq_xt_xw are the infrared iron discharge and iron suction limit signals of the iron separator, and ctq_ft_yx and ctq_xt_yx are the iron discharge and iron suction enable signals of the iron separator.

[0014] When controlling a PLC automation system, various times are set through multiple extended pulse timers. Specifically, T0, T1, T2, and T3 are set as the iron discharge walking timer, the remote control iron discharge process timer, the iron discharge timer, and the iron suction timer, respectively, and are used for automatic iron removal at set times. T4, T5, T6, and T7 are set as the iron discharge walking timer, the remote control iron discharge process timer, the iron discharge timer, and the iron suction timer, respectively, and are used for manual remote control iron removal.

[0015] When the magnetic separator is operated remotely by human intervention, the following steps are taken:

[0016] S1. Manual remote operation sends the iron separator working signal ctq_man_ctrl. If the operation is performed within the set time and meets the time-sharing rules, the remote control iron suction and discharge process timer T5 is enabled.

[0017] S2. After the iron separator working signal ctq_man_ctrl pulse is issued, the iron discharge walking timer T4 is enabled according to the set time, and the iron discharge running signal ctq_ft_yx is enabled at the same time. At this time, the iron separator moves on the guide rail toward the iron discharge position until the iron discharge infrared limit ctq_ft_xw sends a signal or the set walking running time ends.

[0018] S3. After the iron separator reaches the iron discharge position, it sends a pulse to enable the iron discharge timer T6 according to the set time, thereby driving the iron separator to discharge iron ctq_lc. The set time includes the iron separator movement stabilization time and the iron discharge time.

[0019] S4. After the iron separator finishes discharging iron, it sends a pulse to enable the iron-attracting timer T7 according to the set time, and at the same time enables the iron-attracting running signal ctq_xt_yx. At this time, the iron separator moves on the guide rail toward the iron-attracting position until the iron-attracting infrared limit ctq_xt_xw sends a signal or the running time ends.

[0020] S5. After the iron separator reaches the iron-attracting position, with the T1 and T5 process timers reset, the iron separator excitation signal ctq_lc is enabled, and the iron separator starts to enter the iron-attracting state, waiting for the timed automatic iron separator signal or the manual remote control signal ctq_man_ctrl, and then enters the next iron-attracting and releasing operation cycle.

[0021] When the timed automatic remote control iron separator is activated, it operates automatically strictly according to the time sequence, and is interlocked with the p11_yc and p11_yx signals in the production system. The operation process is as follows:

[0022] S1. A pulse is emitted at set intervals to enable the iron discharge walking timer T0 according to the set time, and the iron discharge running signal ctq_ft_yx is enabled at the same time. At this time, the iron remover moves on the guide rail toward the iron discharge position until the iron discharge infrared limit ctq_ft_xw sends a signal or the running time ends.

[0023] S2, the travel timer T0 pulse enables the remote control iron suction and discharge process timer T1 according to the set time. In the iron removal process, the process timer must be enabled in order to perform the relevant actions.

[0024] S3. After the iron separator reaches the iron discharge position, it sends a pulse to enable the iron discharge timer T2 according to the set time, thereby driving the iron separator to discharge iron ctq_lc. The set time includes the iron separator movement stabilization time and the iron discharge time.

[0025] S4. After the iron separator finishes discharging iron, it sends a pulse to enable the iron-attracting timer T3 according to the set time, and at the same time enables the iron-attracting running signal ctq_xt_yx. At this time, the iron separator moves on the guide rail toward the iron-attracting position until the iron-attracting infrared limit ctq_xt_xw sends a signal or the set running time ends.

[0026] S5. After the iron separator reaches the iron-attracting position, with the T1 and T5 process timers reset, the iron separator excitation signal ctq_lc is enabled, and the iron separator starts to enter the iron-attracting state, waiting for the timed automatic iron separator signal or the manual remote control signal ctq_man_ctrl, and then enters the next iron-attracting and releasing operation cycle.

[0027] The rules for remote control operation and automatic operation are as follows: remote control operation is allowed after 4 minutes of each hour, while automatic iron removal operation is allowed before 4 minutes of each hour.

