A pipeline synchronous retraction control system and method for a mother-child type drainage and emergency rescue vehicle

Abstract

The present invention discloses a pipeline synchronous reeling and control system for a sub-vehicle drainage rescue vehicle, comprising a sub-vehicle traveling system and a pipeline reeling and laying system, wherein the A3 port and B3 port of the third proportional reversing valve of the sub-vehicle traveling system are connected to the two ends of the second traveling motor, the A4 port and B4 port of the fourth proportional reversing valve are connected to the two ends of the first traveling motor, the A2 port of the second proportional reversing valve of the pipeline reeling and laying system is connected to the PC port of the pipeline reeling control valve, the PC port of the pipeline reeling control valve is connected to the LM port, the LM port of the pipeline reeling control valve is connected to the oil filling port of the pipeline reeling motor, the B1 and A1 ports of the first proportional reversing valve are respectively connected to the P and P0 ports of the pipeline reeling control valve, the P and P0 ports of the pipeline reeling control valve are respectively connected to the A and B ports, the A and B ports of the pipeline reeling control valve are respectively connected to the reeling end and the laying end of the pipeline reeling motor, and the pipeline reeling motor drives the integrated pipeline reeling device to rotate forward and reverse.

Description

Technical Field

[0001] The invention relates to a synchronous reeling control system and method for a pipeline of a parent-child type drainage rescue vehicle, belonging to the technical field of hydraulic and electrical applications. Background Art

[0002] Some drainage rescue vehicles include on-board tracked drainage equipment, also known as "sub-vehicles." These sub-vehicles are connected to a main vehicle via hydraulic lines, which in turn provide power to the sub-vehicles. After a flood disaster, the main vehicle is parked in a fixed location while the sub-vehicles drive to designated drainage locations. Due to the distance between the sub-vehicles and the main vehicle, manual pipe laying is often required, or a dedicated hydraulic capstan is used to retract and release the hydraulic lines. However, when using a hydraulic capstan, the retraction and deployment speed of the hydraulic capstan cannot automatically match the speed of the sub-vehicle. Retraction or deployment requires visual coordination between multiple operators to control the retraction or deployment speed and the vehicle's travel speed, resulting in low efficiency. This often increases the labor intensity of manually laid pipes, making them time-consuming and labor-intensive. Furthermore, existing equipment, including hydraulic and cable pipes, contains a large number and variety of pipes, each with its own independent retraction device. This can easily lead to a cluttered pipeline network at the rescue site, posing a safety hazard. Summary of the Invention

[0003] In order to address the deficiencies of the prior art, the purpose of the present invention is to provide a synchronous reeling control system and method for a mother-and-child drainage rescue vehicle, which solves the problem in the prior art of mismatch between the reeling or laying speed of the control pipeline and the driving speed of the child vehicle.

[0004] In order to achieve the above objectives, the present invention adopts the following technical solutions:

[0005] A pipe synchronous reeling and laying control system for a sub-vehicle drainage rescue vehicle, comprising a sub-vehicle travel system and a pipe reeling and laying system;

[0006] The sub-vehicle travel system includes a third proportional reversing valve, a fourth proportional reversing valve, a second travel motor, and a first travel motor. Ports A3 and B3 of the third proportional reversing valve are connected to both ends of the second travel motor, and ports A4 and B4 of the fourth proportional reversing valve are connected to both ends of the first travel motor.

[0007] The pipeline reeling and laying system includes a first proportional reversing valve, a second proportional reversing valve, a pipeline reeling control valve, a pipeline reeling motor and an integrated pipeline reeling device;

[0008] The A2 port of the second proportional reversing valve is connected to the PC port of the pipeline rewinding control valve, the PC port and the LM port of the pipeline rewinding control valve are connected, and the LM port of the pipeline rewinding control valve is connected to the oil filling port of the pipeline rewinding motor;

[0009] The B1 and A1 ports of the first proportional reversing valve are connected to the P and P0 ports of the pipeline rewinding control valve respectively, the P and P0 ports of the pipeline rewinding control valve are connected to the A and B ports respectively, the A and B ports of the pipeline rewinding control valve are connected to the rewinding end and the deploying end of the pipeline rewinding motor respectively, and the pipeline rewinding motor drives the integrated pipeline rewinding device to rotate forward and reverse.

