Control method of peristaltic high-pressure water jet pipeline dredging and unblocking device

Abstract

The present application belongs to the technical field of pipeline cleaning, and specifically provides a control method of a peristaltic high-pressure water jet pipeline dredging and dredging device, which comprises the following steps: acquiring pipeline topographic features and calculating the distance between the dredging and dredging device and the to-be-dredged area, generating operation information and transmitting it to a control terminal, matching the received operation information with a pre-stored movement mode in the control terminal to determine the movement mode of the dredging and dredging device, sending an execution instruction corresponding to the movement mode to the dredging and dredging device after the movement mode is determined, and moving the dredging and dredging device to the to-be-dredged area according to the received execution instruction; when the dredging and dredging device moves to a set distance from the to-be-dredged area and feeds back to the control terminal, the control terminal sends an execution instruction of a support operation mode to the dredging and dredging device according to the received feedback information, and the dredging and dredging device performs corresponding actions to carry out dredging operation on the to-be-dredged area according to the received execution instruction.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of pipeline cleaning, and particularly relates to a control method of a peristaltic high-pressure water jet pipeline dredging and unblocking device. BACKGROUND

[0002] Pipeline unblocking devices, especially small and medium diameter pipelines, are usually used in liquid or gas conveying systems in various fields. Whether it is industrial production, medical treatment, medicine, or food processing industry, etc., small and medium diameter pipelines are almost needed to convey liquid or gas. However, after a long time of use, some dirt, deposits, biomass, and other attachments will be deposited on the inner wall of the pipeline, which will seriously affect the transmission efficiency and service life of the pipeline. At present, the dredging construction of small and medium diameter pipelines mainly adopts manual holding of related equipment into the pipeline for construction operation. For the construction personnel, the environment inside the pipeline is very poor, and the working environment inside is relatively poor, which increases the construction difficulty; some harmful substances in the pipeline are harmful to the human body under the disturbance of air flow, and there is a certain safety risk; in terms of cleaning efficiency, the traditional construction needs to arrange corresponding rest time each time, and the quality of manual holding equipment unblocking is not the same, and some very firm blockages cannot be cleaned.

[0003] Therefore, it is necessary to develop a corresponding pipeline unblocking device and control method. SUMMARY

[0004] In order to overcome the shortcomings of the prior art, the present application provides a control method of a peristaltic high-pressure water jet pipeline dredging and unblocking device to solve the problems existing in the prior art pipeline construction.

[0005] One embodiment of the present application provides a control method of a peristaltic high-pressure water jet pipeline dredging and unblocking device, comprising the following steps:

[0006] The dredging and unblocking device acquires the pipeline topographic features and calculates the distance between the dredging and unblocking device and the to-be-dredged area, generates operation information, and the operation information includes pipeline environment information and distance information of the to-be-dredged area;

[0007] Based on the generated operation information, the control terminal is transmitted to the control terminal, and the control terminal is matched with the pre-stored movement mode according to the received operation information, so as to determine the movement mode of the dredging and unblocking device, and the movement mode includes operation movement mode and rapid movement mode;

[0008] When the control terminal determines the movement mode of the dredging and unblocking device, the control terminal sends an execution instruction corresponding to the movement mode to the dredging and unblocking device, and the dredging and unblocking device moves to the unblocked area according to the received execution instruction;

[0009] When the dredging and unblocking device moves to a set distance from the unblocked area, the control terminal receives feedback information, and sends an execution instruction of a support operation mode to the dredging and unblocking device according to the received feedback information, and the dredging and unblocking device performs dredging operation on the unblocked area according to the received execution instruction.

[0010] In one embodiment, the distance information includes a long distance and a short distance;

[0011] The generated operation information is transmitted to the control terminal, and the control terminal matches the received operation information with the pre-stored movement mode to determine the movement mode of the dredging and unblocking device, which specifically includes the following steps:

[0012] The control terminal analyzes and confirms the distance between the dredging and unblocking device and the unblocked area according to the received operation information, and selects the movement mode of the dredging and unblocking device according to the determined distance;

[0013] If the distance between the dredging and unblocking device and the unblocked area is a long distance, the control terminal sends an execution instruction corresponding to the fast movement mode to the dredging and unblocking device, and the dredging and unblocking device moves to the unblocked area according to the received execution instruction;

[0014] If the distance between the dredging and unblocking device and the unblocked area is a short distance, the control terminal sends an execution instruction corresponding to the operation movement mode to the dredging and unblocking device, and the dredging and unblocking device moves to the unblocked area according to the received execution instruction.

[0015] In one embodiment, the pipeline environment information includes a straight pipeline environment and a curved pipeline environment, the operation movement mode includes a straight walking mode and a peristaltic turning mode, and the fast movement mode includes a wheel system straight walking mode and a wheel system peristaltic turning mode;

[0016] After the control terminal analyzes and confirms the distance between the dredging and unblocking device and the unblocked area according to the received operation information to select the movement mode of the dredging and unblocking device, the method further includes the following steps:

[0017] The control terminal further analyzes and confirms the pipeline environment according to the received operation information based on the determined movement mode, and further selects the movement mode of the dredging and unblocking device according to the determined pipeline environment;

[0018] If the determined pipeline environment is a straight pipeline environment, the control terminal sends an execution instruction corresponding to a straight walking mode or a wheel train straight walking mode to the dredging and unblocking device, and the dredging and unblocking device moves to the to-be-unblocked area according to the received execution instruction in the straight walking mode or the wheel train straight walking mode.

[0019] If the determined pipeline environment is a curved pipeline environment, the control terminal sends an execution instruction corresponding to a peristaltic turning mode or a wheel train peristaltic turning mode to the dredging and unblocking device, and the dredging and unblocking device moves to the to-be-unblocked area according to the received execution instruction in the peristaltic turning mode or the wheel train peristaltic turning mode.

[0020] In one of the embodiments, the dredging and unblocking device comprises at least two protection mechanisms, a parallel mechanism composed of a plurality of hydraulic cylinders, a support mechanism, a water jet mechanism, a walking mechanism, and a hydraulic system.

[0021] The at least two protection mechanisms are connected in a chain structure through the single chain of the parallel mechanism, and the parallel mechanism can be synchronously telescopic and non-synchronously telescopic.

[0022] The protection mechanism at the front segment and the protection mechanism at the rear segment of the dredging and unblocking device are both provided with the support mechanism and the walking mechanism.

[0023] The water jet mechanism is rotatably installed at the front end of the protection mechanism in the advancing direction of the dredging and unblocking device.

[0024] The hydraulic system is installed in the protection mechanism and connected to the control terminal through a line.

[0025] In one of the embodiments, when the dredging and unblocking device moves to the to-be-unblocked area according to the received execution instruction in the straight walking mode, the control terminal transmits the execution instruction to the hydraulic system, the hydraulic system receives the execution instruction and controls the support mechanism of the protection mechanism at the front segment in the advancing direction of the dredging and unblocking device to be telescopic, the parallel mechanism to be synchronously telescopic, and the support mechanism of the protection mechanism at the rear segment to be telescopic, so as to complete the straight walking of the dredging and unblocking device.

