Intelligent Slag Grinding System Based on Multimodal Perception and Batch Collaborative Control

Abstract

This invention discloses an intelligent slag grinding system based on multimodal perception and batch collaborative control, belonging to the field of mining grinding technology. The system includes a main body, a dynamic isolation feeding structure, a material lifting and stratifying grinding structure, a centrifugal quantitative discharge unit, and an intelligent closed-loop dust removal module. The dynamic isolation feeding structure is located within and connected to the main body. The material lifting and stratifying grinding structure is located within the main body, and the centrifugal quantitative discharge unit is located near and connected to the main body. A dust collector is connected to the centrifugal quantitative discharge unit. The intelligent closed-loop dust removal module acquires material characteristics and operating parameters, dynamically optimizes the matching relationship between grinding pressure, rotation speed, and dust collector power based on a preset grinding-dust removal coupling model, and determines the dust collector power using a dual-mode control strategy. This system improves grinding efficiency and accuracy, solving the problems of uneven grinding and insufficient efficiency in existing systems.

Description

Technical Field

[0001] This invention relates to the field of mining grinding technology, and in particular to an intelligent slag grinding system based on multimodal perception and batch collaborative control. Background Technology

[0002] The statements in this section merely refer to the background art related to this invention and do not necessarily constitute prior art.

[0003] Mining processes generate large amounts of tailings and waste rock, which, if not treated promptly and effectively, can easily occupy land and pollute the environment. However, mine waste typically contains a large amount of fine particles, dust, and underutilized valuable elements. Reusing it through grinding, screening, and other methods can not only reduce environmental pollution but also achieve resource recycling, resulting in high economic benefits.

[0004] Currently, the rational treatment and resource utilization of mine waste has become an important research direction in the mining and environmental protection fields. However, there is still room for improvement in existing technologies for treating mine waste.

[0005] Traditional ore grinding equipment comes in various forms; for example, vertical grinding equipment uses a rotary table and grinding wheels for driving grinding. However, most traditional grinding equipment cannot perform batch pre-processing, is inefficient, and lacks intelligent processing capabilities. Specifically, this includes:

[0006] (1) Most existing equipment cannot simultaneously complete the pre-drying treatment of wet materials (moisture content >15%) during batch grinding, which leads to increased energy consumption when grinding materials with different moisture contents. Furthermore, the existing batch discharge uses vibrating screens or gravity feeding, and the material adhesion causes a blockage rate of over 15%, resulting in high cyclic load. It cannot accurately match the quantitative requirements of subsequent processes and is prone to grinding wheel adhesion failure.

[0007] (2) Traditional layered equipment relies on hydraulic seals or fixed structures. Switching between coarse grinding and fine grinding stations requires machine shutdown for adjustment, resulting in production capacity loss.

[0008] (3) Conventional grinding machines have a narrow grinding wheel angle adjustment range (±5°) and fixed pressure, which cannot adapt to batch processing of mixed materials with different hardness, resulting in large differences in particle size distribution.

[0009] Furthermore, the grinding, conveying, and screening of waste residue easily generate a large amount of fine dust, which not only affects the workshop environment and the health of operators, but also affects the accuracy and efficiency of subsequent grading and purification processes. Traditional dust removal measures are often simple bag filters or cyclone dust collectors, which have limited dust removal effects and are difficult to intelligently control according to actual environmental changes. As a result, the dust problem in the current mining waste residue treatment process has not been fully solved. Summary of the Invention

[0010] To address the shortcomings of existing technologies, this invention provides an intelligent slag grinding system based on multimodal perception and batch collaborative control, which improves grinding efficiency and reduces energy consumption.

[0011] In a first aspect, the present invention provides an intelligent slag grinding system based on multimodal perception and batch collaborative control;

[0012] A slag intelligent grinding system based on multimodal perception and batch collaborative control includes a hollow main body, a dynamic isolation feeding structure, a material lifting and layering grinding structure, a centrifugal quantitative discharge unit, and an intelligent closed-loop dust removal module.

[0013] The dynamic isolation feeding structure is disposed in the main body of the equipment and is connected to the main body of the equipment; the material lifting and stratifying grinding structure is disposed inside the main body of the equipment; the centrifugal quantitative discharge unit is disposed close to the material lifting and stratifying grinding structure in the main body of the equipment and is connected to the main body of the equipment; the centrifugal quantitative discharge unit is connected to a dust collector;

[0014] The intelligent closed-loop dust removal module is used to acquire material characteristics and operating parameters. Based on the preset grinding-dust removal coupling model, it dynamically optimizes the matching relationship between grinding pressure, rotation speed and dust collector power. Combined with the dual-mode control strategy, it determines the dust collector power to control the dust collector.

