CN113756861A - 973 filling method based on near-horizontal roadway - Google Patents

Abstract

The invention relates to a 973 filling method based on a near-horizontal roadway, which comprises the following steps: dividing the working face into a plurality of branch roadways, and mining and filling in sequence; determining the use amount of gangue and slurry; conveying the gangue and the slurry to a gangue-slurry mixing device; when the distribution density of the gangue meets the standard, the gangue slurry mixing device conveys the material to a gangue dumping device, and the gangue dumping device fills the roadway with the material; and filling the upper triangular unconnected space with high-concentration cementing slurry. According to the method, when the gangue and slurry are mixed by the gangue and slurry mixing device, the central control processor detects the liquid level of the material in real time through the first vision collector so as to preliminarily determine the actual distribution density of the gangue in the slurry, adjusts the stirring rotating speed of the gangue and slurry mixing device according to the determination result, and adjusts the conveying capacity of the gangue in real time when the use amount of the gangue is determined to be not in accordance with the standard, so that the gangue and the slurry are fully mixed, the amount of the gangue in the material is in accordance with the standard, the strength of a filling body in a filled roadway is effectively improved, and the filling efficiency of the roadway by the method is effectively improved.

Description

973 filling method based on near-horizontal roadway

Technical Field

The invention relates to the technical field of roadway filling, in particular to a 973 filling method based on a near-horizontal roadway.

Background

The existing filling methods for the laneway comprise a continuous mining and continuous filling method and a paste-like pumping filling method. The continuous mining and filling method is characterized in that gangue and cemented slurry are separately transported, the gangue is conveyed to an upper opening of a branch roadway to be filled through a rubber belt conveyor, the slurry is conveyed to the upper opening of the branch roadway to be filled through a slurry conveying pipeline by using the height difference of the upper part and the lower part of a well as power, the gangue and the slurry are naturally mixed at the upper opening of the branch roadway to be filled, the mud-flow-like self-flow filling is formed by using the inclination angle of a coal bed, a solid roof is connected from bottom to top, and the continuous filling operation is realized. The filling mode is suitable for filling coal seams with the roadway inclination angle of 8-14 degrees, and when the inclination angle of the filling roadway is smaller than 8 degrees, the filling mode has the advantages that the top-triangle-shaped non-roof-contacting space is large, roof contacting is difficult, and the roof contacting rate of the top-triangle-shaped space on the filling roadway cannot be guaranteed.

The pumping filling method of the paste is that the coal gangue is crushed into powder, and then the powder, the PC32.5 cement, the fly ash, the water, the admixture PA and the admixture HA are processed into a mixture which is evenly stirred on the ground, and the power exerted by a paste filling pump is used as filling power to retain the paste into each branch roadway from the upper opening of the branch roadway. During filling, the branch roadway is sequentially filled from the lower port of the branch roadway to the upper port of the branch roadway, and the branch roadway is compacted by utilizing the self-flowing characteristic of the paste. The filling method has the advantages of large equipment investment in the initial stage, complex process and higher filling cost. The filling gangue accounts for less, about 50%, the cement and other additives are used in a large amount, and the cost is high.

Therefore, the filling method for the roadway in the prior art is only suitable for coal seams with roadway inclination angles of 8-14 degrees, and meanwhile, the ratio of gangue to slurry cannot be accurately monitored in the prior art, so that the situation that the strength of filling materials in the roadway does not meet the standard after filling occurs, collapse easily occurs in the roadway, and the filling efficiency is low.

Disclosure of Invention

Therefore, the invention provides a 973 filling method based on a near-horizontal roadway, which is a filling method for filling gangue with the ratio of 90% and cement content of less than 7% and filling 300 tons of gangue per hour, greatly improves the ratio of gangue in a filling body, reduces the cement content, has high filling strength, solves the problem of difficult triangular roof connection in near-horizontal filling, has the advantages of low investment, low filling cost, large waste rock consumption and liberation of covering resources, and is used for overcoming the problem of low filling efficiency caused by the fact that the ratio of gangue to slurry cannot be accurately regulated and controlled in the prior art.

In order to achieve the above object, the present invention provides a 973 filling method based on a near-horizontal roadway, comprising:

step s1, dividing the working face into a plurality of branch roadways with the same width and sequentially marking all the roadways by using numbers, wherein odd branch roadways are firstly mined from inside to outside on the working face, when the mining of one odd branch roadway is finished, the branch roadway is filled and the next odd branch roadway is mined, the even branch roadway is mined from inside to outside when the solidification strength of a filling body reaches a preset standard, and when the mining of one even branch roadway is finished, the branch roadway is filled and the next even branch roadway is mined;

step s2, when filling is carried out on a single roadway, the central control processor controls a second visual detector in the roadway to detect the average width and the height in the roadway and determines the using amount of the gangue and the slurry according to the average width and the height, and the central control processor adjusts the using amount of the gangue and the slurry according to the ratio of the volume of the upper triangular unconnected space in the roadway to the total volume of the roadway;

step s3, the central control processor controls the gangue rubber belt conveyor to convey the gangue stored in the underground gangue buffer bin to the gangue mixing device and controls the ground pulping station to convey the prepared slurry to the gangue mixing device through a conveying pipeline;

step s4, when the gangue and the slurry are conveyed, the central control processor detects the distribution density of the gangue in the material liquid level in the gangue mixing device through a first visual detector in the gangue mixing device and adjusts the stirring rotating speed of the gangue mixing device to a corresponding value when the distribution density of the gangue is judged not to meet the standard; when the stirring rotating speed of the gangue mixing device is adjusted, if the central control processor judges that the gangue distribution density cannot be adjusted to a corresponding value by adjusting the rotating speed, the central control processor adjusts the addition amount of the gangue in unit time according to the difference value between the actual distribution density and the preset distribution density;

step s5, when the central control processor determines that the gangue and the slurry are uniformly mixed, the gangue mixing device conveys the uniformly mixed materials to a gangue throwing device, the gangue throwing device conveys the materials into the roadway to fill the roadway from bottom to top, and in the filling process, the central control processor controls the second visual detector to detect the variation of the height of the materials in the roadway in unit time in real time and adjusts the material conveying flow of the gangue throwing device when the variation of the height of the materials is determined not to meet the standard;

and step s6, when the central control processor determines that the residual unfilled space in the roadway is the upper triangular unconnected space, the central control processor controls the gangue throwing device to stop conveying materials and determines that high-concentration cementing slurry needs to be used for filling the upper triangular unconnected space, and the upper triangular unconnected space is filled and topped in a grouting mode.

