Primary-secondary type drainage vehicle with pipeline winding and unwinding hydraulic control function and control method of primary-secondary type drainage vehicle with pipeline winding and unwinding hydraulic control function

Abstract

The invention relates to the technical field of drainage vehicles, in particular to a pipeline winding and unwinding hydraulic control child-mother type drainage vehicle and a control method.The pipeline winding and unwinding hydraulic control child-mother type drainage vehicle comprises a drainage vehicle body, the drainage vehicle body comprises a vehicle frame, a cab and a compartment, and a hydraulic oil tank, a hydraulic pipe winch and a drainage trolley are sequentially placed in the compartment from left to right; a hydraulic pipe winch is arranged in the compartment, a hydraulic pipeline is wound on the hydraulic pipe winch, and the hydraulic oil tank is communicated with the drainage trolley through the hydraulic pipeline, so that the drainage trolley can realize drainage treatment on a ponding area through hydraulic control; the protective layer and the fireproof layer are arranged in the compartment, so that the protective layer and the fireproof layer can protect electrical elements in the compartment together, the situation that a large amount of electric sparks are generated when the electrical elements in the compartment work, and safety accidents are likely to happen is avoided, and the problem that an existing drainage vehicle can generate a large amount of electric sparks when working is solved. And safety accidents are easily caused by generated electric sparks.

Description

Technical Field

[0001] The present invention relates to the technical field of drainage vehicles, and in particular to a hydraulically controlled mother-and-child drainage vehicle for retracting and unreeling a pipeline and a control method thereof. Background Art

[0002] The mother-and-child type drainage vehicle comprises a mother vehicle and a child vehicle. The mother vehicle provides power to the child vehicle through hydraulic pipelines, and pulls the reel to rotate through the hydraulic pipelines to achieve synchronous winding or unwinding. In the process of unwinding and winding, the existing mother-and-child type drainage vehicle often has the phenomenon that the child vehicle stops moving while the reel is still rotating, which makes the subsequent winding easy to be disorderly and fluffy, and the remaining part of the hydraulic pipeline cannot be wound onto the reel. It is necessary to manually release the hydraulic pipeline completely and then wind it on the reel in an orderly manner, which is time-consuming and labor-intensive.

[0003] After derrick hoists and puts in place, stamp fixedly derrick of derrick pin, change its position to the right of derrick of derrick of derrick pin, make hydraulic oil lead to the base hydraulic oil cylinder, hoist that base puts in place and the base hydraulic oil cylinder, hoist that base puts in place and the base hydraulic oil cylinder, hoist that base puts in place and the base hydraulic oil cylinder, hoist that base puts in place

[0004] However, the motor transmission system of the drainage vehicle mentioned above is not provided with a protective mechanism, which causes the motor transmission system to generate a large amount of electric sparks when working. The generated electric sparks are likely to cause explosions of flammable and explosive materials, thereby causing safety accidents. Summary of the invention

[0005] The purpose of the present invention is to provide a hydraulically controlled mother-and-child drainage vehicle and a control method for retracting and unwinding a pipeline, which solves the technical problem that the motor transmission system of the existing drainage vehicle is not provided with a protective mechanism, resulting in a large number of electric sparks being generated when the motor transmission system is working, and the generated electric sparks are likely to cause flammable and explosive materials to explode, thereby causing safety accidents.

[0006] To achieve the above-mentioned objectives, in a first aspect, the present invention provides a hydraulically controlled mother-and-child drainage vehicle for retracting and unwinding a pipeline, comprising a drainage vehicle body, wherein the drainage vehicle body comprises a frame, a cab and a car body, the cab and the car body being arranged above the frame from left to right, the interiors of the cab and the car body being hollow structures, the interior of the car body being covered with a protective layer and a fireproof layer from top to bottom, a hydraulic oil tank, a hydraulic pipe winch and a drainage trolley being arranged in the car body from left to right, a hydraulic pipeline being wound around the hydraulic pipe winch, the hydraulic oil tank and the drainage trolley being connected through the hydraulic pipeline, and a rear door being movably arranged on a side of the car body away from the cab to open or close the interior space of the car body.

[0007] Wherein, the frame includes a frame body, a driving mechanism and wheels, the frame body has a rotation groove, the driving mechanism and the wheels are both located in the rotation groove of the frame body, and the driving mechanism is used to drive the wheels to rotate in the rotation groove of the frame body.

[0008] Wherein, the protective layer is made of all-aluminum patterned plate, and the protective layer completely covers the interior of the vehicle compartment.

[0009] Wherein, a ladder is movably provided on the rear door of the vehicle, so that the ladder can be folded on the rear door of the vehicle, allowing the drainage trolley to freely enter and exit the vehicle compartment.

[0010] There are four hydraulic pipe winches, which are arranged in pairs on the left and right sides of the carriage respectively. The hydraulic pipe winches are movably arranged in the carriage to achieve the purpose of extending the hydraulic pipe winches horizontally from the carriage.

[0011] Among them, the drainage trolley has three control modes, namely electronic module button operation, wireless remote control operation and full hydraulic mechanism control.

[0012] In a second aspect, the present invention further provides a control method for a hydraulically controlled mother-and-child drainage vehicle for retracting and unreeling a pipeline, comprising the following steps:

[0013] The driver is allowed to sit in the cab and operate the corresponding buttons on the central console in the cab to move the wheels on the ground, thereby driving the drainage vehicle body to move on the ground;

[0014] When the drainage vehicle body moves to the designated position, the rear door is rotated at the rear of the vehicle compartment to gradually open the interior space of the vehicle compartment, and the ladder is rotated on the rear door while the rear door is rotating;

[0015] When the ladder is completely flush with the rear door of the vehicle, continue to rotate the rear door of the vehicle until the ladder contacts the ground;

[0016] The drainage trolley is controlled by electronic module key operation, wireless remote control operation or full hydraulic mechanism control, so that the drainage trolley moves on the rear door of the vehicle and the ladder in turn, and moves the drainage trolley to the ground;

[0017] At this time, the hydraulic pipeline wound outside the hydraulic pipe winch will be gradually unwound, and then the drainage trolley will be moved into the water to be drained and moved arbitrarily to achieve drainage of the drainage trolley.