[0026] In one of the embodiments, when the dredging and unblocking device moves to the to-be-unblocked area according to the received execution instruction in the wheel train straight walking mode, the control terminal transmits the execution instruction to the hydraulic system, the hydraulic system receives the execution instruction and controls the support mechanisms of the protection mechanism at the front segment and the protection mechanism at the rear segment in the advancing direction of the dredging and unblocking device to be retracted, and drives the walking mechanisms of the protection mechanism at the front segment and the protection mechanism at the rear segment to be rotated in the wheel train towards the advancing direction, so as to complete the wheel train straight walking of the dredging and unblocking device.

[0027] In one of the embodiments, when the dredging and unblocking device moves to the area to be dredged according to the received execution instruction in the peristaltic turning mode, the control terminal transmits the execution instruction to the hydraulic system, the hydraulic system receives the execution instruction and controls the extension and retraction of the support mechanism of the front protection mechanism, the non-synchronous extension and retraction of the parallel mechanism and the extension and retraction of the support mechanism of the rear protection mechanism in the forward direction of the dredging and unblocking device in sequence, so as to complete the turning walking of the dredging and unblocking device.

[0028] In one of the embodiments, when the dredging and unblocking device moves to the area to be dredged according to the received execution instruction in the peristaltic turning mode, the control terminal transmits the execution instruction to the hydraulic system, the hydraulic system receives the execution instruction and controls the extension and retraction of the support mechanism of the front protection mechanism, the non-synchronous extension and retraction of the parallel mechanism and the extension and retraction of the support mechanism of the rear protection mechanism in the forward direction of the dredging and unblocking device in sequence, so as to complete the turning walking of the dredging and unblocking device.

[0029] In one of the embodiments, the dredging and unblocking device obtains the pipeline topographic features and calculates the distance between the dredging and unblocking device and the area to be dredged, and before the step of generating the operation information, the following steps are further included:

[0030] The dredging and unblocking device is installed into the pipeline in sections;

[0031] After the dredging and unblocking device enters the pipeline, the running state information of the dredging and unblocking device is obtained in real time and is fed back to the control terminal in real time;

[0032] The control terminal judges whether the running state of the dredging and unblocking device is normal based on the received running state information;

[0033] If the dredging and unblocking device has fault information, the control terminal sends the execution instruction of the fault mode to the dredging and unblocking device, the dredging and unblocking device performs corresponding actions according to the received execution instruction, and completes the recovery work of the whole.

[0034] In one of the embodiments, when the dredging and unblocking device recovers according to the received execution instruction in the fault mode, the control terminal transmits the execution instruction to the hydraulic system, the hydraulic system receives the execution instruction and controls the recovery of the support mechanism on the protection mechanism and the driving of the walking mechanism on the protection mechanism to complete the recovery work of the whole dredging and unblocking device.

[0035] The control method of the peristaltic high-pressure water jet pipeline dredging and unblocking device provided by the above embodiments has the following beneficial effects:

[0036] 1. The control method enables the dredging and unblocking device to select the corresponding working mode according to the corresponding working environment, breaks through the limitations of traditional manual handheld device construction and electromagnetic control underground device construction, eliminates the need for manual pipeline dredging and unblocking construction, and realizes efficient and high-precision control of the corresponding device construction, thereby ensuring the construction quality of the peristaltic high-pressure water jet pipeline dredging and unblocking device.

[0037] 2. Due to the limitations of the underground environment and the metal shell of the device, the communication and remote control of the dredging and unblocking device will be affected to a certain extent, and it is difficult to ensure the normal operation of the dredging and unblocking device under the comprehensive influence. The control method of the present application adopts step-by-step control, effectively avoiding the disadvantages of the above control methods, and the hydraulic control selected based on the harsh construction environment of pipeline dredging greatly improves the reliability, accuracy and service life of the device. The corresponding mode selected based on the working environment makes the control of the device more systematic and simple.

[0038] 3. The present application determines the mode of the device by laser radar, and the construction effect is better than that of pure manual construction. In actual work, the control method based on the peristaltic high-pressure water jet pipeline dredging and unblocking device improves the construction quality, improves the construction efficiency, improves the construction safety, and effectively solves the shortcomings of traditional electromagnetic control in underground construction. BRIEF DESCRIPTION OF DRAWINGS

[0039] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0040] Figure 1 The method flowchart of the control method of the peristaltic high-pressure water jet pipeline dredging and unblocking device provided by the embodiment of the present application;

[0041] Figure 2 The working schematic diagram of the peristaltic high-pressure water jet pipeline dredging and unblocking device provided by the embodiment of the present application;

[0042] Figure 3 The overall structure schematic diagram of the peristaltic high-pressure water jet pipeline dredging and unblocking device provided by the embodiment of the present application;

[0043] Figure 4 The internal structure cross-sectional view schematic diagram of the single protection mechanism of the peristaltic high-pressure water jet pipeline dredging and unblocking device provided by the embodiment of the present application;

[0044] Figure 5The single support mechanism overall structure schematic view of the peristaltic high-pressure water jet pipeline dredging and unblocking equipment provided by the embodiment of the present application is shown in the figure.

[0045] Figure 6 The single parallel mechanism overall structure schematic view of the peristaltic high-pressure water jet pipeline dredging and unblocking equipment provided by the embodiment of the present application is shown in the figure.

[0046] Figure 7 The water jet mechanism internal structure cross-sectional view of the peristaltic high-pressure water jet pipeline dredging and unblocking equipment provided by the embodiment of the present application is shown in the figure.

[0047] Figure 8 The front structure schematic view of the protection mechanism of the peristaltic high-pressure water jet pipeline dredging and unblocking equipment provided by the embodiment of the present application is shown in the figure.

[0048] Reference signs:

[0049] 100, protection mechanism; 110, first end; 120, second end; 200, parallel mechanism; 210, first end cover; 220, second end cover; 230, third hydraulic cylinder; 240, cylinder mounting seat; 300, support mechanism; 310, support body; 320, support mounting plate; 330, hydraulic drive assembly; 331, first connecting rod; 332, second connecting rod; 333, first hydraulic cylinder; 334, connecting seat; 400, water jet mechanism; 410, first cover; 420, second cover; 421, rectangular water outlet; 430, jet head; 440, adjusting assembly; 441, linear slide rail; 442, second hydraulic cylinder; 500, rotating mechanism; 510, drive motor; 520, driving gear; 530, driven gear ring; 540, axial grinding piece; 550, radial grinding piece; 600, hydraulic system; 700, flexible sleeve; 800, walking mechanism; 900, control terminal; 1000, sensing mechanism. DETAILED DESCRIPTION

[0050] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0051] It should be noted that if the embodiments of the present application involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement condition, etc. between the components in a certain posture, and if the certain posture changes, the directional indications also change accordingly.

[0052] In addition, if the description of "first", "second" and the like is involved in the embodiments of the present application, the description of "first", "second" and the like is only for the purpose of description, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first", "second" can explicitly or implicitly include at least one of the features. In addition, if "and / or" or "and / or" appears throughout the text, it means that the three parallel schemes include the A scheme, or the B scheme, or the A and B schemes are satisfied at the same time. In addition, the technical solutions of each embodiment can be combined with each other, but it must be based on the realization of the ordinary skilled in the art, when the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of such technical solutions does not exist, nor is it within the scope of protection required by the present application.

