Multifunctional spray-seeding device for mining area slope vegetation recovery

Abstract

The invention discloses a multifunctional spray-seeding device for mining area slope vegetation recovery. The multifunctional spray-seeding device comprises a spray-seeding main loop assembly, a circulating degassing steady-state assembly and a pulse diagnosis and active damping control assembly. The spray-seeding main loop assembly is used for continuously conveying spray-seeding slurry to the spray head from the mixing end and forming controlled spraying; the circulating degassing steady-state assembly is used for establishing reflux circulation before spraying and during spraying interval and realizing gas stripping and slurry steady-state maintenance; the pulse diagnosis and active damping control assembly is used for carrying out pulse response examination on the loop state before spraying is started and providing adjustable damping and switching curve control in the spraying starting process. According to the device, a closed loop mechanism of a controllable micro-pulse bypass valve and near-far end double-pressure response examination is introduced into a spray-seeding main loop; and the compressibility and the equivalent friction resistance of the air bag are recognized, a soft start switching curve and an active damping strategy are generated in a self-adaptive mode, and stable starting and continuous and uniform spraying of the multi-highest-point long pipeline under frequent stopping and starting are achieved.

Description

Technical Field

[0001] This invention belongs to the technical field of hydroseeding systems, specifically relating to a multifunctional hydroseeding device for vegetation restoration on mining slopes. Background Technology

[0002] Multifunctional hydroseeding systems for vegetation restoration typically consist of a mixing tank / mixer, a pumping unit, a long-distance hose, and nozzles / sprayers forming a continuous delivery and spraying chain. The hydroseeding materials often include fibers, water-retaining agents, adhesives, seeds, and substrate particles, exhibiting overall yield stress and thixotropic properties. In situations such as steep slopes in mines, deep cut slopes, and high fill slopes, pump trucks are often positioned at the bottom of the slope or along the working road. The nozzles move with personnel or machinery across the slope, and the delivery hoses are laid in a serpentine pattern along the slope, crossing multiple slope shoulders, objectively creating multiple local highest points and sections of undulating pipeline.

[0003] Existing hydroseeding systems often mitigate pressure fluctuations and blockage risks by increasing pump power, installing accumulators, adding overflow / pressure relief valves, manually venting, or maintaining continuous circulation. However, under the aforementioned construction rhythm of multiple peak points, long-distance pipe laying, and frequent stop-and-relocate-re-spraying, a complex anomaly that is not universal, not widespread, and difficult to completely eliminate through conventional means can still easily occur: air accumulation at local peak points forms compressible air pockets. When spraying restarts, the compression / release of these air pockets, coupled with water hammer, leads to transient pressure collapse and overshoot at the end of the spray line. This further induces thixotropic slurry phase separation, intermittent spraying, and nozzle venting, and may even cause local peak pressure leading to pipe burst risks. Because this anomaly is coupled with pipeline configuration, start-stop rhythm, and slurry rheological properties, relying solely on passive valves and empirical parameters is insufficient to maintain repeatable and stable start-up and spraying under different pipe layouts and material ratios.

[0004] In specific scenarios involving long-distance hose delivery at multiple peak points, frequent nozzle restarts and shutdowns, and thixotropic / yield stress characteristics of the sprayed slurry, how can we suppress water hammer and pressure collapse caused by localized air pockets, prevent phase separation and intermittent spraying of the sprayed material, and keep the risk of pipe bursts within predictable safety boundaries, without relying on manual segmented venting, long-term high-flow-rate ineffective circulation, and without significantly increasing system complexity, thereby achieving a stable and uniform spraying hydraulic topology and working method for each restart? Summary of the Invention

[0005] The purpose of this invention is to provide a multifunctional hydroseeding device for vegetation restoration on mining slopes, addressing the problems mentioned in the background art.

[0006] To solve the above-mentioned technical problems, the present invention provides the following technical solution: a multi-functional hydroseeding device for vegetation restoration on mining slopes, comprising a hydroseeding main circuit component, a circulating degassing steady-state component, and a pulse diagnosis and active damping control component; The main hydroseeding circuit assembly is used to continuously deliver the hydroseeding slurry from the mixing end to the nozzle and form a controlled spray; the circulating degassing steady-state assembly is used to establish a reflux circulation before spraying and during spraying intervals and to achieve gas stripping and slurry steady-state maintenance; the pulse diagnosis and active damping control assembly is used to perform a pulse response check on the circuit status before spraying starts and to provide adjustable damping and switching curve control during spraying starts.

[0007] The present invention further describes that the main hydroseeding circuit assembly includes a mixing tank, a stirrer, a main pump, a main delivery hose, a nozzle valve, and a nozzle; wherein, the stirrer is installed in the mixing tank and is used to stir the hydroseeding slurry, the inlet of the main pump is connected to the mixing tank, the outlet of the main pump is connected to the nozzle valve via the main delivery hose, and the outlet of the nozzle valve is connected to the nozzle. The circulating degassing steady-state component includes a reflux pipeline, a reflux proportional valve, and a membrane degasser; wherein, the inlet of the reflux proportional valve is connected to the end pipe section upstream of the nozzle valve, the outlet of the reflux proportional valve is connected to the mixing tank via the reflux pipeline, and the membrane degasser is connected in series in the reflux pipeline and is used to strip gas from the reflux slurry. The pulse diagnostic and active damping control assembly includes a proximal pressure sensor, a distal pressure sensor, a proximal accumulator, a distal accumulator, a pulse diagnostic valve, a bypass throttling device, and a controller. The proximal pressure sensor is located at the main pump outlet and is used to collect proximal pressure signals. The distal pressure sensor is located upstream of the nozzle valve and is used to collect distal pressure signals. The proximal accumulator is connected in parallel to the main pump outlet, and the distal accumulator is connected in parallel to the end pipe section upstream of the nozzle valve. The pulse diagnostic valve and the bypass throttling device are connected in series to form a bypass branch, with both ends of the bypass branch connected to the main pump outlet and the return pipe, respectively. The controller is electrically connected to the proximal pressure sensor, the distal pressure sensor, the return proportional valve, and the pulse diagnostic valve, and is used to perform diagnostics and control.

