Coal mining subsidence area gangue continuous filling reclamation system and filling reclamation method

Abstract

The invention discloses a coal mining subsidence area gangue continuous filling reclamation system which comprises a central processing hub, a material conveying system and a dynamic treatment operation area which are sequentially arranged, a resource circulation center is arranged on one side of the dynamic treatment operation area, and the resource circulation center is provided with an automatic spraying maintenance system. The central processing hub, the material conveying system, the dynamic treatment operation area, the resource circulation center and the automatic spraying maintenance system are jointly connected with a monitoring and dispatching system. The invention further discloses a continuous gangue filling and reclamation method for the coal mining subsidence area, through the system layout of'one heart, one area and double-flow simultaneous advancing ', high cooperation of gangue disposal and land reclamation is achieved, the scheduling strategy of'space-time decoupling-parallel advancing' is adopted, zero waiting of equipment is achieved through a'pre-jumping 'mechanism, and the reclamation efficiency is improved. Topsoil stripping, gangue backfilling and soil covering reclamation are completely carried out in parallel in space, the potential safety hazard of cross operation of equipment is avoided through a standard logistics path and scheduling, and the overall operation safety is improved.

Description

Technical Field

[0001] This invention belongs to the technical field of mine environmental management methods, and relates to a continuous backfilling and reclamation system for gangue in coal mining subsidence areas. This invention also relates to a method for continuous backfilling and reclamation of gangue in coal mining subsidence areas. Background Technology

[0002] The large-scale stockpiling of coal gangue generated during coal mining not only occupies land resources but also causes serious environmental pollution. Furthermore, surface subsidence caused by underground mining leads to the destruction of land resources and the ecological environment. Currently, the treatment of coal mining subsidence areas and the disposal of coal gangue are usually separated. Coal gangue is often stored on the surface or simply buried, posing a risk of secondary pollution. Meanwhile, the treatment of subsidence areas often involves backfilling with soil extracted from external sources, which is not only costly but also damages the ecological environment of the extraction area.

[0003] While existing technologies have attempted to backfill coal gangue into subsidence areas, they generally suffer from the following drawbacks: Systemic fragmentation: Gangue disposal and subsidence area remediation are operated as two independent systems, resulting in fragmented processes, low equipment utilization, and high remediation costs; Severe process decoupling: Topsoil stripping, gangue transportation, crushing, backfilling, and covering are all completed by independent equipment, forming "operational islands," with poor coordination between processes, long equipment waiting times, and overall low efficiency; Chaotic logistics paths: Material flows repeatedly and crosswise, resulting in long transportation distances, high energy consumption, and safety hazards; Extensive control: Lack of coordinated scheduling for the entire system leads to mismatched progress among processes, long remediation cycles, and large quality fluctuations; Poor resource recycling: Topsoil resources cannot be efficiently recycled, often requiring the purchase of imported topsoil, increasing costs and damaging the local ecological environment.

[0004] Therefore, there is an urgent need for a scientifically designed, highly efficient, and resource-recycling system and method for backfilling and reclamation of gangue in coal mining subsidence areas. Summary of the Invention

[0005] The purpose of this invention is to provide a continuous backfilling and reclamation system for coal mining subsidence areas, which solves the problem of severe fragmentation in the process of backfilling coal gangue into subsidence areas in the prior art.

[0006] The second objective of this invention is to provide a method for continuous backfilling and reclamation of gangue in coal mining subsidence areas.

[0007] The first technical solution adopted in this invention is a continuous backfilling and reclamation system for gangue in coal mining subsidence areas, which includes a central processing hub, a material conveying system, and a dynamic treatment operation area arranged in sequence. A resource recycling center is arranged on one side of the dynamic treatment operation area, and the resource recycling center is equipped with an automatic sprinkler curing system. The central processing hub, the material conveying system, the dynamic treatment operation area, the resource recycling center, and the automatic sprinkler curing system are all connected to a monitoring and dispatching system.

[0008] The first technical solution of this invention is also characterized by: The central processing hub includes a workstation, which is equipped with a receiving hopper, a jaw crusher, an impact crusher, and a vibrating screen arranged in sequence. The vibrating screen is located on the side closest to the material conveying system. The receiving hopper, jaw crusher, impact crusher, and vibrating screen are all connected to the workstation PLC. The workstation PLC is connected to the field access switch via shielded twisted-pair cables.

[0009] The material conveying system includes three belt conveyors, which are fixed in parallel between the vibrating screen and the dynamic treatment operation area. Each belt conveyor is equipped with a frequency converter, an electric diversion gate, a belt scale, and a material flow sensor. The three belt conveyors are connected to a control cabinet, which is connected to a field access switch via shielded twisted-pair cables. Each belt conveyor is equipped with two transfer vehicles, which are equipped with a GNSS-RTK positioning module, an inertial measurement unit, a lidar, an on-board industrial control computer, a hydraulic self-unloading cargo box, and a wireless communication terminal.

[0010] The dynamic remediation work area is divided into several sequentially arranged work units in the entire subsidence area. The first work unit is equipped with a hydraulic excavator, and each work unit is equipped with a high-definition camera. The hydraulic excavator is equipped with a GNSS-RTK positioning module and a vehicle-mounted controller. A three-dimensional laser scanner is also deployed in the dynamic remediation work area. The resource recycling center includes a topsoil storage area, which is divided into multiple zones. The topsoil storage area is equipped with soil quality monitoring sensors and an automatic sprinkler curing system.