[0028] Furthermore, when using the timed automatic remote control iron remover, the interval time in step S1 is set to 1 minute every 3 hours.

[0029] According to another aspect of the present invention, a time-sharing control system for remote control and automatic iron removal is provided, characterized in that it includes a storage medium and a processor; the storage medium is used to store instructions; the processor is used to operate according to the instructions to execute the method described in the above technical solution.

[0030] Compared with existing technologies, the time-sharing control method and control system for remote and automatic iron removal described in this application realizes the integration of disc iron separators into the plant's automation system; it improves upon the previous method of relying solely on infrared limiters to prevent iron separator travel accidents, ensuring the safe operation of the iron separator by limiting the travel time; and by adopting a time-sharing control method, it avoids the conflict between manual remote operation and timed automatic iron removal travel, which is conducive to the timely handling of abnormal iron adsorption, reduces the labor intensity of operators, and improves the working efficiency of the plant. Attached Figure Description

[0031] Figure 1 This is the PLC ladder diagram of the manually remotely controlled disc iron separator in this invention.

[0032] Figure 2 This is the PLC ladder diagram for the timed automatic control of the disc-type iron separator's movement and excitation in this invention. Detailed Implementation

[0033] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application. Unless otherwise defined, the technical or scientific terms used herein should have the ordinary meaning understood by those skilled in the art to which this disclosure pertains. Any aspects not detailed in this application are well-known technologies to those skilled in the art.

[0034] Example 1

[0035] like Figure 1-2 As shown, this application provides a time-sharing control method for remote and automatic iron removal. It is used to control a disc-type iron separator above a high-pressure roller feeder belt to suction and discharge iron via a PLC automation system. A guide rail is provided above the high-pressure roller feeder belt, and the disc-type iron separator is mounted on the guide rail via a traveling mechanism. Infrared limit devices are respectively installed at the suction and discharge positions of the disc-type iron separator. The iron suction traveling signal, iron discharge traveling signal, iron discharge demagnetization signal, iron suction excitation signal, and infrared limit signal of the infrared limit devices are incorporated into the PLC automation system for control. The specific steps of the iron removal method are as follows:

[0036] S1. The disc separator is initially located above the high-pressure roller feed belt in the iron-attracting position and is in the iron-attracting excitation state.

[0037] S2. The disc separator can be operated remotely by the operator at a set time, so that the disc separator enters the iron discharge walking state through the walking mechanism. The walking distance is determined by the position spacing of the infrared limit devices at the iron suction and discharge positions and the walking time. The walking time accuracy is in the second range.

[0038] S3. After the disc separator reaches the iron discharge position, control it to enter the iron discharge and demagnetization state. The demagnetization time should take into account both the time for the disc separator to stabilize and stop, and the time for the adsorbed iron parts to be completely discharged.

[0039] S4. After the iron discharge stage is completed, the control disc iron separator enters the iron suction and walking state. The walking distance is determined by the position spacing of the infrared limit devices at the iron suction and discharge positions and the walking time. The walking time accuracy is in the second range.

[0040] S5. When the disc separator reaches above the high-pressure roller feed belt, it is controlled to start entering the iron-attracting excitation state, and then returns to S1 to perform the cycle.

[0041] In this embodiment, the travel time of the disc separator in either the iron discharge or iron attraction state is determined by the travel speed of the disc separator, achieving dual protection of infrared limit and travel time limitation during the movement of the disc separator, avoiding production accidents caused by relying solely on infrared limit; in this embodiment, the magnetization time is determined based on the actual magnetization and iron discharge time of the disc separator on site.

[0042] Specifically, ctq_man_ctrl is set as the manual remote operation signal, s_clock_hour, s_clock_minute, and s_clock_second are the hour, minute, and second values ​​of the PLC automation system, p11_yc and p11_yx are the remote and running signals of the high-pressure roller feed belt, ctq_lc is the excitation enable signal of the iron separator, ctq_ft_xw and ctq_xt_xw are the infrared iron discharge and iron suction limit signals of the iron separator, and ctq_ft_yx and ctq_xt_yx are the iron discharge and iron suction enable signals of the iron separator.