[0015] In some embodiments, the dynamic isolation feeding structure includes a feeding channel, a first partition and a second partition arranged sequentially along the feeding channel, and an electric push rod is provided at the bottom end of the first partition and the second partition.

[0016] In some embodiments, hot air channels are provided inside the first partition and the second partition.

[0017] In some embodiments, the dynamic isolation feeding structure further includes a humidity sensor for real-time detection of the material moisture content, so as to dynamically adjust the opening angle of the first and second partitions and the feeding speed according to the material moisture content.

[0018] In some embodiments, the material lifting and layering grinding structure includes a central shaft, which is vertically arranged inside the main body of the equipment. The central shaft is provided with a first grinding component, an isolation turntable, and a second grinding component from top to bottom.

[0019] The isolation turntable includes multiple isolation plates connected end to end, which form a circular grinding plate. Hinges are provided between the multiple isolation plates, and triangular support components are provided at the bottom of the hinges.

[0020] In some embodiments, the centrifugal quantitative discharge unit includes a centrifugal discharge disc and a discharge channel. The surface of the centrifugal discharge disc is equipped with guide grooves to guide the material into the discharge channel. A spiral guide plate is provided in the discharge channel, and the guide angle of the spiral guide plate is 30°-45°.

[0021] In some embodiments, the discharge channel has a discharge port, the opening of which is dynamically adjusted via an IoT system based on a calculation model of the rotational speed and centrifugal force of the isolation turntable; specifically:

[0022] The IoT system collects rotational speed data via a speed sensor installed on the isolated turntable. Combined with a preset distance from the material's center of gravity to the turntable center, it obtains the real-time mass of the material to be discharged via a laser level sensor. Based on the centrifugal force formula, a calculation model is constructed. The IoT system substitutes the collected rotational speed and material mass into the calculation model and outputs the theoretical centrifugal force value of the material being thrown out under the current operating conditions. A preset target discharge volume is established, and a "centrifugal force-opening" mapping rule is established based on the positive correlation between centrifugal force and material conveying speed. A flow sensor is installed at the discharge port to monitor the actual discharge volume. The IoT system compares the actual discharge volume with the target discharge volume; if the deviation exceeds a threshold, the centrifugal force model parameters are corrected in reverse.

[0023] In some implementations, the dynamic optimization of the matching relationship between grinding pressure, rotation speed, and dust collector power based on a preset grinding-dust removal coupling model, combined with a dual-mode control strategy, determines the dust collector power. Specifically, this involves: acquiring core parameters, including dust concentration, material particle size, ultrasonic velocity, and vibration signal; performing moving average filtering on dust concentration, material particle size, and ultrasonic velocity, and bandpass filtering on the vibration signal; retrieving the correction coefficients for "dust concentration-material particle size-ultrasonic velocity-vibration signal" from a preset database based on the material type; and using the grinding-dust removal coupling model, combined with real-time ultrasonic velocity, calculating the actual dust diffusion rate and mapping it to a benchmark dust collector power range that matches the actual value (Q), serving as the basis for control decisions.

[0024] In some implementations, the intelligent closed-loop dust removal module is also used to adaptively adjust the backflushing air pressure gradient according to the dust adhesion intensity using a graded pressure backflushing mechanism.

[0025] In some implementations, the use of a graded pressure backflushing mechanism to adaptively adjust the backflushing pressure gradient based on dust adhesion strength specifically involves: installing high-precision differential pressure sensors on the inlet and outlet sides of the dust collector filter material to collect the pressure difference across the filter material; combining historical data from the dust concentration sensor to calculate the dust deposition rate per unit time; and determining the dust adhesion strength by combining the pressure difference and deposition rate to obtain a graded result. The dust adhesion strength is preset to low, medium, and high adhesion strength. A preset backflushing pressure gradient parameter library is matched based on the graded result. A decision command drives the backflushing system to perform backflushing according to the set pressure and duration. After backflushing is completed, the differential pressure sensor collects the pressure difference again.

[0026] Compared with the prior art, the beneficial effects of the present invention are:

[0027] 1. This invention designs a slag grinding equipment that includes a dynamic isolation feeding structure, a material lifting and layering grinding structure, a centrifugal quantitative discharge unit, and an intelligent closed-loop dust removal module. Through dynamic isolation feeding and mechanical linkage sealing technology, the entire process of "pretreatment-coarse grinding-fine grinding" is integrated within a single device, improving the utilization rate of grinding wheels, avoiding uneven grinding caused by material accumulation, and improving the particle size qualification rate.

[0028] 2. The present invention combines centrifugal quantitative discharge with closed-loop control, which reduces the circulating load and over-grinding rate compared with traditional equipment. Combined with the integrated hot air pre-drying module, the hot air channel reuses the residual heat of grinding, thereby saving energy and reducing the over-grinding rate and overall energy consumption.