[0011] The automatic sprinkler curing system includes a pipeline unit, which is laid in the topsoil storage area. The pipeline unit is connected to a water supply unit. The topsoil storage area is equipped with soil moisture sensors and an automatic sprinkler PLC connected in sequence.

[0012] The monitoring and dispatching system comprises a perception layer, a decision-making layer, and an execution layer that are connected in sequence. The perception layer includes GNSS-RTK positioning modules mounted on transport vehicles and hydraulic excavators, material flow sensors installed on belt conveyors, high-definition cameras on work units, and 3D laser scanners. The GNSS-RTK positioning modules are connected to the monitoring and dispatching system via the plant's 5G private network, while the high-definition cameras and 3D laser scanners are connected to the fiber optic ring network via industrial Ethernet switches. The decision-making layer is deployed in the cloud or on a local server. Based on the IoT data uploaded by the perception layer, it constructs and drives a digital twin model synchronized with the physical world and performs dispatching through an AI engine. The execution layer is located in the central command center, and its software interface constitutes the application front end. The execution layer is connected to workstation PLCs, wireless communication terminals, control cabinets, and automatic sprinkler PLCs via industrial wireless communication networks.

[0013] The second technical solution adopted in this invention is a method for continuous backfilling and reclamation of gangue in coal mining subsidence areas, comprising the following steps: Step 1: The perception layer collects point cloud data of the dynamic governance operation area and sends it to the decision-making layer to construct a digital twin surface model; Step 2: The decision-making level issues a stripping operation instruction to the first work unit, and the transfer vehicle transports the topsoil to the designated area of ​​the resource recycling center; the raw material gangue is transported to the work station, and the equipment in the work station is started to produce coarse, medium and fine aggregates; Step 3: The decision-making level monitors the progress of the work units in real time, maintaining the parallel operation of topsoil stripping, gangue backfilling, and soil covering and reclamation processes in different work units. The material conveying system delivers aggregates according to the backfilling progress of each work unit.

[0014] The second technical solution of the present invention is further characterized by: Step 1 is as follows: By using drones equipped with 3D laser scanners, the entire dynamic management operation area is scanned by flight, point cloud data is collected and transmitted to the decision-making level, and a digital twin surface model is constructed through filtering, classification and triangulation algorithms. Based on the digital twin surface model, a global optimal operation plan is formulated and the optimal working path of each device is planned.

[0015] Step 2 is performed as follows: Step 2.1: The decision-making layer issues a stripping operation command to the hydraulic excavator of the first work unit. The hydraulic excavator performs stripping operation under automatic guidance according to the received preset stripping elevation and planned path. During the stripping process, the hydraulic excavator's position and work surface data are transmitted back in real time by the perception layer to form a closed-loop control. The transport vehicle transports the stripped topsoil to the designated area of ​​the resource recycling center according to the optimal transport path. The automatic spray curing system sprays and cures the topsoil piles in each area according to the monitoring data and operation command. Step 2.2: Transport the raw gangue to the workstation. The receiving hopper receives the raw gangue. The workstation PLC drives the jaw crusher to perform primary crushing of the raw gangue, and the impact crusher to perform secondary crushing. The vibrating screen screens the crushed material into three different aggregate sizes: coarse, medium and fine.

[0016] Step 3 is performed as follows: Step 3.1: The decision-making level monitors the progress of each work unit in real time through the digital twin surface model. When the topsoil stripping operation of the first work unit reaches 60%-80% of the designed stripping elevation, the hydraulic excavator is instructed to jump to the second work unit in advance to start the stripping operation, and the first work unit begins the foundation treatment. Step 3.2: After the first work unit completes the foundation treatment, the required aggregate is delivered to it via belt conveyor, and the gangue backfilling operation is started. At this time, the first work unit and the second work unit work simultaneously. When the backfilling completion rate of the first work unit reaches 40%-60% of the design backfilling elevation, the soil covering operation is started. At the same time, the topsoil stripping operation of the second work unit is completed and the foundation treatment is started. Step 3.3 involves cyclical operation of subsequent work units, maintaining the parallel operation of topsoil stripping, gangue backfilling, and soil covering and reclamation processes in different work units until all work units are completed.

[0017] The beneficial effects of this invention are: This invention is the first to introduce the concept of concurrent engineering into the field of mine environmental remediation. Through a "one-center, one-zone, dual-flow" system layout, it achieves a high degree of synergy between waste rock disposal and land reclamation, solving the systemic fragmentation problem of traditional methods. It employs a "spatiotemporal decoupling-parallel advancement" scheduling strategy, achieving zero equipment waiting time through a "pre-jump" mechanism. This allows topsoil stripping, waste rock backfilling, and soil reclamation to be carried out in complete parallel spatial operation, shortening the total construction period of traditional serial processes by more than 60%, increasing equipment utilization to over 85%, improving remediation efficiency by 55%, and reducing costs by 35%, thus achieving remediation... A qualitative leap in efficiency; centralized topsoil storage areas and resource recycling centers achieve 100% recycling of topsoil resources, avoiding the additional costs and environmental damage caused by purchasing topsoil from external sources; a monitoring and scheduling system based on IoT and AI engines enables real-time perception, decision-making, and precise execution across the entire system, giving the entire treatment process adaptive and self-optimizing capabilities; closed-loop quality control throughout the entire process eliminates quality fluctuations caused by human factors, ensuring the homogeneity and high standards of treatment results; standardized logistics routes and scheduling avoid safety hazards from equipment cross-operation, improving overall operational safety. Attached Figure Description

[0018] Figure 1 This is a system structure diagram of the present invention; Figure 2 This is an architecture diagram of the monitoring and scheduling system in this invention; Figure 3 This is the timing diagram of the "spatiotemporal decoupling-parallel advancement" operation in this invention; Figure 4 This is a comparison chart of the effects of the traditional method and the present invention.

