Mining coal-water separation intelligent treatment system

Abstract

A mining coal-water separation intelligent processing system relates to the technical field of underground coal slime mining and comprises a bin cleaning system used for mining underground coal slime and comprising a walking mechanism, an excavating mechanism, a spiral material collecting mechanism and a spiral feeding mechanism, a material receiving hopper is arranged at the bottom of a discharging port, a conveying pump is arranged in the material receiving hopper, and the material receiving hopper is connected with a first-stage screening system through a first-stage pipeline; the first-stage screening system is used for performing first-stage screening on the excavated coal slime; the solid-liquid separation system is used for performing secondary screening on the excavated coal slime; and the transportation system is used for transporting the screened solid coal out of the well. A multi-axis mobile excavation mechanism of the clearance system can be flexibly adapted to a complex coal slime surface, and can be matched with a coal slime cross section grid map constructed by the environment sensing system to accurately position an excavation area, so that invalid operation is avoided; the combined design of the spiral material collecting mechanism and the spiral feeding mechanism replaces negative pressure suction through continuous spiral propulsion, coal slime containing large particles can be effectively treated, and the problem of pipeline blockage is solved.

Description

Technical Field

[0001] This invention relates to the field of underground coal slime mining technology, specifically to an intelligent coal-water separation and treatment system for mining. Background Technology

[0002] Coal mine underground water sump and various coal slurry sedimentation tanks (pits) are important facilities for ensuring safe production and preventing mine flooding. With the extension of mining operations and the popularization of mechanized production, the mine water inflow (geological water inflow plus production water) has gradually increased. The inflow carries a large amount of coal (rock) slurry into the water sump (tank and pit), which reduces the effective water storage capacity of the underground water sump and accelerates the wear of the main drainage pump. Mine cleaning and coal slurry dewatering have become critical links affecting the normal production of the mine.

[0003] The development of intelligent coal-water separation and treatment systems in mines stems from the current practical need for cleaning silt buildup in underground coal mine water sumps. Nationwide, coal enterprises primarily employ traditional manual dredging and negative pressure suction cleaning processes to clean silt buildup in water sumps. These methods are insufficient to meet the requirements of efficient, safe, and environmentally friendly production.

[0004] From the perspective of industry development, with the advancement of smart mine construction, the coal industry's demand for intelligent mining is becoming increasingly urgent. However, the cleaning of coal slurry and water in mines has always been a "headache" problem for the industry. Untreated coal slurry and water must not be brought to the surface, which is a basic requirement of the state for mine production. Traditional processes have problems such as low efficiency, high labor intensity, high safety risks, and insufficient environmental protection.

[0005] Existing manual sludge removal methods have many problems, such as harsh working environments (poor lighting and complex underground conditions), high labor intensity, extremely low efficiency, and high safety risks, making them unsuitable for large-scale, continuous production. As for negative pressure suction cleaning methods, the degree of automation is low, relying on manual operation and coordination, making it difficult to achieve autonomous operation. Moreover, for coal sludge with large particles, suction may cause pipe blockage, requiring the coal sludge surface to be damaged, resulting in limited sludge removal efficiency and failing to meet the requirements for high-efficiency cleaning. Summary of the Invention

[0006] To address the above problems, this invention provides an intelligent coal-water separation and processing system for mining.

[0007] The technical solution of this invention is as follows: A smart coal-water separation and treatment system for mining includes: The cleaning system is used for mining coal slime underground. It includes a walking mechanism that can move underground. The front end of the walking mechanism is equipped with a digging mechanism that can move in multiple axes. A spiral collecting mechanism is installed at the front end of the walking mechanism below it. A spiral feeding mechanism is connected in the middle of the spiral collecting mechanism and extends obliquely upward and backward toward the walking mechanism. A receiving hopper is provided at the bottom of the discharge port, and a conveying pump is installed in the receiving hopper. A primary screening system is connected through a primary pipeline. The primary screening system is used to perform primary screening of mined coal slime. It includes a linear vibrating screen, whose liquid outlet is connected to a secondary pipeline, which can transport the primary screened coal slime to the solid-liquid separation system. A solid-liquid separation system is used for secondary screening of mined coal slime. It includes a solid-liquid separator and a conveyor at the solid discharge port to transport the secondary-screened coal slime to the transportation system. The transportation system, used to transport the screened solid coal out of the mine, includes a rail transport vehicle whose receiving point is located on one side of the primary screening system. The solid outlet of the linear vibrating screen and the discharge port of the conveyor are both located above the receiving point of the rail transport vehicle. The control system is connected to the control and cleaning system, the primary screening system, the solid-liquid separation system, and the transportation system. Based on the Gamapping algorithm, it locates the cleaning system and constructs an operational map, acquires 3D geospatial information, and uploads it to the Free RTOS system. It sends control commands to the underlying control board based on the current position and attitude angle of the cleaning system. It processes the coal slime based on the difference e between the real-time density and the target density ρst. It establishes real-time communication between the cleaning system and each communication node based on Ethernet communication.

