A method, system, device and storage medium for stope filling

Abstract

The application relates to the technical field of mine filling, and provides a stope filling method, a system, equipment and a storage medium, which comprise the following steps: obtaining accumulation form data of filling slurry in a stope empty area; determining a slurry accumulation height difference between a current discharging point and a surrounding area based on the accumulation form data; triggering a discharging point switching instruction to switch the filling slurry to a target discharging point in response to the slurry accumulation height difference reaching a preset threshold value; and absorbing pressure fluctuation of a filling pipeline by using a fluid isolation buffer device and synchronously cleaning the cut-off filling pipeline by using cleaning fluid in the fluid isolation buffer device in the process of executing the discharging point switching instruction. The application realizes homogeneous filling and synchronous pipeline cleaning in the uninterrupted discharging process, and improves the filling efficiency and quality.

Description

Technical Field

[0001] This application relates to the field of mine backfilling technology, specifically to a mine backfilling method, system and storage medium. Background Technology

[0002] Currently, in the field of underground mining, with the continuous expansion of stope structural parameters, the efficiency and quality of backfilling operations are crucial to mine productivity and safety. Existing backfilling methods mainly include single-point and multi-point backfilling. In single-point backfilling, due to the poor flowability of paste-based backfill slurry, large accumulation slopes are easily formed in large-structure stopes. This causes water in the slurry to accelerate its precipitation outwards due to pressure differential, carrying away fine cement particles and resulting in water accumulation and slurry segregation, severely affecting the homogeneity and top formation rate of the backfill. While multi-point backfilling controls the accumulation height difference to some extent, switching backfilling points usually requires the surface backfilling station to shut down and undergo a complete pipe-washing process. Large amounts of flushing water entering the stope dilute the backfill slurry concentration, creating weak areas within the backfill. Furthermore, frequent shutdowns and switching not only increase manual labor intensity but also reduce the continuity and efficiency of backfilling operations. Summary of the Invention

[0003] In view of the technical problems existing in the background art, this application realizes homogeneous filling and synchronous pipeline cleaning during the uninterrupted material feeding process through a mining area filling method, system, equipment and storage medium, thereby improving filling efficiency and quality.

[0004] To achieve the above objectives, this application adopts the following technical solution: In a first aspect, embodiments of this application provide a stope backfilling method, comprising: acquiring data on the accumulation morphology of backfill slurry in a stope void; determining the slurry accumulation height difference between the current discharge point and the surrounding area based on the accumulation morphology data; triggering a discharge point switching command in response to the slurry accumulation height difference reaching a preset threshold, so as to switch the backfill slurry to a target discharge point; during the execution of the discharge point switching command, using a fluid isolation buffer device to absorb pressure fluctuations in the backfilling pipeline, and using the cleaning fluid in the fluid isolation buffer device to synchronously clean the cut-off backfilling pipeline.

[0005] Furthermore, the step of obtaining the accumulation morphology data of the filling slurry in the stope void includes: obtaining the elevation data of the slurry surface in the stope void and constructing a three-dimensional model of the slurry accumulation; the step of determining the slurry accumulation height difference between the current discharge point and the surrounding area based on the accumulation morphology data includes: calculating the height difference between the current discharge point position and the farthest lowest point of the slurry flow based on the three-dimensional model of the slurry accumulation, as the slurry accumulation height difference.

[0006] Furthermore, the fluid isolation buffer device is equipped with a movable separator that physically isolates the filling slurry from the cleaning fluid. The absorption of pressure fluctuations in the filling pipeline using the fluid isolation buffer device includes: when switching the discharge point, the feed rate of the filling slurry is greater than the discharge rate, pushing the separator to move and absorb the pressure fluctuations in the filling pipeline. The synchronous cleaning of the cut-off filling pipeline using the cleaning fluid in the fluid isolation buffer device includes: simultaneously triggering the discharge point switching command and opening a cleaning branch connected to the cut-off filling pipeline, allowing the cleaning fluid to flow into the cut-off filling pipeline for flushing; wherein the cleaning fluid in the cleaning branch does not enter the stope void.

[0007] Furthermore, the preset threshold is determined based on the flow slope angle of the filling slurry and the coverage area of ​​a single discharge point; when the slurry accumulation height difference satisfy The feeding point switching command is triggered at the time, wherein The critical height difference is to avoid slurry bleeding and segregation.

[0008] To achieve the above objectives, in a first aspect, embodiments of this application provide a method for backfilling a stope. Further, in some embodiments, the method further includes: injecting the cleaning fluid into the fluid isolation buffer device via a variable frequency pipeline pump; and adjusting the frequency of the variable frequency pipeline pump during the switching of the discharge point to match the pressure on the cleaning fluid side with the pressure on the backfill slurry side, thereby maintaining the dynamic balance of the separator.

[0009] Furthermore, the coverage area of ​​a single feeding point is The material feeding point is located at the center of the coverage area; the filling sequence is dynamically selected based on the elevation difference of each area, and sequential filling or random selection of areas that meet the preset threshold are used for filling.

[0010] Furthermore, this application also provides a stope filling system, comprising: a fluid isolation buffer device configured to receive filling slurry and cleaning fluid, and to absorb pressure fluctuations in the filling pipeline and provide the cleaning fluid during the switching of the discharge point; a multi-channel switching valve, the inlet of which is fluidly connected to the fluid isolation buffer device and the outlet of which is connected to multiple filling pipelines, configured to switch the filling slurry to the target filling pipeline according to a switching command; a scanning module configured to acquire data on the accumulation morphology of the filling slurry in the stope void; and a control module communicatively connected to the scanning module, the fluid isolation buffer device, and the multi-channel switching valve, configured to: determine the slurry accumulation height difference between the current discharge point and the surrounding area based on the accumulation morphology data; trigger the switching command to control the multi-channel switching valve to perform discharge point switching in response to the slurry accumulation height difference reaching a preset threshold; and control the fluid isolation buffer device to synchronously clean the cut-off filling pipeline using the cleaning fluid during the execution of the switching command.

[0011] Secondly, this application also provides a stope filling system, comprising: a fluid isolation buffer device for receiving filling slurry and cleaning fluid, and absorbing pressure fluctuations in the filling pipeline and providing the cleaning fluid during the switching of the discharge point; a multi-channel switching valve, the inlet of which is fluidly connected to the fluid isolation buffer device and the outlet of which is connected to multiple filling pipelines, for switching the filling slurry to the target filling pipeline according to a switching command; a scanning module for acquiring data on the accumulation morphology of the filling slurry in the stope void; and a control module, which is communicatively connected to the scanning module, the fluid isolation buffer device, and the multi-channel switching valve, for: determining the slurry accumulation height difference between the current discharge point and the surrounding area based on the accumulation morphology data; triggering the switching command to control the multi-channel switching valve to perform discharge point switching in response to the slurry accumulation height difference reaching a preset threshold; and controlling the fluid isolation buffer device to synchronously clean the cut-off filling pipeline using the cleaning fluid during the execution of the switching command.