[0008] The present invention further describes that the working method of the device includes the following steps: S1, Steady-state low-shear circulation: Controller 16 controls the return proportional valve 8 to establish a circulation path dominated by return, and controls the main pump 3 to operate in low-shear condition, that is, the pump speed does not exceed the preset threshold, so that the slurry in the main delivery hose 4 keeps flowing slowly. This circulation avoids sedimentation and local liquid blockage during the spraying interval. This step provides stable initial conditions for pre-spray check and soft start. S2, pre-spray pulse check: Under the condition of keeping the nozzle valve 5 closed, the controller 16 drives the pulse diagnostic valve 14 to execute the preset pulse sequence and simultaneously collects the pressure response of the proximal pressure sensor 10 and the distal pressure sensor 11. Based on the pressure response characteristics, the compressibility and equivalent resistance state in the loop are judged, and the state discrimination quantity required for subsequent start control is generated based on the judgment result. S3, Adaptive soft start switching: The controller 16 generates a switching curve for spraying start based on the state discrimination quantity, gradually reduces the backflow ratio and gradually opens the nozzle valve 5 according to the switching curve, and at the same time drives the pulse diagnostic valve 14 to form active damping to limit the rate of pressure change. The end pressure is continuously established through gradual switching. This step suppresses water hammer and avoids intermittent spraying and phase separation. S4, Degassing window control: When the state discrimination quantity indicates that there is a risk of gas accumulation, the controller 16 first executes the degassing window before entering stable spraying, maintains the reflux circulation and makes the membrane degasser 9 strip the gas from the reflux medium. After the degassing window ends, the soft start switching process is entered. This step reduces the compressibility and pressure wave reflection caused by the gas bag. S5, Decoupling of spraying stability and anomalies: During stable spraying, the controller 16 continuously monitors the pressure fluctuations at the near end and far end. When the trend of blockage core formation is detected, the backflow ratio is adjusted in a short time and the remote accumulator 13 is used to achieve decoupling of end disturbances to break the bridging. This closed loop maintains the continuity of spraying and the pressure safety boundary. This step reduces the cumulative instability risk caused by the frequency of start-stop.

[0009] The present invention further explains that step S2 includes the following sub-steps: S2-1, Pulse Application: When the nozzle valve 5 is closed and the return proportional valve 8 is in the circulation path, the controller 16 drives the pulse diagnostic valve 14 with a pulse width... and pulse period Output A pulse creates a controllable micro-pressure disturbance near the outlet of the main pump 3. S2-2, Pressure Response Acquisition: Proximal pressure is acquired using proximal pressure sensor 10 during each pulse cycle. Remote pressure is collected by remote pressure sensor 11. Time series, Sampling time; S2-3, Airbag Index Calculation: Extracting the proximal pressure increment for each pulse cycle. With the increase in remote pressure And calculate the airbag index. ,in The arrival delay time of the distal pressure peak relative to the proximal pressure peak. The reference delay constant used for normalization, Used to characterize the compressibility of a circuit, when an air pocket exists in the circuit, the distal pressure response softens and the delay increases, making... Increase.

[0010] The present invention further explains that step S2 further includes the calculation and determination of the friction index, specifically as follows: S2-4, Energy decay extraction: In a single pulse cycle The formula for calculating the pressure disturbance energy at the proximal and distal ends is as follows: , ,in This represents the average proximal pressure over the period. This represents the average distal pressure over the period. This is the start time of the cycle. and These characterize the response energy of the proximal and distal ends to pulse perturbations, respectively. S2-5, Friction Index Calculation: Calculation of Friction Index Based on Disturbance Energy This is used to characterize the equivalent friction and local slugging tendency of the loop. As the loop resistance increases, the energy attenuation of the distal disturbance increases, making... Relative reduction and resulting Increase; S2-6, State discrimination quantity generation: Controller 16 based on and Generate startup control state discrimination quantity This is used to drive the curve generation and degassing window triggering in subsequent steps S3 and S4. Depend on and The weighted combination is obtained, , , These are the gas accumulation risk weight coefficient and the blockage risk weight coefficient, respectively, which must sum to 1 and be pre-stored and calibrated by the controller.

[0011] The present invention further explains that step S3 includes the following sub-steps: S3-1, Switching Quantity Definition: Defines the spray switching control quantity. With return current switching control quantity ,in The opening control value of nozzle valve 5 is within the range of [value range missing]. , The reflux proportional control value of reflux proportional valve 8 is within the range of [value range missing]. and satisfy This constraint is used to ensure that the total current capacity remains continuous during the startup switching process, avoiding instantaneous current interruption or instantaneous overcurrent; S3-2, Soft start curve generation: Controller 16 determines the state based on the discriminant... Generate switching time constant With the maximum pressure change rate threshold And set the spray switching control quantity to ,in The timeout period for the automatic startup switching start point. Used to describe the speed of soft start. The larger Increases proportionally It decreases proportionally to reduce the starting excitation; S3-3, Rate of Change Constraint Execution: Controller 16 Based on Remote Pressure Constraints on rate of change ,in The upper limit of the allowable rate of change of distal pressure is used to suppress transient pressure collapse and overshoot induced by water hammer and thixotropic phase separation. When the constraint tends to trigger, the controller 16 decreases. The growth rate is increased and the bypass damping strength is increased simultaneously.