[0008] The specific design of the spiral collecting mechanism is as follows: the spiral collecting mechanism includes a collecting bin that spans across the front of the traveling mechanism, and a driving mechanism is set in the middle of the collecting bin. Two collecting shafts are connected to its two ends for rotational driving, and spiral blades are set on the outside of the collecting shafts. A temporary storage bin is formed in the middle of the material collection bin, facing the walking mechanism, and the spiral feeding mechanism is connected to the temporary storage bin.

[0009] The specific design of the spiral feeding mechanism is as follows: the spiral feeding mechanism includes an inclined feeding pipe, and the feeding pipe is equipped with a spiral mechanism, the bottom of which extends into the temporary storage bin.

[0010] In order to prevent impurities mixed in with the coal slurry sent by the excavating mechanism to the spiral collecting mechanism, an arc-shaped grate is installed at the front end of the collecting bin with the spiral blades.

[0011] The excavation mechanism is specifically designed as follows: the excavation mechanism includes an excavating arm capable of multi-axis movement, and a bucket is connected to the end of the excavating arm. The excavation height that drives the bucket to move is not less than 3.5m, and the excavation width can cover the length of the aggregate bin and is not less than 4.5m.

[0012] To facilitate the identification of coal slime cross-sections, accurately identify their location and shape, and improve excavation efficiency, an environmental perception system is also included. This system can identify the location and shape of the coal slime cross-section, including an identification camera and a non-contact distance sensor. The control system preprocesses the images captured by the identification camera and the distance data collected by the non-contact distance sensor, establishes an FCN network adapted to the images and distance data, and constructs an excavation grid map for the excavation mechanism based on the Gampping algorithm.

[0013] The coal slime density is handled by the control system based on the difference e between the real-time density and the target density ρst. The control system can either add constant-pressure water to dilute the coal slime density or use a fuzzy PID algorithm to increase the coal slime density.

[0014] A method for intelligent coal-water separation in mining, using the aforementioned intelligent coal-water separation system, is characterized by comprising the following steps: S1: Based on the Gamapping algorithm, locate the clearance system and build an operational map; S2: Based on the recognition camera and non-contact sensor, establish an FCN network adapted to image and distance data, and construct a mining grid map of the mining mechanism based on the Gampping algorithm; S3: Controls the excavation mechanism to excavate the coal slurry surface based on the running map and the excavation grid map; S4: Control the excavating mechanism to pour the excavated coal slurry into the screw conveyor, which then transports it to the screw feeding mechanism. Control the screw feeding mechanism to transport the coal slurry into the receiving hopper. S5: Control the conveying pump to transport coal slurry from the primary pipeline to the primary screening system for primary screening, and transport the screened solid coal slurry out of the mine through the transportation system, and transport the liquid coal slurry to the solid-liquid separation system; S6: Control the solid-liquid separation system to separate the liquid coal slurry into solid and liquid components, and transport the separated solid coal slurry out of the mine through the transportation system; S7: Repeat steps S3-S6 until all the coal slime in the current working face has been mined.

[0015] In step S3, the density of the coal slime is adjusted before excavation. When e > e1, the control system controls constant pressure water to dilute the coal slime; When |e| < e2, the coal slime density is increased in a stepwise manner based on a fuzzy PID control algorithm. Where e is the difference between the real-time density of the detected coal slime and the target density ρst, and e1 and e2 are the maximum and minimum thresholds for the difference between the real-time density and the target density, respectively.