Further, in the step s4, in the process of preparing the mixed material, the central control processor detects the distribution density of the gangue in the liquid level of the gangue mixing device through the first visual detector, records the detected distribution density as P, and determines whether the content of the gangue in the mixed material meets the standard according to P to perform preliminary determination;

the central control processor is internally provided with a first preset distribution density P1, a second preset distribution density P2 and a preset rotation speed adjusting coefficient alpha, wherein P1 is more than P2, and alpha is more than 0.5 and less than 1;

if P is less than P1, the central control processor preliminarily judges that the content of the gangue in the mixed material is low, the central control processor adjusts the initial stirring rotating speed W of the gangue mixing device by using alpha, the adjusted stirring rotating speed is recorded as Wa, and Wa is set to be W multiplied by alpha;

if P is not less than P1 and not more than P2, the central control processor preliminarily determines that the content of the gangue in the mixed material meets the standard and does not adjust the initial stirring rotating speed W of the gangue mixing device;

if P is more than P2, the central control processor preliminarily judges the content of the gangue in the mixed material to be high, the central control processor adjusts the initial stirring rotating speed W of the gangue mixing device by using alpha, the adjusted stirring rotating speed is recorded as Wb, and Wb is set as Wx (1+ alpha);

when the central control processor preliminarily determines that the content of the gangue in the mixed material meets the standard, the central control processor controls the first visual detector to detect the distribution density P 'of the gangue on the liquid surface of the material again when the time length for stirring the material by the gangue mixing device at the initial stirring speed W reaches a preset time length t0, and if P1 is less than or equal to P' < P2, the central control processor determines that the material is uniformly mixed and controls the gangue mixing device to convey the material to the gangue throwing device; if P '< P1 or P' > P2, the central control processor adjusts the initial stirring rotation speed W of the gangue mixing device by using the preset rotation speed adjustment coefficient alpha;

when the central control processor uses the preset rotation speed regulating coefficient alpha to regulate the initial stirring rotation speed W of the gangue mixing device, the central control processor controls the first visual detector to detect the distribution density Pa '/Pb' of the gangue on the liquid level of the material again when the time length of the gangue mixing device stirring the material at the regulated stirring rotation speed Wa/Wb reaches the preset time length t0,

if Pa 'is not less than P1 and not more than P2 or P1 is not less than Pb' and not more than P2, the central control processor judges that the materials are uniformly mixed and controls the gangue mixing device to convey the materials to the gangue throwing device; if Pa '< P1 or Pa' > P2, the central control processor further adjusts the stirring rotation speed Wa of the gangue mixing device by using the preset rotation speed adjustment coefficient alpha; if Pb '< P1 or Pb' > P2, the central processor further adjusts the stirring rotation speed Wb of the gangue mixing device by using the preset rotation speed adjusting coefficient alpha.

Further, a preset rotating speed critical adjusting frequency N0 is further arranged in the central control processor, when the adjusting frequency of the central control processor on the stirring rotating speed of the gangue mixing device reaches N0 and the distribution density P 'of gangue on the adjusted material liquid level is less than P1, the central control processor judges that the material proportion does not meet the standard, calculates the distribution density difference value delta P, increases the adding amount of the gangue in unit time according to the delta P, and sets the delta P to be P1-P'; the central control processor is also provided with a first preset distribution density difference value delta P1, a second preset distribution density difference value delta P2, a first preset shifting speed adjusting coefficient beta 1, a second preset shifting speed adjusting coefficient beta 2 and a third preset shifting speed adjusting coefficient beta 3, wherein delta P1 is less than delta P2, and beta 1 is more than 1 and less than beta 2 and less than beta 3 and less than 1.5;

if the delta P is less than or equal to the delta P1, the central control processor adjusts the gangue conveying speed V of the belt conveyor by using a first preset transfer speed adjusting coefficient beta 1;

if the delta P is more than delta P1 and less than or equal to delta P2, the central control processor adjusts the gangue conveying speed V of the belt conveyor by using a second preset shifting speed adjusting coefficient beta 2;

if delta P is > -delta P3, the central control processor adjusts the gangue conveying speed V of the belt conveyor by using a third preset transfer speed adjusting coefficient beta 3;

and when the central control processor increases the gangue conveying speed V of the belt conveyor by using the ith preset shifting speed adjusting coefficient beta i, setting i to be 1, 2 and 3, and setting V 'to be V multiplied by beta i, wherein the gangue conveying speed of the belt conveyor after adjustment is marked as V'.

Further, when the adjusting times of the central control processor on the stirring rotating speed of the gangue mixing device reach N and the distribution density P ' of gangue on the liquid level of the adjusted material is greater than P2, the central control processor judges that the material proportion does not meet the standard, calculates the distribution density difference value delta P ', reduces the addition amount of the gangue in unit time according to the delta P ', and sets the delta P ' ═ P ' -P2;

if the delta P' is less than or equal to the delta P1, the central control processor adjusts the gangue conveying speed V of the belt conveyor by using a first preset transfer speed adjusting coefficient beta 1;

if the delta P is more than delta P1 and less than or equal to delta P2, the central control processor adjusts the gangue conveying speed V of the belt conveyor by using a second preset shifting speed adjusting coefficient beta 2;

if delta P' > -delta P3, the central control processor adjusts the gangue conveying speed V of the belt conveyor by using a third preset transfer speed adjusting coefficient beta 3 and reduces the conveying amount of the ground pulping station for the slurry in unit time;

when the central processor reduces the gangue conveying speed V of the belt conveyor by using the ith preset shifting speed adjusting coefficient beta i, setting i to be 1, 2 and 3, recording the gangue conveying speed of the belt conveyor after adjustment as V', and setting V to be Vx (2-beta i).

Further, in the step s5, when the gangue dumping device fills the roadway with the material, the central control processor controls the second visual sensor to detect an increase L of the height of the material in the roadway in unit time and determines whether to adjust the flow Q of the mixed material output by the gangue dumping device according to L; the central control processor is also provided with a first preset height increment L1, a second preset height increment L2 and a preset flow regulation coefficient g, wherein L1 is more than L2, and g is more than 0 and less than 0.5;

when L is less than L1, the central control processor judges that the material filling rate is too low and adjusts the flow Q of the mixed material output by the waste rock throwing device by using g, the adjusted flow of the mixed material output by the waste rock throwing device is recorded as Qa, and Qa is set to Q x (1-g);

when L is not less than L1 and not more than L2, the central control processor judges that the material filling rate meets the standard, does not adjust the flow of the mixed material output by the waste rock throwing device and detects the amount of the material remaining in the waste rock throwing device in real time;

and when L is larger than L2, the central control processor judges that the material filling rate is too high and adjusts the flow Q of the mixed material output by the waste rock throwing device by using g, the adjusted flow of the mixed material output by the waste rock throwing device is recorded as Qb, and Qb is set to be Q x (1+ g).