[0012] The present invention further explains that step S3 further includes active damping control of the pulse diagnostic valve 14, specifically: S3-4, Bypass Duty Cycle Definition: The pulse diagnostic valve 14 is used as an active damping valve during the startup phase; its duty cycle control quantity is defined. And the range of values ​​is Used to characterize the unit duty cycle period Percentage of internal valve conduction time; S3-5, Damping strength calculation: Controller 16 based on state discrimination quantity Set damping target And based on the variance of the remote pressure fluctuation Adjust duty cycle ,in In the sliding window Internally The sampled values ​​relative to the window mean The average of the squared deviations is used to calculate the variance of the pressure fluctuation. As a reference variance constant, To and The positively correlated damping coefficient is used in this formula to increase the bypass conduction ratio when the fluctuation is enhanced, so that the bypass branch generates equivalent damping through the bypass throttling device 15 and dissipates transient energy. S3-6. Damping effect description: The active damping reduces the reflection amplitude formed in the main delivery hose 4 by establishing an adjustable relief channel between the outlet of the main pump 3 and the return pipeline 7, thereby reducing the probability of local peak pressure and end pressure collapse.

[0013] The present invention further explains that steps S4 and S5 include the following sub-steps: S4-1, Degassing Trigger Criterion: When the air bag index meets the following conditions... The degassing window is triggered at certain times, in which This is the gas accumulation risk threshold constant; this criterion is used to identify compressibility anomalies and prioritize degassing before entering the spraying switch. S4-2, Degassing Window Execution: During the degassing window duration Inside, controller 16 keeps nozzle valve 5 closed and sets the backflow switching control amount. At the same time, with duty cycle The drive pulse diagnostic valve 14 generates a micro-perturbation to cause the bubbles to break and flow back into the membrane degasser 9 to complete gas stripping. S5-1, Blockage Core Trend Identification: During the stable spraying phase, the controller 16 identifies the high-frequency components of the remote pressure. Calculate energy index ,in As the starting point of the window, for The component obtained by subtracting its low-pass filter component, with the filter cutoff frequency being a preset constant. The length of the sliding window. Used to characterize the enhanced high-frequency disturbances caused by nozzle end bridging and blockage nucleus formation; S5-2, Decoupling Disturbance Execution: When At the same time, the controller 16 increases the recirculation switching control quantity without closing the nozzle valve 5. Simultaneously increase the active damping duty cycle. Improve time control to the preset time. Internally, this allows the remote energy storage device 13 to participate in pressure redistribution and form end-point disturbance decoupling; wherein The threshold constant for the blockage core trend; decoupling is used to break up the bridging and restore jet continuity, while avoiding the re-accumulation of gas and water hammer caused by forced shutdown.

[0014] Compared with existing technologies, the beneficial effects achieved by this invention are as follows: This solution is designed for special construction scenarios involving long-distance pipe laying with multiple highest points and frequent start-stop operations. It utilizes pulse diagnostics to identify the compressibility and friction state of the loop online, and uses the identification results for proportional switching and soft-start control. This suppresses water hammer and end-point pressure collapse triggered by air bags from the source, significantly reducing the probability of nozzle venting, intermittent spraying, and thixotropic slurry phase separation. Simultaneously, by setting up a return degassing link and degassing window, accumulated gas is transformed from an uncontrollable hazard into a ventable object, reducing reliance on manual degassing and continuous high-flow ineffective circulation. In terms of safety, by constraining the pressure change rate and the lower limit of end pressure, as well as dynamically adjusting the active damping bypass, local peak pressures are predictable and limitable, reducing the risk of pipe bursts, improving the thickness of the sprayed seed coverage and the consistency of component distribution, and meeting the construction requirements of vegetation restoration for the continuity of the bonding layer and seed uniformity. Attached Figure Description

[0015] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings: Figure 1 This is a schematic diagram of the overall structure of the present invention. Detailed Implementation