[0019] In the diagram, 1. Central processing hub, 2. Material conveying system, 3. Dynamic treatment operation area, 4. Resource recycling center, 5. Monitoring and dispatching system, and 6. Automatic sprinkler curing system. Detailed Implementation

[0020] The present invention will now be described in detail with reference to the accompanying drawings and specific embodiments.

[0021] Continuous backfilling and reclamation system for gangue in coal mining subsidence areas, see [link / reference]. Figure 1 It includes a central processing hub 1, a material conveying system 2, and a dynamic treatment operation area 3 arranged in sequence. A resource recycling center 4 is arranged on one side of the dynamic treatment operation area 3. The resource recycling center 4 is equipped with an automatic sprinkler maintenance system 6. The central processing hub 1, material conveying system 2, dynamic treatment operation area 3, resource recycling center 4, and automatic sprinkler maintenance system 6 are all connected to a monitoring and dispatching system 5.

[0022] The central processing hub 1 includes a workstation, in which a receiving hopper, a jaw crusher, an impact crusher, and a vibrating screen are arranged in sequence. The vibrating screen is located on the side close to the material conveying system 2. The receiving hopper, jaw crusher, impact crusher, and vibrating screen are all connected to the workstation PLC. The workstation PLC is connected to the field access switch via a shielded twisted pair cable. The receiving hopper is used to receive raw gangue. The jaw crusher is used to perform primary crushing of the raw gangue. The impact crusher is used to perform secondary crushing of the material after primary crushing. The vibrating screen is used to screen the crushed mixture into three different aggregate sizes: coarse, medium, and fine.

[0023] The material conveying system 2 includes three belt conveyors, which are fixed in parallel between the vibrating screen and the dynamic treatment operation area 3. The belt conveyors are equipped with frequency converters, electric diversion gates, belt scales, and material flow sensors. The three belt conveyors are connected to a control cabinet, which is connected to a field access switch via shielded twisted-pair cables. The control cabinet is connected to the monitoring and dispatching system 5 via an industrial network, thereby realizing precise aggregate delivery with multi-path diversion to different backfilling operation surfaces, online metering, and remote control. Each belt conveyor is equipped with two transfer vehicles, which are equipped with GNSS-RTK positioning modules, inertial measurement units, lidar, on-board industrial control computers, hydraulic self-unloading cargo boxes, and wireless communication terminals. Under the dispatch of the monitoring and dispatching system 5, the transfer vehicles can autonomously complete the closed-loop transportation of topsoil from the stripping point through the resource recycling center to the backfilling operation point.

[0024] The dynamic remediation work area 3 is divided into multiple sequentially arranged work units in the entire subsidence area. The first work unit is equipped with a hydraulic excavator, and each work unit is equipped with a high-definition camera. The hydraulic excavator is equipped with a GNSS-RTK positioning module and a vehicle-mounted controller. The dynamic remediation work area 3 is also equipped with a 3D laser scanner. The work units proceed in the following process flow: "topsoil stripping → foundation treatment → gangue backfilling → topsoil reclamation", forming a spatial assembly line. The resource recycling center 4 includes a topsoil temporary storage area, which is divided into multiple zones. The topsoil temporary storage area is equipped with soil quality monitoring sensors and an automatic sprinkler curing system 6. It adopts a zoned, layered, and standardized storage and management mode to receive, store, and maintain the topsoil stripped from each work unit and to serve as a source for the topsoil filling stage.

[0025] The automatic sprinkler curing system 6 includes a pipeline unit, which is laid in the topsoil storage area and connected to a water supply unit. The topsoil storage area is equipped with soil moisture sensors and an automatic sprinkler PLC connected in sequence. It can automatically and accurately sprinkle and cure the topsoil piles in each zone according to monitoring data and operation instructions.

[0026] See Figure 2 The monitoring and dispatch system 5 is deployed in the on-site command center. Its internal server cluster, operator workstations, and large displays are interconnected via a high-speed local area network. It uses the OPC UA protocol for big data acquisition, the Modbus TCP protocol for issuing control commands, and the RTSP protocol for managing video streams. This network architecture ensures real-time, reliable data transmission and centralized monitoring of the entire system. It comprises a perception layer, a decision layer, and an execution layer connected in sequence. The perception layer includes GNSS-RTK positioning modules mounted on transport vehicles and hydraulic excavators, material flow sensors installed on belt conveyors, high-definition cameras on work units, and 3D laser scanners. The GNSS-RTK positioning modules are connected to the monitoring and dispatch system 5 via the plant's 5G private network. The high-definition cameras and 3D laser scanners are connected to a fiber optic ring network via industrial Ethernet switches, responsible for the entire system. The system collects operational data in real time. The decision-making layer is deployed in the cloud or on a local server. Based on the IoT data uploaded by the perception layer, it builds and drives a digital twin model synchronized with the physical world. It is then scheduled through an AI engine for dynamic optimization of the global work plan, equipment scheduling, and generation of material delivery strategies. The execution layer is located in the central command center. Its software interface constitutes the application front end. The execution layer communicates with workstation PLCs, wireless communication terminals, control cabinets, and automatic sprinkler PLCs through industrial wireless communication networks. It sends the scheduling and control commands generated by the decision-making layer to each execution device in real time and accurately through the industrial wireless communication network, driving the entire system to work collaboratively.