[0053] Reference Figures 2-8The application further provides a peristaltic high-pressure water jet pipeline dredging and unblocking device for completing pipeline unblocking operation according to the control method of the peristaltic high-pressure water jet pipeline dredging and unblocking device. The dredging and unblocking device comprises at least two protection mechanisms 100, parallel mechanisms 200, support mechanisms 300, walking mechanisms 800, water jet mechanisms 400, sensing mechanisms 1000, hydraulic systems 600 and external control terminals 900. The external control terminal 900 is an industrial computer. The protection mechanisms 100 are provided in at least two, and the two protection mechanisms 100 are connected in a single chain through the parallel mechanism 200 to form a chain structure. The two protection mechanisms 100 are both provided with the support mechanism 300 and the walking mechanism 800. The water jet mechanism 400 is arranged on the protection mechanism 100 at the front section of the forward direction of the dredging and unblocking device, and a rotating mechanism 500 is arranged at the connection between the water jet mechanism 400 and the protection mechanism 100. The rotating mechanism 500 is arranged to rotatably connect the water jet mechanism 400 and the protection mechanism 100. The water jet mechanism 400 is connected to the external high-pressure water equipment through a water pipe to provide high-pressure water flow for itself. The sensing mechanism 1000 is a laser radar, and is installed on the protection mechanism 100 at the front section of the forward direction of the dredging and unblocking device. The sensing mechanism 1000 is provided with a plurality of front ends of the protection mechanism 100 at the front end to improve the acquisition of operation information. The sensing mechanism 1000 is connected to the external control terminal 900 through a line to feed back the acquired operation information. The hydraulic system 600 is installed in one of the protection mechanisms 100. The hydraulic system 600 is connected to the external control terminal 900 through a line to receive each execution instruction sent by the control terminal 900 and feed back operation information to the control terminal 900. The hydraulic system 600 is also connected to the parallel mechanism 200, the support mechanism 300, the walking mechanism 800 and the rotating mechanism 500 through lines to separately control each mechanism to perform corresponding actions to complete the pipeline unblocking operation.

[0054] Reference Figure 2 , Figure 3The dredging and dredging equipment of the embodiment is connected in a chain structure in a single chain connection form by two cylindrical protection mechanisms 100 through parallel mechanisms 200, the specific number of the protection mechanisms 100 is set according to actual use, and is at least two; flexible sleeves 700 are arranged at the connection between the protection mechanisms 100, the parallel mechanisms 200 are surrounded by the flexible sleeves 700 to provide protection for the parallel mechanisms 200, so as to prevent sundries, waste residues and the like in the pipeline from entering the parallel mechanisms 200 and causing damage to the parallel mechanisms 200; in a single protection mechanism 100, at least three support mechanisms 300 are arranged along the circumferential array of the center of the protection mechanism 100 on the side wall of the protection mechanism 100 for supporting the protection mechanism 100 to perform construction, and the support mechanisms 300 cooperate with the parallel mechanisms 200 to complete the actions of peristaltic forward movement, turning and rotation of the overall equipment during construction, so that the overall equipment adapts to different pipeline roads.

[0055] With reference to Figure 4 , Figure 5 The support mechanism 300 comprises a support body 310, a support mounting plate 320 and a hydraulic drive assembly 330; the hydraulic drive assembly 330 is composed of a first connecting rod 331, a second connecting rod 332, a first hydraulic cylinder 333 and a connecting seat 334. One end of the support body 310 is located outside the protection mechanism 100, and the other end is located inside the protection mechanism 100; the end inside the protection mechanism 100 is fixedly connected with the support mounting plate 320; one end of the first connecting rod 331 and the second connecting rod 332 is rotatably connected with the inner side wall of the protection mechanism 100 through the connecting seat 334, and the other end is rotatably connected with the support mounting plate 320 through the connecting seat 334; the fixed end of the first hydraulic cylinder 333 is rotatably connected with the connecting seat 334 at the end of the protection mechanism 100; the telescopic end of the first hydraulic cylinder 333 is connected with the second connecting rod 332; the hydraulic system 600 is connected with the first hydraulic cylinder 333 through a line, and the line is a hydraulic pipeline for providing hydraulic oil to the first hydraulic cylinder 333 and controlling the first hydraulic cylinder 333 to perform corresponding actions, so as to drive the support body 310 to swing and stretch through the first hydraulic cylinder 333; correspondingly, the side wall of the protection mechanism 100 has a limiting groove corresponding to the maximum swing amplitude of the support body 310, so as to ensure that the support body 310 can normally swing.

[0056] It should be noted that the support mechanism 300 structure mounted on the side wall of the chain structure connected protection mechanism 100 is uniform; when the protection mechanism 100 is even, taking two of the embodiment as an example, during the advancing process of the whole pipeline dredging and dredging equipment, the parallel mechanism 200 located in the middle is taken as the dividing point to divide the whole into the front section and the rear section, the support mechanism 300 on the protection mechanism 100 located in the front section of the advancing direction is sequentially retracted and stretched, and the parallel mechanism 200 is ejected in the advancing direction, the support mechanism 300 of the protection mechanism 100 in the front section is stretched and fixed after the protection mechanism 100 in the front section reaches the predetermined position, the support mechanism 300 of the protection mechanism 100 in the rear section is retracted, and the parallel mechanism 200 is retracted, the advancing action is completed, the support mechanism 300 on the protection mechanism 100 located in the front section of the advancing direction, the support mechanism 300 on the protection mechanism 100 located in the rear section of the advancing direction and the parallel mechanism 200 are sequentially linked and operated between the three, so that the whole pipeline dredging and dredging equipment is pushed forward to the construction position in the peristaltic mode, and the turning and twisting actions of the whole equipment are realized through the cooperation between the three; the retreat action is the same. When the protection mechanism 100 is odd, taking three as an example, during the advancing process of the whole pipeline dredging and dredging equipment, the dividing point of the front section and the rear section is adjusted according to the required advancing speed, when the required advancing speed is slightly fast, the protection mechanism 100 in the front section is one, and the protection mechanism 100 in the rear section is two, the advancing and retreating actions are the same as above; when the required advancing speed is slightly slow, the protection mechanism 100 in the front section is two, and the protection mechanism 100 in the rear section is one, the parallel mechanism 200 between the protection mechanisms 100 in the front section does not move during the advancing process, and the advancing and retreating actions are the same as above; the advancing speed is adjusted by adjusting the dividing point of the front section and the rear section of the whole pipeline dredging and dredging equipment.