[0010] Furthermore, the aforementioned also includes a power system, which includes an engine, a first main pump, a hydraulic oil tank and a second main pump;

[0011] The engine drives the first main pump and the second main pump;

[0012] The oil inlet of the first main pump is connected to the hydraulic oil tank, and the oil outlet is connected in parallel to the P1 port of the first proportional reversing valve and the P2 port of the second proportional reversing valve;

[0013] The oil inlet of the second main pump is connected to the hydraulic oil tank, and the oil outlet is connected in parallel to the P3 port of the third proportional reversing valve and the P4 port of the fourth proportional reversing valve;

[0014] The T1 port of the first proportional reversing valve, the T2 port of the second proportional reversing valve, the T3 port of the third proportional reversing valve, the T4 port of the fourth proportional reversing valve and the T port and TD port of the pipeline retraction control valve are all connected to the hydraulic oil tank.

[0015] Furthermore, the aforementioned also includes a first safety valve and a second safety valve to prevent system shock, and a first oil supply valve and a second oil supply valve to prevent the system from being sucked out;

[0016] The oil inlets of the first safety valve and the second oil supply valve are connected to the B1 port of the first proportional reversing valve, and the oil outlets of the first safety valve and the second oil supply valve are connected to the hydraulic oil tank;

[0017] The oil inlets of the second safety valve and the first oil replenishing valve are connected to the A1 port of the first proportional reversing valve, and the oil outlets of the second safety valve and the first oil replenishing valve are connected to the hydraulic oil tank.

[0018] Furthermore, the aforementioned also includes a main overflow valve, the oil inlet of the main overflow valve is connected to the oil outlet of the first main pump, and the oil outlet of the main overflow valve is connected to the hydraulic oil tank.

[0019] Furthermore, the aforementioned pipeline retraction control valve includes an oil supply relief valve, a third oil supply valve, a fourth oil supply valve, a damping orifice, a first proportional relief valve, a one-way valve and a second proportional relief valve;

[0020] The oil inlet of the oil-supply relief valve is connected to the PC port, and the oil outlet of the oil-supply relief valve is connected to the TD port;

[0021] The oil inlet of the third oil supply valve is connected to the PC port, and the oil outlet of the third oil supply valve is connected to the B port;

[0022] The oil inlet of the fourth oil supply valve is connected to the PC port, and the oil outlet of the fourth oil supply valve is connected to the A port;

[0023] The two ends of the damping hole are connected to the PC port and the LM port respectively;

[0024] The oil inlet of the first proportional relief valve is connected to port B, and the oil outlet of the first proportional relief valve is connected to the hydraulic oil tank;

[0025] The oil inlet of the one-way valve is connected to port P0, and the oil outlet of the one-way valve is connected to port B;

[0026] The oil inlet of the second proportional relief valve is connected to the P port, and the oil outlet of the second proportional relief valve is connected to the P0 port.

[0027] Furthermore, the aforementioned also includes a first pressure detection and a second pressure detection;

[0028] The first pressure detection detects the pressure of port A of the pipeline reeling control valve, and the second pressure detection detects the pressure of port B of the pipeline reeling control valve.

[0029] Furthermore, the first proportional reversing valve, the second proportional reversing valve, the third proportional reversing valve and the fourth proportional reversing valve are electrically controlled valves or hydraulically controlled valves.