[0029] 3. This invention adopts a lifting double-layer batch processing method: the workstation is switched in time by an isolation turntable: upper layer coarse grinding: when processing batch A, the turntable unfolds and seals the lower layer; lower layer fine grinding: after batch A is coarsely ground, the turntable folds and the material falls into the lower fine grinding layer, while the upper layer receives batch B for coarse grinding. This improves the equipment's processing efficiency and the quality of material pretreatment. At the same time, the dynamic adjustment range of the grinding wheel angle is expanded, and the single processing capacity is increased.

[0030] 4. The technical solution provided by this invention, through the coordinated control of multi-dimensional environmental perception and intelligent decision-making, stabilizes dust removal efficiency and reduces unit energy consumption, effectively solving the control lag problem of traditional systems under high-frequency dust concentration fluctuation conditions; the adaptive dust removal strategy extends the service life of filter media, and combined with the process-differentiated management mode, it reduces ineffective airflow circulation while ensuring the purity of the finished product, making it particularly suitable for mining waste slag treatment scenarios containing highly abrasive particles; the self-locking sealing mechanism replaces hydraulic components, reducing the failure rate and extending the maintenance cycle; the IoT system realizes intelligent linkage of the entire process of "feeding-grinding-discharging", reducing the overall operation and maintenance cost. Attached Figure Description

[0031] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.

[0032] Figure 1 A flowchart illustrating the workflow of an intelligent slag grinding system based on multimodal perception and batch collaborative control, provided in an embodiment of the present invention.

[0033] Figure 2 A cross-sectional schematic diagram of an intelligent slag grinding system based on multimodal perception and batch collaborative control provided in an embodiment of the present invention;

[0034] Figure 3 This is a schematic diagram of the structure of the isolation turntable provided in an embodiment of the present invention.

[0035] The components include: 1. Intelligent closed-loop dust removal module; 2. Humidity sensor; 3. First partition; 4. Hot air channel; 5. Second partition; 6. Central shaft; 7. Vibration monitoring node; 8. Second grinding assembly; 9. Motor; 10. Dust sensor; 11. Back-blowing device; 12. First grinding assembly; 13. Isolation turntable; 14. Centrifugal quantitative discharge unit; 15. Isolation plate; 16. Central shaft; 17. Turntable. Detailed Implementation

[0036] It should be noted that the following detailed descriptions are exemplary and intended to provide further illustration of the invention. Unless otherwise specified, all technical and scientific terms used in this invention have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0037] Where there is no conflict, the embodiments and features in the embodiments of the present invention can be combined with each other.

[0038] Existing slag grinding equipment suffers from problems such as lack of batch pretreatment, low efficiency in switching grinding stations, material blockage and uncontrolled circulating load, and insufficient dynamic adjustment capability. Therefore, this embodiment provides an intelligent slag grinding system based on multimodal perception and batch collaborative control, which avoids uneven grinding caused by differences in the properties of mixed materials, and can improve efficiency, intelligently remove dust, and reduce energy consumption.

[0039] Next, combined Figures 1-3 This embodiment provides a detailed description of an intelligent slag grinding system based on multimodal perception and batch collaborative control.

[0040] This intelligent slag grinding system, based on multimodal perception and batch collaborative control, includes a hollow main body, a dynamic isolation feeding structure, a material lifting and stratifying grinding structure, a centrifugal quantitative discharge unit, an intelligent closed-loop dust removal module, and a dust collector. The dynamic isolation feeding structure is installed on one side of the main body along its width and is connected to the main body. The material lifting and stratifying grinding structure is installed inside the main body. The centrifugal quantitative discharge unit is located near the material lifting and stratifying grinding structure and is connected to the main body. The discharge port of the centrifugal quantitative discharge unit is connected to the dust collector. The intelligent closed-loop dust removal module is used to acquire material characteristics and operating parameters. Based on a preset grinding-dust removal coupling model, it dynamically optimizes the matching relationship between grinding pressure, rotation speed, and dust collector power. Combined with a dual-mode control strategy, it determines the dust collector power to control the dust collector.

[0041] Furthermore, batch-based collaborative control achieves intelligent linkage throughout the entire process of material pretreatment, coarse grinding, fine grinding, and discharge through the coordinated control of dynamic isolated feeding, layered grinding switching, centrifugal quantitative discharge, and intelligent closed-loop dust removal. Specifically:

[0042] Batch feeding control: The dynamic isolation feeding structure dynamically adjusts the opening angle of the partitions and the feeding speed through the first partition, the second partition and the humidity sensor to achieve batch pre-drying and orderly feeding of materials with different moisture contents;

[0043] Layered grinding synergy: The material lifting and layered grinding structure realizes batch-by-batch layered processing of coarse grinding and fine grinding within the same equipment through the lifting mechanism of the isolation turntable and the central shaft, avoiding the mixing of materials of different particle sizes;

[0044] Time coordination: Batch turnover cycle reduces mechanical action time, eliminating the production capacity loss of traditional downtime changeover;

[0045] Quantitative discharge matching: The centrifugal quantitative discharge unit dynamically adjusts the discharge port opening based on the isolation turntable speed and centrifugal force model to accurately match the requirements of subsequent processes and achieve quantitative discharge after batch grinding.