[0016] The stepwise control based on fuzzy PID control algorithm to increase coal slime density specifically includes the following steps: The target density ρst of the coal slime is set by the PID controller. The density acquisition module acquires the real-time density of the current coal slime cross section and calculates the density deviation e and the deviation change rate ec between the target density ρst and the real-time density of the current coal slime cross section. The density deviation e and the deviation change rate ec are used as input variables of the fuzzy controller. After processing by the fuzzy algorithm, the fuzzy control quantities Δkp, Δki, and Δkd corresponding to the proportional coefficient kp, integral coefficient ki, and derivative coefficient kd are output. The initial parameters are superimposed with the fuzzy control quantities to obtain the real-time working parameters kp+Δkp, kᵢ+Δkᵢ, and kd+Δkd, which are used as initial variables and input to the PID controller. At the same time, e is input to the step control and the deviation interval is divided. The interval correction logic is output to the fuzzy controller through the Γ(e) link. Based on the correction value, the step control signal used to adjust the water spray volume is output.

[0017] The beneficial effects of this invention are as follows: This invention is an intelligent coal-water separation and treatment system for mines. Firstly, the modular design of the graded treatment system, which combines primary screening and solid-liquid separation, can process coal slime of different particle sizes: the linear vibrating screen intercepts large solid particles, and the solid-liquid separator deeply separates fine particles, expanding the adaptability range of coal slime particle sizes and improving adaptability compared to traditional single treatment methods; the multi-axis moving excavation mechanism of the cleaning system can flexibly adapt to complex coal slime surfaces, and with the coal slime cross-section grid map constructed by the environmental perception system, it can accurately locate the excavation area and avoid ineffective operations; the combined design of the spiral collecting mechanism and the spiral feeding mechanism, which replaces negative pressure suction with continuous spiral propulsion, can effectively process coal slime containing large particles, solve the problem of pipeline blockage, and improve the overall continuity of dredging by pre-treatment with the linear vibrating screen of the primary screening system, meeting the needs of large-scale, continuous mine production for rapid cleaning of water tanks; Secondly, the autonomous walking and digging functions of the cleaning system, combined with the operation map constructed by the Gamapping algorithm, enable unmanned underground operations, completely avoiding personnel entering poorly lit and easily collapsible coal slurry water storage areas, thus reducing the risk of safety accidents. The intelligent linkage from digging, conveying to separation realizes full-process automated control, reducing the high-intensity labor of manual operation with negative pressure equipment in traditional processes. Operation can be completed remotely from the ground through the communication module, reducing labor intensity and avoiding health hazards caused by manual contact with coal slurry water. Finally, a dynamic adjustment mechanism for coal slime density was realized through constant pressure water dilution and fuzzy PID algorithm. This mechanism can adapt to changes in coal slime concentration in real time. When the coal slime is detected to be too thick, it is automatically diluted. When it is too thin, the concentration is precisely controlled to ensure stable operation of the conveying and separation process. This solves the problem of efficiency drop caused by fluctuations in the state of coal slime in traditional negative pressure equipment. Attached Figure Description

[0018] The solutions and advantages of this application will become clear to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of the invention.

[0019] In the attached diagram: Figure 1 A diagram showing the connections between the various systems; Figure 2 This is a schematic diagram showing the locations of the solid-liquid separation system and the transportation system; Figure 3 This is a schematic diagram of the front structure of the clearing system (the dashed lines in the diagram represent the movement of the excavator arm in the vertical plane). Figure 4 This is a top view of the clearing system (the dashed lines in the figure represent the swinging of the excavator arm in the horizontal plane). Figure 5 Left view of the clearance system (excavator arm is retracted); Figure 6 This is a schematic diagram showing the connection between the spiral collecting mechanism and the feeding mechanism; Figure 7 This is a cross-sectional view along direction A; Figure 8 Diagram of the fuzzy adjustment system for coal slime density; Figure 9 This is a schematic diagram of the transfer pump structure; Figure 10 This is a schematic diagram of another implementation of the clearance system; The components represented by the various reference numerals in the diagram are: 1. Cleaning system; 11. Traveling mechanism; 12. Excavating mechanism; 121. Excavating arm; 122. Bucket; 13. Spiral collecting mechanism; 131. Collecting bin; 132. Drive mechanism; 133. Collecting shaft; 134. Spiral blades; 135. Temporary storage bin; 136. Arc grate; 14. Spiral feeding mechanism; 141. Discharge port; 142. Feeding pipe; 143. Spiral mechanism; 15. Receiving hopper; 16. Conveying pump; 161. Hydraulic cylinder assembly; 162. Mounting plate; 163. Connecting pipe; 164. Swinging device; 2. Primary screening system; 21. Liquid outlet; 22. Solid outlet; 3. Solid-liquid separation system; 31. Solid discharge port; 4. Primary pipeline; 5. Secondary pipeline; 6. Conveyor; 61. Discharge port; 7. Transportation system; 8. Main body; 9. Feed port; 10. Hose; 11. Cam device. Detailed Implementation