[0030] A method for controlling the synchronous retraction of pipes for a parent-child type drainage rescue vehicle is provided, which uses any of the aforementioned synchronous retraction control systems for pipes for a parent-child type drainage rescue vehicle, and comprises the following steps:

[0031] The vehicle moves forward: controls the flow output of A3 of the third proportional reversing valve, A4 of the fourth proportional reversing valve, and A1 of the first proportional reversing valve;

[0032] The pressure of the first proportional relief valve and the second proportional relief valve controlled by the electric signal is the maximum;

[0033] Calculate the difference between the actual deployment speed V3 and the theoretical speed V2, and adjust the output flow of port A1 of the first proportional reversing valve in real time to adjust the deployment speed so that the actual deployment speed matches the forward speed of the sub-vehicle;

[0034] The vehicle moves backward: controls the flow output of the B3 port of the third proportional reversing valve, the B4 port of the fourth proportional reversing valve, and the B1 port of the first proportional reversing valve;

[0035] The control pressure initial setting values of the first proportional relief valve and the second proportional relief valve are given by electrical signals;

[0036] Calculate the difference between the actual deployment speed V3 and the theoretical speed V2, and adjust the output flow of port B1 of the first proportional reversing valve in real time to adjust the deployment speed so that the actual deployment speed matches the forward speed of the sub-vehicle;

[0037] The difference between the actual tension and the target tension is calculated, and the current of the first proportional relief valve and the second proportional relief valve are adjusted in real time to adjust the pressure difference between the inlet and outlet of the pipeline reeling motor to achieve a match between the actual tension and the target tension.

[0038] Furthermore, the specific steps for calculating the actual deployment speed V3 and the theoretical deployment speed V2 include:

[0039] Detect the rotation speed N1 of the first and second travel motors and calculate the vehicle linear speed V1, which is equal to the theoretical deployment speed V2;

[0040] By detecting the number of laying turns LN1 of the integrated pipeline retracting device 8, the pipeline winding radius R=RW-LN1*D is calculated, where RW is the winding radius at the beginning of pipeline laying, and D is the outer diameter of the pipeline;

[0041] The actual laying linear speed V3 = N2*R is calculated based on the laying rotation speed N2 of the integrated pipe retracting device.

[0042] Furthermore, the specific steps of calculating the actual tension include:

[0043] Detect the pressure values PA and PB of the first and second pressure tests on the pipeline reeling control valve and the number of revolutions LN2 of the integrated pipeline reeling device 8, and calculate the pressure difference PA-PB at the inlet and outlet of the pipeline reeling motor and the pipeline winding radius R=RN+LN2*D / 2, where RN is the reel radius at the start of pipeline reeling and D is the outer diameter of the pipeline;

[0044] Converted into actual pipeline tension F = 0.0159 (PA-PB) Vη m / R, where V is the displacement of the pipeline retraction motor, η m is the mechanical efficiency of the pipe reel motor.

[0045] Furthermore, the control method in the forward mode of the sub-vehicle further includes:

[0046] Control port B1 of the first proportional reversing valve to supply oil to the reeling side of the pipeline reeling motor at a flow rate of 1-2L / min;

[0047] Control the current value of the second proportional relief valve to make the retraction pressure close to 0, and control the current value of the first proportional relief valve to make the pressure maximum;

[0048] The A2 port of the second proportional reversing valve actively replenishes oil to the system at a replenishing oil pressure of 15 bar.

[0049] The beneficial effects achieved by the present invention are:

[0050] The integrated pipeline retracting device is remotely operated. Only one person is needed to synchronize the movement of the sub-trolley with the retracting and laying of the pipeline, and to match the speed of the sub-trolley with that of the retracting and laying of the pipeline. This prevents excessive tension and damage to the pipeline when the sub-trolley is moving too slowly during the retracting process, and prevents the pipeline from being piled up or even crushed by the traveling mechanism due to untimely retraction when the traveling speed is too fast. The retracting process is kept properly tensioned to prevent disordered winding. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Figure 1 This is a schematic diagram of the synchronous retracting control system for the pipes of the parent-child type drainage rescue vehicle of the present invention;

[0052] Figure 2 This is a hydraulic principle diagram of a synchronous retracting control system for pipelines of a parent-child type drainage rescue vehicle according to the present invention.