[0016] The following detailed, non-limiting description of the technical solution of the present invention, in conjunction with preferred embodiments and accompanying drawings, is provided. Obviously, the described embodiments are merely some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0017] Please see Figure 1 The present invention provides a technical solution: a multi-functional hydroseeding device for vegetation restoration on mining slopes, comprising a hydroseeding main circuit component, a circulating degassing steady-state component, and a pulse diagnosis and active damping control component; The main hydroseeding circuit assembly is used to continuously deliver the hydroseeding slurry from the mixing end to the nozzle and form a controlled spray; the circulating degassing steady-state assembly is used to establish a reflux circulation before spraying and during spraying intervals and to achieve gas stripping and slurry steady-state maintenance; the pulse diagnostic and active damping control assembly is used to perform a pulse response check on the circuit status before spraying starts and to provide adjustable damping and switching curve control during spraying starts. The main circuit assembly for hydroseeding includes a mixing tank 1, a mixer 2, a main pump 3, a main delivery hose 4, a nozzle valve 5, and a nozzle 6. The mixer 2 is installed in the mixing tank 1 and is used to mix the hydroseeding slurry. The inlet of the main pump 3 is connected to the mixing tank 1, and the outlet of the main pump 3 is connected to the nozzle valve 5 via the main delivery hose 4. The outlet of the nozzle valve 5 is connected to the nozzle 6. The circulating degassing steady-state component includes a reflux pipeline 7, a reflux proportional valve 8, and a membrane degasser 9; wherein, the inlet of the reflux proportional valve 8 is connected to the end pipe section upstream of the nozzle valve 5, the outlet of the reflux proportional valve 8 is connected to the mixing tank 1 via the reflux pipeline 7, and the membrane degasser 9 is connected in series in the reflux pipeline 7 and is used to strip gas from the reflux slurry. The pulse diagnostic and active damping control assembly includes a proximal pressure sensor 10, a distal pressure sensor 11, a proximal accumulator 12, a distal accumulator 13, a pulse diagnostic valve 14, a bypass throttling device 15, and a controller 16. The proximal pressure sensor 10 is located at the outlet of the main pump 3 and is used to collect proximal pressure signals. The distal pressure sensor 11 is located upstream of the nozzle valve 5 and is used to collect distal pressure signals. The proximal accumulator 12 is connected in parallel to the outlet of the main pump 3, and the distal accumulator 13 is connected in parallel to the end pipe section upstream of the nozzle valve 5. The pulse diagnostic valve 14 and the bypass throttling device 15 are connected in series to form a bypass branch, with both ends of the bypass branch connected to the outlet of the main pump 3 and the return pipe 7, respectively. The controller 16 is electrically connected to the proximal pressure sensor 10, the distal pressure sensor 11, the return proportional valve 8, and the pulse diagnostic valve 14, and is used to perform diagnostics and control. The spraying slurry is continuously stirred by agitator 2 in mixing tank 1 to maintain uniform composition. Main pump 3 draws slurry from mixing tank 1 and pressurizes it, then delivers it to nozzle valve 5 via main delivery hose 4. From nozzle valve 5, the slurry is output to nozzle 6 to form a spray, achieving slope spraying. A return sampling point is set at the upstream end of nozzle valve 5. The inlet of return proportional valve 8 is connected to this end of the pipe, and the outlet of return proportional valve 8 returns to mixing tank 1 via return pipeline 7. A membrane filter is connected in series in return pipeline 7. The degasser 9, by controlling the opening of the return proportional valve 8, allows the slurry in the terminal pipe section to return at a controlled flow rate, thereby maintaining slow circulation within the pipe during spraying intervals or before startup, reducing the probability of sedimentation and localized liquid blockage. Simultaneously, the returned slurry undergoes gas stripping at the membrane degasser 9, allowing the gas carried or released within the pipe to be discharged along the return path, weakening the basic conditions for gas bag accumulation under multiple peak point conditions. A near-end pressure sensor 10 is installed at the outlet of the main pump 3, and at the nozzle valve 5... An upstream remote pressure sensor 11 is installed to achieve synchronous acquisition of near-end and end-end pressures. A near-end accumulator 12 is connected in parallel to the outlet of the main pump 3, and a remote accumulator 13 is connected in parallel to the upstream end pipe section of the nozzle valve 5. These are used to absorb pressure pulsations and compensate for transient end-end pressure. A pulse diagnostic valve 14 and a bypass throttling device 15 are connected in series to form a bypass branch. The two ends of this bypass branch are connected to the outlet of the main pump 3 and the return pipe 7, respectively. A controller 16 is electrically connected to the pressure sensor, the return proportional valve, and the pulse diagnostic valve to perform diagnostics and control. During operation, the controller 16 can drive the pulse diagnostic valve 14 to form a controllable micro-disturbance on the bypass branch and characterize the compressibility and equivalent resistance state of the loop through the difference in near-end / far-end pressure response. During the start-up switching phase, the bypass branch provides an adjustable energy dissipation channel under the action of the bypass throttling device 15 to dissipate the reflected pressure wave caused by the start-up excitation, thereby achieving active damping and reducing the risk of end-end pressure collapse and local peak pressure.