Further, a preset material residual quantity U0 is further arranged in the central control processor, when the central control processor judges that the material filling rate meets the standard, the central control processor detects the quantity U of the material remaining in the gangue mixing device in real time, when U is less than U0, the central control processor controls the second visual detector to detect the volume S of the space to be filled remaining in the roadway to judge whether gangue and slurry are added into the gangue mixing device, a first preset volume S1, a second preset volume S2, a first preset material addition quantity delta G1 and a second preset material addition quantity delta G2 are further arranged in the central control processor, wherein S1 is less than S2 delta, G1 is less than delta G2,

if S is not more than S1, the central control processor judges that the volume of the remaining space to be filled is too small, the gangue and the slurry are not added into the gangue mixing device, and the usage amount of the high-concentration cemented slurry is increased in the step S6;

if S1 is larger than S2, the central control processor judges that gangue and slurry need to be added into the gangue and slurry mixing device, and sets the total amount of the added gangue and slurry as delta G1;

if S is more than S2, the central control processor judges that gangue and slurry need to be added into the gangue and slurry mixing device and sets the total amount of the added gangue and slurry as delta G2;

and when the central control processor determines that the gangue and the slurry need to be added into the gangue and slurry mixing device, the central control processor prepares the mixed material according to the proportion of the gangue and the slurry when the distribution density of the gangue on the surface of the slurry is adjusted to be within a standard interval in the slurry preparation process.

Further, in the step s2, when the central processor determines the usage amount of the gangue and the slurry, the central processor preliminarily determines the total amount of the gangue and the slurry to be used according to the height of the roadway and adjusts the total amount of the gangue and the slurry according to the average width in the roadway; the central processor is also provided with a first preset height H1, a second preset height H2, a first preset total material amount G1, a second preset total material amount G2 and a third preset total material amount G3, wherein H1 is more than H2, G1 is more than G2 and more than G3;

if the actual height H of the roadway is less than or equal to H1, the central processor preliminarily determines the usage amount of the gangue and the slurry as G1;

if the actual height H1 of the roadway is more than or equal to H2, the central processor preliminarily determines the use amount of the gangue and the slurry as G2;

if the actual height H of the roadway is larger than H2, the central processor preliminarily determines the usage amount of gangue and slurry as G3;

when the central processor preliminarily determines the usage amount of the gangue and the slurry as Gj, setting j to be 1, 2 and 3, and determining whether to adjust the Gj according to the average width R of the roadway by the central processor; the central processor is also provided with a first preset average width R1, a second preset average width R2, a first preset dosage regulating coefficient e1 and a second preset dosage regulating coefficient e2, wherein R1 is more than R2, and e1 is more than 0.7 and more than 1 and e2 is more than 1.4;

if R is not more than R1, the central control processor judges that the roadway width is lower than a standard value and adjusts Gj by using e 1;

if R is more than R1 and less than or equal to R2, the central control processor judges that the width of the roadway is the standard width, and the central control processor does not adjust Gj;

if R is larger than R2, the central control processor judges that the lane width is higher than a standard value and adjusts Gj by using e 2;

and when the central control processor uses the k-th preset usage adjusting coefficient ek to adjust Gj, setting k to be 1 and 2, and setting Gj 'to be Gj multiplied by ek, wherein the usage of the adjusted gangue and slurry is recorded as Gj'.

Further, when the central control processor completes the determination of the use amount of the gangue and the slurry, the central control processor detects the volume occupied by the triangular unconnected space in the roadway through the first visual detector and calculates a ratio B between the volume and the total volume of the roadway, and the central control processor determines whether the determined use amount of the gangue and the slurry needs to be corrected according to B; the central processor is also provided with a first preset volume ratio B1, a second preset volume ratio B2, a third preset volume ratio B3, a first preset dosage correction coefficient c1 and a second preset dosage correction coefficient c2, wherein B1 is larger than 0 and B2 is larger than B3 and smaller than 0.5, and c2 is larger than 0.8 and smaller than c1 and smaller than 0.9;

when B is less than or equal to B1, the central control processor judges that no triangle unconnected space exists in the roadway, and the central control processor does not correct the determined usage amount of the gangue and the slurry;

when B1 is greater than B and is not greater than B2, the central control processor judges that no triangle unconnected space exists in the roadway and corrects the determined use amount of the gangue and the slurry by using c 1;

when B is larger than B2, the central control processor judges that no triangle unconnected space exists in the roadway and corrects the determined usage amount of the gangue and the slurry by using c 2;

and the central control processor is also internally provided with a preset ratio, and respectively determines the usage amount of the gangue and the usage amount of the slurry according to the preset ratio when the central control processor finishes the correction of the determined usage amounts of the gangue and the slurry.

Compared with the prior art, the method has the beneficial effects that the central control processor is arranged, so that the central control processor detects the distribution density of the waste rock at the material liquid level in real time through the first vision collector when the waste rock mixing device mixes the waste rock and the slurry to preliminarily determine the actual distribution density of the waste rock in the slurry, adjusts the stirring rotating speed of the waste rock mixing device according to the determination result, adjusts the conveying capacity of the waste rock in unit time when the determination result shows that the waste rock consumption does not meet the standard, can fully mix the waste rock and the slurry, enables the quantity of the waste rock in the material to meet the standard, can effectively improve the strength of a filling body in a filled roadway, and further effectively improves the filling efficiency of the roadway.

Further, in the process of preparing the mixed material, the central control processor detects the distribution density of the gangue in the liquid surface of the gangue mixing device through the first visual detector, records the detected distribution density as P, judges whether the content of the gangue in the mixed material meets the standard according to the P, carries out preliminary judgment, and adjusts the initial stirring rotating speed of the gangue mixing device when the content of the gangue in the mixed material does not meet the standard, compares the actually detected distribution density with each preset distribution density to carry out preliminary judgment on the actual content of the gangue in the material, meanwhile, the gangue and the slurry can be effectively and uniformly mixed by adjusting the initial stirring rotating speed of the gangue mixing device, therefore, the situation of misjudgment of the central control processor is effectively avoided, and the filling efficiency of the method for the roadway is further effectively improved.

Further, when the adjusting times of the central control processor on the stirring rotating speed of the gangue mixing device reach the preset rotating speed critical adjusting times and the distribution density of the gangue on the liquid level of the regulated material is judged to be not in accordance with the standard, the central control processor calculates the distribution density difference value delta P between the actual distribution density and the preset distribution density and increases or decreases the addition amount of the gangue in unit time according to the delta P.

Further, when the gangue dumping device fills the roadway with materials, the central control processor controls the second vision sensor to detect the increase L of the height of the materials in the roadway in unit time and judges whether to adjust the flow Q of the mixed materials output by the gangue dumping device or not according to the increase L.

