The invention discloses a filling pipeline valve intelligent switching control device and method, and a goaf filling method. The filling pipeline valve intelligent switching control device is used forcontrolling a valve on a water-solid mixing slurry conveying pipeline of a mine and comprises a filling main pipeline, a filling branch pipe and a drainage branch pipe, wherein a filling valve for controlling on-off is arranged on the filling branch pipe; a drainage valve for controlling on-off is arranged on the drainage branch pipe; an ultrasonic sensing device capable of reflecting the fluid state in the filling main pipeline through ultrasonic directional transmission is arranged on the filling main pipeline; the filling valve, the drainage valve and the ultrasonic sensing device are in communication connection to a controller; the controller is in communication connection to a filling station control console and controls on-off switching between the filling valve and the drainage valve according to a command signal sent by the filling station control console and a signal outputted by the ultrasonic sensing device to realize precise valve switching between the filling valve and the drainage valve and ensure the filling quality.