[0053] The meanings of the reference numbers in the figure are: 1-engine; 2-first main pump; 3-hydraulic oil tank; 4-first proportional reversing valve; 5-second proportional reversing valve; 6-pipeline rewinding control valve; 7-pipeline rewinding motor; 8-integrated pipeline rewinding device; 9-first safety valve; 10-second safety valve; 11-first oil supply valve; 12-second oil supply valve; 13-main overflow valve; 14-second main pump; 15-third proportional reversing valve; 16-fourth proportional reversing valve; 17-first travel motor; 18-second travel motor; 6.1-oil supply overflow valve; 6.2-third oil supply valve; 6.3-fourth oil supply valve; 6.4-damping orifice; 6.5-first pressure detection; 6.6-second pressure detection; 6.7-first proportional overflow valve; 6.8-check valve; 6.9-second proportional overflow valve. DETAILED DESCRIPTION

[0054] The present invention will be further described below in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solutions of the present invention and are not intended to limit the scope of protection of the present invention.

[0055] This embodiment discloses a pipeline synchronous retraction control system for a parent-child type drainage rescue vehicle, which mainly includes an engine 1, a first main pump 2, a hydraulic oil tank 3, a first proportional reversing valve 4, a second proportional reversing valve 5, a pipeline retraction control valve 6, a pipeline retraction motor 7, an integrated pipeline retraction device 8, a first safety valve 9, a second safety valve 10, a first oil replenishing valve 11, a second oil replenishing valve 12, a main overflow valve 13, a second main pump 14, a third proportional reversing valve 15, a fourth proportional reversing valve 16, a first travel motor 17, and a second travel motor 18.

[0056] The pipeline retraction control valve 6 includes an oil replenishment relief valve 6.1, a third oil replenishment valve 6.2, a fourth oil replenishment valve 6.3, a damping orifice 6.4, a first pressure detection valve 6.5, a second pressure detection valve 6.6, a first proportional relief valve 6.7, a one-way valve 6.8, and a second proportional relief valve 6.9. The oil inlet of the oil-supply relief valve 6.1 is connected to the PC port, and the oil outlet of the oil-supply relief valve 6.1 is connected to the TD port; the oil inlet of the third oil-supply relief valve 6.2 is connected to the PC port, and the oil outlet of the third oil-supply relief valve 6.2 is connected to the B port; the oil inlet of the fourth oil-supply relief valve 6.3 is connected to the PC port, and the oil outlet of the fourth oil-supply relief valve 6.3 is connected to the A port; the two ends of the damping orifice 6.4 are respectively connected to the PC port and the LM port; the oil inlet of the first proportional relief valve 6.7 is connected to the B port, and the oil outlet of the first proportional relief valve 6.7 is connected to the hydraulic oil tank 3; the oil inlet of the check valve 6.8 is connected to the P0 port, and the oil outlet of the check valve 6.8 is connected to the B port; the oil inlet of the second proportional relief valve 6.9 is connected to the P port, and the oil outlet of the second proportional relief valve 6.9 is connected to the P0 port; the first pressure detection device 6.5 detects the pressure at the A port of the pipeline reeling control valve 6, and the second pressure detection device 6.6 detects the pressure at the B port of the pipeline reeling control valve 6.

[0057] Pipeline reeling and deployment system: The engine 1 drives the first main pump 2, and the first main pump 2 draws oil from the hydraulic oil tank 3. The oil outlet of the first main pump 2 is connected in parallel to the P1 port of the first proportional reversing valve 4 and the P2 port of the second proportional reversing valve 5. The B1 and A1 ports of the first proportional reversing valve 4 are connected to the P and P0 ports of the pipeline reeling control valve 6 respectively. The A2 port of the second proportional reversing valve 5 is connected to the PC port of the pipeline reeling control valve 6. The A port and B port of the pipeline reeling control valve 6 are connected to the reeling end and the deployment end of the pipeline reeling motor 7 respectively. The pipeline reeling motor 7 drives the integrated pipeline reeling device 8 to rotate forward and reverse. The pipeline reeling control valve 6 injects oil into the housing of the pipeline reeling motor 7 through the LM port to flush the housing. Ports A1 and B1 of the first proportional reversing valve 4 are connected to the oil inlets of the first safety valve 9 and the second safety valve 10, respectively, to prevent system shock. Ports A1 and B1 of the first proportional reversing valve 4 are also connected to the oil inlets of the first replenishing valve 11 and the second replenishing valve 12, respectively, to prevent system air intake. The oil outlets of the first safety valve 9, the second safety valve 10, the first replenishing valve 11, and the second replenishing valve 12 are all connected to the hydraulic oil tank 3. The first and second proportional reversing valves 4 and 5 can be electrically or hydraulically controlled, preferably electrically. The oil inlet of the main relief valve 13 is connected to the oil outlet of the first main pump 2, and the oil outlet of the main relief valve 13 is connected to the hydraulic oil tank 3.