Further, when the central control processor determines that the material filling rate meets the standard, the central control processor detects the amount of the material remaining in the gangue-slurry mixing device in real time and controls the second visual detector to detect the volume of the space to be filled remaining in the roadway when the amount of the material is lower than the preset remaining amount of the material so as to determine whether to add gangue and slurry into the gangue-slurry mixing device.

Further, when the central control processor determines the using amount of the gangue and the slurry, the central control processor preliminarily determines the total amount of the gangue and the slurry to be used according to the height of the roadway and adjusts the total amount of the gangue and the slurry according to the average width in the roadway.

When the central control processor finishes determining the usage of the gangue and the slurry, the central control processor detects the volume occupied by the triangular unconnected space in the roadway through the first visual detector and calculates the ratio of the volume to the total volume of the roadway, and the central control processor judges whether the determined usage of the gangue and the slurry needs to be corrected according to the ratio.

Drawings

Fig. 1 is a block diagram of a flow of a 973 filling method based on a near-horizontal roadway according to the invention.

Detailed Description

In order that the objects and advantages of the invention will be more clearly understood, the invention is further described below with reference to examples; it should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

Preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only for explaining the technical principle of the present invention, and do not limit the scope of the present invention.

It should be noted that in the description of the present invention, the terms of direction or positional relationship indicated by the terms "upper", "lower", "left", "right", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, which are only for convenience of description, and do not indicate or imply that the device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.

Furthermore, it should be noted that, in the description of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

Fig. 1 is a block diagram illustrating a flow chart of a 973 filling method based on a near-horizontal roadway according to the present invention. The 973 filling method based on the near-horizontal roadway comprises the following steps:

step s1, dividing the working face into a plurality of branch roadways with the same width and sequentially marking all the roadways by using numbers, wherein odd branch roadways are firstly mined from inside to outside on the working face, when the mining of one odd branch roadway is finished, the branch roadway is filled and the next odd branch roadway is mined, the even branch roadway is mined from inside to outside when the solidification strength of a filling body reaches a preset standard, and when the mining of one even branch roadway is finished, the branch roadway is filled and the next even branch roadway is mined;

step s2, when filling is carried out on a single roadway, the central control processor controls a second visual detector in the roadway to detect the average width and the height in the roadway and determines the using amount of the gangue and the slurry according to the average width and the height, and the central control processor adjusts the using amount of the gangue and the slurry according to the ratio of the volume of the upper triangular unconnected space in the roadway to the total volume of the roadway;

step s3, the central control processor controls the gangue rubber belt conveyor to convey the gangue stored in the underground gangue buffer bin to the gangue mixing device and controls the ground pulping station to convey the prepared slurry to the gangue mixing device through a conveying pipeline;

step s4, when the gangue and the slurry are conveyed, the central control processor detects the distribution density of the gangue in the material liquid level in the gangue mixing device through a first visual detector in the gangue mixing device and adjusts the stirring rotating speed of the gangue mixing device to a corresponding value when the distribution density of the gangue is judged not to meet the standard; when the stirring rotating speed of the gangue mixing device is adjusted, if the central control processor judges that the gangue distribution density cannot be adjusted to a corresponding value by adjusting the rotating speed, the central control processor adjusts the addition amount of the gangue in unit time according to the difference value between the actual distribution density and the preset distribution density;

step s5, when the central control processor determines that the gangue and the slurry are uniformly mixed, the gangue mixing device conveys the uniformly mixed materials to a gangue throwing device, the gangue throwing device conveys the materials into the roadway to fill the roadway from bottom to top, and in the filling process, the central control processor controls the second visual detector to detect the variation of the height of the materials in the roadway in unit time in real time and adjusts the material conveying flow of the gangue throwing device when the variation of the height of the materials is determined not to meet the standard;

and step s6, when the central control processor determines that the residual unfilled space in the roadway is the upper triangular unconnected space, the central control processor controls the gangue throwing device to stop conveying materials and determines that high-concentration cementing slurry needs to be used for filling the upper triangular unconnected space, and the upper triangular unconnected space is filled and topped in a grouting mode.

According to the invention, the central control processor is arranged, so that when the waste rock and the slurry are mixed by the waste rock and slurry mixing device, the distribution density of the waste rock at the material liquid level is detected in real time through the first vision collector by the central control processor to preliminarily determine the actual distribution density of the waste rock in the slurry, the stirring rotating speed of the waste rock and slurry mixing device is adjusted according to the determination result, the conveying amount of the waste rock in unit time is adjusted in real time when the use amount of the waste rock is determined to be not in accordance with the standard, the waste rock and the slurry can be fully mixed, the amount of the waste rock in the material is in accordance with the standard, the strength of a filling body in a filled roadway can be effectively improved, and the filling efficiency of the roadway by the method provided by the invention is effectively improved.

Specifically, in the step s4, in the process of preparing the mixed material, the central control processor detects the distribution density of the gangue in the liquid level of the gangue mixing device through the first visual detector, records the detected distribution density as P, and determines whether the content of the gangue in the mixed material meets the standard according to P to perform preliminary determination;

the central control processor is internally provided with a first preset distribution density P1, a second preset distribution density P2 and a preset rotation speed adjusting coefficient alpha, wherein P1 is more than P2, and alpha is more than 0.5 and less than 1;

if P is less than P1, the central control processor preliminarily judges that the content of the gangue in the mixed material is low, the central control processor adjusts the initial stirring rotating speed W of the gangue mixing device by using alpha, the adjusted stirring rotating speed is recorded as Wa, and Wa is set to be W multiplied by alpha;

if P is not less than P1 and not more than P2, the central control processor preliminarily determines that the content of the gangue in the mixed material meets the standard and does not adjust the initial stirring rotating speed W of the gangue mixing device;

if P is more than P2, the central control processor preliminarily judges the content of the gangue in the mixed material to be high, the central control processor adjusts the initial stirring rotating speed W of the gangue mixing device by using alpha, the adjusted stirring rotating speed is recorded as Wb, and Wb is set as Wx (1+ alpha);

when the central control processor preliminarily determines that the content of the gangue in the mixed material meets the standard, the central control processor controls the first visual detector to detect the distribution density P 'of the gangue on the liquid surface of the material again when the time length for stirring the material by the gangue mixing device at the initial stirring speed W reaches a preset time length t0, and if P1 is less than or equal to P' < P2, the central control processor determines that the material is uniformly mixed and controls the gangue mixing device to convey the material to the gangue throwing device; if P '< P1 or P' > P2, the central control processor adjusts the initial stirring rotation speed W of the gangue mixing device by using the preset rotation speed adjustment coefficient alpha;

when the central control processor uses the preset rotation speed regulating coefficient alpha to regulate the initial stirring rotation speed W of the gangue mixing device, the central control processor controls the first visual detector to detect the distribution density Pa '/Pb' of the gangue on the liquid level of the material again when the time length of the gangue mixing device stirring the material at the regulated stirring rotation speed Wa/Wb reaches the preset time length t0,

if Pa 'is not less than P1 and not more than P2 or P1 is not less than Pb' and not more than P2, the central control processor judges that the materials are uniformly mixed and controls the gangue mixing device to convey the materials to the gangue throwing device; if Pa '< P1 or Pa' > P2, the central control processor further adjusts the stirring rotation speed Wa of the gangue mixing device by using the preset rotation speed adjustment coefficient alpha; if Pb '< P1 or Pb' > P2, the central processor further adjusts the stirring rotation speed Wb of the gangue mixing device by using the preset rotation speed adjusting coefficient alpha.