[0012] Furthermore, the fluid isolation buffer device includes a water storage chamber, a material storage chamber, and a movable partition plate located between the two. The water storage chamber is connected to an inlet pipe and an outlet pipe. A first check valve is provided on the inlet pipe, and a second check valve and an electric ball valve assembly are provided on the outlet pipe. The outlet of the material storage chamber is connected to the inlet of the multi-channel switching valve. The multi-channel switching valve includes an S-tube, a driving device, a cutting ring sealing plate, and a porous wear-resistant plate. The driving device drives the S-tube and the cutting ring sealing plate to rotate, so that the cutting ring sealing plate connects with different holes on the porous wear-resistant plate to realize multi-channel switching.

[0013] Thirdly, this application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the mining area filling method as described above.

[0014] Fourthly, this application also provides a stope filling computer device, including: a memory, a processor, and a computer program stored in the memory, wherein the processor executes the computer program to implement the steps of the stope filling method as described above.

[0015] The beneficial technical effects of this application are as follows: The technical solution provided in this application obtains the accumulation morphology data of the filling slurry in the stope void and determines the slurry accumulation height difference accordingly. When the height difference reaches a preset threshold, the feeding point switching is automatically triggered, which controls the accumulation slope angle of the slurry in the stope, reduces the rapid precipitation of water and slurry segregation caused by excessive local accumulation, and improves the homogeneity of the filling body. At the same time, during the feeding point switching process, the fluid isolation buffer device absorbs the pressure fluctuation of the filling pipeline, effectively alleviates the water hammer effect during high pressure pipeline switching, and protects the system safety. More importantly, the device uses the cleaning fluid to simultaneously clean the cut-off filling pipes, allowing the pipe cleaning and material feeding switching to be performed in parallel without the need to shut down the surface filling station. This reduces the problem of large amounts of flushing water entering the mining area and diluting the slurry due to pipe cleaning during shutdowns in traditional processes. It achieves homogeneous filling and simultaneous pipe cleaning during uninterrupted material feeding, improving filling efficiency and quality.

[0016] The above description is merely an overview of the technical solution of this application. In order to better understand the technical means of this application and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this application more obvious and understandable, specific embodiments of this application are given below. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of this application, the accompanying drawings used in this application will be briefly described below. Obviously, the drawings described below are merely some embodiments of this application. For those skilled in the art, other drawings can be obtained from these drawings without any creative effort.

[0018] Figure 1 This is a schematic diagram of the mining area filling method used in this application; Figure 2 This is a flowchart illustrating sub-step S100 in the figures of this application; Figure 3 This is a flowchart illustrating sub-step S300 in the figures of this application; Figure 4This is a flowchart illustrating sub-step S400 in the figures of this application; Figure 5 This is a flowchart illustrating sub-step S500 in the figures of this application; Figure 6 This is a cross-sectional schematic diagram of the layout of the filling and unloading points and pipeline connections in the mining area according to an embodiment of this application; Figure 7 Examples of embodiments of this application Figure 6 Schematic diagram of the AA cross-sectional structure of the stope filling system; Figure 8 Examples of embodiments of this application Figure 6 Schematic diagram of the BB cross-sectional structure of the stope filling system; Figure 9 Examples of embodiments of this application Figure 6 Schematic diagram of the CC cross-section structure of the stope backfilling system; Figure 10 This is a system flowchart of an embodiment of this application; Figure 11 This is a schematic diagram of the integrated high-pressure valve structure in an embodiment of this application; Figure 12 This is a schematic diagram of the drive device structure in an embodiment of this application; Figure 13 This is a schematic diagram of the cutting ring sealing plate structure in an embodiment of this application; Figure 14 This is a schematic diagram of the filling process in an embodiment of this application.

[0019] Explanation of reference numerals in the attached figures: 1. Feed pipe; 2. Transfer buffer water supply integrated tank; 201. Water storage chamber; 202. Movable partition plate; 203. Material storage chamber; 3. Pipeline pump; 4. Water inlet pipe; 5. Integrated high-pressure valve; 501. S-tube; 502. Rubber spring; 503. Cutting ring sealing plate; 504. Porous wear-resistant plate; 505. Device housing; 506. Drive device; 50601. Hydraulic cylinder; 50602. Fixed pawl; 50 603. Rack and pinion; 50604. Gear rocker mechanism; 50605. Ratchet; 50606. Moving pawl; 6. Main roadway; 8. Feeding point; 9. Filling pipe; 10. Laser scanner; 11. Upper middle section; 12. Mine roof pillar; 13. Filling slurry; 14. Upper filling body; 15. Footing surrounding rock; 16. First check valve; 17. Water outlet pipe; 18. Second check valve; 19. Electric ball valve assembly. Detailed Implementation

[0020] The embodiments of the technical solution of this application will now be described in detail with reference to the accompanying drawings. These embodiments are only used to more clearly illustrate the technical solution of this application and are therefore merely examples, and should not be used to limit the scope of protection of this application.

[0021] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the application; the terms “comprising” and “having”, and any variations thereof, in the specification, claims, and foregoing description of the drawings are intended to cover non-exclusive inclusion.

[0022] In the description of the embodiments of this application, technical terms such as "first" and "second" are used only to distinguish different objects and should not be construed as indicating or implying relative importance or implicitly specifying the number, specific order, or primary and secondary relationship of the indicated technical features. In the description of the embodiments of this application, "multiple" means two or more, unless otherwise explicitly defined.

[0023] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0024] In the description of the embodiments in this application, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this document generally indicates that the preceding and following related objects have an "or" relationship.

[0025] In the description of the embodiments of this application, the term "multiple" refers to two or more (including two), similarly, "multiple sets" refers to two or more (including two sets), and "multiple pieces" refers to two or more (including two pieces).

[0026] In the description of the embodiments of this application, the technical terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of this application and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this application.

[0027] In the description of the embodiments of this application, unless otherwise expressly specified and limited, technical terms such as "installation," "connection," "joining," and "fixing" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. For those skilled in the art, the specific meaning of the above terms in the embodiments of this application can be understood according to the specific circumstances.

[0028] Currently, in the field of underground mining, with the continuous expansion of stope structural parameters, the efficiency and quality of backfilling operations are crucial to mine productivity and safety. Existing backfilling methods mainly include single-point and multi-point backfilling. In single-point backfilling, due to the poor flowability of paste-based backfill slurry, large accumulation slopes are easily formed in large-structure stopes. This causes water in the slurry to accelerate its precipitation outwards due to pressure differential, carrying away fine cement particles and resulting in water accumulation and slurry segregation, severely affecting the homogeneity and top formation rate of the backfill. While multi-point backfilling controls the accumulation height difference to some extent, switching backfilling points usually requires the surface backfilling station to shut down and undergo a complete pipe-washing process. Large amounts of flushing water entering the stope dilute the backfill slurry concentration, creating weak areas within the backfill. Furthermore, frequent shutdowns and switching not only increase manual labor intensity but also reduce the continuity and efficiency of backfilling operations.