[0027] The method for continuous backfilling and reclamation of gangue in coal mining subsidence areas includes the following steps: Step 1: Using a drone equipped with a 3D laser scanner, conduct a full-area flight scan of the dynamic treatment operation area 3, collect point cloud data and transmit it to the decision-making level. Through filtering, classification and triangulation algorithms, integrate the terrain model, attributes of each operation unit, equipment model and real-time data interface in the digital twin platform to form a system-level digital twin, construct a digital twin surface model, formulate a globally optimal operation plan based on the digital twin surface model, and plan the optimal working path of each device. The triangulation is achieved using the mature Delaunay triangulation algorithm. This algorithm connects the ground point set according to the empty circle criterion (i.e., the circumcircle of any triangle in the triangulation does not contain other data points) and can use the edge exchange criterion to locally optimize the initial mesh to ensure the shape quality of the generated triangular faces. Finally, an accurate triangular network (TIN) surface model is formed. Based on this model, according to the optimal operation cycle and efficiency of the treatment equipment, the dynamic treatment operation area 3 is divided into N standardized operation units with specified dimensions in the digital model. The number of operation units N is determined by the total area of ​​the dynamic treatment operation area 3 and the design area of ​​the operation unit to optimize the production line cycle. Step 2: The decision-making level issues a stripping operation command to the hydraulic excavator of the first work unit. The hydraulic excavator performs stripping operation under automatic guidance according to the received preset stripping elevation and planned path. During the stripping process, the position and work surface data of the hydraulic excavator are transmitted back in real time by the perception layer to form a closed-loop control. The transfer vehicle transports the stripped topsoil to the designated area of ​​the resource recycling center 4 according to the optimal transportation path. The automatic spray curing system 6 sprays and cures the topsoil piles in each area according to the monitoring data and operation command. The raw gangue is transported to the work station. The receiving hopper receives the raw gangue. The work station PLC drives the jaw crusher to perform primary crushing of the raw gangue and the impact crusher to perform secondary crushing. The vibrating screen screens the crushed material into three different aggregate sizes: coarse, medium and fine, forming a two-way circulation flow of materials (topsoil and aggregate). Step 3: The decision-making level monitors the progress of each work unit in real time through a digital twin surface model. When the topsoil stripping operation of the first work unit reaches 60%-80% of the designed stripping elevation, the hydraulic excavator is instructed to jump to the second work unit to start the stripping operation. The first work unit begins foundation treatment. After the first work unit completes the foundation treatment, the required aggregate is delivered to it via a belt conveyor, and the gangue backfilling operation is started. At this time, the first and second work units are working simultaneously. When the backfilling completion rate of the first work unit reaches 40%-60% of the designed backfilling elevation, the soil covering operation begins. At the same time, the topsoil stripping operation of the second work unit is completed and the foundation treatment is started. The operation is repeated for subsequent work units, maintaining the state of parallel operation of topsoil stripping, gangue backfilling, and soil covering and reclamation in different work units until the operation of all work units is completed.

[0028] The timing control logic is as follows: The system monitors the progress of each work unit in real time through a digital twin surface model. For any device, when the real-time progress of its current work unit reaches a preset threshold and its remaining work time is close to the device transfer time, it is determined that the "jump" condition is met.

[0029] Skip Decision and Execution: Among the ready-to-work units, the optimal target unit is selected according to the global load balancing principle, and a "skip" instruction is generated. This instruction is sent to the corresponding device controller via the wireless network. While the device completes the final stage of the current unit's work, it begins to receive data from the next work unit and plans the transfer path, thereby achieving a theoretically zero device waiting time.

[0030] Formation of spatial parallelism: As multiple devices trigger jumps sequentially according to this logic, the system will automatically enter and maintain a highly efficient state in which the core processes of "topsoil stripping", "gangue backfilling", and "soil covering and reclamation" are completely parallel in different work units.

[0031] The monitoring and dispatching system 5 monitors the progress of each work unit in real time, dynamically adjusts the output gradation and production of the workstation, and accurately delivers the required aggregates to multiple work units in the backfilling stage simultaneously through the workstation PLC. At the same time, according to the backfilling progress, it dispatches transfer vehicles to allocate topsoil from the topsoil storage area to the corresponding work surface. Meanwhile, the monitoring and dispatching system 5 monitors and provides feedback on key quality parameters of each process in real time, including but not limited to stripping depth, aggregate paving thickness, and compaction degree. Through feedback control loops, it automatically adjusts the operating parameters of relevant equipment to ensure that the project quality continuously meets the design requirements.

[0032] Example 1: Dynamic remediation operation area 3 is a strip-shaped subsidence area measuring 1000 meters east-west and 200 meters north-south, with a total area of ​​300 mu (approximately 20 hectares). The subsidence depth is 1.5-3 meters, and the daily mine wastewater discharge is approximately 800 tons. The specific deployment is as follows: The coal mining subsidence area gangue continuous backfilling and reclamation system includes a central processing hub 1, a material conveying system 2, and a dynamic treatment operation area 3 arranged in sequence. A resource recycling center 4 is arranged on one side of the dynamic treatment operation area 3. The resource recycling center 4 is equipped with an automatic sprinkler curing system 6. The central processing hub 1, material conveying system 2, dynamic treatment operation area 3, resource recycling center 4, and automatic sprinkler curing system 6 are all connected to a monitoring and dispatching system 5.