The actual content of the gangue in the material is preliminarily determined by comparing the actually measured distribution density with each preset distribution density, and the gangue and the slurry can be effectively and uniformly mixed by adjusting the initial stirring rotating speed of the gangue mixing device, so that the condition of misjudgment of a central control processor is effectively avoided, and the filling efficiency of the roadway by using the method is further effectively improved.

Specifically, the central processor is also provided with a preset rotation speed critical adjusting frequency N0, when the adjusting frequency of the central processor on the stirring rotation speed of the gangue mixing device reaches N0 and the distribution density P 'of gangue on the adjusted material liquid level is less than P1, the central processor judges that the material proportion does not meet the standard, calculates the distribution density difference value delta P, increases the addition amount of the gangue in unit time according to the delta P, and sets the delta P to be P1-P'; the central control processor is also provided with a first preset distribution density difference value delta P1, a second preset distribution density difference value delta P2, a first preset shifting speed adjusting coefficient beta 1, a second preset shifting speed adjusting coefficient beta 2 and a third preset shifting speed adjusting coefficient beta 3, wherein delta P1 is less than delta P2, and beta 1 is more than 1 and less than beta 2 and less than beta 3 and less than 1.5;

if the delta P is less than or equal to the delta P1, the central control processor adjusts the gangue conveying speed V of the belt conveyor by using a first preset transfer speed adjusting coefficient beta 1;

if the delta P is more than delta P1 and less than or equal to delta P2, the central control processor adjusts the gangue conveying speed V of the belt conveyor by using a second preset shifting speed adjusting coefficient beta 2;

if delta P is > -delta P3, the central control processor adjusts the gangue conveying speed V of the belt conveyor by using a third preset transfer speed adjusting coefficient beta 3;

and when the central control processor increases the gangue conveying speed V of the belt conveyor by using the ith preset shifting speed adjusting coefficient beta i, setting i to be 1, 2 and 3, and setting V 'to be V multiplied by beta i, wherein the gangue conveying speed of the belt conveyor after adjustment is marked as V'.

Specifically, when the adjusting times of the central processor of the invention on the stirring rotating speed of the gangue mixing device reach N and the distribution density P ' of gangue on the liquid level of the adjusted material is more than P2, the central processor judges that the material proportion does not meet the standard, calculates the distribution density difference delta P ', reduces the addition amount of gangue in unit time according to the delta P ', and sets the delta P ' ═ P ' -P2;

if the delta P' is less than or equal to the delta P1, the central control processor adjusts the gangue conveying speed V of the belt conveyor by using a first preset transfer speed adjusting coefficient beta 1;

if the delta P is more than delta P1 and less than or equal to delta P2, the central control processor adjusts the gangue conveying speed V of the belt conveyor by using a second preset shifting speed adjusting coefficient beta 2;

if delta P' > -delta P3, the central control processor adjusts the gangue conveying speed V of the belt conveyor by using a third preset transfer speed adjusting coefficient beta 3 and reduces the conveying amount of the ground pulping station for the slurry in unit time;

when the central processor reduces the gangue conveying speed V of the belt conveyor by using the ith preset shifting speed adjusting coefficient beta i, setting i to be 1, 2 and 3, recording the gangue conveying speed of the belt conveyor after adjustment as V', and setting V to be Vx (2-beta i).

When the central control processor judges that the distribution density does not meet the standard and is not the problem of uneven mixing of the gangue and the slurry, the invention quickly judges that the addition amount of the gangue is too high or too low, thereby ensuring that the ratio of the gangue to the slurry reaches a preset value by adjusting the rate of conveying the gangue by the belt conveyor, further improving the filling efficiency of the roadway by the method while further improving the strength of the filling body in the roadway after filling.

Specifically, in the step s5, when the gangue dumping device fills the roadway with the material, the central control processor controls the second visual sensor to detect an increase L of the height of the material in the roadway in unit time and determines whether to adjust the flow Q of the mixed material output by the gangue dumping device according to L; the central control processor is also provided with a first preset height increment L1, a second preset height increment L2 and a preset flow regulation coefficient g, wherein L1 is more than L2, and g is more than 0 and less than 0.5;

when L is less than L1, the central control processor judges that the material filling rate is too low and adjusts the flow Q of the mixed material output by the waste rock throwing device by using g, the adjusted flow of the mixed material output by the waste rock throwing device is recorded as Qa, and Qa is set to Q x (1-g);

when L is not less than L1 and not more than L2, the central control processor judges that the material filling rate meets the standard, does not adjust the flow of the mixed material output by the waste rock throwing device and detects the amount of the material remaining in the waste rock throwing device in real time;

and when L is larger than L2, the central control processor judges that the material filling rate is too high and adjusts the flow Q of the mixed material output by the waste rock throwing device by using g, the adjusted flow of the mixed material output by the waste rock throwing device is recorded as Qb, and Qb is set to be Q x (1+ g).

According to the method, the flow of the material output by the waste rock throwing device is adjusted in real time by detecting the increasing rate of the height of the material in the roadway in real time, so that the situations that the filling time is too long or the filling density of the material does not meet the standard due to too low or too high material filling rate in the filling process can be effectively avoided, and the filling efficiency of the roadway by the method is further improved.

Specifically, the central control processor is further provided with a preset material residual amount U0, when the central control processor determines that the material filling rate meets the standard, the central control processor detects the amount U of the material remaining in the gangue mixing device in real time, when U is less than U0, the central control processor controls the second visual detector to detect the volume S of the space to be filled remaining in the roadway to determine whether gangue and slurry are added into the gangue mixing device, the central control processor is further provided with a first preset volume S1, a second preset volume S2, a first preset material addition amount delta G1 and a second preset material addition amount delta G2, wherein S1 is less than S2 delta G1 is less than delta G2,

if S is not more than S1, the central control processor judges that the volume of the remaining space to be filled is too small, the gangue and the slurry are not added into the gangue mixing device, and the usage amount of the high-concentration cemented slurry is increased in the step S6;

if S1 is larger than S2, the central control processor judges that gangue and slurry need to be added into the gangue and slurry mixing device, and sets the total amount of the added gangue and slurry as delta G1;

if S is more than S2, the central control processor judges that gangue and slurry need to be added into the gangue and slurry mixing device and sets the total amount of the added gangue and slurry as delta G2;

and when the central control processor determines that the gangue and the slurry need to be added into the gangue and slurry mixing device, the central control processor prepares the mixed material according to the proportion of the gangue and the slurry when the distribution density of the gangue on the surface of the slurry is adjusted to be within a standard interval in the slurry preparation process.