[0046] Furthermore, in combination Figure 2The dynamic isolation feeding structure includes a feeding channel, a first partition and a second partition arranged sequentially along the feeding channel. An electric push rod is installed at the bottom end of the first and second partitions, and the telescopic part of the electric push rod is connected to the bottom end of the first or second partition. The electric push rod is installed at the bottom end of the partition and changes the opening angle of the partition by telescopic movement in the slag conveying direction (it can also be adjusted to be vertical). The partition is located inside the feeding channel, and the electric push rod can be installed on the side wall or bottom of the feeding channel. Leakage is prevented through a sealing structure and limiting design. Specific details: The partition is vertically embedded in the cross-section of the feeding channel, with its top connected to the side wall of the feeding channel via a hinge, and its bottom being a free end. The electric push rod is installed on the side wall or bottom of the feeding channel, and its telescopic part is directly connected to the bottom end of the partition.

[0047] In this embodiment, a flexible sealing strip is used at the edge of the partition to ensure that the partition remains tightly fitted to the inner wall of the feed channel during opening and closing, preventing material leakage from the gaps. Limiting blocks or guide grooves are provided on the side wall of the feed channel to limit the maximum opening angle of the partition, preventing seal failure due to excessive angle. When the first partition is open, the second partition is closed (to prevent undried material from entering directly); after the material is dried, the first partition closes → the second partition opens → the material is fed into the grinding zone.

[0048] Furthermore, a humidity sensor is installed in the feeding channel to detect the moisture content of the material in real time. Based on the moisture content of the material, the opening angle of the baffle and the feeding speed are dynamically adjusted to realize the alternating feeding of wet material pre-drying and dry material in batches.

[0049] As one implementation method, dynamically adjusting the opening and closing angle of the baffle and the feeding speed according to the material's moisture content specifically includes:

[0050] First, there is real-time data acquisition and transmission. The humidity sensor in the feeding channel detects the moisture content of the material in real time and transmits the data synchronously to the intelligent control system.

[0051] Next is the threshold determination. The system presets a critical moisture content value (e.g., 15%), compares the real-time moisture content with the critical value, and distinguishes between wet materials (>15%) and dry materials (≤15%).

[0052] Then, the grading adjustment logic is as follows: If the material is damp, the control system instructs the electric push rod to reduce the opening angle of the partition (e.g., 30°-45°) and decrease the feeding speed (e.g., 0.5-1m / s), extending the residence time of the material in the feeding channel, and cooperating with the hot air channel inside the partition to fully pre-dry it; If the material is dry, the control system instructs the electric push rod to increase the opening angle of the partition (e.g., 60°-90°) and increase the feeding speed (e.g., 1-2m / s), and achieves quantitative batch feeding by alternating opening and closing of the double partitions (when the first partition is open, the second partition is closed, and vice versa), avoiding mixing and accumulation.

[0053] Finally, the air volume in the hot air duct is positively correlated with the moisture content and is dynamically adjusted by a variable frequency fan.

[0054] In order to utilize the waste heat generated during the grinding process to pre-dry materials with high moisture content, reduce the energy consumption of subsequent grinding, and achieve the effect of grinding materials-processing-pretreatment, in some embodiments, hot air channels are opened inside the first and second partitions, and the temperature is controllable from 50-80℃.

[0055] The hot air source for the hot air channel is as follows: the hot air channel is connected to the waste heat recovery device of the grinding system (such as heat generated by friction of the motor and grinding wheel, or waste heat from the equipment cooling system) and an external heat source through pipes. The heat source provides initial hot air and introduces it into the channel. Temperature sensors and temperature control valves are installed at the channel inlet or heat source end to monitor the hot air temperature in real time. When the temperature is below 50°C, the control system activates the heating element or increases the heat source output; when the temperature is above 80°C, the heating is turned off or ambient temperature air is introduced for mixing and temperature adjustment. Closed-loop feedback ensures that the hot air temperature in the channel is stable within the 50-80°C range. The hot air is ejected from the array of small holes facing the material through the internal channels of the partition, directly acting on the material to achieve pre-drying, while utilizing the grinding waste heat to reduce energy consumption. In this embodiment, the hot air channels inside the partition adopt a "serpentine distribution" or "honeycomb" structure to increase the contact area between the hot air and the material, ensuring uniform drying. Furthermore, the outer layer of the partition is wrapped with ceramic fiber insulation cotton to reduce heat loss to the outside of the equipment and reduce the risk of burns to operators.