[0057] Referring to Figure 6 The parallel mechanism 200 includes a first end cover 210, a second end cover 220 and a plurality of third hydraulic cylinders 230; the middle of the first end cover 210 and the second end cover 220 is provided with a reserved hole for passing through a hydraulic pipeline to provide hydraulic oil for the rotating mechanism 500 and the support mechanism 300 in the front section protection mechanism 100 and for passing through a water pipe to provide high-pressure water flow for the water jet mechanism 400 of the front section protection mechanism 100; the plurality of third hydraulic cylinders 230 form at least two groups of hydraulic cylinder groups, each group of hydraulic cylinder group is composed of two independent third hydraulic cylinders 230, the hydraulic cylinder group can be synchronously retracted and extended and non-synchronously retracted and extended, and has six degrees of freedom. At least two groups of hydraulic cylinder groups in the parallel mechanism 200 of the embodiment are arranged in a circumferential array around the axis of the front section protection mechanism 100 and the rear section protection mechanism 100; as Figure 3 、 Figure 6As shown, the hydraulic cylinder group provided in the parallel mechanism 200 in the embodiment is provided with three groups, a total of six independent third hydraulic cylinders 230. The protection mechanism 100 has a first end portion 110 and a second end portion 120 with intermediate reserved through holes, the first end cover 210 of the parallel mechanism 200 is fixedly installed on the second end portion 120 of the protection mechanism 100, the second end cover 220 is fixedly installed on the first end portion 110 of the next section of the protection mechanism 100, and in the single third hydraulic cylinder 230, the output end is rotationally connected with the first end cover 210, the fixed end is rotationally connected with the second end cover 220, and the connection between the output end of the third hydraulic cylinder 230 and the first end cover 210 and the connection between the fixed end and the second end cover 220 are both connected through the cylinder body mounting seat 240. In the embodiment, the distance from the mounting position of the output end of each third hydraulic cylinder 230 to the center of the first end cover 210 is equal, and the distance from the mounting position of the fixed end to the center of the second end cover 220 is equal, that is, the output end of each third hydraulic cylinder 230 is located on the same circular arc, and the fixed end is located on the same circular arc. As shown in the figure, Figure 6 As shown, in a single group of hydraulic cylinder groups, the distance between the output ends of the two third hydraulic cylinders 230 is a1, and the distance between the fixed ends is a2, and a2 is greater than a1, so that the two third hydraulic cylinders 230 in the single group are designed in a similar "V" shape.

[0058] Referring to Figure 2 , Figure 3 The walking mechanism 800 is a walking wheel, which is controlled by an independent hydraulic motor, and the walking mechanism 800 is provided with a plurality of walking mechanisms 800 arranged in a circular array on the side wall of the protection mechanism 100; the hydraulic system 600 connects the walking mechanism 800 through a hydraulic pipeline.

[0059] Referring to Figure 7The water jet mechanism 400 comprises a first cover 410, a second cover 420, a jet head 430 and an adjusting assembly 440; the adjusting assembly 440 is composed of a linear slide rail 441 and a second hydraulic cylinder 442. The first cover 410 is sleeved at one end of the front end of the advancing direction of the protection mechanism 100, the first cover 410 is coaxially connected with the protection mechanism 100 through the rotating mechanism 500, the second cover 420 is fixedly connected with the other end of the first cover 410 and coaxially rotates with the first cover 410; the jet head 430 and the adjusting assembly 440 are located in the second cover 420, the linear slide rail 441 of the adjusting assembly 440 is fixedly installed on the end face of the first cover 410 and the second cover 420, the jet head 430 is installed on the linear slide rail 441 and is in sliding connection with the linear slide rail 441, and the jet head 430 is connected with the output end of the second hydraulic cylinder 442 and is driven by the second hydraulic cylinder 442 to limit sliding on the linear slide rail 441; the hydraulic system 600 is connected with the second hydraulic cylinder 442 through a hydraulic pipeline. The end face of the second cover 420 away from the first cover 410 is provided with a rectangular water outlet 421, the adjusting assembly 440 drives the jet head 430 to slide and adjust in the length direction of the rectangular water outlet 421, and the sliding adjustment amount of the jet head 430 is equal to the length of the rectangular water outlet 421.

[0060] With reference to Figure 4 , Figure 7 The rotating mechanism 500 between the water jet mechanism 400 and the protection mechanism 100 is provided with at least two; the rotating mechanism 500 comprises a driving motor 510, a driving gear 520 and a driven gear 530. The driving motor 510 is installed on the inner side wall of the protection mechanism 100, the driving gear 520 is sleeved on the output end of the driving motor 510, the driven gear 530 is fixedly installed on one end of the first cover 410 away from the second cover 420 and is in meshing rotation with the driving gear 520. According to needs, an axial grinding piece 540 is arranged between the end face of the first cover 410 and the end face of the protection mechanism 100 to prevent axial friction under the action of axial force when the two rotate, and a radial grinding piece 550 is arranged on the side face between the first cover 410 and the protection mechanism 100 to reduce the friction force and wear generated when the two rotate under the action of radial force.

[0061] With reference to Figure 1 The control method of the peristaltic high-pressure water jet pipeline dredging and unblocking device provided by the embodiment of the application specifically comprises the following steps:

[0062] In one of the embodiments, before step S1, the following steps are further included:

[0063] S0, the dredging and unblocking device is installed into the pipeline in sections.

[0064] S01, when the dredging and dredging device enters the pipeline, the running state information of the dredging and dredging device is acquired in real time and is fed back to the control terminal 900 in real time.

[0065] S02, the control terminal 900 judges whether the running state of the dredging and dredging device is normal based on the received running state information.

[0066] S03, if the dredging and dredging device has fault information, the control terminal 900 sends the execution instruction of the fault mode to the dredging and dredging device, and the dredging and dredging device executes the corresponding action according to the received execution instruction to complete the recycling work of the whole.

[0067] In this embodiment, specifically: the front end of the front protection mechanism 100 is installed with the sensing mechanism 1000, the rotating mechanism 500 and the water jet mechanism 400, the side is installed with the supporting mechanism 300 and the walking mechanism 800; the side of the rear protection mechanism 100 is installed with the supporting mechanism 300 and the walking mechanism 800, the inside is carried with the hydraulic system 600, and each mechanism is connected to the corresponding line to the hydraulic system 600. According to the advancing direction of the dredging and dredging device, the front protection mechanism 100 is placed into the pipeline, after the front protection mechanism 100 is placed into the pipeline for a certain distance, the parallel mechanism 200, the flexible sleeve 700 and the corresponding line are installed at the rear end of the front protection mechanism 100, after the installation is completed, continue to be placed into the pipeline, until the front protection mechanism 100 completely enters the pipeline; after the front protection mechanism 100 enters the pipeline, the rear protection mechanism 100 is connected to the rear parallel mechanism 200 and the flexible sleeve 700 of the front protection mechanism 100, after the installation is completed, the rear protection mechanism 100 is placed into the pipeline, until the whole dredging and dredging device enters the pipeline; the corresponding pipeline in the dredging and dredging device is connected to the external control terminal 900, to complete the installation of the whole device.

[0068] When the dredging and dredging device enters the pipeline, the running state information of the dredging and dredging device in the pipeline is acquired in real time and is fed back to the control terminal 900 to judge whether the device has fault information, so as to avoid low work efficiency caused by failure in the working process. If the device has fault information, the control terminal 900 sends the execution instruction of the fault mode to the dredging and dredging device in the pipeline, so that the dredging and dredging device executes the fault mode to complete the recycling work of the whole.