According to the method, the residual material amount in the waste rock throwing device is monitored in real time, whether waste rock and slurry are supplemented is judged according to the residual volume to be filled in the roadway when the residual material amount is lower than the standard, and the addition amount of the waste rock and the slurry is determined according to the actual residual volume to be filled when the supplementation is judged to be needed, so that the situation that the roadway cannot be completely filled due to too much or too little material in the filling process or the resource waste is caused due to too much material can be effectively avoided, and the filling efficiency of the roadway is further improved.

Specifically, in the step s2, when the central processor determines the usage amount of gangue and slurry, the central processor preliminarily determines the total amount of gangue and slurry to be used according to the height of the roadway and adjusts the total amount of gangue and slurry according to the average width in the roadway; the central processor is also provided with a first preset height H1, a second preset height H2, a first preset total material amount G1, a second preset total material amount G2 and a third preset total material amount G3, wherein H1 is more than H2, G1 is more than G2 and more than G3;

if the actual height H of the roadway is less than or equal to H1, the central processor preliminarily determines the usage amount of the gangue and the slurry as G1;

if the actual height H1 of the roadway is more than or equal to H2, the central processor preliminarily determines the use amount of the gangue and the slurry as G2;

if the actual height H of the roadway is larger than H2, the central processor preliminarily determines the usage amount of gangue and slurry as G3;

when the central processor preliminarily determines the usage amount of the gangue and the slurry as Gj, setting j to be 1, 2 and 3, and determining whether to adjust the Gj according to the average width R of the roadway by the central processor; the central processor is also provided with a first preset average width R1, a second preset average width R2, a first preset dosage regulating coefficient e1 and a second preset dosage regulating coefficient e2, wherein R1 is more than R2, and e1 is more than 0.7 and more than 1 and e2 is more than 1.4;

if R is not more than R1, the central control processor judges that the roadway width is lower than a standard value and adjusts Gj by using e 1;

if R is more than R1 and less than or equal to R2, the central control processor judges that the width of the roadway is the standard width, and the central control processor does not adjust Gj;

if R is larger than R2, the central control processor judges that the lane width is higher than a standard value and adjusts Gj by using e 2;

and when the central control processor uses the k-th preset usage adjusting coefficient ek to adjust Gj, setting k to be 1 and 2, and setting Gj 'to be Gj multiplied by ek, wherein the usage of the adjusted gangue and slurry is recorded as Gj'.

According to the method, the usage amount of the gangue and the slurry is preliminarily determined according to the height of the roadway, and the usage amount of the gangue and the slurry is finely adjusted according to the average width of the roadway, so that the condition that the roadway cannot be completely filled or the material is too much and the resource is wasted due to too much or too little material in the filling process can be further avoided, and the filling efficiency of the roadway is further improved.

Specifically, when the central control processor finishes determining the use amount of the gangue and the slurry, the central control processor detects the volume occupied by the triangular unconnected space in the roadway through the first visual detector and calculates the ratio B between the volume and the total volume of the roadway, and the central control processor judges whether the determined use amount of the gangue and the slurry needs to be corrected according to B; the central processor is also provided with a first preset volume ratio B1, a second preset volume ratio B2, a third preset volume ratio B3, a first preset dosage correction coefficient c1 and a second preset dosage correction coefficient c2, wherein B1 is larger than 0 and B2 is larger than B3 and smaller than 0.5, and c2 is larger than 0.8 and smaller than c1 and smaller than 0.9;

when B is less than or equal to B1, the central control processor judges that no triangle unconnected space exists in the roadway, and the central control processor does not correct the determined usage amount of the gangue and the slurry;

when B1 is greater than B and is not greater than B2, the central control processor judges that no triangle unconnected space exists in the roadway and corrects the determined use amount of the gangue and the slurry by using c 1;

when B is larger than B2, the central control processor judges that no triangle unconnected space exists in the roadway and corrects the determined usage amount of the gangue and the slurry by using c 2;

and the central control processor is also internally provided with a preset ratio, and respectively determines the usage amount of the gangue and the usage amount of the slurry according to the preset ratio when the central control processor finishes the correction of the determined usage amounts of the gangue and the slurry.

According to the method, the situation that the use amount of the determined gangue and slurry is too high or too low due to the fact that the occupation ratio of the triangular unconnected space to the total space of the roadway is too high can be effectively avoided by calculating the volume occupation ratio of the triangular unconnected space to the total space of the roadway, and the filling efficiency of the roadway is further improved while the general situation of the area where the roadway cannot be completely filled or the resources are wasted due to too much materials due to too much or too little materials in the filling process is further avoided.

So far, the technical solutions of the present invention have been described in connection with the preferred embodiments shown in the drawings, but it is easily understood by those skilled in the art that the scope of the present invention is obviously not limited to these specific embodiments. Equivalent changes or substitutions of related technical features can be made by those skilled in the art without departing from the principle of the invention, and the technical scheme after the changes or substitutions can fall into the protection scope of the invention.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention; various modifications and alterations to this invention will become apparent to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (8)

1. A973 filling method based on a near-horizontal roadway, which is characterized by comprising the following steps:

step s1, dividing the working face into a plurality of branch roadways with the same width and sequentially marking all the roadways by using numbers, wherein odd branch roadways are firstly mined from inside to outside on the working face, when the mining of one odd branch roadway is finished, the branch roadway is filled and the next odd branch roadway is mined, the even branch roadway is mined from inside to outside when the solidification strength of a filling body reaches a preset standard, and when the mining of one even branch roadway is finished, the branch roadway is filled and the next even branch roadway is mined;

step s2, when filling is carried out on a single roadway, the central control processor controls a second visual detector in the roadway to detect the average width and the height in the roadway and determines the using amount of the gangue and the slurry according to the average width and the height, and the central control processor adjusts the using amount of the gangue and the slurry according to the ratio of the volume of the upper triangular unconnected space in the roadway to the total volume of the roadway;

step s3, the central control processor controls the gangue rubber belt conveyor to convey the gangue stored in the underground gangue buffer bin to the gangue mixing device and controls the ground pulping station to convey the prepared slurry to the gangue mixing device through a conveying pipeline;