[0058] Sub-vehicle travel system: the engine 1 drives the second main pump 14, the second main pump 14 draws oil from the hydraulic oil tank 3, the oil outlet of the second main pump 14 is connected in parallel to the P3 port of the third proportional reversing valve 15 and the P4 port of the fourth proportional reversing valve 16, the A3 port and B3 port of the third proportional reversing valve 15 are connected to the two ends of the second travel motor 18, and the A4 port and B4 port of the fourth proportional reversing valve 16 are connected to the two ends of the first travel motor 17.

[0059] The user can control the forward, reverse and driving speed of the sub-vehicle. The pipeline is laid out when the sub-vehicle moves forward and retracted when the sub-vehicle moves backward. An internal algorithm is developed to match the sub-vehicle's travel speed with the retracting or laying speed.

[0060] There are two control modes for the automatic matching of vehicle advancement and pipeline layout:

[0061] Method 1: Flow output from ports A3 and A4 of the third and fourth proportional directional valves 15 and 16 propels the vehicle forward via the second travel motor 18 and first travel motor 17. Flow output from port A1 of the first proportional directional valve 4 initiates system oil replenishment at a replenishment pressure of 15 bar through port A2 of the second proportional directional valve 5. The first and second proportional relief valves 6.7 and 6.9 control pressure at maximum via electrical signals. Flow output from port A1 of the first proportional directional valve 4 returns to the hydraulic oil tank 3 via the check valve 6.8, the pipeline reeling motor 7, and port B1 of the first proportional directional valve 4. The currents of the third proportional reversing valve 15, the fourth proportional reversing valve 16 and the first proportional reversing valve 4 are adjusted to control the forward speed of the sub-vehicle and the laying speed of the pipeline retracting motor 7. At the same time, the sub-vehicle walking linear speed V1 is calculated by detecting the rotation speed N1 of the first travel motor 17 and the second travel motor 18, and V1 is equal to the theoretical laying speed V2. The pipeline winding radius R = RW - LN1 * D can be calculated by detecting the number of laying turns LN1 of the integrated pipeline retracting device 8, where RW is the winding radius at the beginning of pipeline laying and can be input through the program, and D is the outer diameter of the pipeline. Combined with the laying speed N2 of the integrated pipeline retracting device 8, the actual laying linear speed V3 = N2 * R can be calculated. The output flow of the A1 port of the first proportional reversing valve 4 is adjusted in real time according to the difference between the actual laying speed V3 and the theoretical speed V2 to adjust the laying speed so as to achieve a match between the actual laying speed and the forward speed of the sub-vehicle. Setting up active oil replenishment at the first oil replenishment valve 11, the second oil replenishment valve 12 and the A2 port of the second proportional reversing valve 5 can effectively prevent the system from being sucked into the air due to the dragging of the pipeline reeling motor 7 when the deployment speed is too slow due to adjustment error.