[0056] Furthermore, in combination Figure 2 The material lifting and stratified grinding structure includes a central shaft, which is vertically installed inside the main body of the equipment and located in the middle of the main body. From top to bottom, the central shaft is connected to a symmetrically arranged first grinding component, an isolation turntable, and a symmetrically arranged second grinding component. A motor for driving the central shaft's lifting and lowering is connected to the bottom end of the central shaft. The first and second grinding components have the same structure. Taking the first grinding component as an example, the first grinding component includes a grinding wheel and a universal joint. One end of the grinding wheel is connected to the central shaft, and the other end is connected to the universal joint. One end of the universal joint extends out of the main body of the equipment. Specifically, one end of the grinding wheel is rigidly connected to the central shaft, and the other end is flexibly connected to an external mechanism of the equipment via the universal joint.

[0057] The grinding wheel is rigidly connected to the central shaft, ensuring synchronous rotation and transmitting rotational torque. The grinding wheel is also flexible and adjustable (e.g., ball joint or cross-shaft universal joint). The other end of the grinding wheel connects to an external adjustment mechanism via the universal joint. The universal joint allows the grinding wheel to deflect freely within a certain angle range, accommodating dynamic adjustment needs and transmitting thrust or pull from the external adjustment mechanism to achieve precise control of the grinding wheel angle. The universal joint's extended function is achieved by having one end extend beyond the equipment body, linking with the adjustment mechanism connected to the external control system. Through the universal joint's deflection capability, external adjustment commands are translated into changes in the grinding wheel angle, while preventing mechanical jamming caused by angle adjustments.

[0058] Based on this, the central shaft is raised and lowered by a motor, and driven and adjusted externally by an external universal joint. The combination of internal and external forces changes the angle and position of the grinding wheel, thereby adjusting the fineness of the grinding.

[0059] Furthermore, in combination Figure 3 The isolation turntable includes multiple isolation plates connected end to end, which form a circular grinding plate. The multiple isolation plates are connected by hinges, and a triangular support assembly is installed at the bottom of the hinges.

[0060] The function of the isolation turntable is to achieve dynamic separation and coordinated switching between the coarse grinding and fine grinding stations, ensuring that materials of different particle sizes do not interfere with each other during batch grinding, thereby improving grinding efficiency and particle size qualification rate. Station separation: Multiple isolation plates form a circular grinding plate, dividing the interior of the equipment into an upper coarse grinding zone and a lower fine grinding zone, preventing large, unground particles from directly entering the fine grinding zone and reducing over-grinding.

[0061] Dynamic switching: Through the hinge connection and the lifting control of the triangular support assembly, the coarse grinding / fine grinding station can be quickly switched without stopping the machine, to adapt to the grinding needs of different batches of materials; Sealed and anti-mixing: When the triangular support assembly is closed, it provides rigid support at the bottom, and with the tight fit of the isolation plate, it prevents the materials in the coarse grinding zone and the fine grinding zone from mixing, ensuring the independence of batch grinding.

[0062] The triangular support assembly consists of three adjustable fulcrums forming a triangular support structure. It is raised and lowered via electric or hydraulic drive, descending when open and rising to the bottom of the hinge when closed to provide rigid support. Specifically, the triangular support assembly includes three independent fulcrums, each with an arc-shaped contact surface at the top and a connecting rod at the bottom, forming a stable triangular layout. Its working principle is as follows: Open state (descending): When switching the isolation turntable position (e.g., from rough grinding to fine grinding), the drive motor retracts the connecting rod, and the three fulcrums descend synchronously. At this time, the isolation plate can rotate freely through the hinge, achieving the position switch; Closed state (support): After the position switch is completed, the drive motor reverses, and the connecting rod extends, pushing the fulcrums up to the bottom of the hinge. The arc-shaped contact surface fits tightly against the hinge, providing rigid support and ensuring the sealing of the isolation area during grinding.

[0063] Based on this, the isolation turntable can be opened and closed freely by means of a hinge. When opening, the grinding wheel is driven down by the central shaft, causing the bottom support component to fall. Under the action of gravity, the hinge is opened. When closing, the central shaft is started to rise, and the bottom support component at the bottom of the hinge provides bottom support to seal it and prevent the grinding chambers from crossing.