[0029] To solve the above technical problems, such as Figure 1 As shown, this application provides a stope backfilling method, system, equipment, and storage medium. The stope backfilling method includes the following steps: Step S100: Obtain the accumulation morphology data of the filling slurry in the stope void.

[0030] Step S200: Based on the accumulation morphology data, determine the slurry accumulation height difference between the current feeding point and the surrounding area.

[0031] In step S300, in response to the slurry accumulation height difference reaching a preset threshold, a discharge point switching command is triggered to switch the filling slurry to the target discharge point.

[0032] In step S400, during the execution of the material feeding point switching command, the pressure fluctuation of the filling pipe is absorbed by the fluid isolation buffer device, and the cleaning fluid in the fluid isolation buffer device is used to synchronously clean the cut-off filling pipe.

[0033] Step S500: Determine the coverage area and layout of a single material feeding point, and dynamically select the filling sequence based on the elevation difference of each area.

[0034] Specifically, in step S100, the morphological data refers to a set of information that characterizes the three-dimensional spatial distribution of the filling slurry within the stope void. In this embodiment, the method of acquiring the morphological data is not limited to specific sensing devices, as long as it can reflect the undulation of the slurry surface. For example, a laser scanner can be used to scan the slurry surface in real time to obtain point cloud data, millimeter-wave radar can be used to penetrate the dusty environment to obtain elevation information, or multiple depth sensor arrays arranged on the top of the stope can be used to fit the slurry surface. It should be understood that regardless of the sensing method used, the core purpose is to transform the invisible slurry accumulation state within the stope into digital information that can be processed by the control system, providing a data foundation for subsequent accurate decision-making.

[0035] In step S200, the slurry accumulation height difference is a key indicator for assessing the risk of backfill quality. Because paste-based backfill slurry has a certain angle of repose and fluidity limitations, if the slurry accumulation height at the current discharge point is significantly higher than the surrounding area, especially higher than the farthest lowest point of slurry flow, an excessive slope will be formed. Under such a large slope, the water inside the slurry will migrate rapidly to lower areas due to the gravitational pressure difference, carrying away fine cement particles, thus leading to severe bleeding and segregation.

[0036] Therefore, this step processes the accumulation morphology data to quantitatively calculate the vertical height difference between the current feeding point and the surrounding area within its influence range (preferably the lowest point of the flow front). This height difference directly reflects the filling uniformity and potential segregation risk level of the current area.

[0037] In step S300, the preset threshold is a safety critical value pre-set based on the rheological properties of the filling slurry, stope structural parameters, and filling quality standards. When the monitored slurry accumulation height difference approaches or reaches this threshold, it means that continued filling at the current discharge point is highly likely to lead to segregation or uneven strength of the filling body. At this time, the system automatically triggers a discharge point switching command, controlling the pipeline switching device to transfer the slurry flow from the current discharge point to another target discharge point with lower slurry accumulation. This changes the blindness of traditional fixed-point or timed filling, realizes adaptive adjustment of the filling process, effectively ensures the relative balance of slurry accumulation height in various areas of the stope, thereby reducing quality problems caused by excessive local accumulation.

[0038] In step S400, in traditional filling processes, switching the feed point usually involves shutdown and pipe flushing, which not only interrupts production continuity but also dilutes the slurry concentration due to the large amount of flushing water entering the stope. In this embodiment, a fluid isolation buffer device is introduced as a crucial intermediate buffer and functional carrier. This device is configured to physically isolate the filling slurry from the cleaning fluid, while functionally integrating pressure buffering and cleaning supply.

[0039] At the moment of executing the switching command, pressure fluctuations or even water hammer effects inevitably occur in the filling pipeline due to valve action or changes in flow path. At this time, the fluid isolation buffer device actively absorbs this transient pressure energy through the volume change of its internal movable partition or elastic buffer cavity, thereby protecting downstream pipelines and valves from impact damage and maintaining the relative stability of system pressure.

[0040] Simultaneously, the pre-stored or dynamically generated cleaning fluid in the fluid isolation buffer device is used to flush the section of the filling pipeline that has just been cut off and stopped from conveying slurry. The term "synchronous cleaning" here has two meanings: first, temporal parallelism, meaning the cleaning process overlaps or is closely linked to the switching process in time, without waiting for the filling system to completely shut down before starting the cleaning procedure; second, functional synergy, as the release of cleaning fluid is often associated with a pressure buffering process, for example, using the fluid discharged during the buffering process as the cleaning medium, or using the pressure difference during switching to drive the flow of cleaning fluid. More importantly, because cleaning only targets the short-distance end of the cut-off pipeline, and the cleaning fluid is provided independently by the isolation device, it effectively prevents cleaning water from mixing into the filling voids in the stope, completely solving the industry problem of pipe-washing water diluting the slurry.

[0041] Through closed-loop control in steps S100 to S400, this embodiment constructs a filling method that can intelligently sense and regulate the slurry accumulation state, and safely switch and clean the pipeline without stopping the machine. This method not only improves the continuity and efficiency of filling operations, but also enhances the overall homogeneity and mechanical properties of the filling body in large-structure stopes by eliminating the risk of segregation and reducing moisture intrusion, providing reliable technical support for safe mine production.

[0042] In some embodiments, in order to more accurately quantify the filling status and guide switching decisions, data on the accumulation morphology of the filling slurry in the stope void is obtained, including: obtaining elevation data of the slurry surface in the stope void and constructing a three-dimensional model of the slurry accumulation; based on the accumulation morphology data, determining the slurry accumulation height difference between the current discharge point and the surrounding area, including: based on the three-dimensional model of the slurry accumulation, calculating the height difference between the current discharge point and the farthest and lowest point of the slurry flow, as the slurry accumulation height difference.

[0043] Specifically, such as Figure 6 and Figure 7As shown, a laser scanner 10 is positioned at a suitable location on the top or upper middle section 11 of the stope. This laser scanner 10 projects a scanning line downwards in real time, penetrating the dusty environment to acquire high-density point cloud data of the surface of the filling slurry 13. After receiving this elevation data, the control system constructs a three-dimensional model of the slurry accumulation that reflects the actual state of the slurry through a surface fitting algorithm. Unlike traditional single-point ranging or two-dimensional profile monitoring, the three-dimensional model can completely restore the spatial topology of the slurry within the stope, especially identifying the boundaries and trends of slurry flow. Based on this, the system automatically extracts the coordinates of the current feeding point 8 and its corresponding material surface elevation, while simultaneously searching and locating the farthest and lowest point of slurry flow within the influence range of this feeding point in the three-dimensional model. The vertical height difference between these two points is defined as the slurry accumulation height difference. The reason for choosing the "farthest and lowest point of flow" as the calculation benchmark is that, according to the principles of fluid mechanics, during the paste filling process, the water inside the slurry always tends to migrate to the point of lowest potential energy. This point is the terminal position of water accumulation and pressure difference-driven bleeding. Therefore, the height difference between this point and the discharge point best characterizes the segregation risk level of the current filling area.