[0020] Exemplary embodiments of this disclosure will now be described in more detail with reference to the accompanying drawings. It should be noted that these embodiments are provided to enable a more thorough understanding of this disclosure and to fully convey the scope of this disclosure to those skilled in the art. This disclosure can be implemented in various forms and should not be limited to the embodiments set forth herein.

[0021] Example This embodiment discloses an intelligent coal-water separation and processing system for mining, combined with... Figure 1 This system aims to achieve efficient cleaning, precise separation, and safe transportation of coal sludge in underground coal mine water sumps through intelligent integrated design. It includes a cleaning system 1, a primary screening system 2, a solid-liquid separation system 3, a transportation system 7, an environmental sensing system, and a control system. These components form a closed-loop processing chain through mechanical connections and data interaction. Specifically, the cleaning system 1, as the front-end execution unit, is responsible for coal sludge extraction; the primary screening system 2 and the solid-liquid separation system 3 constitute a graded processing unit to achieve gradient separation of the coal sludge; the transportation system 7 is responsible for transporting solid coal materials; the environmental sensing system provides data support for intelligent decision-making; and the control system serves as the core hub to achieve coordinated control throughout the entire process.

[0022] The cleaning system 1 is the core actuator for coal slime mining, and its structural design is fully adapted to the complex working conditions underground: the traveling mechanism 11 consists of a traveling power unit, traveling tracks, and a frame. The power unit is driven by a hydraulic motor, with drive wheel transmission and disc brakes, enabling the traveling tracks to propel the vehicle body steadily forward in the water tank. The vehicle traveling system also provides an installation platform for other systems such as the electrical and hydraulic systems; the excavating mechanism 12 is mounted at the front end of the traveling mechanism 11, using a multi-axis hydraulically driven robotic arm, including a base rotation axis, a boom pitch axis, a boom telescopic axis, and a bucket 122 tilting axis, with the bucket 122 installed at the end, combined with... Figure 3 and Figure 4The maximum excavation height is no less than 3.5m, the excavation width covers more than 4.5m, and the excavation distance is no less than 2.5m, enabling flexible handling of coal slime deposits of varying thicknesses; combined with Figure 5 and 6 The spiral collecting mechanism 13 is installed across the front of the traveling mechanism 11. Its collecting bin 131 is a cylindrical trough structure with an opening at the front end. Two collecting shafts 133 are symmetrically arranged inside, and continuous spiral blades 134 are welded to the outside of the shafts. The dual-motor drive mechanism 132 in the middle of the bin rotates synchronously in opposite directions, which can gather the coal slurry poured in by the excavating mechanism 12 towards the middle of the bin. The front end of the collecting bin 131 is equipped with an arc-shaped grate 136, which can prevent large debris such as wood blocks and steel bars from entering the subsequent stages. The middle of the collecting bin 131 extends towards the traveling mechanism 11 to form a temporary storage bin 135, which is used to buffer and temporarily store the gathered coal slurry.

[0023] Based on the above structure, combined with Figure 6 and Figure 7 The spiral collecting mechanism 13 is connected to the spiral feeding mechanism, and the two are arranged in a longitudinal drop type. The spiral feeding mechanism 14 is an inclined closed cylindrical structure, including a feeding pipe 142 and a spiral mechanism 143 inside. The bottom end of the spiral mechanism 143 extends into the temporary storage bin 135, and the upper end extends to the top discharge port 141. The coal slime is conveyed obliquely backward and upward by the motor drive and finally falls into the receiving hopper 15 located at the bottom of the discharge port 141. A stirring device is installed in the receiving hopper 15 to stir the falling coal slime at all times to ensure fluidity. A conveying pump 16 is installed in the receiving hopper 15. A discharge port is opened on the outside of the receiving hopper 15 and connected to the primary pipeline 4. The coal slime in the receiving hopper 15 is transported to the primary screening system 2 by the conveying pump 16.