[0064] Furthermore, in combination Figure 2 The centrifugal quantitative discharge unit includes a centrifugal discharge disc and a discharge channel. The centrifugal discharge disc is located directly below the grinding wheel and rotates with the central shaft. Its surface has guide grooves to guide the material into the discharge channel. The discharge channel has a dynamic discharge port, and the outlet opening is controlled in real time by the IoT system to match the requirements of subsequent processes. A spiral guide plate is installed in the discharge channel along the material conveying direction. The spiral guide plate is installed at an angle on the inner wall of the discharge channel, and its guiding angle can be 30°-45° to convert centrifugal force into axial conveying power.

[0065] A spiral guide plate (guide angle 30°-45°) is installed in the discharge channel to use centrifugal force to throw the material out evenly, avoiding the adhesion problem of traditional vibrating screens and improving discharge efficiency.

[0066] In order to precisely control the output of each batch according to demand and match the processing capacity of subsequent sorting equipment, some embodiments also include: dynamically adjusting the opening of the discharge port through an IoT system based on a calculation model of the rotation speed and centrifugal force of the isolation turntable.

[0067] As one implementation method, based on the calculation model of the rotational speed and centrifugal force of the isolation turntable, the opening of the discharge port is dynamically adjusted through an IoT system, including:

[0068] First, there is real-time sensing of multiple parameters. The IoT system collects the rotational speed (n, in r / min) in real time through the rotational speed sensor installed on the isolated turntable. Combined with the preset distance from the material's center of gravity to the center of the turntable (r, inherent parameter of the equipment), the system simultaneously obtains the real-time mass of the material to be discharged (m, indirectly reflecting the thickness of the material layer) through the laser level sensor, providing basic data for centrifugal force calculation.

[0069] Then comes the centrifugal force model calculation, based on the centrifugal force formula ( The calculation model is constructed by (where F is the centrifugal force on the material and 2πn / 60 is the angular velocity). The IoT system will input the real-time collected rotational speed n and material mass m into the model and output the theoretical centrifugal force value of the material being thrown out under the current working conditions, thus quantifying the conveying power of the material in the discharge channel.

[0070] Then comes the opening adjustment decision logic, where the system presets a target output volume that matches the processing capacity of subsequent sorting equipment. Based on the positive correlation between centrifugal force F and material conveying speed (the larger F is, the faster the material is conveyed along the spiral guide plate), a "centrifugal force-opening" mapping rule is established:

[0071] When calculating F> (Corresponding to conveying speed exceeding target): The IoT system instructs the electric gate valve to reduce the opening of the discharge port, thereby reducing the discharge volume per unit time by reducing the channel cross-section;

[0072] When calculating F< (Insufficient conveying speed): Increase the opening of the discharge port and increase the cross-section of the channel to improve the discharge volume.

[0073] Finally, closed-loop feedback optimization involves installing a high-precision flow sensor at the discharge port to monitor the actual discharge volume (Qactual) in real time. The IoT system then compares Qactual with the target value. In contrast, if the deviation exceeds the threshold, the centrifugal force model parameters are corrected in reverse, and the opening is adjusted iteratively again to form a dynamic closed loop of "calculation-execution-verification" to achieve precise matching with the processing capacity of subsequent equipment.

[0074] Furthermore, the intelligent closed-loop dust removal module is used to acquire material characteristics and operating parameters. Based on the preset grinding-dust removal coupling model, it dynamically optimizes the matching relationship between grinding pressure, rotation speed and dust collector power. Combined with the dual-mode control strategy, it determines the dust collector power to control the dust collector.

[0075] In this embodiment, the material characteristics include dust concentration and particle size. The dust concentration is collected by a laser scattering dust concentration sensor array deployed in the grinding zone, conveyor belt, and discharge port, and the particle size is collected by a particle size analyzer. The operating parameters include ultrasonic wind speed and vibration signal. The vibration signal is obtained through vibration monitoring nodes.

[0076] The ultrasonic wind speed is acquired using an ultrasonic anemometer (such as a time-of-flight ultrasonic anemometer). Wind speed and direction are calculated by measuring the time difference of ultrasonic wave propagation in the airflow. The sensor has two built-in ultrasonic transducers (transmitter and receiver), arranged at a specific angle. Wind speed is calculated using the time difference (Δt) between "tailwind" and "headwind" propagation. The installation location is as follows:

[0077] Top of the grinding zone: Monitors the airflow velocity generated during the grinding process to ensure that dust is effectively drawn into the dust collector;

[0078] Discharge channel inlet: Monitor airflow disturbance during discharge to prevent dust escape;

[0079] Both sides of the conveyor belt: monitor the induced airflow during material conveying and optimize the power matching of the dust collector.

[0080] After acquiring raw data, the sensor converts it into a digital signal via an ADC module; a moving average filter is used to eliminate instantaneous interference and output a stable wind speed value.