[0044] Furthermore, such as Figure 3 As shown, the preset threshold is determined based on the flow slope angle of the filling slurry and the coverage area of ​​a single discharge point; when the slurry accumulation height difference satisfy The feeding point switching command is triggered at the time, where The critical height difference is to avoid slurry bleeding and segregation.

[0045] Understandable, It is not a fixed empirical constant, but a dynamic physical quantity that is strongly correlated with the rheological properties of the slurry and the geometric parameters of the stope. When the filling slurry is statically piled up, it will form a natural angle of repose (i.e., flow slope angle). If the artificially controlled pile height difference exceeds the limit value of this slope angle allowed under a specific cover radius, the slurry surface will form an excessively steep slope, leading to an imbalance of internal pore water pressure.

[0046] In one specific embodiment, such as Figure 5 As shown, for a homogeneous paste-like filling slurry with a slump of 25cm-27cm, its flow slope angle is approximately 8°. When the coverage area of ​​a single discharge point 8 is designed to be 150-200m² (e.g., the length and width of the coverage area are 15-20m × 7-10m) and the discharge point is located at the center of the area, based on engineering verification and theoretical derivation, the critical height difference to avoid slurry bleeding and segregation is... The preferred setting is 0.7m-1.4m, and the maximum should not exceed 2m under certain relaxed working conditions.

[0047] This setup, through strict threshold control, establishes a proactive defense mechanism for filling quality. If the slurry accumulation height difference... More than the above When the slope angle of the slurry exceeds a certain threshold (e.g., exceeding 2m), it will be significantly greater than its natural angle of repose. Gravity will drive water to rapidly segregate outwards along the slope, not only carrying away fine cement particles and causing loss of binding material, but also creating water-rich, weak zones in low-lying areas. During the next backfilling, this accumulated water will dilute the newly injected slurry, triggering a chain reaction of segregation effects, and in severe cases, potentially creating a debris flow hazard within the mining area. Conversely, if the slope angle is not significantly lower than the threshold (e.g., exceeding 2m), the slurry slope angle will be significantly lower than its natural angle of repose. Gravity will then drive water to rapidly segregate outwards, not only carrying away fine cement particles and causing loss of binding material, but also creating water-rich, weak zones in low-lying areas. During the next backfilling, this water will dilute the newly injected slurry, triggering a chain reaction of segregation effects, and in severe cases, potentially creating a debris flow hazard within the mining area. Strictly controlled at Within this range, the slurry can be kept in a stable self-leveling state, and the water migration rate is limited to a safe range, thus fundamentally ensuring the overall homogeneity and mechanical strength of the filling body. This parameterized control strategy based on physical mechanisms has significant scientific merit and reliability compared to traditional methods that rely on manual experience or fixed-time switching.

[0048] In some embodiments, such as Figure 4 As shown, in order to balance pipeline safety and filling quality during uninterrupted filling, the fluid isolation buffer device is equipped with a movable separator that physically isolates the filling slurry from the cleaning fluid.

[0049] Specifically, combined Figure 10 In a specific implementation, the fluid isolation buffer device can be represented as a transfer buffer water supply integrated tank 2, whose internal space is divided into an independent water storage chamber 201 and a material storage chamber 203 by a movable partition plate 202. The movable partition plate 202, as a movable separator, not only acts as a physical barrier to prevent the cleaning fluid (usually water) from mixing and diluting with the filling slurry, but also forms a variable-volume buffer interface. It should be understood that although this embodiment uses a plate-type separator as an example, in other embodiments, flexible bags, pistons, or other structural forms that can adapt to pressure changes and achieve fluid isolation can also be used, as long as independent containment and pressure transmission of the two media can be achieved.

[0050] During the switching of the feeding point, the specific mechanism of absorbing the pressure fluctuations in the filling pipeline using the fluid isolation buffer device is as follows: when switching the feeding point, the feed rate of the filling slurry is greater than the discharge rate, which pushes the separator to move in order to absorb the pressure fluctuations in the filling pipeline.

[0051] Specifically, when the multi-channel switching valve performs its reversing action, the downstream discharge flow rate will momentarily decrease or even drop to zero due to the brief closure or throttling of the valve flow channel, while the upstream feed pipe 1 continues to deliver slurry to the storage chamber 203. This instantaneous flow imbalance forces the slurry volume in the storage chamber 203 to increase, thereby pushing the movable partition plate 202 to shift towards the water storage chamber 201. The displacement of the movable partition plate 202 essentially converts the high-pressure kinetic energy generated by the water hammer effect in the pipeline into the mechanical potential energy of the partition and the compressibility energy of the cleaning fluid in the water storage chamber 201. Through this volume compensation mechanism, the system can effectively reduce peak and valley loads, reduce the direct impact of high-pressure shock waves on the valve sealing surface or downstream pipeline, thereby protecting equipment safety and maintaining the continuity of system pressure.

[0052] Furthermore, such as Figure 4 As shown, the specific process of synchronously cleaning the cut-off filling pipe using the cleaning fluid in the fluid isolation buffer device includes: after the switching is completed, the cut-off filling pipe is flushed with the cleaning fluid.

[0053] More specifically, upon triggering the material feeding point switching command, the cleaning branch connected to the cut-off filling pipe is opened, allowing cleaning fluid to flow into the cut-off filling pipe for flushing; however, the cleaning fluid from the cleaning branch does not enter the stope void, combined with... Figure 10 As the integrated high-pressure valve 5 completes the channel switching and the original filling pipe 9 is cut off to stop slurry feeding, the control system immediately opens the electric ball valve assembly 19 on the water outlet pipe 17 connected to the filling pipe 9. At this time, the cleaning fluid stored in the water storage chamber 201, driven by the pressure provided by the pipeline pump 3, flows through the water outlet pipe 17, the second check valve 18, and the electric ball valve assembly 19 into the just-cut filling pipe 9 for flushing. Since the cleaning branch is a dedicated circuit independent of the main feeding channel, and flushing is only performed on the end short pipe during or after the switching interval, the cleaning fluid will not enter the stope void with the slurry, completely avoiding the dilution of the filling material concentration by the pipe washing water.