[0024] In this embodiment, combined with Figure 9 The conveying pump 16 includes two sets of hydraulic cylinder assemblies 161 connected to the receiving hopper. An installation plate 162 is provided inside the receiving hopper 15. Two channels are opened on the installation plate 162, which are respectively connected to the hydraulic cylinder assemblies 161. A connecting pipe 163 is installed at the outlet of the receiving hopper 15. It is connected to the two channels of the installation plate 162 by a swing device 164. The hydraulic cylinder assembly 161 connected to it performs a pushing action to discharge the coal slurry from the receiving hopper, while the other hydraulic cylinder assembly 161 performs a suction action to suck in the coal slurry in preparation for subsequent discharge.

[0025] In this embodiment, the primary screening system 2 and the solid-liquid separation system 3 constitute a graded processing unit. The primary screening system 2 is mainly a double-layer linear vibrating screen. The upper screen has a larger mesh size to intercept coarse coal slime particles, while the lower screen has a smaller mesh size for preliminary dewatering. The screen body is driven by multiple sets of vibrating motors, and the amplitude can be adjusted by motor frequency modulation. The solid outlet 22 of the vibrating screen is equipped with a chute, which directly guides the material to the receiving point of the conveying system 7. The liquid outlet 21 is connected to the solid-liquid separation system 3 through a secondary pipeline 5. Figure 2 The solid-liquid separation system 3 uses a solid-liquid separator as its core equipment, which can be a KFK series model. It includes a tank, central shaft, main drive device, pneumatic stirring system, filter plate, distribution head, scraper device, etc. It utilizes the vacuum generated inside the skeleton plate to create a pressure difference with the outside, so that the suspended material in the tank is adsorbed onto the filter cloth outside the skeleton plate under the action of negative pressure. The solid material cannot pass through the microporous filter cloth and is trapped on the surface of the filter cloth, while the liquid passes smoothly into the gas-liquid distribution device (vacuum tank) for discharge or utilization due to the vacuum pressure difference, thereby achieving the purpose of solid-liquid separation. It performs deep separation of liquid coal slime (containing fine particles) after primary screening. The solid coal slime separated at the solid discharge port 31 is transported to the transportation system 7 by the conveyor 6 at the end of the drum. The clarified wastewater is collected through the bottom drain and can be used for underground water spraying to reduce dust or for further treatment.

[0026] The transportation system 7 uses a rail-mounted transport vehicle powered by a battery pack. The receiving point is located on a fixed track section on one side of the primary screening system 2. The solid outlet 22 of the linear vibrating screen and the discharge port 61 of the conveyor 6 are aligned with the transport vehicle carriage through guide plates to achieve continuous loading of solid coal slime. After being filled, the vehicle is guided by the dispatching system to the underground hoisting point.

[0027] As another implementation method, such as Figure 10 As shown, it also includes a coal slurry pump, installed on one side of the receiving hopper 15, used to collect the relatively thin coal slurry accumulated in the underground water tank after the excavation equipment 12 has excavated. It includes a main body 8, which is connected to two feed ports 9. The two feed ports 9 are respectively connected to the receiving hopper 15 and the water tank. A flexible hose 10 connecting the two feed ports 9 is arranged around the main body 8. A cam device 11 is set in the main body 8. The cam device drives the cam to rotate and reciprocate to squeeze the flexible hose 10, so that a negative pressure is formed in the flexible hose 10 to suck the coal slurry in the water tank into the receiving hopper 15, thereby realizing the collection of residual coal slurry underground.