[0062] Method 2: Port B1 of the first proportional reversing valve 4 supplies oil to the reeling side of the pipeline reeling motor 7 at a flow rate of 1-2 L / min. The pipeline reeling control valve 6 controls the current value of the second proportional relief valve 6.9 to control the reeling pressure close to 0, and the current value of the first proportional relief valve 6.7 to control its pressure to the maximum, preventing the oil from returning to the hydraulic oil tank 3 through the first proportional relief valve 6.7 and the one-way valve 6.8. The A2 port of the second proportional reversing valve 5 actively replenishes oil for the system at a replenishing oil pressure of 15 bar. At this time, the pipeline reeling motor 7 is stationary under the action of a smaller reeling and deploying pressure. When a sub-vehicle moves forward to pull the pipeline, the pipeline reeling motor 7 changes to a pumping state, and the oil returns through the reeling end of the motor. Because the B1 port of the first proportional reversing valve 4 supplies oil to the reeling side of the pipeline reeling motor 7 at a flow rate of 1-2L / min, the oil can only open the second proportional relief valve 6.9 on the pipeline reeling control valve 6 and the A1 port of the first proportional reversing valve 4 to return to the hydraulic oil tank 3, or enter the deploying end of the pipeline reeling motor 7. The A2 port of the second proportional reversing valve 5 actively replenishes oil for the system at a replenishing oil pressure of 15 bar, which can effectively prevent air suction under this working condition. In the early stage of pipeline laying, since the number of pipeline arrangements on the integrated pipeline retracting device 8 is large, method 1 is used. If the laying speed is fast, it is easy to cause the pipeline and structural parts to get stuck. Method 2 can be used for laying first.

[0063] Automatic matching of vehicle retraction and pipeline retraction: During this control process, automatic matching of vehicle retraction and pipeline retraction is achieved through speed matching and tension adjustment. The vehicle retracts by controlling the flow output from ports B3 and B4 of the third and fourth proportional reversing valves 15 and 16, and the flow output from port B1 of the first proportional reversing valve 4. The first proportional relief valve 6.7 and the second proportional relief valve 6.9 are set to initial control pressure values via electrical signals. The flow output from port B1 of the first proportional reversing valve 4 returns to the hydraulic oil tank 3 via the pipeline retraction motor 7 and the first proportional relief valve 6.7. Speed matching is similar to the automatic matching control method for vehicle advance and pipeline deployment, and will not be described in detail. The difference is that tension adjustment is included in the automatic matching of vehicle retraction and pipeline retraction to eliminate cumulative errors generated during speed matching and prevent damage to the pipeline caused by excessive retraction speed. By detecting the pressure values PA and PB of the first pressure detection 6.5 and the second pressure detection 6.6 on the pipeline reeling control valve 6 and the number of turns LN2 of the integrated pipeline reeling device 8, the pressure difference PA-PB at the inlet and outlet of the pipeline reeling motor 7 and the pipeline winding radius R=RN+LN2*D / 2 are calculated. RN is the reel radius at the beginning of pipeline reeling, which can be input through the program. D is the outer diameter of the pipeline, which is then converted into the actual pipeline tension F=0.0159(PA-PB)Vη m / R, V is the displacement of the pipeline reeling motor 7, η mTo improve the mechanical efficiency of the pipeline reeling motor 7, the current of the first proportional relief valve 6.7 and the second proportional relief valve 6.9 are adjusted in real time based on the difference between the actual tension and the preset target tension, so as to adjust the pressure difference between the inlet and outlet of the pipeline reeling motor 7 to achieve a match between the actual tension and the target tension.