[0054] With this configuration, this embodiment combines physical isolation structure with timing control. On the one hand, the dynamic response of the movable partition plate 202 solves the water hammer protection problem during high-pressure pipeline switching, making the system robust enough to withstand frequent switching impacts. On the other hand, synchronous cleaning using cleaning fluid stored in isolation within the same device not only achieves seamless connection of filling operations in the time dimension, improving the filling efficiency of large-structure mining areas, but also eliminates the risk of external water intrusion into the mining area in the quality dimension, ensuring the homogeneity and mechanical properties of the filling body.

[0055] It is understandable that synchronization does not strictly mean that two actions occur within the same millisecond, but rather that the cleaning process is embedded within the timing window of the switching operation, without the need for additional downtime, thus exhibiting the characteristics of parallel processing in the macroscopic process flow.

[0056] In some embodiments, such as Figure 4 As shown, in order to further improve the operational stability of the system under complex working conditions, the method also includes: injecting cleaning fluid into the fluid isolation buffer device through a variable frequency pipeline pump; and adjusting the frequency of the variable frequency pipeline pump during the switching of the feeding point so that the pressure on the cleaning fluid side matches the pressure on the filling slurry side, so as to maintain the dynamic balance of the separator.

[0057] Specifically, such as Figure 10 As shown, the variable frequency pipeline pump 3 is connected to the water storage chamber 201 of the fluid isolation buffer device through the water inlet pipe 4. A first check valve 16 is provided on the water inlet pipe 4 to prevent backflow. Based on the passive volume buffering mechanism described in Embodiment 3, this embodiment introduces an active pressure matching control strategy. Although the movable partition plate 202 can absorb instantaneous pressure fluctuations through its own displacement, if there is a lack of active cooperation from external pressure, under conditions of long-term continuous switching or severe fluctuations in upstream material pressure, the partition may experience mechanical jamming, sealing surface wear, or even structural damage due to excessive pressure difference between the two sides.

[0058] For example, when the multi-channel switching valve performs a reversing action, causing the downstream flow resistance to increase instantaneously, the slurry pressure in the storage chamber 203 will rise sharply. If the water pressure in the water storage chamber 201 cannot increase synchronously at this time, the huge pressure difference will force the moving partition plate 202 to move rapidly to the side of the water storage chamber until the limit position. This will not only generate a strong mechanical impact, but may also cause negative pressure cavitation to form on the cleaning fluid side, affecting the subsequent cleaning effect.

[0059] To address the aforementioned issues, the control system is configured to monitor or predict the pressure change trend on the filling slurry side in real time during the switching of the feeding point, and dynamically adjust the operating frequency of the variable frequency pipeline pump 3 accordingly. When an increase in the filling slurry side pressure is detected due to the switching operation, the control system immediately increases the frequency of the variable frequency pipeline pump 3, increasing the flow rate and pressure of the cleaning fluid injected into the water storage chamber 201. This ensures that the pressure on the cleaning fluid side closely follows the pressure change on the filling slurry side, thereby establishing a relatively balanced force state on both sides of the movable partition plate 202. Conversely, when the filling slurry side pressure drops, the pump frequency is reduced accordingly to prevent excessive water pressure from causing reverse compression of the slurry. This active pressure matching mechanism essentially transforms the movable partition plate 202 from a passive element that simply bears the pressure difference into an actuator that moves smoothly in a controlled force field. This significantly reduces frictional losses and impact loads during its movement, extends the service life of key components, and ensures the continuous effectiveness of the pressure stabilization and buffering function.

[0060] Understandably, the methods for achieving dynamic pressure matching are not limited to closed-loop feedback control based on real-time pressure sensors.

[0061] In other alternative implementations, a pressure response curve can be pre-established based on the action sequence of the multi-channel switching valve and known pipeline characteristics, and the frequency of the variable frequency pipeline pump 3 can be adjusted using feedforward control or open-loop program control. For example, while issuing the switching command, the variable frequency pipeline pump 3 can be driven directly according to the preset pressure increase-pressure holding-pressure decrease curve. This method has low sensor dependence, faster response speed, and is suitable for filling operation scenarios with relatively stable and regular operating conditions. Regardless of the specific control strategy adopted, the core purpose is to actively intervene in the pressure output of the cleaning fluid side to counteract the pressure disturbance on the filling slurry side, ensuring that the separator is always in a safe and stable dynamic equilibrium operating range, thereby providing double safety assurance for the uninterrupted filling process.

[0062] Furthermore, this application provides a stope filling system, which constitutes the hardware foundation and physical carrier for implementing the aforementioned stope filling method. The stope filling system mainly includes a fluid isolation buffer device, a multi-channel switching valve, a scanning module, and a control module.

[0063] The fluid isolation buffer device is configured to receive filling slurry and cleaning fluid, and absorb pressure fluctuations in the filling pipeline and provide cleaning fluid during the switching of the discharge point. Specifically, at the system architecture level, the fluid isolation buffer device acts as an intelligent buffer hub between the upstream delivery network and the downstream distribution network. It is not just a simple container, but a composite unit integrating pressure management and media supply functions. In the fluid communication path, the inlet of the device is connected to the slurry delivery pipeline from the surface or underground, and the outlet is connected to the inlet of the multi-channel switching valve. Its internal cleaning fluid chamber is also connected to each filling pipeline through independent cleaning branches. This connection ensures that the slurry can pass smoothly during normal filling, while during switching conditions, the device can use the internally stored cleaning fluid to flush the cut-off pipeline, and at the same time use its own variable volume characteristics or elastic elements to smooth the pressure shock in the pipeline. It is understood that although the specific structural form including water storage chamber, material storage chamber and movable partition plate was mentioned in the previous embodiments, in this system embodiment, the protection scope of the fluid isolation buffer device should not be limited to this specific mechanical structure. Any device that can realize the isolation storage of slurry and cleaning fluid and has the dual functions of pressure buffering and cleaning supply is within the protection scope of this application, such as the structure of a combination of air bladder accumulator and independent water tank, or the structure of double piston cylinders in series, etc.

[0064] The inlet of the multi-channel switching valve is in fluid communication with the fluid isolation buffer device, and the outlet is connected to multiple filling pipes. It is configured to switch the filling slurry to the target filling pipe according to the switching command.

[0065] Specifically, multi-channel switching valves are key actuators in the system that distribute material flow. For example... Figure 6 As shown, it is located within the main roadway 6, which is situated on the footwall surrounding rock 15 and downstream of the fluid isolation buffer device. The valve has a common inlet and multiple independent outlets, each extending via a flexible or rigid pipe to a different unloading point 8 within the stope goaf.

[0066] Upon receiving a switching command from the control module, the multi-channel switching valve can quickly and securely switch the slurry flow path from the current filling pipe to the target filling pipe without interrupting the upstream slurry supply. This dynamic switching capability under high pressure is the physical prerequisite for achieving uninterrupted filling in large-structure mining areas.