[0043] In PLC automation system control, various time settings are achieved through multiple extended pulse timers. Specifically: T0, T1, T2, and T3 are set as the iron discharge travel timer, remote-controlled iron discharge / pickup process timer, iron discharge timer, and iron suction timer, respectively, and are used for timed automatic iron removal; T4, T5, T6, and T7 are set as the iron discharge travel timer, remote-controlled iron discharge / pickup process timer, iron discharge timer, and iron suction timer, respectively, and are used for manual remote-controlled iron removal. The duration of each timer is determined according to actual production conditions; this embodiment demonstrates timer duration measurement at a specific site.

[0044] When the magnetic separator is operated remotely by human intervention, the following steps are taken:

[0045] S1. The manual remote operation sends the iron separator working signal ctq_man_ctrl. If the operation occurs after 4 minutes of each hour and meets the time-sharing rule, the 2-minute remote control iron suction and discharge process timer T5 is enabled. The time-sharing rule for remote control operation and automatic operation is that remote control operation is allowed after 4 minutes of each hour, and automatic iron removal operation is allowed before 4 minutes. In the iron suction and discharge process of the disc iron separator, the process timer must be enabled to perform the relevant actions.

[0046] S2. After the iron separator working signal ctq_man_ctrl pulse is issued, enable the 6-second iron discharge walking timer T4, and at the same time enable the iron discharge running signal ctq_ft_yx. At this time, the iron separator moves on the guide rail towards the iron discharge position until the iron discharge infrared limit ctq_ft_xw issues a signal or the 6-second walking running time ends.

[0047] S3. After the iron separator reaches the iron discharge position, it sends a pulse to enable the 1-minute iron discharge timer T6, thereby driving the iron separator to discharge iron ctq_lc. This 1 minute includes the iron separator movement stabilization time and the iron discharge time.

[0048] S4. After the iron separator finishes discharging iron, it sends a pulse to enable the 6-second iron-attracting timer T7 and at the same time enables the iron-attracting running signal ctq_xt_yx. At this time, the iron separator moves on the guide rail toward the iron-attracting position until the iron-attracting infrared limit ctq_xt_xw sends a signal or the 6-second running time ends.

[0049] S5. After the iron separator reaches the iron-attracting position, with the T1 and T5 process timers reset, the iron separator excitation signal ctq_lc is enabled, and the iron separator starts to enter the iron-attracting state, waiting for the timed automatic iron separator signal or the manual remote control signal ctq_man_ctrl, and then enters the next iron-attracting and releasing operation cycle.

[0050] When the timed automatic remote-controlled iron separator is in operation, it must strictly follow the time sequence for automatic operation. Simultaneously, it must be interlocked with the p11_yc and p11_yx signals in the production system. p11_yc and p11_yx are the remote operation signals for the high-pressure roller feed belt during production. Only through this interlock can the automatic iron removal system operate normally during production. The operation process is as follows:

[0051] S1. A pulse is sent every 3 hours at 1 minute to enable the 6-second iron discharge walking timer T0 and the iron discharge running signal ctq_ft_yx. At this time, the iron remover moves on the guide rail toward the iron discharge position until the iron discharge infrared limit ctq_ft_xw sends a signal or the 6-second running time ends.

[0052] S2, the travel timer T0 pulse enables the 2-minute remote control iron suction and discharge process timer T1. During the iron removal process, the process timer must be enabled to perform the relevant actions.

[0053] S3. A pulse is emitted every 1 minute and 6 seconds (after the iron separator reaches the iron discharge position) to enable the 1-minute iron discharge timer T2, thereby driving the iron separator to discharge iron ctq_lc. This set time includes the iron separator movement stabilization time and the iron discharge time.

[0054] S4. Every 2 minutes and 8 seconds after the iron remover has finished discharging iron, a pulse is emitted to enable the 6-second iron-attracting timer T3 and the iron-attracting running signal ctq_xt_yx. At this time, the iron remover moves on the guide rail toward the iron-attracting position until the iron-attracting infrared limit ctq_xt_xw sends a signal or the 6-second running time ends.