[0033] Central Processing Hub 1 is strategically located on the edge of the subsidence area, 500 meters from the mine's waste rock disposal point, and connected by a paved road. Central Processing Hub 1 is a mobile crushing and screening combined workstation. The workstation is equipped with a receiving hopper, a jaw crusher, an impact crusher, and a three-layer vibrating screen, with a processing capacity of 300 tons / hour. It is used to crush and screen raw coal gangue in real time into functional aggregates of three particle sizes: coarse (>50mm), medium (10-50mm), and fine (<10mm).

[0034] Resource Recycling Center 4 covers an area of ​​15 mu (approximately 1 hectare), with a designed stacking height of 6 meters and a total capacity of 60,000 cubic meters, meeting the topsoil turnover needs of the entire project. The topsoil temporary storage area is divided into three functional areas: A, B, and C, which are used to receive newly stripped topsoil, maintain topsoil during the curing period, and supply topsoil for covering. Resource Recycling Center 4 is equipped with soil quality monitoring sensors and an automatic sprinkler curing system 6, and adopts a zoned, layered, and standardized stacking and management model.

[0035] The dynamic treatment operation area 3 is divided into 30 operation units. Each operation unit is 200 meters long and 50 meters wide, covering an area of ​​10 mu. The operation units are numbered from 1 to 30 from west to east. The operation units are carried out in the process of "topsoil stripping → foundation treatment → gangue backfilling → soil covering and reclamation" to form a spatial assembly line.

[0036] Material conveying system 2 includes an aggregate delivery subsystem and a topsoil recycling subsystem. The aggregate delivery subsystem uses three closed belt conveyors with a bandwidth of 1.2 meters and a conveying capacity of 400 tons / hour to convey coarse aggregate (>50mm), medium aggregate (10-50mm), and fine aggregate (<10mm). The topsoil recycling subsystem consists of 6 transfer vehicles (30-ton load capacity) with navigation function, forming a closed-loop logistics network for topsoil from the stripping point to the resource recycling center 4 and then to the topsoil covering operation point.

[0037] The automatic sprinkler curing system 6 includes a pipeline unit, which is laid in the topsoil storage area. The pipeline unit is connected to a water supply unit. The topsoil storage area is equipped with soil moisture sensors and an automatic sprinkler PLC connected in sequence.

[0038] The monitoring and dispatch system 5 is set up in a temporary command center on site, equipped with a server cluster and a large display screen, and connected to various sensing devices and control terminals through a fiber optic network.

[0039] Example 2: Continuous filling and reclamation system for gangue in coal mining subsidence areas. (See also: Continuous filling and reclamation system for gangue in coal mining subsidence areas) Figure 1 It includes a central processing hub 1, a material conveying system 2, and a dynamic treatment operation area 3 arranged in sequence. A resource recycling center 4 is arranged on one side of the dynamic treatment operation area 3. The resource recycling center 4 is equipped with an automatic sprinkler maintenance system 6. The central processing hub 1, material conveying system 2, dynamic treatment operation area 3, resource recycling center 4, and automatic sprinkler maintenance system 6 are all connected to a monitoring and dispatching system 5.

[0040] The central processing hub 1 includes a workstation, in which a receiving hopper, a jaw crusher, an impact crusher, and a vibrating screen are arranged in sequence. The vibrating screen is located on the side close to the material conveying system 2. The receiving hopper, jaw crusher, impact crusher, and vibrating screen are all connected to the workstation PLC. The workstation PLC is connected to the field access switch via a shielded twisted pair cable.

[0041] The material conveying system 2 includes three belt conveyors, which are fixed in parallel between the vibrating screen and the dynamic treatment operation area 3. The belt conveyors are equipped with frequency converters, electric diversion gates, belt scales, and material flow sensors. The three belt conveyors are connected to a control cabinet, which is connected to the field access switch via shielded twisted-pair cables. Each belt conveyor is equipped with two transfer vehicles, which are equipped with GNSS-RTK positioning modules, inertial measurement units, lidar, vehicle-mounted industrial control computers, hydraulic self-unloading boxes, and wireless communication terminals.

[0042] The dynamic remediation operation area 3 is a series of sequentially arranged operation units divided into the entire subsidence area. The first operation unit is equipped with a hydraulic excavator, and each operation unit is equipped with a high-definition camera. The hydraulic excavator is equipped with a GNSS-RTK positioning module and a vehicle controller. A three-dimensional laser scanner is also deployed in the dynamic remediation operation area 3. The resource recycling center 4 includes a topsoil storage area, which is divided into multiple zones. The topsoil storage area is equipped with soil quality monitoring sensors and an automatic sprinkler maintenance system 6.

[0043] The automatic sprinkler curing system 6 includes a pipeline unit, which is laid in the topsoil storage area. The pipeline unit is connected to a water supply unit. The topsoil storage area is equipped with soil moisture sensors and an automatic sprinkler PLC connected in sequence.

[0044] Example 3: Methods for continuous backfilling and reclamation of gangue in coal mining subsidence areas, and systems for continuous backfilling and reclamation of gangue in coal mining subsidence areas, see [link to relevant documentation]. Figure 1 It includes a central processing hub 1, a material conveying system 2, and a dynamic treatment operation area 3 arranged in sequence. A resource recycling center 4 is arranged on one side of the dynamic treatment operation area 3. The resource recycling center 4 is equipped with an automatic sprinkler maintenance system 6. The central processing hub 1, material conveying system 2, dynamic treatment operation area 3, resource recycling center 4, and automatic sprinkler maintenance system 6 are all connected to a monitoring and dispatching system 5.

[0045] The central processing hub 1 includes a workstation, in which a receiving hopper, a jaw crusher, an impact crusher, and a vibrating screen are arranged in sequence. The vibrating screen is located on the side close to the material conveying system 2. The receiving hopper, jaw crusher, impact crusher, and vibrating screen are all connected to the workstation PLC. The workstation PLC is connected to the field access switch via a shielded twisted pair cable.