[0018] The operation of this device includes the following steps: S1, Steady-state low-shear circulation: Controller 16 controls the return proportional valve 8 to establish a circulation path dominated by return, and controls the main pump 3 to operate in low-shear condition, that is, the pump speed does not exceed the preset threshold, so that the slurry in the main delivery hose 4 keeps flowing slowly. This circulation avoids sedimentation and local liquid blockage during the spraying interval. This step provides stable initial conditions for pre-spray check and soft start. S2, pre-spray pulse check: Under the condition of keeping the nozzle valve 5 closed, the controller 16 drives the pulse diagnostic valve 14 to execute the preset pulse sequence and simultaneously collects the pressure response of the proximal pressure sensor 10 and the distal pressure sensor 11. Based on the pressure response characteristics, the compressibility and equivalent resistance state in the loop are judged, and the state discrimination quantity required for subsequent start control is generated based on the judgment result. S3, Adaptive soft start switching: The controller 16 generates a switching curve for spraying start based on the state discrimination quantity. According to the switching curve, the backflow ratio is gradually reduced and the nozzle valve 5 is gradually opened. At the same time, the pulse diagnostic valve 14 is driven to form active damping to limit the rate of pressure change. The end pressure is continuously established through gradual switching. This step suppresses water hammer and avoids intermittent spraying and phase separation. S4, Degassing window control: When the state discrimination quantity indicates that there is a risk of gas accumulation, the controller 16 first executes the degassing window before entering stable spraying, maintains the reflux circulation and makes the membrane degasser 9 strip the gas from the reflux medium. After the degassing window ends, the soft start switching process is entered. This step reduces the compressibility and pressure wave reflection caused by the gas bag. S5, Decoupling of spraying stability and anomalies: During stable spraying, the controller 16 continuously monitors the pressure fluctuations at the near end and far end. When the trend of blockage core formation is detected, the backflow ratio is adjusted in a short time and the far end accumulator 13 is used to achieve decoupling of end disturbances to break the bridging. This closed loop maintains the continuity of spraying and the pressure safety boundary. This step reduces the cumulative instability risk caused by the frequency of start-stop. Step S2 includes the following sub-steps: S2-1, Pulse Application: When the nozzle valve 5 is closed and the return proportional valve 8 is in the circulation path, the controller 16 drives the pulse diagnostic valve 14 with a pulse width... and pulse period Output A pulse creates a controllable micro-pressure disturbance near the outlet of the main pump 3. S2-2, Pressure Response Acquisition: Proximal pressure is acquired using proximal pressure sensor 10 during each pulse cycle. Remote pressure is collected by remote pressure sensor 11. Time series, Sampling time; S2-3, Airbag Index Calculation: Extracting the proximal pressure increment for each pulse cycle. With the increase in remote pressure And calculate the airbag index. ,in The arrival delay time of the distal pressure peak relative to the proximal pressure peak. The reference delay constant used for normalization, Used to characterize the compressibility of a circuit, when an air pocket exists in the circuit, the distal pressure response softens and the delay increases, making... Increase; Conventional methods for dealing with the problem of gas accumulation caused by long hoses with multiple peak points and frequent start-stop cycles typically rely on manual venting, increasing the size of the accumulator, reducing the valve opening speed, or long-term reflux circulation as conservative solutions. These methods are either extremely inefficient or lack repeatability for different pipe layouts and slurry ratios, still resulting in issues like end-point pressure collapse, nozzle venting, and phase separation upon restart. The working principle of this branch step is as follows: when the nozzle valve is closed and the system is in a controllable circulation state, a limited-amplitude, repeatable micro-perturbation is applied through a bypass pulse valve, while simultaneously acquiring the response characteristics of the near-end and far-end pressures. Because the compressibility of the gas pockets inside the pipe softens, delays, and enhances the reflection characteristics at the far end, the invisible gas pockets can be converted into quantifiable state quantities by constructing the near-end and far-end pressure increment ratio and arrival delay. This step serves as a pre-start loop health check in the scheme, providing criteria for subsequent soft-start curves and degassing windows. Instead of passively releasing pressure after an accident, the pressure wave is used as a diagnostic stimulus, and a two-point pressure comparison is used to identify compressibility anomalies online, forming the basis for closed-loop control.

[0019] Step S2 further includes the calculation and determination of the friction index, specifically: S2-4, Energy decay extraction: In a single pulse cycle The formula for calculating the pressure disturbance energy at the proximal and distal ends is as follows: , ,in This represents the average proximal pressure over the period. This represents the average distal pressure over the period. This is the start time of the cycle. and These characterize the response energy of the proximal and distal ends to pulse perturbations, respectively. S2-5, Friction Index Calculation: Calculation of Friction Index Based on Disturbance Energy This is used to characterize the equivalent friction and local slugging tendency of the loop. As the loop resistance increases, the energy attenuation of the distal disturbance increases, making... Relative reduction and resulting Increase; S2-6, State discrimination quantity generation: Controller 16 based on and Generate startup control state discrimination quantity This is used to drive the curve generation and degassing window triggering in subsequent steps S3 and S4. Depend on and The weighted combination is obtained, , , These are the gas accumulation risk weight coefficient and the blockage risk weight coefficient, respectively, which must sum to 1 and be pre-stored and calibrated by the controller. Conventional methods for addressing unstable spraying often categorize the problem as blockage or insufficient pump capacity, resorting to either blindly increasing pressure or repeatedly shutting down the system for cleaning. This can exacerbate the risks of water hammer and pipe bursts, and fails to pinpoint whether the issue stems from gas buildup causing compressibility anomalies or from slurry thixotropy, settling, or localized bridging causing resistance anomalies, leading to frequent mismatches in control strategies. The principle behind this branch step is to simultaneously observe the attenuation characteristics of near-end and far-end disturbances during propagation under the same micro-perturbation excitation. When pipeline resistance increases or a slugging trend emerges, the pressure disturbance weakens significantly and its energy attenuation is stronger at the far end. This characteristic differs from the softened and delayed response caused by gas buildup, allowing for the decoupling and identification of these two types of problems. The role of this step in the scheme is to provide the controller with evidence of which type of instability mechanism is dominant, thereby determining whether subsequent processes should prioritize venting or slow start-up and increased damping, avoiding the use of a single fixed strategy to address all anomalies. Using the same set of measurement and excitation methods to achieve online mechanism classification, rather than relying on experience-based judgment or additional complex sensors such as viscometers / flowmeters, represents a structured disassembly of complex instability chains.