[0064] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A synchronous retracting control system for pipelines of a parent-child type drainage rescue vehicle, characterized in that: Including power system, vehicle travel system, pipeline reeling and laying system; The sub-vehicle travel system comprises a third proportional reversing valve (15), a fourth proportional reversing valve (16), a second travel motor (18) and a first travel motor (17), wherein the A3 port and the B3 port of the third proportional reversing valve (15) are connected to both ends of the second travel motor (18), and the A4 port and the B4 port of the fourth proportional reversing valve (16) are connected to both ends of the first travel motor (17); The pipeline reeling and laying system comprises a first proportional reversing valve (4), a second proportional reversing valve (5), a pipeline reeling control valve (6), a pipeline reeling motor (7) and an integrated pipeline reeling device (8); The A2 port of the second proportional reversing valve (5) is connected to the PC port of the pipeline rewinding control valve (6), the PC port of the pipeline rewinding control valve (6) is connected to the LM port, and the LM port of the pipeline rewinding control valve (6) is connected to the oil filling port of the pipeline rewinding motor (7); The B1 and A1 ports of the first proportional reversing valve (4) are connected to the P and P0 ports of the pipeline reeling control valve (6), respectively. The P and P0 ports of the pipeline reeling control valve (6) are connected to the A and B ports, respectively. The A and B ports of the pipeline reeling control valve (6) are connected to the reeling end and the deploying end of the pipeline reeling motor (7), respectively. The pipeline reeling motor (7) drives the integrated pipeline reeling device (8) to rotate forward and reverse. The power system comprises an engine (1), a first main pump (2), a hydraulic oil tank (3) and a second main pump (14); The engine (1) drives a first main pump (2) and a second main pump (14); The oil inlet of the first main pump (2) is connected to the hydraulic oil tank (3), and the oil outlet is connected in parallel to the P1 port of the first proportional reversing valve (4) and the P2 port of the second proportional reversing valve (5); The oil inlet of the second main pump (14) is connected to the hydraulic oil tank (3), and the oil outlet is connected in parallel to the P3 port of the third proportional reversing valve (15) and the P4 port of the fourth proportional reversing valve (16); The T1 port of the first proportional reversing valve (4), the T2 port of the second proportional reversing valve (5), the T3 port of the third proportional reversing valve (15), the T4 port of the fourth proportional reversing valve (16), and the T port and the TD port of the pipeline retraction control valve (6) are all connected to the hydraulic oil tank (3); The pipeline retracting control valve (6) comprises an oil supply relief valve (6.1), a third oil supply valve (6.2), a fourth oil supply valve (6.3), a damping orifice (6.4), a first proportional relief valve (6.7), a one-way valve (6.8) and a second proportional relief valve (6.9); The oil inlet of the oil-supply relief valve (6.1) is connected to the PC port, and the oil outlet of the oil-supply relief valve (6.1) is connected to the TD port; The oil inlet of the third oil replenishing valve (6.2) is connected to the PC port, and the oil outlet of the third oil replenishing valve (6.2) is connected to the B port; The oil inlet of the fourth oil replenishing valve (6.3) is connected to the PC port, and the oil outlet of the fourth oil replenishing valve (6.3) is connected to the A port; The two ends of the damping hole (6.4) are connected to the PC port and the LM port respectively; The oil inlet of the first proportional relief valve (6.7) is connected to port B, and the oil outlet of the first proportional relief valve (6.7) is connected to the hydraulic oil tank (3); The oil inlet of the one-way valve (6.8) is connected to the P0 port, and the oil outlet of the one-way valve (6.8) is connected to the B port; The oil inlet of the second proportional relief valve (6.9) is connected to the P port, and the oil outlet of the second proportional relief valve (6.9) is connected to the P0 port.

2. The synchronous retracting control system for pipelines of a parent-child type drainage rescue vehicle according to claim 1 is characterized in that: It also includes a first safety valve (9) and a second safety valve (10) to prevent system shock, and a first oil replenishment valve (11) and a second oil replenishment valve (12) to prevent the system from being sucked out. The oil inlets of the first safety valve (9) and the second oil replenishing valve (12) are connected to the B1 port of the first proportional reversing valve (4), and the oil outlets of the first safety valve (9) and the second oil replenishing valve (12) are connected to the hydraulic oil tank (3); The oil inlets of the second safety valve (10) and the first oil replenishing valve (11) are connected to the A1 port of the first proportional reversing valve (4), and the oil outlets of the second safety valve (10) and the first oil replenishing valve (11) are connected to the hydraulic oil tank (3).

3. The synchronous retracting control system for pipelines of a parent-child type drainage rescue vehicle according to claim 1 is characterized in that: It also includes a main overflow valve (13), the oil inlet of the main overflow valve (13) is connected to the oil outlet of the first main pump (2), and the oil outlet of the main overflow valve (13) is connected to the hydraulic oil tank (3).

4. The synchronous retracting control system for pipelines of a parent-child type drainage rescue vehicle according to claim 1 is characterized in that: Also includes a first pressure detection (6.5) and a second pressure detection (6.6); The first pressure detection (6.5) detects the pressure at port A of the pipeline reeling control valve (6), and the second pressure detection (6.6) detects the pressure at port B of the pipeline reeling control valve (6).