[0046] The material conveying system 2 includes three belt conveyors, which are fixed in parallel between the vibrating screen and the dynamic treatment operation area 3. The belt conveyors are equipped with frequency converters, electric diversion gates, belt scales, and material flow sensors. The three belt conveyors are connected to a control cabinet, which is connected to the field access switch via shielded twisted-pair cables. Each belt conveyor is equipped with two transfer vehicles, which are equipped with GNSS-RTK positioning modules, inertial measurement units, lidar, vehicle-mounted industrial control computers, hydraulic self-unloading boxes, and wireless communication terminals.

[0047] The dynamic remediation operation area 3 is a series of sequentially arranged operation units divided into the entire subsidence area. The first operation unit is equipped with a hydraulic excavator, and each operation unit is equipped with a high-definition camera. The hydraulic excavator is equipped with a GNSS-RTK positioning module and a vehicle controller. A three-dimensional laser scanner is also deployed in the dynamic remediation operation area 3. The resource recycling center 4 includes a topsoil storage area, which is divided into multiple zones. The topsoil storage area is equipped with soil quality monitoring sensors and an automatic sprinkler maintenance system 6.

[0048] The automatic sprinkler curing system 6 includes a pipeline unit, which is laid in the topsoil storage area. The pipeline unit is connected to a water supply unit. The topsoil storage area is equipped with soil moisture sensors and an automatic sprinkler PLC connected in sequence.

[0049] The monitoring and dispatching system 5 comprises a perception layer, a decision-making layer, and an execution layer that are connected in sequence. The perception layer includes GNSS-RTK positioning modules mounted on transport vehicles and hydraulic excavators, material flow sensors installed on belt conveyors, high-definition cameras on work units, and 3D laser scanners. The GNSS-RTK positioning modules are connected to the monitoring and dispatching system 5 via the plant's 5G private network, while the high-definition cameras and 3D laser scanners are connected to the fiber optic ring network via industrial Ethernet switches. The decision-making layer is deployed in the cloud or on a local server. Based on the IoT data uploaded by the perception layer, it constructs and drives a digital twin model synchronized with the physical world and performs scheduling through an AI engine. The execution layer is located in the central command center, and its software interface constitutes the application front end. The execution layer is connected to workstation PLCs, wireless communication terminals, control cabinets, and automatic sprinkler PLCs via industrial wireless communication networks.

[0050] Example 4: The method for continuous backfilling and reclamation of gangue in coal mining subsidence areas includes the following steps: Step 1: Use a drone equipped with a 3D laser scanner to scan the entire dynamic treatment work area 3, generate a digital elevation model with an accuracy of 5 cm, divide the dynamic treatment work area 3 into 30 work units based on the model, and formulate a total schedule plan to complete the treatment in 45 days. Step 2: All equipment is in place and debugged. The monitoring and scheduling system 5 completes the construction of the digital twin surface model. The infrastructure of the topsoil temporary storage area is completed. Topsoil stripping begins in the first work unit. The workstation (equipped with a GNSS-RTK positioning system) operates automatically at the design elevation of -0.5 meters. Six transfer vehicles transport the topsoil to Area A in the resource recycling center 4 according to the optimized route. The central processing hub 1 is started simultaneously to produce aggregates that meet the gradation requirements. Step 3: When the topsoil stripping of the first work unit is 70% complete (triggering the preset threshold for the "leapfrog" timing sequence), the monitoring and scheduling system 5 instructs the hydraulic excavator to jump to the second work unit to begin stripping operations. The first work unit completes topsoil stripping and begins foundation treatment. Once the first work unit completes foundation treatment, it immediately starts backfilling with waste rock. At this point, the first work unit (backfilling) and the second work unit (stripping) are operating simultaneously. When the backfilling completion rate of the first work unit reaches 50% (triggering the preset threshold for the next level of "leapfrog"), the second work unit has completed topsoil stripping and begun foundation treatment. The decision-making hydraulic excavator then jumps to the third work unit to begin operations. The first work unit begins backfilling, the second work unit performs waste rock backfilling, and the third work unit performs topsoil stripping. Thus, the three core processes of "stripping, backfilling, and backfilling" are completely parallelized in space.

[0051] After the system enters a stable production state, the work arrangement is as follows: the monitoring and scheduling system 5 generates the optimized scheduling instructions for the day based on the previous day's progress, 6 work units work simultaneously (2 stripping, 2 backfilling, 2 covering), equipment maintenance, the system performs data analysis and plan adjustment, continues parallel operation, monitors the quality of each process in real time, and the data is summarized to generate the work plan for the next day.

[0052] During the operation, the perception layer detected that the backfilling progress of the eighth work unit was 15% ahead of schedule, and the progress of the tenth work unit was 20% behind schedule due to rainfall. The decision layer AI engine immediately recalculated the aggregate demand and generated a new delivery plan: coarse aggregate delivery: the priority of the eighth work unit was adjusted from P1 to P2, and the tenth work unit remained at P1; medium and fine aggregate mixture: the supply of the eighth work unit was reduced by 30%, and the supply of the tenth work unit was increased by 40%; the execution layer controlled the electric diversion gate of the belt conveyor through the workstation PLC to complete the delivery plan adjustment within five minutes.