[0020] Step S3 includes the following sub-steps: S3-1, Switching Quantity Definition: Defines the spray switching control quantity. With return current switching control quantity ,in The opening control value of nozzle valve 5 is within the range of [value range missing]. , The reflux proportional control value of reflux proportional valve 8 is within the range of [value range missing]. and satisfy This constraint is used to ensure that the total current capacity remains continuous during the startup switching process, avoiding instantaneous current interruption or instantaneous overcurrent; S3-2, Soft start curve generation: Controller 16 determines the state based on the discriminant... Generate switching time constant With the maximum pressure change rate threshold And set the spray switching control quantity to ,in The timeout period for the automatic startup switching start point. Used to describe the speed of soft start. The larger Increases proportionally It decreases proportionally to reduce the starting excitation; S3-3, Rate of Change Constraint Execution: Controller 16 Based on Remote Pressure Constraints on rate of change ,in The upper limit of the allowable rate of change of distal pressure is used to suppress transient pressure collapse and overshoot induced by water hammer and thixotropic phase separation. When the constraint tends to trigger, the controller 16 decreases. The growth rate and the bypass damping strength are increased simultaneously; Conventional soft-start strategies typically employ a fixed slope or fixed duration valve opening strategy. The problem is that under dangerous conditions, this can still trigger end-point pressure collapse and overshoot, while under favorable conditions, excessive conservatism leads to inefficiency and increased settlement risk, failing to simultaneously balance stability and construction efficiency. The principle of this branch step is to first utilize the loop state results obtained from pre-spraying diagnostics to generate a matching switching curve. This curve ensures that the startup process is slower when more dangerous and faster when more stable. Constraints are applied to the end-point pressure change rate during switching, and the switching speed is adjusted in real-time to prevent water hammer and thixotropic phase separation. This step plays a crucial role in the scheme, transforming diagnostic conclusions into executable control actions, directly determining whether each restart is smooth and whether spraying is continuous and uniform. By linking state identification, curve generation, and end-point safety boundary constraints into a closed loop, it goes beyond simply adding a soft-start function. Instead, it uses end-point risk indicators as control targets for adaptive shaping, significantly different from conventional empirical parameter tuning.

[0021] Step S3 further includes active damping control of the pulse diagnostic valve 14, specifically: S3-4, Bypass Duty Cycle Definition: The pulse diagnostic valve 14 is used as an active damping valve during the startup phase; its duty cycle control quantity is defined. And the range of values ​​is Used to characterize the unit duty cycle period Percentage of internal valve conduction time; S3-5, Damping strength calculation: Controller 16 based on state discrimination quantity Set damping target And based on the variance of the remote pressure fluctuation Adjust duty cycle ,in In the sliding window Internally The sampled values ​​relative to the window mean The average of the squared deviations is used to calculate the variance of the pressure fluctuation. As a reference variance constant, To and The positively correlated damping coefficient is used in this formula to increase the bypass conduction ratio when the fluctuation is enhanced, so that the bypass branch generates equivalent damping through the bypass throttling device 15 and dissipates transient energy. S3-6, Damping effect description: Active damping reduces the reflection amplitude formed in the main delivery hose 4 by establishing an adjustable relief channel between the outlet of the main pump 3 and the return pipeline 7, thereby reducing the probability of local peak pressure and end pressure collapse. Steps S4 and S5 include the following sub-steps: S4-1, Degassing Trigger Criterion: When the air bag index meets the following conditions... The degassing window is triggered at certain times, in which This is the gas accumulation risk threshold constant; this criterion is used to identify compressibility anomalies and prioritize degassing before entering the spraying switch. S4-2, Degassing Window Execution: During the degassing window duration Inside, controller 16 keeps nozzle valve 5 closed and sets the backflow switching control amount. At the same time, with duty cycle The drive pulse diagnostic valve 14 generates a micro-perturbation to cause the bubbles to break and flow back into the membrane degasser 9 to complete gas stripping. S5-1, Blockage Core Trend Identification: During the stable spraying phase, the controller 16 identifies the high-frequency components of the remote pressure. Calculate energy index ,in As the starting point of the window, for The component obtained by subtracting its low-pass filter component, with the filter cutoff frequency being a preset constant. The length of the sliding window. Used to characterize the enhanced high-frequency disturbances caused by nozzle end bridging and blockage nucleus formation; S5-2, Decoupling Disturbance Execution: When At the same time, the controller 16 increases the recirculation switching control quantity without closing the nozzle valve 5. Simultaneously increase the active damping duty cycle. Improve time control to the preset time. Internally, this allows the remote energy storage device 13 to participate in pressure redistribution and form end-point disturbance decoupling; wherein The threshold constant for the blockage core trend; decoupling is used to break up the bridging and restore jet continuity, while avoiding the re-accumulation of gas and water hammer caused by forced shutdown.

[0022] Conventional systems, even with accumulators and overflow valves, primarily rely on passive absorption or release, only mitigating the reflected waves caused by startup excitation afterward. Furthermore, manual venting or pure recirculation degassing is difficult to coordinate with startup control, leading to repeated gas pocket formation and instability with each restart. The principle of this branch step is to create a controllable energy dissipation channel by connecting the bypass valve and throttling device. During startup, controlling the bypass conduction ratio actively dissipates transient energy and increases equivalent damping, thereby reducing the amplitude of reflected pressure waves and local peak pressure. When the system detects a risk of gas accumulation, it first enters the degassing window, maintaining recirculation and using micro-perturbations to break up bubbles and discharge them through the degasser before starting the switch. This mechanism reduces compressibility sources before execution of the switch. This step actively shapes the pressure waveform and streamlines the venting process, making it a closed-loop process, crucial for reducing the risks of nozzle exhaust, intermittent injection, phase splitting, and pipe rupture.