[0055] S5. After the iron separator reaches the iron-attracting position, with the T1 and T5 process timers reset, the iron separator excitation signal ctq_lc is enabled, and the iron separator starts to enter the iron-attracting state, waiting for the timed automatic iron separator signal or the manual remote control signal ctq_man_ctrl, and then enters the next iron-attracting and releasing operation cycle.

[0056] Example 2:

[0057] The present invention provides a time-sharing control system for remote control and automatic iron removal, which includes a storage medium and a processor; the storage medium is used to store instructions; the processor is used to perform operations according to the instructions to execute the method in Embodiment 1.

[0058] As can be seen from the above embodiments, the present invention provides a time-sharing control method and control system for remote and automatic iron removal, which improves the production conditions of existing manual operation of iron removers. It adopts dual protection of infrared limit and travel time to effectively ensure the safety of iron remover movement. The manual remote control operation and timed automatic iron removal links adopt a time-sharing processing method, which automatically cleans the iron parts adsorbed by the iron remover at regular intervals. At the same time, it is conducive to the timely handling of abnormal iron parts adsorbed by manual remote control, reducing the labor intensity of operators and improving the work efficiency of the beneficiation plant.

Claims

1. A time-sharing control method for remote-controlled and automatic iron removal, used to control a disc iron separator above a high-pressure roller feeder belt to suck up and discharge iron via a PLC automation system, wherein a guide rail is provided above the high-pressure roller feeder belt, the disc iron separator is mounted on the guide rail via a traveling mechanism, and infrared limit devices are respectively provided at the iron suction and discharge positions of the disc iron separator, characterized in that... The iron-attracting travel signal, iron-discharging travel signal, iron-discharging and demagnetizing signal, iron-attracting excitation signal, and infrared limit signal of the infrared limit device of the disc iron separator are incorporated into the PLC automation system for control. The method steps are as follows: S1. The disc separator is initially located above the high-pressure roller feed belt in the iron-attracting position and is in the iron-attracting excitation state. S2. The disc separator can be operated remotely by the operator at a set time, so that the disc separator enters the iron discharge walking state through the walking mechanism. The walking distance is determined by the position spacing of the infrared limit devices at the iron suction and discharge positions and the walking time. The walking time accuracy is in the second range. S3. After the disc separator reaches the iron discharge position, control it to enter the iron discharge and demagnetization state. The demagnetization time should take into account both the time for the disc separator to stabilize and stop, and the time for the adsorbed iron parts to be completely discharged. S4. After the iron discharge stage is completed, the control disc iron separator enters the iron suction and walking state. The walking distance is determined by the position spacing of the infrared limit devices at the iron suction and discharge positions and the walking time. The walking time accuracy is in the second range. S5. When the disc separator reaches above the high-pressure roller feed belt, control it to start entering the iron-attracting excitation state, and return to S1 to execute the cycle. Set ctq_man_ctrl as the manual remote operation signal, s_clock_hour, s_clock_minute, and s_clock_second as the hour, minute, and second values ​​of the PLC automation system, p11_yc and p11_yx as the remote and running signals of the high-pressure roller feed belt, ctq_lc as the excitation enable signal of the iron separator, ctq_ft_xw and ctq_xt_xw as the infrared iron discharge and iron suction limit signals of the iron separator, and ctq_ft_yx and ctq_xt_yx as the iron discharge and iron suction enable signals of the iron separator. When controlling a PLC automation system, various times are set through multiple extended pulse timers. Specifically, T0, T1, T2, and T3 are set as the iron discharge walking timer, the remote control iron discharge process timer, the iron discharge timer, and the iron suction timer, respectively, and are used for automatic iron removal at set times. T4, T5, T6, and T7 are set as the iron discharge walking timer, the remote control iron discharge process timer, the iron discharge timer, and the iron suction timer, respectively, and are used for manual remote control iron removal. When the magnetic separator is operated remotely by human intervention, the following steps are taken: S101, when the manual remote operation sends the iron remover working signal ctq_man_ctrl, if the operation is performed within the set time and meets the time-sharing rules, the remote control iron suction and discharge process timer T5 is enabled. S102. After the iron separator working signal ctq_man_ctrl pulse is issued, the iron discharge walking timer T4 is enabled according to the set time, and the iron discharge running signal ctq_ft_yx is enabled at the same time. At this time, the iron separator moves on the guide rail toward the iron discharge position until the iron discharge infrared limit ctq_ft_xw sends a signal or the set walking running time ends. S103. After the iron separator reaches the iron discharge position, it sends a pulse to enable the iron discharge timer T6 according to the set time, thereby driving the iron separator to discharge iron ctq_lc. The set time includes the iron separator movement stabilization time and the iron discharge time. S104. After the iron separator finishes discharging iron, it sends a pulse to enable the iron-attracting timer T7 according to the set time, and at the same time enables the iron-attracting running signal ctq_xt_yx. At this time, the iron separator moves on the guide rail toward the iron-attracting position until the iron-attracting infrared limit ctq_xt_xw sends a signal or the running time ends. S105. After the iron separator reaches the iron-attracting position, with the T1 and T5 process timers reset, the iron separator excitation signal ctq_lc is enabled, and the iron separator begins to enter the iron-attracting state, waiting for the timed automatic iron separator signal or the manual remote control signal ctq_man_ctrl, and then enters the next iron-attracting and releasing operation cycle.