step s4, when the gangue and the slurry are conveyed, the central control processor detects the distribution density of the gangue in the material liquid level in the gangue mixing device through a first visual detector in the gangue mixing device and adjusts the stirring rotating speed of the gangue mixing device to a corresponding value when the distribution density of the gangue is judged not to meet the standard; when the stirring rotating speed of the gangue mixing device is adjusted, if the central control processor judges that the gangue distribution density cannot be adjusted to a corresponding value by adjusting the rotating speed, the central control processor adjusts the addition amount of the gangue in unit time according to the difference value between the actual distribution density and the preset distribution density;

step s5, when the central control processor determines that the gangue and the slurry are uniformly mixed, the gangue mixing device conveys the uniformly mixed materials to a gangue throwing device, the gangue throwing device conveys the materials into the roadway to fill the roadway from bottom to top, and in the filling process, the central control processor controls the second visual detector to detect the variation of the height of the materials in the roadway in unit time in real time and adjusts the material conveying flow of the gangue throwing device when the variation of the height of the materials is determined not to meet the standard;

and step s6, when the central control processor determines that the residual unfilled space in the roadway is the upper triangular unconnected space, the central control processor controls the gangue throwing device to stop conveying materials and determines that high-concentration cementing slurry needs to be used for filling the upper triangular unconnected space, and the upper triangular unconnected space is filled and topped in a grouting mode.

2. The 973 filling method based on the near-horizontal roadway according to claim 1, wherein in the step s4, in the process of preparing the mixed material, the central processor detects the distribution density of the gangue in the liquid level of the gangue mixing device through a first visual detector, records the measured distribution density as P and determines whether the content of the gangue in the mixed material meets the standard according to P to make a preliminary determination;

the central control processor is internally provided with a first preset distribution density P1, a second preset distribution density P2 and a preset rotation speed adjusting coefficient alpha, wherein P1 is more than P2, and alpha is more than 0.5 and less than 1;

if P is less than P1, the central control processor preliminarily judges that the content of the gangue in the mixed material is low, the central control processor adjusts the initial stirring rotating speed W of the gangue mixing device by using alpha, the adjusted stirring rotating speed is recorded as Wa, and Wa is set to be W multiplied by alpha;

if P is not less than P1 and not more than P2, the central control processor preliminarily determines that the content of the gangue in the mixed material meets the standard and does not adjust the initial stirring rotating speed W of the gangue mixing device;

if P is more than P2, the central control processor preliminarily judges the content of the gangue in the mixed material to be high, the central control processor adjusts the initial stirring rotating speed W of the gangue mixing device by using alpha, the adjusted stirring rotating speed is recorded as Wb, and Wb is set as Wx (1+ alpha);

when the central control processor preliminarily determines that the content of the gangue in the mixed material meets the standard, the central control processor controls the first visual detector to detect the distribution density P 'of the gangue on the liquid surface of the material again when the time length for stirring the material by the gangue mixing device at the initial stirring speed W reaches a preset time length t0, and if P1 is less than or equal to P' < P2, the central control processor determines that the material is uniformly mixed and controls the gangue mixing device to convey the material to the gangue throwing device; if P '< P1 or P' > P2, the central control processor adjusts the initial stirring rotation speed W of the gangue mixing device by using the preset rotation speed adjustment coefficient alpha;

when the central control processor uses the preset rotation speed regulating coefficient alpha to regulate the initial stirring rotation speed W of the gangue mixing device, the central control processor controls the first visual detector to detect the distribution density Pa '/Pb' of the gangue on the liquid level of the material again when the time length of the gangue mixing device stirring the material at the regulated stirring rotation speed Wa/Wb reaches the preset time length t0,

if Pa 'is not less than P1 and not more than P2 or P1 is not less than Pb' and not more than P2, the central control processor judges that the materials are uniformly mixed and controls the gangue mixing device to convey the materials to the gangue throwing device; if Pa '< P1 or Pa' > P2, the central control processor further adjusts the stirring rotation speed Wa of the gangue mixing device by using the preset rotation speed adjustment coefficient alpha; if Pb '< P1 or Pb' > P2, the central processor further adjusts the stirring rotation speed Wb of the gangue mixing device by using the preset rotation speed adjusting coefficient alpha.

3. The 973 filling method based on the near-horizontal roadway according to claim 2, wherein a preset rotation speed critical adjustment frequency N0 is further arranged in the central control processor, when the adjustment frequency of the central control processor on the stirring rotation speed of the gangue mixing device reaches N0 and the distribution density P 'of gangue on the adjusted material liquid level is less than P1, the central control processor judges that the material proportion does not meet the standard, calculates the distribution density difference DeltaP, increases the addition amount of the gangue in unit time according to the DeltaP, and sets the DeltaP to be P1-P'; the central control processor is also provided with a first preset distribution density difference value delta P1, a second preset distribution density difference value delta P2, a first preset shifting speed adjusting coefficient beta 1, a second preset shifting speed adjusting coefficient beta 2 and a third preset shifting speed adjusting coefficient beta 3, wherein delta P1 is less than delta P2, and beta 1 is more than 1 and less than beta 2 and less than beta 3 and less than 1.5;

if the delta P is less than or equal to the delta P1, the central control processor adjusts the gangue conveying speed V of the belt conveyor by using a first preset transfer speed adjusting coefficient beta 1;

if the delta P is more than delta P1 and less than or equal to delta P2, the central control processor adjusts the gangue conveying speed V of the belt conveyor by using a second preset shifting speed adjusting coefficient beta 2;

if delta P is > -delta P3, the central control processor adjusts the gangue conveying speed V of the belt conveyor by using a third preset transfer speed adjusting coefficient beta 3;

and when the central control processor increases the gangue conveying speed V of the belt conveyor by using the ith preset shifting speed adjusting coefficient beta i, setting i to be 1, 2 and 3, and setting V 'to be V multiplied by beta i, wherein the gangue conveying speed of the belt conveyor after adjustment is marked as V'.

4. The 973 filling method based on the near-horizontal roadway according to claim 3, wherein when the adjusting times of the central control processor on the stirring rotation speed of the gangue mixing device reach N and the distribution density P ' of gangue on the adjusted material liquid level is greater than P2, the central control processor determines that the material ratio does not meet the standard, calculates the distribution density difference DeltaP ', reduces the addition amount of gangue in unit time according to the DeltaP ', and sets the DeltaP ' ═ P ' -P2;

if the delta P' is less than or equal to the delta P1, the central control processor adjusts the gangue conveying speed V of the belt conveyor by using a first preset transfer speed adjusting coefficient beta 1;

if the delta P is more than delta P1 and less than or equal to delta P2, the central control processor adjusts the gangue conveying speed V of the belt conveyor by using a second preset shifting speed adjusting coefficient beta 2;

if delta P' > -delta P3, the central control processor adjusts the gangue conveying speed V of the belt conveyor by using a third preset transfer speed adjusting coefficient beta 3 and reduces the conveying amount of the ground pulping station for the slurry in unit time;

when the central processor reduces the gangue conveying speed V of the belt conveyor by using the ith preset shifting speed adjusting coefficient beta i, setting i to be 1, 2 and 3, recording the gangue conveying speed of the belt conveyor after adjustment as V', and setting V to be Vx (2-beta i).