[0067] For example, a multi-channel switching valve can adopt a rotary valve core structure, a sliding valve plate structure, or a multi-way ball valve structure, as long as it meets the functional requirements of high-pressure sealing and multi-channel selective conduction.

[0068] The scanning module is configured to acquire data on the morphological distribution of filling slurry in the stope voids. Specifically, the scanning module is the sensing front end of the system.

[0069] like Figure 7 , Figure 8 as well as Figure 9 As shown, the scanning module is typically installed in the upper middle section 11 of the top of the stope or below the stope pillar 12, facing the filling face. The data it collects is the basic input for the control module to make decisions.

[0070] In this system embodiment, in addition to the laser scanner 10 mentioned above, the scanning module can also be a millimeter-wave radar, an ultrasonic array sensor, a binocular stereo vision camera, or other sensing devices capable of acquiring spatial elevation information. Regardless of the hardware form used, the goal is to transform the unstructured slurry accumulation state within the mining area into digital morphological data, providing real-time basis for subsequent elevation difference calculations and switching decisions.

[0071] The control module is communicatively connected to the scanning module, the fluid isolation buffer device, and the multi-channel switching valve. It is configured to: determine the slurry accumulation height difference between the current feeding point and the surrounding area based on accumulation morphology data; trigger a switching command to control the multi-channel switching valve to switch the feeding point when the slurry accumulation height difference reaches a preset threshold; and control the fluid isolation buffer device to synchronously clean the cut-off filling pipe using cleaning fluid during the switching command execution. Specifically, in the signal connection path, the control module receives the accumulation morphology data uploaded by the scanning module via a wired or wireless communication network, processes it through an internal algorithm to generate control commands, and sends them to the drive mechanism of the multi-channel switching valve and the relevant valves or pump groups of the fluid isolation buffer device.

[0072] It is understood that communication connections include, but are not limited to, industrial Ethernet, fieldbus, fiber optic communication, or wireless radio frequency transmission.

[0073] More importantly, the control module is configured to execute a complete closed-loop control logic: first, it processes the sensed data to quantify the accumulation height difference; then, it determines whether to trigger a switch based on a preset strategy; and finally, it coordinates the cleaning process while issuing the switch action. Through deep coupling of hardware and software, the system becomes an organic whole with adaptive adjustment capabilities.

[0074] For example, the control module can be a dedicated PLC controller, industrial computer, embedded computing unit or cloud server, which stores the computer program that implements the above logic.

[0075] With this configuration, the control module integrates discrete hardware entities into a collaborative intelligent system, ensuring that the slurry accumulation pattern can be precisely controlled to avoid segregation during continuous filling, while also safely and efficiently completing pipeline switching and cleaning, thus fully supporting the implementation of the technical solution of this application.

[0076] In some embodiments, see Figure 10 In order to provide specific physical implementation support for each functional module in the aforementioned system embodiments, the fluid isolation buffer device includes a water storage chamber 201, a material storage chamber 203, and a movable partition plate 202 located between the two. The water storage chamber 201 is connected to an inlet pipe 4 and an outlet pipe 17. A first check valve 16 is provided on the inlet pipe 4, and a second check valve 18 and an electric ball valve group 19 are provided on the outlet pipe 17. The outlet of the material storage chamber 203 is connected to the inlet of a multi-channel switching valve.

[0077] Specifically, combined Figure 2 and Figure 10As shown, the integrated water supply and transfer buffer tank 2, as a preferred specific structure of the fluid isolation buffer device, is spatially divided into an independent water storage chamber 201 and a material storage chamber 203 by a movable partition plate 202. The movable partition plate 202 not only physically isolates the cleaning fluid from the filling slurry, but also slides freely along the axial direction of the tank under the pressure difference on both sides, thereby changing the volume ratio of the two chambers. In terms of fluid connection, the inlet pipe 4 introduces the high-pressure cleaning fluid from the pipeline pump 3 into the water storage chamber 201. The first check valve 16 is installed on the inlet pipe 4 to prevent the high-pressure water in the water storage chamber 201 from flowing back when the pump stops or the pressure fluctuates, ensuring the unidirectional supply of the pressure-stabilized water source. The outlet pipe 17 extends from the water storage chamber 201 and connects to the cleaning branch of each filling pipe 9. A second check valve 18, connected in series on the outlet pipe 17, prevents the slurry or high-pressure water in the filling pipe 9 from flowing back into the water storage chamber 201 and causing contamination. The electric ball valve assembly 19 serves as the actuator switch for the cleaning branch, and its opening and closing are precisely controlled by the control module according to the switching sequence. The bottom or lower side outlet of the material storage chamber 203 is directly connected to the inlet of the integrated high-pressure valve 5, forming a continuous high-pressure slurry conveying channel.

[0078] It should be understood that although this embodiment uses plate-type separators and rigid housings as examples, in other embodiments, the fluid isolation buffer device may also adopt a flexible bag-type accumulator, a double-piston tandem cylinder, or other structural forms that can achieve medium isolation and volume compensation, as long as the functional requirements of physical isolation and pressure buffering are met.

[0079] This configuration, through specific valve combinations and chamber layout, ensures absolute separation of the cleaning fluid and slurry, while also providing a stable fluid source and controllable flow path nodes for synchronous cleaning.

[0080] For further details, please refer to [link / reference]. Figure 11 and Figure 13 The multi-channel switching valve includes an S-tube 501, a drive device 506, a cutting ring sealing plate 503, and a porous wear-resistant plate 504. The drive device 506 drives the S-tube 501 and the cutting ring sealing plate 503 to rotate, so that the cutting ring sealing plate 503 and the different holes on the porous wear-resistant plate 504 are connected to realize multi-channel switching.

[0081] Specifically, such as Figure 11As shown, the integrated high-pressure valve 5, as a preferred implementation of a multi-channel switching valve, adopts a structural design combining end-face sealing and rotary distribution. A porous wear-resistant plate 504 is fixed to the device housing 505, with multiple discharge holes on its end face corresponding one-to-one with the filling pipe 9. A cutting ring sealing plate 503 is arranged close to the end face of the porous wear-resistant plate 504 and is fixedly connected to the discharge end of the S-tube 501. When the driving device 506 drives the S-tube 501 to rotate, the cutting ring sealing plate 503 rotates synchronously, aligning its through holes sequentially with different discharge holes on the porous wear-resistant plate 504, thereby achieving the switching of slurry flow direction. Under the axial preload of the rubber spring 502, the cutting ring sealing plate 503 and the porous wear-resistant plate 504 always maintain a tight fit, forming a reliable high-pressure end-face sealing pair, effectively preventing leakage and cross-contamination of high-pressure slurry during the switching process.

[0082] Regarding the specific transmission chain of the drive device 506, in one specific embodiment, see [reference needed]. Figure 12 It includes a hydraulic cylinder 50601, a fixed pawl 50602, a rack 50603, a gear rocker mechanism 50604, a ratchet 50605, and a movable pawl 50606.