[0028] In this embodiment, the solution also includes an environmental perception system capable of identifying coal slime cross-sections and achieving precise excavation. The environmental perception system includes a high-definition recognition camera and a lidar installed on the top of the excavation mechanism 12, which can collect image information and distance data of the coal slime cross-section in real time. Each moving part is equipped with an attitude sensor and a displacement sensor to provide real-time feedback on the equipment status. The images captured by the camera are preprocessed, and the data collected by the non-contact distance sensor is attached to the key points of the visual image to obtain the geometric features and distance of the coal slime cross-section. An FCN network adapted to the image and distance data is established to complete the identification of the coal slime cross-section. A Gampping algorithm based on the Rao-Blackwellized particle filter principle and incorporating the extended Kalman filter in four directions is used to establish the excavation grid map. Based on the Gampping algorithm, the clearing system 1 is located and an operation map is constructed. Three-dimensional geospatial information is obtained and uploaded to the Free RTOS system. Control commands are sent to the underlying control board according to the current position and attitude angle of the clearing system 1 to enable the autonomous operation of the clearing system 1. Communication with various subsystems is achieved through an Ethernet bus, enabling process and remote communication. Siemens PLC modules and WINCC screens are centrally processed, ensuring real-time communication between the entire system and each communication node. Meanwhile, the reliability and accuracy of data transmission are improved through wireless communication command vehicles, wireless base stations, explosion-proof computers, and backpack remote control, maximizing the precision of intelligent terminal commands.

[0029] In this embodiment, a density detection module is also included to monitor the coal slime cross-section in real time. The control system processes the coal slime by detecting the difference e between the real-time density and the target density ρst. Specifically, the control system selects to add constant pressure water to dilute the coal slime density or increases the coal slime density using a fuzzy PID algorithm to precisely control the concentration, ensuring stable operation of the conveying and separation process and solving the problem of sudden efficiency drop caused by fluctuations in the state of coal slime in traditional negative pressure equipment.

[0030] This solution provides a smart coal-water separation and treatment method for the above system, which includes the following steps: S1: Based on the Gamapping algorithm, the cleaning system 1 is located and an operation map is constructed. After the system is started, the cleaning system 1 moves slowly in the initial area. The control system fuses sensor data based on the Gamapping algorithm to construct an operation map covering the water tank operation area. S2: Based on the recognition camera and non-contact sensor, establish an FCN network adapted to image and distance data, and construct the excavation grid map of the excavation mechanism 12 based on the Gampping algorithm to complete the environmental modeling before the mining operation. S3: Next, the coal slurry excavation stage begins. Based on the operation map and the excavation grid map, the excavation mechanism 12 is controlled to excavate the coal slurry surface. The control system plans the clearing path according to the operation map and controls the multi-axis movement of the excavation mechanism 12 in combination with the excavation grid map to excavate the coal slurry surface in layers. It should be noted that before excavation, the density of the coal slime needs to be tested to ensure excavation quality, and the density of the coal slime to be excavated needs to be adjusted to the target density. When e > e1, the control system controls constant pressure water to dilute the coal slime; When |e| < e2, the coal slime density is increased in a stepwise manner based on a fuzzy PID control algorithm. Where e is the difference between the real-time density and the target density ρst of the coal slime, and e1 and e2 are the maximum and minimum thresholds for the difference between the real-time density and the target density, respectively. In other words, the difference between the real-time density and the target density cannot be too large. Specifically, this is combined with... Figure 8 The step-wise control method based on fuzzy PID control algorithm to increase coal slime density specifically includes the following steps: A target coal slime density ρst is set by the PID controller. The density acquisition module acquires the real-time density of the current coal slime cross-section, calculates the density difference e and the deviation change rate ec between the target coal slime density ρst and the real-time density of the current coal slime cross-section, and uses the density deviation e and deviation change rate ec as input variables of the fuzzy controller. After processing by the fuzzy algorithm, the fuzzy control quantities Δkp, Δki, and Δkd corresponding to the proportional coefficient kp, integral coefficient ki, and derivative coefficient kd are output. The initial parameters are superimposed with the fuzzy control quantities to obtain the real-time operating parameters kp+Δkp, ki+Δki, and kd+Δkd, which are then input as initial variables to the PID controller. Simultaneously, e is input to the step-wise control, and the deviation interval is divided. This is achieved through Γ(e). The output range correction logic is fed to the fuzzy controller. Based on the correction value, a step control signal is output to adjust the water spray volume. Step control means that when the coal slime density is close to the standard value (small deviation, slow change), the output Δkp, Δki, and Δkd of the fuzzy controller are small, and the parameters are mainly based on the initial values ​​kp, ki, and kd. The water spray volume is finely adjusted to avoid excessive fluctuations. In the "severely thin" step range, the correction rule of the fuzzy controller will be more aggressive (Δkp and Δkd are larger), which will significantly increase the combined parameters kp+Δkp and kd+Δkd. The water reduction output of the PID controller will increase rapidly. In the "slightly thin" step range, the correction amount Δki may be more prominent (strengthening the integral effect to eliminate steady-state deviation). The combined parameters ki+Δki dominate the adjustment, and the water spray volume decreases slowly to avoid density overshoot.