5. The synchronous retracting control system for pipelines of a parent-child type drainage rescue vehicle according to claim 1 is characterized in that: The first proportional reversing valve (4), the second proportional reversing valve (5), the third proportional reversing valve (15) and the fourth proportional reversing valve (16) are electrically controlled valves or hydraulically controlled valves.

6. A method for controlling the synchronous retraction of pipelines for a parent-child drainage rescue vehicle, characterized in that: The application of the synchronous retracting control system for pipelines of the parent-child type drainage rescue vehicle according to any one of claims 1 to 5 comprises the following steps: The vehicle moves forward: controls the flow output of A3 of the third proportional reversing valve (15), A4 of the fourth proportional reversing valve (16), and A1 of the first proportional reversing valve (4); The pressure of the first proportional relief valve (6.7) and the second proportional relief valve (6.9) controlled by the electric signal is the maximum; Calculate the difference between the actual deployment speed V3 and the theoretical speed V2, and adjust the output flow of the A1 port of the first proportional reversing valve (4) in real time to adjust the deployment speed so that the actual deployment speed matches the forward speed of the sub-vehicle; The vehicle moves backward: controls the flow output of port B3 of the third proportional reversing valve (15), port B4 of the fourth proportional reversing valve (16), and port B1 of the first proportional reversing valve (4); The control pressure initial setting values of the first proportional relief valve (6.7) and the second proportional relief valve (6.9) are given by electrical signals; Calculate the difference between the actual deployment speed V3 and the theoretical speed V2, and adjust the output flow of the B1 port of the first proportional reversing valve (4) in real time to adjust the deployment speed so that the actual deployment speed matches the forward speed of the sub-vehicle; The difference between the actual tension and the target tension is calculated, and the current of the first proportional relief valve (6.7) and the second proportional relief valve (6.9) is adjusted in real time to adjust the pressure difference between the inlet and outlet of the pipeline reeling motor (7) to achieve matching between the actual tension and the target tension.

7. The method for controlling the synchronous retraction of pipelines for a parent-child type drainage rescue vehicle according to claim 6, characterized in that: The specific steps for calculating the actual deployment speed V3 and the theoretical speed V2 include: Detecting the rotation speed N1 of the first travel motor (17) and the second travel motor (18), and calculating the travel linear speed V1 of the sub-vehicle, where V1 is equal to the theoretical placement speed V2; By detecting the number of laying turns LN1 of the integrated pipeline retracting device 8, the pipeline winding radius R=RW-LN1*D is calculated, where RW is the winding radius at the beginning of pipeline laying, and D is the outer diameter of the pipeline; The actual laying linear speed V3 = N2*R is calculated by the laying rotation speed N2 of the integrated pipeline retracting device (8).

8. The method for controlling the synchronous retraction of pipelines for a parent-child type drainage rescue vehicle according to claim 6, characterized in that: The specific steps to calculate the actual tension include: Detect the pressure values PA and PB of the first pressure detection (6.5) and the second pressure detection (6.6) on the pipeline reeling control valve (6) and the number of turns LN2 of the integrated pipeline reeling device 8, and calculate the pressure difference PA-PB at the inlet and outlet of the pipeline reeling motor (7) and the pipeline winding radius R = RN + LN2 * D, where RN is the reel radius at the beginning of pipeline reeling and D is the outer diameter of the pipeline; Converted into actual pipeline tension , where V is the displacement of the pipeline reeling motor, is the mechanical efficiency of the pipe reel motor.

9. The method for controlling the synchronous retraction of pipelines for a parent-child type drainage rescue vehicle according to claim 6, characterized in that: The control method in the forward mode of the sub-vehicle further includes: Controlling the B1 port of the first proportional reversing valve (4) to supply oil to the reeling side of the pipeline reeling motor (7) at a flow rate of 1-2 L / min; Control the current value of the second proportional relief valve (6.9) to make the rewinding pressure close to 0, and control the current value of the first proportional relief valve (6.7) to maximize the pressure; The A2 port of the second proportional reversing valve (5) actively replenishes oil to the system at a replenishing oil pressure of 15 bar.

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