[0081] Vibration signals are acquired using a triaxial accelerometer. By measuring the acceleration signal during equipment vibration, the vibration frequency and amplitude are indirectly reflected. The sensor incorporates a piezoelectric ceramic element, which converts the vibration acceleration into a charge signal, which is then converted into a voltage signal by a charge amplifier. The installation location is as follows:

[0082] Motor housing: Used to monitor vibrations during motor operation;

[0083] Grinding wheel shaft end: monitors mechanical vibration during the grinding process; equipment support: monitors the resonance of the overall structure.

[0084] As one implementation method, based on a preset grinding-dust removal coupling model, the matching relationship between grinding pressure, rotation speed, and dust collector power is dynamically optimized. Combined with a dual-mode control strategy, the dust collector power is determined, specifically including:

[0085] First, core parameters are acquired, including dust concentration, material particle size, ultrasonic wind speed, and vibration signal. Dust concentration is collected in real time using a laser scattering sensor array (installed in the grinding zone, conveyor belt, and discharge port), and a global dust concentration field is synthesized using a spatial interpolation algorithm. Material particle size is detected in real time using a particle size analyzer (installed in the discharge channel), and a particle size distribution curve is output. Ultrasonic wind speed is collected using an ultrasonic anemometer to collect three-dimensional wind speed, and the resultant velocity is calculated through vector synthesis. Vibration signal is collected using a triaxial accelerometer to collect vibration acceleration, and the dominant frequency and peak amplitude are extracted using FFT.

[0086] Then, the obtained dust concentration, material particle size, and ultrasonic wind speed are subjected to moving average filtering to eliminate instantaneous interference. The vibration signal is subjected to bandpass filtering to retain the effective frequency band. Combined with the material type, the "dust concentration-particle size-wind speed-vibration" correction coefficient for that type is called from the preset database.

[0087] Then, the grinding-dust removal coupled model is trained based on historical data, and the actual dust diffusion rate is calculated by combining the real-time wind speed v. The model is then mapped to the reference dust collector power range that matches Q, which serves as the basis for control decisions. Different strategies are adopted for normal operating conditions and fluctuating operating conditions.

[0088] Finally, the control effect is evaluated in real time through three dimensions: dust concentration after dust removal, equipment vibration, and energy consumption.

[0089] In some embodiments, in order to achieve synergistic optimization of grinding quality and dust removal efficiency within a typical control cycle, thereby increasing the service life of the filter material and reducing the overall operation and maintenance cost, the method further includes: using a graded pressure backflushing mechanism to adaptively adjust the backflushing air pressure gradient according to the dust adhesion intensity.

[0090] As one implementation method, a graded pressure backflushing mechanism is used to adaptively adjust the backflushing air pressure gradient according to the dust adhesion intensity. The data processing flow is a closed-loop system of "sensing-grading-decision-execution-feedback", specifically:

[0091] First, dust adhesion intensity is sensed by installing high-precision differential pressure sensors on the inlet and outlet sides of the dust collector filter material to collect the pressure difference (ΔP) on both sides of the filter material in real time. At the same time, combined with historical data from dust concentration sensors (grinding zone, discharge port), the dust deposition rate per unit time (ΔP / Δt) is calculated. The dust adhesion intensity is determined by combining ΔP and deposition rate (ΔP reflects the current amount of adhesion, and deposition rate reflects the adhesion trend).

[0092] Next is the adhesion strength grading determination. Based on the actual situation, the system presets three strength thresholds: low adhesion strength, medium adhesion strength, and high adhesion strength.

[0093] Then comes the graded pressure gradient decision, which matches a preset backflush pressure gradient parameter library based on the graded results, using different pressure intensities and different durations for different intensities.

[0094] Finally, there is the optimization of execution and closed-loop feedback. The decision command drives the backflushing system to perform backflushing according to the set air pressure and duration. After the backflushing is completed, the differential pressure sensor collects ΔP again. If the deviation of ΔP after dust removal is more than 20% from the target value, the air pressure parameter of the corresponding intensity level is dynamically corrected and the parameter library is updated to ensure the accuracy of subsequent backflushing.