5. The 973 filling method based on a near-horizontal roadway according to claim 4, wherein in the step s5, when the gangue dumping device fills the roadway with the materials, the central processor controls the second visual sensor to detect an increase L of the height of the materials in the roadway per unit time and determines whether to adjust the flow Q of the mixed materials output by the gangue dumping device according to L; the central control processor is also provided with a first preset height increment L1, a second preset height increment L2 and a preset flow regulation coefficient g, wherein L1 is more than L2, and g is more than 0 and less than 0.5;

when L is less than L1, the central control processor judges that the material filling rate is too low and adjusts the flow Q of the mixed material output by the waste rock throwing device by using g, the adjusted flow of the mixed material output by the waste rock throwing device is recorded as Qa, and Qa is set to Q x (1-g);

when L is not less than L1 and not more than L2, the central control processor judges that the material filling rate meets the standard, does not adjust the flow of the mixed material output by the waste rock throwing device and detects the amount of the material remaining in the waste rock throwing device in real time;

and when L is larger than L2, the central control processor judges that the material filling rate is too high and adjusts the flow Q of the mixed material output by the waste rock throwing device by using g, the adjusted flow of the mixed material output by the waste rock throwing device is recorded as Qb, and Qb is set to be Q x (1+ g).

6. The 973 filling method based on the near-horizontal roadway according to claim 5, wherein the central control processor is further provided with a preset material residual amount U0, when the central control processor determines that the material filling rate meets the standard, the central control processor detects the material amount U remained in the gangue and pulp mixing device in real time, when U is less than U0, the central control processor controls the second visual detector to detect the volume S of a space to be filled remained in the roadway so as to determine whether gangue and slurry are added into the gangue and pulp mixing device, the central control processor is further provided with a first preset volume S1, a second preset volume S2, a first preset material addition amount DeltaG 1 and a second preset material addition amount DeltaG 2, wherein S1 is less than S2, DeltaG 1 is less than DeltaG 2,

if S is not more than S1, the central control processor judges that the volume of the remaining space to be filled is too small, the gangue and the slurry are not added into the gangue mixing device, and the usage amount of the high-concentration cemented slurry is increased in the step S6;

if S1 is larger than S2, the central control processor judges that gangue and slurry need to be added into the gangue and slurry mixing device, and sets the total amount of the added gangue and slurry as delta G1;

if S is more than S2, the central control processor judges that gangue and slurry need to be added into the gangue and slurry mixing device and sets the total amount of the added gangue and slurry as delta G2;

and when the central control processor determines that the gangue and the slurry need to be added into the gangue and slurry mixing device, the central control processor prepares the mixed material according to the proportion of the gangue and the slurry when the distribution density of the gangue on the surface of the slurry is adjusted to be within a standard interval in the slurry preparation process.

7. The near horizontal roadway based 973 filling method according to claim 1, wherein in said step s2, when said central processor determines the usage amount of gangue and slurry, the central processor preliminarily determines the total amount of gangue and slurry to be used according to the height of the roadway and adjusts the total amount of gangue and slurry according to the average width in the roadway; the central processor is also provided with a first preset height H1, a second preset height H2, a first preset total material amount G1, a second preset total material amount G2 and a third preset total material amount G3, wherein H1 is more than H2, G1 is more than G2 and more than G3;

if the actual height H of the roadway is less than or equal to H1, the central processor preliminarily determines the usage amount of the gangue and the slurry as G1;

if the actual height H1 of the roadway is more than or equal to H2, the central processor preliminarily determines the use amount of the gangue and the slurry as G2;

if the actual height H of the roadway is larger than H2, the central processor preliminarily determines the usage amount of gangue and slurry as G3;

when the central processor preliminarily determines the usage amount of the gangue and the slurry as Gj, setting j to be 1, 2 and 3, and determining whether to adjust the Gj according to the average width R of the roadway by the central processor; the central processor is also provided with a first preset average width R1, a second preset average width R2, a first preset dosage regulating coefficient e1 and a second preset dosage regulating coefficient e2, wherein R1 is more than R2, and e1 is more than 0.7 and more than 1 and e2 is more than 1.4;

if R is not more than R1, the central control processor judges that the roadway width is lower than a standard value and adjusts Gj by using e 1;

if R is more than R1 and less than or equal to R2, the central control processor judges that the width of the roadway is the standard width, and the central control processor does not adjust Gj;

if R is larger than R2, the central control processor judges that the lane width is higher than a standard value and adjusts Gj by using e 2;

and when the central control processor uses the k-th preset usage adjusting coefficient ek to adjust Gj, setting k to be 1 and 2, and setting Gj 'to be Gj multiplied by ek, wherein the usage of the adjusted gangue and slurry is recorded as Gj'.

8. The 973 filling method based on the near-horizontal roadway according to claim 1, wherein when the central processor completes determination of the usage amount of the gangue and the slurry, the central processor detects the volume occupied by the triangular unconnected space in the roadway through the first visual detector and calculates a ratio B between the volume and the total volume of the roadway, and the central processor determines whether to correct the determined usage amount of the gangue and the slurry according to B; the central processor is also provided with a first preset volume ratio B1, a second preset volume ratio B2, a third preset volume ratio B3, a first preset dosage correction coefficient c1 and a second preset dosage correction coefficient c2, wherein B1 is larger than 0 and B2 is larger than B3 and smaller than 0.5, and c2 is larger than 0.8 and smaller than c1 and smaller than 0.9;

when B is less than or equal to B1, the central control processor judges that no triangle unconnected space exists in the roadway, and the central control processor does not correct the determined usage amount of the gangue and the slurry;

when B1 is greater than B and is not greater than B2, the central control processor judges that no triangle unconnected space exists in the roadway and corrects the determined use amount of the gangue and the slurry by using c 1;

when B is larger than B2, the central control processor judges that no triangle unconnected space exists in the roadway and corrects the determined usage amount of the gangue and the slurry by using c 2;

and the central control processor is also internally provided with a preset ratio, and respectively determines the usage amount of the gangue and the usage amount of the slurry according to the preset ratio when the central control processor finishes the correction of the determined usage amounts of the gangue and the slurry.

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