[0083] The piston rod of hydraulic cylinder 50601 is hinged to rack 50603 via a pin, and rack 50603 meshes with gear rocker mechanism 50604 for transmission. When hydraulic cylinder 50601 performs reciprocating linear motion, the linear motion is converted into the oscillation of gear rocker mechanism 50604 through the gear rack pair. Moving pawl 50606 is hinged to rocker and has a compression spring, and cooperates with ratchet 50605 fixed on the hollow shaft of S-tube 501. When the rocker arm swings in one direction, the moving pawl 50606 pushes the ratchet 50605 to rotate at a certain angle, thereby driving the S-tube 501 and the cutting ring sealing plate 503 to complete one position switch. When the rocker arm swings back to reset, the moving pawl 50606 slides on the back of the ratchet teeth without driving the ratchet to rotate. At this time, the fixed pawl 50602 engages with the ratchet tooth groove to achieve mechanical locking, preventing the S-tube 501 from reversing or shifting due to high pressure backflow or vibration in the pipeline. On the one hand, it achieves precise indexing and positioning of the S-tube 501, ensuring that the through hole of the cutting ring sealing plate 503 is precisely aligned with the target hole of the porous wear-resistant plate 504. On the other hand, by utilizing the one-way self-locking characteristics of the ratchet and pawl, the mechanical locking state of the valve position can be maintained without continuously applying driving force, which greatly improves the operational reliability and safety of the valve under harsh conditions such as high pressure and vibration.

[0084] It is understood that the above-mentioned drive device is only an exemplary mechanical implementation. In other optional implementations, a servo motor direct drive, a hydraulic motor with a reducer, or a stepper motor with a cam divider can also be used to achieve the rotation positioning and locking of the S tube 501. As long as the functional requirements of high-pressure sealing switching and precise positioning can be met, they should all be covered within the protection scope of this application.

[0085] In some embodiments, such as Figure 5 As shown, in step S500, the coverage area and layout of a single material feeding point are determined, and the filling sequence is dynamically selected based on the elevation difference of each area. Specifically, this includes the following steps: In step S501, the coverage area of ​​a single material feeding point is 150-200m², and the material feeding point is located at the center of its coverage area.

[0086] Step S502: Dynamically select the filling sequence based on the elevation difference of each region, and fill the region by sequential filling or randomly selecting regions that meet the preset threshold.

[0087] Specifically, limiting the coverage area of ​​a single feeding point to within the range of 150-200 m² is based on the natural angle of repose (usually about 5°-10°) formed when the paste filling slurry is statically stacked, and the critical height difference set to avoid bleeding and segregation. The optimal solution is derived by working backwards from (e.g., 2m). If the coverage area exceeds 200m², even if the discharge point is located in the center, the cumulative height difference when the slurry flows to the edge of the area can easily be exceeded. The threshold causes accelerated moisture seepage and cement loss in the edge area due to the excessively steep slope; Conversely, if the coverage area is less than 150m², although the filling quality is easier to control, it leads to a surge in the number of material discharge points. This not only increases the cost of drilling and pipeline laying but also reduces the overall filling efficiency due to excessive switching frequency. Meanwhile, strictly placing the material discharge points at the center of the coverage area ensures that the path length of the slurry spreading outwards is basically consistent, forming a symmetrical conical accumulation. This maximizes the utilization of the slurry's self-leveling properties and avoids premature exceedances of local height differences caused by eccentric material discharge. This spatial layout provides standardized physical units for subsequent intelligent switching control, making the decision logic based on height difference thresholds universal and effective across all areas.

[0088] To more clearly illustrate the application process and comprehensive effect of the technical solution of this application in actual engineering, a typical large-structure stope backfilling scenario is used as an example for detailed explanation below. In this scenario, the dimensions of the stope void are 50m long × 20m wide × 100m high, which is a typical stope of the vertically oriented large-diameter deep-hole post-filling mining method. According to the above layout principle, a total of 8 material discharge points 8 are arranged in the stope roof pillar 12. Each material discharge point 8 covers an area of ​​approximately 15-20m × 10m (i.e., 150-200m²), and is located at the geometric center of its respective coverage area. All material discharge points 8 are connected to the integrated high-pressure valve 5 arranged in the main roadway 6 through the backfilling pipe 9, and are uniformly supplied by the transfer buffer water supply box 2.

[0089] At the start of the filling operation, refer to Figure 14 The system first initiates a sequential filling strategy.

[0090] For example, the control module instructs the integrated high-pressure valve 5 to first switch to the filling pipes 9 of the corresponding areas 7-1 and 7-5 for parallel material feeding at two points. During this process, the laser scanner 10 scans in real time and constructs a three-dimensional model of the slurry accumulation. When the height difference H of the slurry accumulation in area 7-1 or 7-5 is detected to reach a preset threshold (e.g., 2m), the control module immediately triggers a switching command to switch the slurry flow to the adjacent areas 7-2 and 7-6. It is worth noting that at the moment of this switching, the movable partition plate 202 in the transfer buffer water supply integrated tank 2 automatically responds to the flow difference between the feed and discharge, moving towards the water storage chamber 201 to absorb pipeline pressure fluctuations; at the same time, the electric ball valve group 19 opens, using the cleaning fluid in the water storage chamber 201 to synchronously flush the filling pipes 9 of the just-cut areas 7-1 and 7-5. The entire process does not require the surface filling station to be shut down, and no cleaning water enters the mined area, thus ensuring the continuity of the filling operation and the purity of the filling body.

[0091] As another alternative implementation, the filling order may not follow a fixed geographical adjacency relationship, but instead adopt a dynamic strategy of randomly selecting areas that meet a preset threshold for filling.

[0092] For example, during the middle stage of filling, if the laser scanner 10 detects that the material surface elevation of region 7-3 is significantly lower than that of the surrounding areas, even if the next target should be region 7-4 according to the sequential logic, the control system will prioritize switching the material feeding point to region 7-3 for operation. This can effectively correct local depressions caused by uneven bottom plate or fluctuations in slurry flow, ensuring the final roof contact rate and homogeneity of the entire mining area roof, so that a good bonding interface is formed between the filling slurry 13 and the upper filling body 14, avoiding the weak interlayer zone caused by segregation in traditional processes.

[0093] During the entire filling process in this scenario, thanks to the pressure stabilization and synchronous cleaning functions of the fluid isolation buffer device in the aforementioned embodiment, the system performed dozens of high-frequency switches between the eight feeding points, maintaining an uninterrupted feeding state. This completely eliminated the weak zone of slurry dilution caused by shutdown and pipe cleaning in traditional processes. At the same time, it strictly controlled the accumulation height difference in each area within the safety threshold, fundamentally eliminating the risk of segregation and achieving the goal of efficient, homogeneous, safe, and intelligent filling of large-structure mining areas.