[0095] The descriptions of each embodiment in the above embodiments have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0096] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A slag intelligent grinding system based on multimodal perception and batch collaborative control, characterized in that, It includes a hollow-structured main body, a dynamic isolation feeding structure, a material lifting and stratifying grinding structure, a centrifugal quantitative discharge unit, and an intelligent closed-loop dust removal module. The dynamic isolation feeding structure includes a feeding channel, a first partition and a second partition arranged sequentially along the feeding channel, and an electric push rod is provided at the bottom end of the first partition and the second partition. The material lifting and layering grinding structure includes a central shaft, which is vertically installed inside the main body of the equipment. The central shaft is provided with a first grinding component, an isolation turntable, and a second grinding component from top to bottom. The isolation turntable includes multiple isolation plates connected end to end, the multiple isolation plates form a circular grinding plate, and hinges are provided between the multiple isolation plates. A triangular support component is provided at the bottom of the hinge. The centrifugal quantitative discharge unit includes a centrifugal unloading disc and a discharge channel. The surface of the centrifugal unloading disc is equipped with guide grooves to guide the material into the discharge channel. A spiral guide plate is provided in the discharge channel, and the guide angle of the spiral guide plate is 30°-45°. The discharge channel has a discharge port, and the opening degree of the discharge port is dynamically adjusted through an IoT system based on a calculation model of the rotation speed and centrifugal force of the isolation turntable; specifically: The IoT system collects the rotation speed through a rotation speed sensor installed on the isolated turntable, and combines it with the preset distance from the material's center of gravity to the center of the turntable, and obtains the real-time quality of the material to be discharged through a laser level sensor. A calculation model is constructed based on the centrifugal force formula, which is: Where F is the centrifugal force on the material, m is the real-time mass of the material to be discharged, r is the distance from the center of gravity of the material to the center of the turntable, and 2πn / 60 is the angular velocity. The IoT system inputs the collected rotational speed and material mass into the calculation model and outputs the theoretical centrifugal force value of the material being thrown out under the current working conditions; a preset target discharge volume is established, and a "centrifugal force-opening" mapping rule is established based on the positive correlation between centrifugal force and material conveying speed; the "centrifugal force-opening" mapping rule is: when the calculated F> When the corresponding conveying speed exceeds the target, the IoT system instructs the electric gate valve to reduce the opening of the discharge port, thereby reducing the discharge volume per unit time by narrowing the channel cross-section; when F < When the corresponding conveying speed is insufficient, the opening of the discharge port is increased to increase the channel cross-section and improve the discharge volume; a flow sensor is installed at the discharge port to monitor the actual discharge volume. The IoT system compares the actual discharge volume with the target discharge volume. If the deviation exceeds the threshold, the centrifugal force model parameters are corrected in reverse. The dynamic isolation feeding structure is disposed in the main body of the equipment and is connected to the main body of the equipment; the material lifting and stratifying grinding structure is disposed inside the main body of the equipment; the centrifugal quantitative discharge unit is disposed close to the material lifting and stratifying grinding structure in the main body of the equipment and is connected to the main body of the equipment; the centrifugal quantitative discharge unit is connected to a dust collector; The intelligent closed-loop dust removal module is used to acquire material characteristics and operating parameters. Based on a preset grinding-dust removal coupling model, it dynamically optimizes the matching relationship between grinding pressure, rotation speed, and dust collector power. Combined with a dual-mode control strategy, it determines the dust collector power to control the dust collector. Specifically, it acquires core parameters, including dust concentration, material particle size, ultrasonic velocity, and vibration signal; performs moving average filtering on dust concentration, material particle size, and ultrasonic velocity, and bandpass filtering on vibration signal; retrieves the "dust concentration-material particle size-ultrasonic velocity-vibration signal" correction coefficient from a preset database based on the material type; and calculates the actual dust diffusion rate using the grinding-dust removal coupling model combined with real-time ultrasonic velocity, mapping a benchmark dust collector power range that matches the actual output as the basis for control decisions.

2. The intelligent slag grinding system based on multimodal perception and batch collaborative control as described in claim 1, characterized in that, The first partition and the second partition are provided with hot air channels inside.

3. The intelligent slag grinding system based on multimodal perception and batch collaborative control as described in claim 1, characterized in that, The dynamic isolation feeding structure also includes a humidity sensor, which is used to detect the moisture content of the material in real time, so as to dynamically adjust the opening angle of the first and second partitions and the feeding speed according to the moisture content of the material.

4. The intelligent slag grinding system based on multimodal perception and batch collaborative control as described in claim 1, characterized in that, The intelligent closed-loop dust removal module is also used to adaptively adjust the backflushing air pressure gradient according to the dust adhesion intensity by utilizing a graded pressure backflushing mechanism.

5. The intelligent slag grinding system based on multimodal perception and batch collaborative control as described in claim 4, characterized in that, The method utilizes a graded pressure backflushing mechanism, which adaptively adjusts the backflushing pressure gradient based on dust adhesion intensity. Specifically, high-precision differential pressure sensors are installed on the inlet and outlet sides of the dust collector filter material to collect the pressure difference across the filter material. Combined with historical data from the dust concentration sensor, the dust deposition rate per unit time is calculated. The dust adhesion intensity is determined by considering both the pressure difference and the deposition rate, resulting in a graded assessment. The dust adhesion intensity is preset to low, medium, and high. A preset backflushing pressure gradient parameter library is matched based on the graded assessment. A decision command drives the backflushing system to perform backflushing according to the set pressure and duration. After backflushing is completed, the differential pressure sensor collects the pressure difference again.

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