[0069] S1, the dredging and dredging device acquires the pipeline feature and calculates the distance between the dredging and dredging device and the dredging area, generates the work information, and the work information includes the pipeline environment information and the distance information of the dredging area.

[0070] In the embodiment, specifically, when the dredging and unblocking device enters the pipeline, the sensing mechanism 1000 installed at the front end of the front protection mechanism 100 is used to scan and obtain the pipeline topographic features and the distance between the dredging and unblocking device and the unblocked region, so as to generate the operation information, which includes the pipeline environment information and the distance information of the unblocked region. The pipeline environment information is the shape (straight or curved) of the pipeline, and also includes the pipeline environment of the unblocked region. The distance information is the distance required by the current dredging and unblocking device from the blockage of the unblocked region. The operation information is obtained in advance, so that the dredging and unblocking device can move according to the specific mode according to the specific information obtained, so as to improve the efficiency of construction and the high-precision control of the device.

[0071] S2, the generated operation information is transmitted to the control terminal 900. The control terminal 900 matches the received operation information with the pre-stored movement mode to determine the movement mode of the dredging and unblocking device. The movement mode includes the operation movement mode and the rapid movement mode.

[0072] In the embodiment, specifically, the scanned and generated operation information is transmitted to the external control terminal 900. The control terminal 900 pre-stores the related information of multiple movement modes. The control terminal 900 matches the received operation information with the matching algorithm to obtain the most matched movement mode under the current operation information, so that the dredging and unblocking device moves to the unblocked region according to the mode. The embodiment matches and selects the most suitable movement mode of the dredging and unblocking device under the current state according to the obtained operation information, so as to improve the efficiency of construction.

[0073] S3, when the control terminal 900 determines the movement mode of the dredging and unblocking device, the control terminal 900 sends the execution instruction corresponding to the movement mode to the dredging and unblocking device. The dredging and unblocking device moves to the unblocked region according to the received execution instruction.

[0074] In the embodiment, specifically, when the control terminal 900 determines the movement mode of the dredging and unblocking device (operation movement mode or rapid movement), the control terminal 900 sends the execution instruction corresponding to the operation movement mode or the rapid movement mode to the dredging and unblocking device. The dredging and unblocking device moves to the unblocked region according to the received execution instruction. By determining the execution mode of the dredging and unblocking device, the dredging and unblocking device moves to the unblocked region according to the execution mode, so as to improve the efficiency during construction.

[0075] S4, when the dredging and dredging equipment moves to the set distance of the dredging area, feedback to the control terminal 900, the control terminal 900 sends the execution instruction of support operation mode to the dredging and dredging equipment according to the received feedback information, and the dredging and dredging equipment performs corresponding action according to the received execution instruction to dredging operation in the dredging area.

[0076] In this embodiment, specifically: when the dredging and dredging equipment moves to the set distance of the dredging area, the front end of the protection mechanism 100 of the front section acquires the current information and feedback to the control terminal 900; when the control terminal 900 receives the information, it sends the execution instruction of support operation mode to the dredging and dredging equipment, and the dredging and dredging equipment performs the related action of support operation mode according to the received execution instruction to dredging operation in the dredging area.

[0077] And the support operation mode is specifically:

[0078] The support mechanism 300 on the front section of the protection mechanism 100 and the rear section of the protection mechanism 100 is ejected, and the front section and the rear section of the protection mechanism 100 is supported and fixed. First, the hydraulic system 600 sends hydraulic oil to the first hydraulic cylinder 333 through the hydraulic pipeline to control the retraction of the first hydraulic cylinder 333. Since one end of the first connecting rod 331 and the second connecting rod 332 is connected with the inner side wall of the protection mechanism 100 through the connecting seat 334, the first hydraulic cylinder 333 will drive the second connecting rod 332 to swing in the forward direction of the whole device. Since the first connecting rod 331 and the second connecting rod 332 are fixedly connected with the support mounting plate 320, when the second connecting rod 332 swings in the forward direction, it will drive the first connecting rod 331 to swing in the forward direction of the whole device through the support mounting plate 320. When the first connecting rod 331 and the second connecting rod 332 swing in the forward direction of the whole device, the support mounting plate 320 is tilted and ejected upward, thereby driving the support body 310 to be ejected in the direction outside the limiting groove of the protection mechanism 100. The first hydraulic cylinder 333 provides a fixing force for the support body 310 to be fixed, so as to complete the support and fixation of the front section and the rear section of the protection mechanism 100.

[0079] When the support mechanism 300 completes the support and fixation of the protection mechanism 100 of the front section and the rear section, the water jet mechanism 400 at the front end of the protection mechanism 100 of the front section adjusts the jet position of the water jet according to the specific position of the blockage, including the circumferential rotation adjustment of the overall water jet mechanism 400 by the rotating mechanism 500, and the radial movement adjustment of the water jet mechanism 400 itself. When the jet position of the water jet is adjusted in the circumferential rotation, the hydraulic system 600 delivers hydraulic oil to the drive motor 510 through the hydraulic pipeline and controls the drive motor 510, the drive motor 510 drives the driving gear 520 to rotate, the driven gear ring 530 is engaged with the driving gear 520 to rotate, the first cover 410 is driven by the driven gear ring 530 to rotate circumferentially, so that the second cover 420 and the jet head 430 and the adjusting assembly 440 in the second cover 420 follow the circumferential rotation, to complete the circumferential rotation adjustment of the jet position of the water jet. When the jet position of the water jet is adjusted in the radial movement by the water jet mechanism 400 itself, the second hydraulic cylinder 442 drives the jet head 430 to slide on the linear slide rail 441 to adjust the position of the jet head 430 on the rectangular water outlet 421, to complete the radial movement adjustment of the jet position of the water jet. Through the cooperation between the rotating mechanism 500 and the adjusting assembly 440, the jet position of the water jet is accurately adjusted, the blockage can be cleaned and dredged according to the specific position of the blockage, and the dredging work of the to-be-dredged area is completed.

[0080] In one of the embodiments, the distance information includes long distance and short distance; in step S2, the following steps are specifically included:

[0081] S21, the control terminal 900 analyzes and confirms the distance between the dredging and dredging equipment and the to-be-dredged area according to the received work information, and selects the movement mode of the dredging and dredging equipment according to the determined distance;

[0082] S211, if the distance between the dredging and dredging equipment and the to-be-dredged area is a long distance, the control terminal 900 sends an execution instruction corresponding to the fast movement mode to the dredging and dredging equipment, and the dredging and dredging equipment moves to the to-be-dredged area according to the received execution instruction in the fast movement mode;

[0083] S212, if the distance between the dredging and dredging equipment and the to-be-dredged area is a short distance, the control terminal 900 sends an execution instruction corresponding to the work movement mode to the dredging and dredging equipment, and the dredging and dredging equipment moves to the to-be-dredged area according to the received execution instruction in the work movement mode.

[0084] In the embodiment, the control terminal 900 analyzes and confirms the distance between the dredging and cleaning equipment and the region to be dredged and cleaned according to the distance information obtained by the sensing mechanism 1000, so as to select the moving mode corresponding to the dredging and cleaning equipment according to long distance or short distance. If it is long distance, the fast moving mode is selected, and if it is short distance, the working moving mode is selected.