[0023] In the description of this invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this invention, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0024] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features, and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A multifunctional hydroseeding device for vegetation restoration on mining slopes, characterized in that: This includes the main hydroseeding circuit assembly, the circulating degassing steady-state assembly, and the pulse diagnostic and active damping control assembly; The main hydroseeding circuit assembly is used to continuously deliver the hydroseeding slurry from the mixing end to the nozzle and form a controlled spray; the circulating degassing steady-state assembly is used to establish a reflux circulation before spraying and during spraying intervals and to achieve gas stripping and slurry steady-state maintenance; the pulse diagnosis and active damping control assembly is used to perform a pulse response check on the circuit status before spraying starts and to provide adjustable damping and switching curve control during spraying starts.

2. The multifunctional hydroseeding device for vegetation restoration on mining slopes according to claim 1, characterized in that: The main hydroseeding circuit assembly includes a mixing tank (1), a stirrer (2), a main pump (3), a main delivery hose (4), a nozzle valve (5), and a nozzle (6); wherein, the stirrer (2) is installed in the mixing tank (1) and is used to stir the hydroseeding slurry, the inlet of the main pump (3) is connected to the mixing tank (1), the outlet of the main pump (3) is connected to the nozzle valve (5) via the main delivery hose (4), and the outlet of the nozzle valve (5) is connected to the nozzle (6); The circulating degassing steady-state component includes a reflux pipeline (7), a reflux proportional valve (8), and a membrane degasser (9); wherein, the inlet of the reflux proportional valve (8) is connected to the end pipe section upstream of the nozzle valve (5), the outlet of the reflux proportional valve (8) is connected to the mixing tank (1) via the reflux pipeline (7), and the membrane degasser (9) is connected in series in the reflux pipeline (7) and used to strip gas from the reflux slurry; The pulse diagnostic and active damping control assembly includes a proximal pressure sensor (10), a distal pressure sensor (11), a proximal accumulator (12), a distal accumulator (13), a pulse diagnostic valve (14), a bypass throttling device (15), and a controller (16); wherein, the proximal pressure sensor (10) is located at the outlet of the main pump (3) and is used to collect the proximal pressure signal, the distal pressure sensor (11) is located upstream of the nozzle valve (5) and is used to collect the distal pressure signal, and the proximal accumulator (12) is located upstream of the nozzle valve (5). 12) Connected in parallel with the outlet of the main pump (3), the remote accumulator (13) is connected in parallel with the end pipe section upstream of the nozzle valve (5); the pulse diagnostic valve (14) and the bypass throttling device (15) are connected in series to form a bypass branch, the two ends of which are connected to the outlet of the main pump (3) and the return pipe (7) respectively, and the controller (16) is electrically connected to the near-end pressure sensor (10), the far-end pressure sensor (11), the return proportional valve (8) and the pulse diagnostic valve (14) respectively and is used to perform diagnosis and control.

3. A multifunctional hydroseeding device for vegetation restoration on mining slopes according to claim 2, characterized in that: The operation of this device includes the following steps: S1, steady-state low-shear cycle: The controller (16) controls the return proportional valve (8) to establish a circulation path with return as the main component, and controls the main pump (3) to operate in a low-shear condition, that is, the pump speed is not higher than the preset threshold, so that the slurry in the main delivery hose (4) remains to flow slowly. This cycle avoids sedimentation and local liquid blockage during the spraying interval. This step provides stable initial conditions for pre-spray physical examination and soft start. S2, pre-spray pulse check: The controller (16) drives the pulse diagnostic valve (14) to execute a preset pulse sequence while keeping the nozzle valve (5) closed, and simultaneously collects the pressure response of the proximal pressure sensor (10) and the distal pressure sensor (11). Based on the pressure response characteristics, the compressibility and equivalent resistance state in the loop are judged, and the state discrimination quantity required for subsequent start-up control is generated based on the judgment result. S3, Adaptive soft start switching: The controller (16) generates a switching curve for spraying start based on the state discrimination quantity, gradually reduces the backflow ratio and gradually opens the nozzle valve (5) according to the switching curve, and at the same time drives the pulse diagnostic valve (14) to form active damping to limit the rate of pressure change. The end pressure is continuously established through gradual switching. This step suppresses water hammer and avoids intermittent spraying and phase separation. S4, Degassing window control: When the state discrimination quantity indicates that there is a risk of gas accumulation, the controller (16) executes the degassing window before entering stable spraying, maintains the reflux circulation and makes the membrane degasser (9) strip the gas from the reflux medium. After the degassing window ends, the soft start switching process is entered. This step reduces the compressibility and pressure wave reflection caused by the gas bag. S5, Decoupling of spraying stability and abnormality: During stable spraying, the controller (16) continuously monitors the pressure fluctuations at the near end and far end. When the trend of blockage core formation is detected, the return ratio is adjusted in a short time and the far end accumulator (13) is used to achieve decoupling of end disturbance to break the bridging. The continuous spraying and pressure safety boundary are maintained through this closed loop. This step reduces the cumulative instability risk caused by the frequency of start-stop.

4. A multifunctional hydroseeding device for vegetation restoration on mining slopes according to claim 3, characterized in that: Step S2 includes the following sub-steps: S2-1, Pulse Application: When the nozzle valve (5) is closed and the return proportional valve (8) is in the circulation path, the controller (16) drives the pulse diagnostic valve (14) with a pulse width of [missing information]. and pulse period Output A pulse is generated to create a controllable micro-pressure disturbance near the outlet of the main pump (3); S2-2, Pressure Response Acquisition: Proximal pressure is acquired using a proximal pressure sensor (10) during each pulse cycle. Remote pressure is collected by remote pressure sensor (11). Time series, Sampling time; S2-3, Airbag Index Calculation: Extracting the proximal pressure increment for each pulse cycle. With the increase in remote pressure And calculate the airbag index. ,in The arrival delay time of the distal pressure peak relative to the proximal pressure peak. The reference delay constant used for normalization, Used to characterize the compressibility of a circuit, when an air pocket exists in the circuit, the distal pressure response softens and the delay increases, making... Increase.