[0031] S4: Control the excavation mechanism 12 to rotate the excavated coal slurry to the top of the spiral collecting mechanism 13 for unloading. Then comes the collecting and conveying stage. The double spiral blades 134 of the spiral collecting mechanism 13 gather the coal slurry into the temporary storage bin 135, which is then conveyed to the spiral feeding mechanism 14. The spiral feeding mechanism 14 continuously lifts the coal slurry to the receiving hopper 15. S5: Control the conveying pump 16 to transport the coal slurry from the primary pipeline 4 to the primary screening system 2 for primary screening. After screening and separation, the screened solid coal slurry is unloaded into the rail transport vehicle and transported out of the mine. The screened coal slurry enters the solid-liquid separation system 3 through the secondary pipeline 5. S6: Control the solid-liquid separation system 3 to perform solid-liquid separation on the liquid coal slime, further separating out the solid coal slime with smaller particle size, and transport the coal slime to the rail transport vehicle via conveyor 6 for transport out of the mine; S7: Repeat steps S3-S6 until all the coal slime in the current working face has been mined. The final stage is the closed-loop adjustment stage. Throughout the process, the control system monitors parameters such as coal slime density and equipment load in real time. Through density adjustment logic and adaptive control of equipment parameters, it ensures stable operation of each link until all the coal slime in the current working face has been cleaned up. The system then automatically moves to the next working area and repeats the above process.

Claims

1. A smart coal-water separation and treatment system for mining, characterized in that, include: The cleaning system is used for mining coal slime underground. It includes a walking mechanism that can move underground. The front end of the walking mechanism is equipped with a digging mechanism that can move in multiple axes. A spiral collecting mechanism is installed at the front end of the walking mechanism below it. A spiral feeding mechanism is connected in the middle of the spiral collecting mechanism and extends obliquely upward and backward toward the walking mechanism. A receiving hopper is provided at the bottom of the discharge port, and a conveying pump is installed in the receiving hopper. A primary screening system is connected through a primary pipeline. The primary screening system is used to perform primary screening of mined coal slime. It includes a linear vibrating screen, whose liquid outlet is connected to a secondary pipeline, which can transport the primary screened coal slime to the solid-liquid separation system. A solid-liquid separation system is used for secondary screening of mined coal slime. It includes a solid-liquid separator and a conveyor at the solid discharge port to transport the secondary-screened coal slime to the transportation system. The transportation system, used to transport the screened solid coal out of the mine, includes a rail transport vehicle whose receiving point is located on one side of the primary screening system. The solid outlet of the linear vibrating screen and the discharge port of the conveyor are both located above the receiving point of the rail transport vehicle. The control system is connected to the cleaning system, primary screening system, solid-liquid separation system, and transportation system. Based on the Gamapping algorithm, it locates the cleaning system and constructs an operational map, acquires 3D geospatial information and uploads it to the Free RTOS system, and sends control commands to the underlying control board based on the current position and attitude angle of the cleaning system. It processes the coal slime based on the difference e between the real-time density and the target density ρst. Based on Ethernet communication, it establishes real-time communication between the cleaning system and each communication node.

2. The intelligent coal-water separation and treatment system for mines according to claim 1, characterized in that, The spiral collecting mechanism includes a collecting bin that spans across the front of the traveling mechanism, and a driving mechanism is provided in the middle of the collecting bin. Two collecting shafts are connected to its two ends for rotational driving, and spiral blades are provided on the outside of the collecting shafts. A temporary storage bin is formed in the middle of the material collection bin, facing the walking mechanism, and the spiral feeding mechanism is connected to the temporary storage bin.