[0085] In one of the embodiments, the pipeline environment information includes straight pipeline environment and curved pipeline environment, the working moving mode includes straight walking mode and peristaltic turning mode, and the fast moving mode includes wheel train straight walking mode and wheel train peristaltic turning mode.

[0086] After the step S21, the following steps are further included:

[0087] S22, the control terminal 900 further analyzes and confirms the pipeline environment according to the received working information based on the determined moving mode, so as to further select the moving mode of the dredging and cleaning equipment according to the determined pipeline environment;

[0088] S221, if the determined pipeline environment is straight pipeline environment, the control terminal 900 sends the execution instruction corresponding to the straight walking mode or the wheel train straight walking mode to the dredging and cleaning equipment, and the dredging and cleaning equipment moves to the region to be dredged and cleaned according to the straight walking mode or the wheel train straight walking mode according to the received execution instruction;

[0089] S222, if the determined pipeline environment is curved pipeline environment, the control terminal 900 sends the execution instruction corresponding to the peristaltic turning mode or the wheel train peristaltic turning mode to the dredging and cleaning equipment, and the dredging and cleaning equipment moves to the region to be dredged and cleaned according to the peristaltic turning mode or the wheel train peristaltic turning mode according to the received execution instruction.

[0090] In the embodiment, since the obtained pipeline environment information includes straight pipeline environment and curved pipeline environment, when the dredging and cleaning equipment executes the working moving mode or the fast moving mode, the corresponding moving mode (straight walking mode or wheel train straight walking mode, peristaltic turning mode or wheel train peristaltic turning mode) needs to be further selected according to the pipeline environment, so as to improve the construction efficiency. If part of the obtained pipeline environment information is straight pipeline environment, and the region to be dredged and cleaned is curved pipeline environment, the dredging and cleaning equipment is controlled to move according to the straight walking mode or the wheel train straight walking mode in the straight pipeline environment, and the dredging and cleaning equipment is controlled to move according to the peristaltic turning mode or the wheel train peristaltic turning mode in the curved pipeline environment.

[0091] In one of the embodiments, when the dredging and dredging equipment moves to the dredging area according to the received execution instruction, the control terminal 900 transmits the execution instruction to the hydraulic system 600, the hydraulic system 600 receives the execution instruction and controls the extension and retraction of the support mechanism 300 of the front protection mechanism 100, the synchronous extension and retraction of the parallel mechanism 200 and the extension and retraction of the support mechanism 300 of the rear protection mechanism 100 in sequence to complete the straight line walking of the dredging and dredging equipment.

[0092] In this embodiment, when the dredging and dredging equipment is executed according to the straight line walking mode in step S221, specifically:

[0093] The straight line walking of the dredging and dredging equipment is realized by the cooperation between the support mechanism 300, the parallel mechanism 200 on the front protection mechanism 100 and the support mechanism 300 on the rear protection mechanism 100. The hydraulic system 600 provides hydraulic oil to the support mechanism 300 and the parallel mechanism 200 through the hydraulic pipeline, and controls the retraction of the support mechanism 300 of the front protection mechanism 100, the extension of the support mechanism 300 of the rear protection mechanism 100, the synchronous extension of each hydraulic cylinder group of the parallel mechanism 200 in sequence. After the front protection mechanism 100 reaches the predetermined position, the support mechanism 300 is extended and fixed, the support mechanism 300 of the rear protection mechanism 100 is retracted, and each hydraulic cylinder group of the parallel mechanism 200 is retracted synchronously, so that the dredging and dredging equipment advances forward in the form of peristalsis, completes the straight line walking action, and the cycle is repeated until the whole pipeline dredging and dredging equipment reaches the specified construction station of the dredging area.

[0094] The extension and retraction of the support mechanism 300 and the synchronous extension and retraction of the parallel mechanism 200 are as follows:

[0095] The extension of the support mechanism 300 is that the hydraulic system 600 delivers hydraulic oil to the first hydraulic cylinder 333 of the support mechanism 300 on the front protection mechanism 100 through the hydraulic pipeline to control the retraction of the extension end of the first hydraulic cylinder 333. Since one end of the first connecting rod 331 and the second connecting rod 332 is rotatably connected to the inner side wall of the protection mechanism 100 through the connecting seat 334, the first hydraulic cylinder 333 will drive the second connecting rod 332 to swing in the forward direction of the whole equipment. Since the first connecting rod 331 and the second connecting rod 332 are fixedly connected to the support mounting plate 320, when the second connecting rod 332 swings in the forward direction, it will drive the first connecting rod 331 to swing in the forward direction of the whole equipment through the support mounting plate 320. When the first connecting rod 331 and the second connecting rod 332 swing in the forward direction of the whole equipment, the support mounting plate 320 is tilted and pushed out upward, thereby driving the support body 310 to be pushed out to the outside of the limiting groove of the protection mechanism 100. The retraction is the same.

[0096] Synchronous ejection of parallel mechanism 200: hydraulic system 600 simultaneously delivers hydraulic oil to six independent third hydraulic cylinders 230 through hydraulic pipelines to control third hydraulic cylinders 230 to synchronously eject towards the advancing direction of the dredging and unblocking device, so that the front section protection mechanism 100 moves towards the advancing direction of the dredging and unblocking device. The retraction is the same.

[0097] In one embodiment, when the dredging and unblocking device moves to the area to be dredged according to the received execution instruction in the wheel train straight line walking mode, the control terminal 900 transmits the execution instruction to the hydraulic system 600, and the hydraulic system 600 receives the execution instruction and controls the front section protection mechanism 100 and the rear section protection mechanism 100 on the support mechanism 300 to retract, and drives the walking mechanism 800 on the front section protection mechanism 100 and the rear section protection mechanism 100 to rotate towards the advancing direction, so as to complete the wheel train straight line walking of the dredging and unblocking device.

[0098] In this embodiment, when the dredging and unblocking device is executed in the wheel train straight line walking mode in step S221, specifically:

[0099] The support mechanism 300 on the front section protection mechanism 100 and the support mechanism 300 on the rear section protection mechanism 100 retract at the same time, and the walking mechanism 800 on the front section protection mechanism 100 and the walking mechanism 800 on the rear section protection mechanism 100 drive the front section protection mechanism 100 and the rear section protection mechanism 100 to move at the same time, so as to realize the whole device to complete the wheel train straight line walking of the dredging and unblocking device. The hydraulic system 600 provides hydraulic oil to the support mechanism 300 and the walking mechanism 800 through the hydraulic pipeline, and controls the support mechanism 300 on the front section protection mechanism 100 and the rear section protection mechanism 100 to retract at the same time, and the support mechanism 300 retraction principle is the same as above; and controls the walking mechanism 800 on the front section protection mechanism 100 and the rear section protection mechanism 100 to rotate towards the advancing direction of the dredging and unblocking device, until the whole pipeline dredging and unblocking device reaches the designated construction station of the area to be dredged, so as to complete the wheel train straight line walking of the dredging and unblocking device.