5. A multifunctional hydroseeding device for vegetation restoration on mining slopes according to claim 4, characterized in that: Step S2 further includes the calculation and determination of the friction index, specifically: S2-4, Energy decay extraction: In a single pulse cycle The formula for calculating the pressure disturbance energy at the proximal and distal ends is as follows: , ,in This represents the average proximal pressure over the period. This represents the average distal pressure over the period. This is the start time of the cycle. and These characterize the response energy of the proximal and distal ends to pulse perturbations, respectively. S2-5, Friction Index Calculation: Calculation of Friction Index Based on Disturbance Energy This is used to characterize the equivalent friction and local slugging tendency of the loop. As the loop resistance increases, the energy attenuation of the distal disturbance increases, making... Relative reduction and resulting Increase; S2-6, State discrimination quantity generation: Controller (16) based on and Generate startup control state discrimination quantity This is used to drive the curve generation and degassing window triggering in subsequent steps S3 and S4. Depend on and The weighted combination is obtained, , , These are the gas accumulation risk weight coefficient and the blockage risk weight coefficient, respectively, which must sum to 1 and be pre-stored and calibrated by the controller.

6. A multifunctional hydroseeding device for vegetation restoration on mining slopes according to claim 5, characterized in that: Step S3 includes the following sub-steps: S3-1, Switching Quantity Definition: Defines the spray switching control quantity. With return current switching control quantity ,in The opening control value of the nozzle valve (5) is within the range of [value range missing]. , The reflux proportional control value of the reflux proportional valve (8) is within the range of [value range missing]. and satisfy This constraint is used to ensure that the total current capacity remains continuous during the startup switching process, avoiding instantaneous current interruption or instantaneous overcurrent; S3-2, Soft start curve generation: Controller (16) based on state discrimination quantity Generate switching time constant With the maximum pressure change rate threshold And set the spray switching control quantity to ,in The timeout period for the automatic startup switching start point. Used to describe the speed of soft start. The larger Increases proportionally It decreases proportionally to reduce the starting excitation; S3-3, Rate of Change Constraint Execution: Controller (16) based on remote pressure Constraints on rate of change ,in The upper limit of the allowable rate of change of distal pressure is used to suppress transient pressure collapse and overshoot induced by water hammer and thixotropic phase separation. When the constraint tends to trigger, the controller (16) reduces The growth rate is increased and the bypass damping strength is increased simultaneously.

7. A multifunctional hydroseeding device for vegetation restoration on mining slopes according to claim 6, characterized in that: Step S3 further includes active damping control of the pulse diagnostic valve (14), specifically: S3-4, Bypass Duty Cycle Definition: The pulse diagnostic valve (14) is used as an active damping valve during the startup phase, and its duty cycle control quantity is defined. And the range of values ​​is Used to characterize the unit duty cycle period Percentage of internal valve conduction time; S3-5, Damping strength calculation: Controller (16) based on state discrimination quantity Set damping target And based on the variance of the remote pressure fluctuation Adjust duty cycle ,in In the sliding window Internally The sampled values ​​relative to the window mean The average of the squared deviations is used to calculate the variance of the pressure fluctuation. As a reference variance constant, To and The positively correlated damping coefficient is used to increase the bypass conduction ratio when the fluctuation is enhanced, so that the bypass branch generates equivalent damping and dissipates transient energy through the bypass throttling device (15). S3-6, Damping effect description: The active damping reduces the reflection amplitude formed in the main delivery hose (4) by establishing an adjustable discharge channel between the outlet of the main pump (3) and the return pipeline (7), thereby reducing the probability of local peak pressure and end pressure collapse.

8. A multifunctional hydroseeding device for vegetation restoration on mining slopes according to claim 7, characterized in that: Steps S4 and S5 include the following sub-steps: S4-1, Degassing Trigger Criterion: When the air bag index meets the following conditions... The degassing window is triggered at certain times, in which This is the gas accumulation risk threshold constant; this criterion is used to identify compressibility anomalies and prioritize degassing before entering the spraying switch. S4-2, Degassing Window Execution: During the degassing window duration Inside, the controller (16) keeps the nozzle valve (5) closed and sets the reflux switching control amount. At the same time, with duty cycle The drive pulse diagnostic valve (14) generates a perturbation to cause the bubbles to break and flow back into the membrane degasser (9) to complete the gas stripping; S5-1, Blockage Core Trend Identification: During the stable spraying phase, the controller (16) identifies the high-frequency component of the remote pressure. Calculate energy index ,in As the starting point of the window, for The component obtained by subtracting its low-pass filter component, with the filter cutoff frequency being a preset constant. The length of the sliding window. Used to characterize the enhanced high-frequency disturbances caused by nozzle end bridging and blockage nucleus formation; S5-2, Decoupling Disturbance Execution: When At that time, the controller (16) increases the recirculation switching control quantity without closing the nozzle valve (5). Simultaneously increase the active damping duty cycle. Improve time control to the preset time. Internally, this allows the remote energy storage device (13) to participate in pressure redistribution and form end-point disturbance decoupling; whereby The threshold constant for the blockage core trend; decoupling is used to break up the bridging and restore jet continuity, while avoiding the re-accumulation of gas and water hammer caused by forced shutdown.

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