3. The intelligent coal-water separation and treatment system for mines according to claim 2, characterized in that, The spiral feeding mechanism includes an inclined feeding pipe, and a spiral mechanism is installed inside the feeding pipe, with its bottom end extending into the temporary storage bin.

4. The intelligent coal-water separation and treatment system for mines according to claim 2, characterized in that, The front end of the hopper, which has a spiral blade section, is equipped with an arc-shaped grate.

5. The intelligent coal-water separation and treatment system for mines according to claim 2, characterized in that, The excavation mechanism includes an excavating arm capable of multi-axis movement, with a bucket connected to the end of the excavating arm. The excavation height that drives the bucket to move is not less than 3.5m, and the excavation width that can cover the length of the aggregate bin is not less than 4.5m.

6. The intelligent coal-water separation and treatment system for mines according to claim 1, characterized in that, It also includes an environmental perception system that can identify the location and shape of the coal slime cross section, including identification cameras and non-contact distance sensors. The control system preprocesses the images captured by the identification cameras and the distance data collected by the non-contact distance sensors, establishes an FCN network adapted to the images and distance data, and constructs a digging grid map of the excavation mechanism based on the Gampping algorithm.

7. The intelligent coal-water separation system for mining according to claim 1, characterized in that, Based on the difference e between the real-time density and the target density ρst, the control system either adds constant-pressure water to dilute the coal slime density or uses a fuzzy PID algorithm to increase the coal slime density.

8. A method for intelligent coal-water separation in mining, using the intelligent coal-water separation system described in any one of claims 1-7, characterized in that, Includes the following steps: S1: Based on the Gamapping algorithm, locate the clearance system and build an operational map; S2: Based on the recognition camera and non-contact sensor, establish an FCN network adapted to image and distance data, and construct a mining grid map of the mining mechanism based on the Gampping algorithm; S3: Controls the excavation mechanism to excavate the coal slurry surface based on the running map and the excavation grid map; S4: Control the excavating mechanism to pour the excavated coal slurry into the screw conveyor, which then transports it to the screw feeding mechanism. Control the screw feeding mechanism to transport the coal slurry into the receiving hopper. S5: Control the conveying pump to transport coal slurry from the primary pipeline to the primary screening system for primary screening, and transport the screened solid coal slurry out of the mine through the transportation system, and transport the liquid coal slurry to the solid-liquid separation system; S6: Control the solid-liquid separation system to separate the liquid coal slurry into solid and liquid components, and transport the separated solid coal slurry out of the mine through the transportation system; S7: Repeat steps S3-S6 until all the coal slime in the current working face has been mined.

9. The intelligent coal-water separation and treatment method for mines according to claim 8, characterized in that, The control system also includes a coal slime density detection module, which adjusts the coal slime density in step S3 before excavation based on the real-time detected coal slime density. When e > e1, the control system controls constant pressure water to dilute the coal slime; When |e| < e2, the coal slime density is increased in a stepwise manner based on a fuzzy PID control algorithm. Where e is the difference between the real-time density of the detected coal slime and the target density ρst, and e1 and e2 are the maximum and minimum thresholds for the difference between the real-time density and the target density, respectively.

10. The intelligent coal-water separation and treatment method for mines according to claim 9, characterized in that, The stepwise control based on fuzzy PID control algorithm to increase coal slime density specifically includes the following steps: The target density ρst of the coal slime is set by the PID controller. The density acquisition module acquires the real-time density of the current coal slime cross section and calculates the density deviation e and the deviation change rate ec between the target density ρst and the real-time density of the current coal slime cross section. The density deviation e and the deviation change rate ec are used as input variables of the fuzzy controller. After processing by the fuzzy algorithm, the fuzzy control quantities Δkp, Δki, and Δkd corresponding to the proportional coefficient kp, integral coefficient ki, and derivative coefficient kd are output. The initial parameters are superimposed with the fuzzy control quantities to obtain the real-time working parameters kp+Δkp, ki+Δki, and kd+Δkd, which are used as initial variables and input to the PID controller. At the same time, e is input to the step control and the deviation interval is divided. The interval correction logic is output to the fuzzy controller through the Γ(e) link. Based on the correction value, the step control signal used to adjust the water spray volume is output.

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