[0100] In one embodiment, when the dredging and unblocking device moves to the area to be dredged according to the received execution instruction in the peristaltic turning mode, the control terminal 900 transmits the execution instruction to the hydraulic system 600, and the hydraulic system 600 receives the execution instruction and controls the support mechanism 300 of the front section protection mechanism 100 in the advancing direction of the dredging and unblocking device to extend and retract, the parallel mechanism 200 to extend and retract asynchronously, and the support mechanism 300 of the rear section protection mechanism 100 to extend and retract, so as to complete the turning walking of the dredging and unblocking device.

[0101] In the embodiment, when the dredging and unblocking device is executed according to the peristaltic turning mode in step S222, specifically:

[0102] The turning walking of the whole device is realized by the cooperation among the support mechanism 300 on the front protection mechanism 100, the parallel mechanism 200 and the support mechanism 300 on the rear protection mechanism 100. The hydraulic system 600 provides hydraulic oil to the support mechanism 300 and the parallel mechanism 200 through the hydraulic pipeline, and controls the support mechanism 300 on the front protection mechanism 100 to retract, controls the support mechanism 300 on the rear protection mechanism 100 to extend, controls the non-synchronous extension of each hydraulic cylinder group of the parallel mechanism 200 in turn (the extension order is selected according to the actual curvature range of the pipeline), the support mechanism 300 on the front protection mechanism 100 extends and fixes when the front protection mechanism 100 reaches the predetermined position, the support mechanism 300 on the rear protection mechanism 100 retracts, and each hydraulic cylinder group of the parallel mechanism 200 is non-synchronously retracted in turn, so that the dredging and unblocking device advances in a peristaltic manner, and the turning advancing action is completed. The support mechanism 300 cooperates with the non-synchronous extension and retraction of the parallel mechanism 200 to make the device smoothly pass through the curved pipeline with a certain curvature range. The extension and retraction of the support mechanism 300 and the synchronous extension and retraction of the parallel mechanism 200 are the same as above.

[0103] In one of the embodiments, when the dredging and unblocking device moves to the unblocked area according to the received execution instruction, the control terminal 900 transmits the execution instruction to the hydraulic system 600, the hydraulic system 600 receives the execution instruction and controls the support mechanism 300 on the front protection mechanism 100 and the rear protection mechanism 100 of the advancing direction to retract, and drives the walking mechanism 800 on the front protection mechanism 100 and the rear protection mechanism 100 to turn towards the advancing direction and controls the non-synchronous extension and retraction of the parallel mechanism 200, so as to complete the wheel train turning walking of the dredging and unblocking device.

[0104] In the embodiment, when the dredging and unblocking device is executed according to the peristaltic turning mode in step S222, specifically:

[0105] The support mechanism 300 on the front section of the protection mechanism 100 and the support mechanism 300 on the rear section of the protection mechanism 100 are simultaneously retracted, the walking mechanism 800 on the front section of the protection mechanism 100 and the walking mechanism 800 on the rear section of the protection mechanism 100 are simultaneously driven to move the front section of the protection mechanism 100 and the rear section of the protection mechanism 100, and each hydraulic cylinder group of the parallel mechanism 200 is sequentially pushed out in an asynchronous manner, so as to realize the turning walking of the overall device by the dredging and unblocking device. The hydraulic system 600 provides hydraulic oil to the support mechanism 300 and the walking mechanism 800 through the hydraulic pipeline, and sequentially controls the support mechanism 300 on the front section of the protection mechanism 100 and the support mechanism 300 on the rear section of the protection mechanism 100 to be retracted at the same time. The retraction principle of the support mechanism 300 is the same as above; and the walking mechanism 800 on the front section of the protection mechanism 100 and the walking mechanism 800 on the rear section of the protection mechanism 100 are controlled to rotate towards the advancing direction of the dredging and unblocking device, and each hydraulic cylinder group of the parallel mechanism 200 is sequentially pushed out in an asynchronous manner (the pushing out sequence is selected according to the actual curvature range of the pipeline), until the overall pipeline dredging and unblocking device reaches the designated construction station of the unblocked area. The walking mechanism 800 cooperates with the asynchronous extension and retraction of the parallel mechanism 200 to make the device smoothly pass through the curved pipeline with a certain curvature range, so as to realize the turning walking of the overall device.

[0106] In one embodiment, when the dredging and unblocking device executes the fault mode recovery according to the received execution instruction, the control terminal 900 transmits the execution instruction to the hydraulic system 600, and the hydraulic system 600 receives the execution instruction and controls the support mechanism 300 on the protection mechanism 100 to be retracted and controls the walking mechanism 800 on the protection mechanism 100 to drive the dredging and unblocking device to complete the overall recovery work.

[0107] In this embodiment, when the dredging and unblocking device executes the fault mode according to step S03, specifically:

[0108] The hydraulic system 600 is depressurized to make the support mechanism 300 on the front section of the protection mechanism 100 and the rear section of the protection mechanism 100 retract, and the independent hydraulic motor drives the walking mechanism 800 to make the walking mechanism 800 drive the overall device to retreat. If it is at a curved pipe, the walking mechanism 800 cooperates with the asynchronous extension and retraction of the parallel mechanism 200 to make the device smoothly pass through the curved pipeline with a certain curvature range, so that the overall device retreats, so as to avoid low work efficiency caused by failure during operation.

[0109] According to the needs, step S3 further includes:

[0110] S31, the dredging and dredging equipment moves to the area to be dredged according to the received execution instruction, continuously acquires pipeline environment information and sends it to the control terminal 900, and the control terminal 900 judges whether the movement mode of the dredging and dredging equipment needs to be switched according to the received pipeline environment information.

[0111] In this embodiment, the dredging and dredging equipment moves to the area to be dredged in a straight line walking mode, for example, according to the received pipeline environment information to judge whether the peristaltic turning mode, wheel train straight line walking mode or wheel train peristaltic turning mode needs to be switched. The switching condition is that when the dredging and dredging equipment moves to the area to be dredged in a straight line walking mode and completes the dredging work, the pipeline environment information of the next area to be dredged is acquired, when the real-time acquired environment information of the area to be dredged changes to a curved pipe, the peristaltic turning mode is switched; when the real-time acquired environment information of the area to be dredged changes to a long distance, the wheel train straight line walking mode is switched, and when it is a curved pipe, the wheel train peristaltic turning mode is switched. By acquiring the pipeline environment information in real time, and switching the movement mode of the dredging and dredging equipment according to the specific situation, the working efficiency is improved.

[0112] According to the needs, the above-mentioned installation, setting, having or connecting mode includes and is not limited to screw, riveting, welding or sleeve connection, fixing and the like, and the installation, setting or connection mode is selected according to the working situation.

[0113] The above-mentioned is only the preferred embodiment of the present application, and does not limit the patent scope of the present application, and any equivalent structural transformation made under the inventive concept of the present application, or direct / indirect application in other related technical fields is included in the patent protection scope of the present application.