[0053] Monitoring revealed a sharp increase in the demand for topsoil for the backfilling work in the 15th work unit, while the topsoil moisture content in Zone B of Resource Recycling Center 4 was high (18%, standard requirement ≤15%). The decision-making body activated the emergency plan: Immediately allocate 2,000 cubic meters of qualified topsoil from Zone C of Resource Recycling Center 4, instruct Automatic Spray Curing System 6 to strengthen the turning and drainage of topsoil in the mid-term curing area, adjust the order of topsoil use in subsequent units, and execute the emergency transportation task of 4 transfer vehicles to ensure uninterrupted soil covering operations.

[0054] Example 5: The method for continuous backfilling and reclamation of gangue in coal mining subsidence areas includes the following steps: Step 1: The perception layer collects point cloud data of the dynamic governance operation area 3 and sends it to the decision-making layer to construct a digital twin surface model; Step 2: The decision-making level issues a stripping operation command to the hydraulic excavator of the first work unit. The hydraulic excavator performs stripping operation under automatic guidance according to the received preset stripping elevation and planned path. During the stripping process, the position and work surface data of the hydraulic excavator are transmitted back in real time by the perception layer to form a closed-loop control. The transfer vehicle transports the stripped topsoil to the designated area of ​​the resource recycling center 4 according to the optimal transportation path. The automatic spray curing system 6 sprays and cures the topsoil piles in each area according to the monitoring data and operation command. The raw gangue is transported to the work station. The receiving hopper receives the raw gangue. The work station PLC drives the jaw crusher to perform primary crushing of the raw gangue and the impact crusher to perform secondary crushing. The vibrating screen screens the crushed material into three different aggregate sizes: coarse, medium and fine. Step 3: The decision-making level monitors the progress of each work unit in real time through a digital twin surface model. When the topsoil stripping operation of the first work unit reaches 60%-80% of the designed stripping elevation, the hydraulic excavator is instructed to jump to the second work unit to start the stripping operation. The first work unit begins foundation treatment. After the first work unit completes the foundation treatment, the required aggregate is delivered to it via a belt conveyor, and the gangue backfilling operation is started. At this time, the first and second work units are working simultaneously. When the backfilling completion rate of the first work unit reaches 40%-60% of the designed backfilling elevation, the soil covering operation begins. At the same time, the topsoil stripping operation of the second work unit is completed and the foundation treatment is started. The operation is repeated for subsequent work units, maintaining the state of parallel operation of topsoil stripping, gangue backfilling, and soil covering and reclamation in different work units until the operation of all work units is completed.

[0055] Example 6: The method for continuous backfilling and reclamation of gangue in coal mining subsidence areas includes the following steps: Step 1: Using a drone equipped with a 3D laser scanner, conduct a full-area flight scan of the dynamic treatment operation area 3, collect point cloud data and transmit it to the decision-making level. Through filtering, classification and triangulation algorithms, construct a digital twin surface model. Based on the digital twin surface model, formulate a global optimal operation plan and plan the optimal working path of each device. Step 2: The decision-making level issues a stripping operation instruction to the first work unit, and the transfer vehicle transports the topsoil to the designated zone of the resource recycling center 4; the raw material gangue is transported to the work station, and the equipment in the work station is started to produce coarse, medium and fine aggregates; Step 3: The decision-making level monitors the progress of each work unit in real time through a digital twin surface model. When the topsoil stripping operation of the first work unit reaches 60%-80% of the designed stripping elevation, the hydraulic excavator is instructed to jump to the second work unit to start the stripping operation. The first work unit begins foundation treatment. After the first work unit completes the foundation treatment, the required aggregate is delivered to it via a belt conveyor, and the gangue backfilling operation is started. At this time, the first and second work units are working simultaneously. When the backfilling completion rate of the first work unit reaches 40%-60% of the designed backfilling elevation, the soil covering operation begins. At the same time, the topsoil stripping operation of the second work unit is completed and the foundation treatment is started. The operation is repeated for subsequent work units, maintaining the state of parallel operation of topsoil stripping, gangue backfilling, and soil covering and reclamation in different work units until the operation of all work units is completed.

Claims

1. A continuous backfilling and reclamation system for gangue in coal mining subsidence areas, characterized in that, It includes a central processing hub (1), a material conveying system (2), and a dynamic treatment operation area (3) arranged in sequence. A resource recycling center (4) is arranged on one side of the dynamic treatment operation area (3). An automatic sprinkler maintenance system (6) is configured in the resource recycling center (4). The central processing hub (1), the material conveying system (2), the dynamic treatment operation area (3), the resource recycling center (4), and the automatic sprinkler maintenance system (6) are all connected to a monitoring and scheduling system (5).

2. The continuous backfilling and reclamation system for coal mining subsidence areas according to claim 1, characterized in that, The central processing hub (1) includes a workstation, in which a receiving hopper, a jaw crusher, an impact crusher, and a vibrating screen are arranged in sequence. The vibrating screen is located on the side close to the material conveying system (2). The receiving hopper, jaw crusher, impact crusher, and vibrating screen are all connected to the workstation PLC. The workstation PLC is connected to the field access switch through a shielded twisted pair cable.

3. The continuous backfilling and reclamation system for coal mining subsidence areas according to claim 2, characterized in that, The material conveying system (2) includes three belt conveyors, which are fixed in parallel between the vibrating screen and the dynamic treatment operation area (3). The belt conveyors are equipped with frequency converters, electric diversion gates, belt scales, and material flow sensors. The three belt conveyors are connected to a control cabinet, which is connected to the field access switch via shielded twisted pair cables. Each belt conveyor is equipped with two transfer vehicles, which are equipped with GNSS-RTK positioning modules, inertial measurement units, lidar, vehicle-mounted industrial control computers, hydraulic self-unloading boxes, and wireless communication terminals.