2. The time-sharing control method for remote control and automatic iron removal according to claim 1, characterized in that, When the timed automatic remote control iron separator is activated, it operates automatically strictly according to the time sequence, and is interlocked with the p11_yc and p11_yx signals in the production system. The operation process is as follows: S201. A pulse is emitted at set intervals to enable the iron discharge walking timer T0 according to the set time, and the iron discharge running signal ctq_ft_yx is enabled at the same time. At this time, the iron remover moves on the guide rail toward the iron discharge position until the iron discharge infrared limit ctq_ft_xw sends a signal or the running time ends. S202, the travel timer T0 pulse enables the remote control iron suction and discharge process timer T1 according to the set time. In the iron removal process, the process timer must be enabled in order to perform the relevant actions. S203. After the iron separator reaches the iron discharge position, it sends a pulse to enable the iron discharge timer T2 according to the set time, thereby driving the iron separator to discharge iron ctq_lc. The set time includes the iron separator movement stabilization time and the iron discharge time. S204. After the iron separator finishes discharging iron, it sends a pulse to enable the iron-attracting timer T3 according to the set time, and at the same time enables the iron-attracting running signal ctq_xt_yx. At this time, the iron separator moves on the guide rail toward the iron-attracting position until the iron-attracting infrared limit ctq_xt_xw sends a signal or the set running time ends. S205. After the iron separator reaches the iron-attracting position, with the T1 and T5 process timers reset, the iron separator excitation signal ctq_lc is enabled, and the iron separator begins to enter the iron-attracting state, waiting for the timed automatic iron separator signal or the manual remote control signal ctq_man_ctrl, and then enters the next iron-attracting and releasing operation cycle. The rules for remote control operation and automatic operation are as follows: remote control operation is allowed after 4 minutes of each hour, while automatic iron removal operation is allowed before 4 minutes of each hour.

3. A time-sharing control method for remote control and automatic iron removal according to claim 1 or 2, characterized in that, The travel time of the disc separator in either the iron discharge or iron attraction state is determined by the travel speed of the disc separator; the magnetization time is determined based on the actual magnetization and iron discharge time of the disc separator on site.

4. A time-sharing control method for remote control and automatic iron removal according to claim 2, characterized in that, When using the timed automatic remote control iron remover, the interval time in step S201 is set to 1 minute every 3 hours.

5. A time-sharing control system for remote control and automatic iron removal, characterized in that, It includes a storage medium and a processor; the storage medium is used to store instructions; the processor is used to operate according to the instructions to perform the method according to any one of claims 1-4.

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