Claims

1. A control method for a peristaltic high-pressure water jet pipeline dredging and unblocking device, characterized in that, Includes the following steps: The dredging and clearing equipment acquires the morphological features of the pipeline and calculates the distance between the dredging and clearing equipment and the area to be cleared, generating operation information, which includes pipeline environmental information and distance information between the area to be cleared; The generated operation information is transmitted to the control terminal. The control terminal matches the received operation information with the pre-stored movement mode to determine the movement mode of the dredging and clearing equipment. The movement mode includes operation movement mode and rapid movement mode. Once the control terminal determines the movement mode of the dredging and clearing equipment, it sends an execution command corresponding to that movement mode to the dredging and clearing equipment. The dredging and clearing equipment then performs the corresponding action according to the received execution command and moves to the area to be cleared. Once the dredging and clearing equipment moves to the set distance of the area to be cleared, it sends feedback to the control terminal. The control terminal then sends an execution command to the dredging and clearing equipment to support the operation mode based on the received feedback information. The dredging and clearing equipment then performs the corresponding actions to clear the area to be cleared based on the received execution command. The distance information includes both long and short distances; The step of transmitting the generated operation information to the control terminal, and the control terminal matching the received operation information with the pre-stored movement patterns to determine the movement mode of the dredging and clearing equipment, specifically includes the following steps: The control terminal analyzes and confirms the distance between the dredging equipment and the area to be dredged based on the received operation information, and selects the movement mode of the dredging equipment according to the determined distance. If the distance between the dredging equipment and the area to be dredged is long, the control terminal sends an execution command corresponding to the fast movement mode to the dredging equipment. The dredging equipment then moves to the area to be dredged according to the received execution command in fast movement mode. If the distance between the dredging equipment and the area to be dredged is short, the control terminal sends an execution command corresponding to the operation movement mode to the dredging equipment. The dredging equipment then executes the operation movement mode according to the received execution command and moves to the area to be dredged. The pipeline environment information includes straight pipeline environment and curved pipeline environment; the operation movement mode includes straight walking mode and creeping turning mode; the rapid movement mode includes wheel system straight walking mode and wheel system creeping turning mode. After the step of the control terminal analyzing and confirming the distance between the dredging equipment and the area to be dredged based on the received operation information, and selecting the movement mode of the dredging equipment according to the determined distance, the following steps are also included: The control terminal further analyzes and confirms the pipeline environment based on the received operation information according to the determined movement mode, so as to further select the movement mode of the dredging and clearing equipment according to the determined pipeline environment. If the determined pipeline environment is a straight pipeline environment, the control terminal sends an execution command corresponding to the straight walking mode or the wheel system straight walking mode to the dredging and clearing equipment. The dredging and clearing equipment moves to the area to be cleared according to the received execution command by executing the straight walking mode or the wheel system straight walking mode. If the determined pipeline environment is a curved pipeline environment, the control terminal sends an execution command corresponding to the creeping turning mode or the wheel system creeping turning mode to the dredging and clearing equipment. The dredging and clearing equipment moves to the area to be cleared according to the received execution command by executing the creeping turning mode or the wheel system creeping turning mode.

2. The control method for the peristaltic high-pressure water jet pipeline dredging and unblocking equipment as described in claim 1, characterized in that: The dredging and clearing equipment includes at least two protective mechanisms, a parallel mechanism composed of multiple hydraulic cylinders, a support mechanism, a water jet mechanism, a walking mechanism, and a hydraulic system. The at least two protective mechanisms are connected in a single chain via a parallel mechanism to form a chain structure, and the parallel mechanism can extend and retract synchronously and asynchronously. Both the protective mechanism at the front and rear of the dredging and clearing equipment are equipped with support and travel mechanisms. The water jet mechanism is rotatably mounted at the front end of the protective mechanism in the forward direction of the dredging and clearing equipment; The hydraulic system is installed inside the protective mechanism and connected to the control terminal via wiring.

3. The control method for the peristaltic high-pressure water jet pipeline dredging and unblocking equipment as described in claim 2, characterized in that: When the dredging and clearing equipment moves towards the area to be cleared in a straight-line walking mode according to the received execution command, the control terminal transmits the execution command to the hydraulic system. The hydraulic system receives the execution command and sequentially controls the extension and retraction of the support mechanism of the front protection mechanism, the synchronous extension and retraction of the parallel mechanism, and the extension and retraction of the support mechanism of the rear protection mechanism in the forward direction of the dredging and clearing equipment to complete the straight-line walking of the dredging and clearing equipment.

4. The control method for the peristaltic high-pressure water jet pipeline dredging and unblocking equipment as described in claim 2, characterized in that: When the dredging and clearing equipment moves towards the area to be cleared by executing the wheel system in a straight-line walking mode according to the received execution command, the control terminal transmits the execution command to the hydraulic system. The hydraulic system receives the execution command and controls the support mechanism on the front and rear protective mechanisms of the dredging and clearing equipment to retract, and drives the walking mechanism on the front and rear protective mechanisms to rotate in the direction of the wheel system to complete the straight-line walking of the wheel system of the dredging and clearing equipment.

5. The control method for the peristaltic high-pressure water jet pipeline dredging and unblocking equipment as described in claim 2, characterized in that: When the dredging and clearing equipment moves towards the area to be cleared in a creeping turning mode according to the received execution command, the control terminal transmits the execution command to the hydraulic system. The hydraulic system receives the execution command and sequentially controls the extension and retraction of the support mechanism of the front protection mechanism, the asynchronous extension and retraction of the parallel mechanism, and the extension and retraction of the support mechanism of the rear protection mechanism in the forward direction of the dredging and clearing equipment to complete the turning movement of the dredging and clearing equipment.

6. The control method for the peristaltic high-pressure water jet pipeline dredging and unblocking equipment as described in claim 2, characterized in that: When the dredging and clearing equipment moves towards the area to be cleared by executing the wheel system creeping turning mode according to the received execution command, the control terminal transmits the execution command to the hydraulic system. The hydraulic system receives the execution command and controls the support mechanism on the front and rear protective mechanisms of the dredging and clearing equipment to retract, and drives the walking mechanism on the front and rear protective mechanisms to rotate the wheel system in the direction of travel, and controls the parallel mechanism to extend and retract asynchronously, so as to complete the wheel system turning and walking of the dredging and clearing equipment.

7. The control method for the peristaltic high-pressure water jet pipeline dredging and unblocking equipment as described in claim 2, characterized in that, Before the step of acquiring pipeline morphological features and calculating the distance between the dredging and clearing equipment and the area to be cleared to generate operation information, the following steps are also included: The dredging and clearing equipment is installed into the pipeline in sections; Once the dredging and unblocking equipment enters the pipeline, its operating status information is acquired in real time and fed back to the control terminal. The control terminal determines whether the dredging and clearing equipment is operating normally based on the received operating status information; If the dredging equipment malfunctions, the control terminal sends a fault mode execution command to the dredging equipment. The dredging equipment then performs the corresponding action according to the received execution command to complete the overall recovery work.

8. The control method for the peristaltic high-pressure water jet pipeline dredging and unblocking equipment as described in claim 7, characterized in that: When the dredging and clearing equipment performs fault mode recovery according to the received execution command, the control terminal transmits the execution command to the hydraulic system. The hydraulic system receives the execution command and controls the support mechanism on the protective mechanism to recover and controls the traveling mechanism on the protective mechanism to drive the dredging and clearing equipment to complete the overall recovery work.

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