4. The continuous backfilling and reclamation system for coal mining subsidence areas according to claim 3, characterized in that, The dynamic treatment operation area (3) is a series of operation units that are arranged sequentially in the entire subsidence area. The first operation unit is equipped with a hydraulic excavator. Each operation unit is equipped with a high-definition camera. The hydraulic excavator is equipped with a GNSS-RTK positioning module and a vehicle controller. A three-dimensional laser scanner is also deployed in the dynamic treatment operation area (3). The resource recycling center (4) includes a topsoil storage area, which is divided into multiple zones. The topsoil storage area is equipped with soil quality monitoring sensors and an automatic sprinkler maintenance system (6).

5. The continuous backfilling and reclamation system for coal mining subsidence areas according to claim 4, characterized in that, The automatic sprinkler curing system (6) includes a pipeline unit, which is laid in the topsoil storage area. The pipeline unit is connected to a water supply unit. The topsoil storage area is equipped with a soil moisture sensor and an automatic sprinkler PLC connected in sequence.

6. The continuous backfilling and reclamation system for coal mining subsidence areas according to claim 5, characterized in that, The monitoring and dispatching system (5) includes a perception layer, a decision layer, and an execution layer connected in sequence. The perception layer includes a GNSS-RTK positioning module mounted on a transfer vehicle, a GNSS-RTK positioning module mounted on a hydraulic excavator, a material flow sensor installed on a belt conveyor, a high-definition camera on the work unit, and a three-dimensional laser scanner. The GNSS-RTK positioning module is connected to the monitoring and dispatching system (5) through the factory's 5G private network. The high-definition camera and the three-dimensional laser scanner are connected to the fiber optic ring network through an industrial Ethernet switch. The decision layer is deployed on a cloud or local server. Based on the IoT data uploaded by the perception layer, it constructs and drives a digital twin model synchronized with the physical world and performs scheduling through an AI engine. The execution layer is located in the central command center. Its software interface constitutes the application front end. The execution layer is connected to the workstation PLC, wireless communication terminal, control cabinet, and automatic sprinkler PLC through an industrial wireless communication network.

7. A method for continuous backfilling and reclamation of gangue in coal mining subsidence areas, characterized in that, The continuous backfilling and reclamation system for coal mining subsidence areas as described in claim 6 includes the following steps: Step 1: The perception layer collects point cloud data of the dynamic governance operation area (3) and sends it to the decision-making layer to construct a digital twin surface model; Step 2: The decision-making level issues a stripping operation instruction to the first work unit, and the transfer vehicle transports the topsoil to the designated area of ​​the resource recycling center (4); the raw material gangue is transported to the work station, and the equipment of the work station is started to produce coarse, medium and fine aggregates; Step 3: The decision-making level monitors the progress of the work units in real time and maintains the parallel operation of topsoil stripping, gangue backfilling, and soil covering and reclamation processes in different work units. The material conveying system (2) delivers aggregates according to the backfilling progress of each work unit.

8. The method for continuous backfilling and reclamation of gangue in coal mining subsidence areas according to claim 7, characterized in that, Step 1 specifically involves: By using a drone equipped with a 3D laser scanner, the dynamic governance operation area (3) is scanned in its entirety, point cloud data is collected and transmitted to the decision-making level, and a digital twin surface model is constructed through filtering, classification and triangular meshing algorithms. Based on the digital twin surface model, a global optimal operation plan is formulated and the optimal working path of each device is planned.

9. The method for continuous backfilling and reclamation of gangue in coal mining subsidence areas according to claim 7, characterized in that, Step 2 is performed as follows: Step 2.1, the decision-making layer issues a stripping operation instruction to the hydraulic excavator of the first work unit. The hydraulic excavator performs stripping operation under automatic guidance according to the received preset stripping elevation and planned path. During the stripping process, the hydraulic excavator's position and work surface data are transmitted back in real time by the perception layer to form a closed-loop control. The transport vehicle transports the stripped topsoil to the designated area of ​​the resource recycling center (4) according to the optimal transport path. The automatic spray curing system (6) sprays and cures the topsoil piles in each area according to the monitoring data and operation instructions. Step 2.2: Transport the raw gangue to the workstation. The receiving hopper receives the raw gangue. The workstation PLC drives the jaw crusher to perform primary crushing of the raw gangue, and the impact crusher to perform secondary crushing. The vibrating screen screens the crushed material into three different aggregate sizes: coarse, medium and fine.

10. The method for continuous backfilling and reclamation of gangue in coal mining subsidence areas according to claim 7, characterized in that, Step 3 is performed as follows: Step 3.1: The decision-making level monitors the progress of each work unit in real time through the digital twin surface model. When the topsoil stripping operation of the first work unit reaches 60%-80% of the designed stripping elevation, the hydraulic excavator is instructed to jump to the second work unit in advance to start the stripping operation, and the first work unit begins the foundation treatment. Step 3.2: After the first work unit completes the foundation treatment, the required aggregate is delivered to it via belt conveyor, and the gangue backfilling operation is started. At this time, the first work unit and the second work unit work simultaneously. When the backfilling completion rate of the first work unit reaches 40%-60% of the design backfilling elevation, the soil covering operation is started. At the same time, the topsoil stripping operation of the second work unit is completed and the foundation treatment is started. Step 3.3 involves cyclical operation of subsequent work units, maintaining the parallel operation of topsoil stripping, gangue backfilling, and soil covering and reclamation processes in different work units until all work units are completed.

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