[0094] This application also provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the mining area filling method as described above.

[0095] Specifically, the computer-readable storage medium can be a tangible, non-transitory storage device, including but not limited to read-only memory, random access memory, magnetic disks, optical disks, flash drives, or solid-state drives. When a computer program stored on this medium is loaded into the processor of an electronic device and executed, it can drive the electronic device to perform a series of operations, such as acquiring stacking morphology data, calculating slurry stacking height differences, triggering discharge point switching, and controlling the fluid isolation buffer device to perform pressure stabilization and synchronous cleaning. This implementation method, which codifies the method logic and embeds it in the storage medium, allows the technical solution to be independent of specific hardware and distributed and deployed independently as a software product, greatly improving the commercial application flexibility of the technical solution.

[0096] Furthermore, this application also provides a stope backfilling computer device, including a memory, a processor, and a computer program stored in the memory. When the processor executes the computer program, it implements the steps of the stope backfilling method as described above.

[0097] In specific application scenarios, the electronic device can be a server, industrial personal computer, programmable logic controller or embedded control unit deployed in the mine filling control center.

[0098] For example, the control module can be carried by this electronic device, which is connected to the drive devices of the laser scanner 10, the variable frequency pipeline pump 3, and the integrated high-pressure valve 5 via a communication interface, receiving sensor data in real time and issuing control commands. It should be understood that although this embodiment uses a centralized control device as an example, in other embodiments, distributed computing nodes or cloud servers can also be used to execute some or all of the method steps, as long as the intelligent decision-making and control functions in the aforementioned method embodiments can be achieved.

[0099] It should be noted that this application is not limited to the above-described embodiments. The above embodiments are merely examples, and any embodiments with the same structure and effect as the technical concept within the scope of this application are included in the technical scope of this application. Furthermore, various modifications that can be conceived by those skilled in the art to the embodiments, and other ways of constructing by combining some of the constituent elements of the embodiments, without departing from the spirit of this application, are also included in the scope of this application.

Claims

1. A method for backfilling a stope, characterized in that, include: Obtain data on the morphological distribution of filling slurry in the stope void; Based on the accumulation morphology data, the difference in slurry accumulation height between the current feeding point and the surrounding area is determined; In response to the slurry accumulation height difference reaching a preset threshold, a discharge point switching command is triggered to switch the filling slurry to the target discharge point; During the execution of the material feeding point switching command, the pressure fluctuations of the filling pipe are absorbed by the fluid isolation buffer device, and the cleaning fluid in the fluid isolation buffer device is used to simultaneously clean the cut-off filling pipe.

2. The method according to claim 1, characterized in that, The acquisition of data on the morphological distribution of filling slurry in the stope void includes: Obtain the elevation data of the slurry surface in the goaf of the stope, and construct a three-dimensional model of the slurry accumulation. Determining the slurry accumulation height difference between the current discharge point and the surrounding area based on the accumulation morphology data includes: Based on the 3D model of slurry accumulation, the height difference between the current discharge point and the farthest and lowest point of slurry flow is calculated and used as the slurry accumulation height difference.

3. The method according to claim 1, characterized in that, The fluid isolation buffer device is equipped with a movable separator that physically isolates the filling slurry from the cleaning fluid. The method of using a fluid isolation buffer device to absorb pressure fluctuations in the filling pipeline includes: When switching feeding points, the feed rate of the filling slurry is greater than the discharge rate, which pushes the separator to move in order to absorb pressure fluctuations in the filling pipeline; The simultaneous cleaning of the cut-off filling pipe using the cleaning fluid in the fluid isolation buffer device includes: Simultaneously with triggering the material feeding point switching command, the cleaning branch connected to the cut-off filling pipe is opened, allowing the cleaning fluid to flow into the cut-off filling pipe for flushing. The cleaning fluid from the cleaning branch does not enter the empty area of ​​the mining area.

4. The method according to claim 2, characterized in that, The preset threshold is determined based on the flow slope angle of the filling slurry and the coverage area of ​​a single discharge point; When the slurry accumulation height difference satisfy The feeding point switching command is triggered at the time, wherein The critical height difference is to avoid slurry bleeding and segregation.

5. The method according to claim 3, characterized in that, The method further includes: The cleaning fluid is injected into the fluid isolation buffer device via a variable frequency pipeline pump; During the switching of feeding points, the frequency of the variable frequency pipeline pump is adjusted to match the pressure on the cleaning fluid side with the pressure on the filling slurry side, so as to maintain the dynamic balance of the separator.

6. The method according to claim 2, characterized in that, The coverage area of ​​a single feeding point is Furthermore, the material unloading point is located in the center of its coverage area; The filling order is dynamically selected based on the elevation difference of each area, and either sequential filling or random selection of areas that meet the preset threshold are used for filling.

7. A stope backfilling system, characterized in that, include: A fluid isolation buffer device is used to receive filling slurry and cleaning fluid, and to absorb pressure fluctuations in the filling pipeline and provide the cleaning fluid during the switching of the feeding point; A multi-channel switching valve has its inlet in fluid communication with the fluid isolation buffer device and its outlet connected to multiple filling pipes, used to switch the filling slurry to the target filling pipe according to the switching command. The scanning module is used to acquire data on the accumulation morphology of the filling slurry in the stope void. The control module is communicatively connected to the scanning module, the fluid isolation buffer device, and the multi-channel switching valve, and is used to: determine the slurry accumulation height difference between the current feeding point and the surrounding area based on the accumulation morphology data; In response to the slurry accumulation height difference reaching a preset threshold, the switching command is triggered to control the multi-channel switching valve to perform the feeding point switching; During the execution of the switching command, the fluid isolation buffer device is controlled to simultaneously clean the cut-off filling pipe using the cleaning fluid.

8. The system according to claim 7, characterized in that, The fluid isolation buffer device includes a water storage chamber, a material storage chamber, and a movable partition plate located between the two. The water storage chamber is connected to an inlet pipe and an outlet pipe. A first check valve is provided on the inlet pipe, and a second check valve and an electric ball valve assembly are provided on the outlet pipe. The outlet of the material storage chamber is connected to the inlet of the multi-channel switching valve. The multi-channel switching valve includes an S-tube, a driving device, a cutting ring sealing plate, and a porous wear-resistant plate. The driving device drives the S-tube and the cutting ring sealing plate to rotate, so that the cutting ring sealing plate connects with different holes on the porous wear-resistant plate to achieve multi-channel switching.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the mining area filling method as described in any one of claims 1 to 6.

10. A computer device for backfilling in a stope, characterized in that, include: A memory, a processor, and a computer program stored in the memory, wherein the processor executes the computer program to implement the steps of the mining area filling method as described in any one of claims 1 to 6.

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