[0018] The present invention provides a pipeline retractable and reeled hydraulically controlled mother-and-child drainage vehicle and control method, wherein the hydraulic oil tank, the hydraulic pipe winch and the drainage trolley are placed in sequence from left to right in the vehicle compartment, and the hydraulic pipeline is wound around the hydraulic pipe winch. The hydraulic oil tank and the drainage vehicle are connected through the hydraulic pipeline, so that the drainage trolley can achieve drainage of the water accumulation area through hydraulic control, and the protective layer and the fireproof layer are sequentially covered on the interior of the vehicle compartment from top to bottom, so that the protective layer and the fireproof layer can jointly protect the electrical components in the vehicle compartment to avoid the situation that a large number of electric sparks generated by the electrical components in the vehicle compartment during operation are likely to cause safety accidents. The technical problem that no protective mechanism is provided at the motor transmission system of the existing drainage vehicle, resulting in a large number of electric sparks generated by the motor transmission system during operation, and the generated electric sparks are likely to cause explosion of flammable and explosive materials, thereby causing safety accidents is solved. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art are briefly introduced below.

[0020] Figure 1 It is a schematic diagram of the overall structure of a hydraulically controlled mother-and-child drainage vehicle for retracting and unreeling pipelines according to a first embodiment of the present invention.

[0021] Figure 2 It is a schematic diagram of the connection between the electric door and the cab of the first embodiment of the present invention.

[0022] Figure 3 It is a schematic cross-sectional view along the carriage of the first embodiment of the present invention.

[0023] Figure 4 It is a schematic cross-sectional view of a hydraulic pipe winch according to a first embodiment of the present invention.

[0024] Figure 5 2 is a diagram showing the unfolded state of the rear door of the vehicle according to the first embodiment of the present invention.

[0025] Figure 6It is a flowchart of a control method for a hydraulically controlled mother-and-child drainage vehicle for retracting and unreeling pipelines according to a second embodiment of the present invention.

[0026] In the figure: 101-cab, 102-carriage, 103-frame, 104-wheel, 105-protective layer, 106-fireproof layer, 107-hydraulic oil tank, 108-hydraulic pipe winch, 109-drainage trolley, 110-hydraulic pipeline, 111-rear door, 112-rotation trough, 113-engine, 114-steering rod, 115-connecting rod, 116-electric door, 117-center console, 118-ladder, 119-opening and closing door. DETAILED DESCRIPTION

[0027] Embodiments of the present invention are described in detail below. Examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, but should not be construed as limiting the present invention.

[0028] First embodiment:

[0029] See also Figures 1 to 5 The present invention provides a hydraulically controlled mother-and-child drainage vehicle for retracting and unreeling pipelines, comprising a drainage vehicle body, the drainage vehicle body comprising a frame, a cab 101 and a carriage 102, the frame comprising a frame body 103, a driving mechanism and wheels 104.

[0030] In this embodiment, the hydraulic oil tank 107, the hydraulic pipe winch 108 and the drainage trolley 109 are placed in sequence from left to right in the carriage 102, and the hydraulic pipeline 110 is wound on the hydraulic pipe winch 108. The hydraulic oil tank 107 and the drainage trolley are connected through the hydraulic pipeline 110, so that the drainage trolley 109 can be hydraulically controlled to achieve drainage of the water accumulation area. The protective layer 105 and the fireproof layer 106 are sequentially covered from top to bottom inside the carriage 102, so that the protective layer 105 and the fireproof layer 106 can jointly protect the electrical components in the carriage 102 to avoid the situation where a large number of electric sparks generated by the electrical components in the carriage 102 during operation are prone to cause safety accidents. The technical problem that no protective mechanism is set at the motor transmission system of the existing drainage vehicle, resulting in a large number of electric sparks generated by the motor transmission system during operation, and the generated electric sparks are prone to cause explosions of flammable and explosive materials, thereby causing safety accidents is solved.

[0031] The driving cab 101 and the carriage 102 are arranged from left to right on the frame, and the interiors of the driving cab 101 and the carriage 102 are both hollow structures. The carriage 102 is covered with a protective layer 105 and a fireproof layer 106 from top to bottom. A hydraulic oil tank 107, a hydraulic pipe winch 108 and a drainage trolley 109 are placed in the carriage 102 from left to right. A hydraulic pipeline 110 is wound around the hydraulic pipe winch 108. The hydraulic oil tank 107 and the drainage trolley 109 are provided. The carriage 102 is connected via the hydraulic pipeline 110, and a rear door 111 is movably provided on a side away from the cab 101 to open or close the interior space of the carriage 102. The hydraulic pipeline 110 is wound around the hydraulic pipe winch 108, and the hydraulic pipeline 110 can be wound or unwound on the hydraulic pipe winch 108 according to the moving distance of the drainage trolley 109, so that the drainage trolley 109 can be hydraulically controlled to drain the waterlogged area.

[0032] Secondly, the frame 103 has a rotation groove 112, and the driving mechanism and the wheel 104 are both located in the rotation groove 112 of the frame 103. The driving mechanism is used to drive the wheel 104 to rotate in the rotation groove 112 of the frame 103. The driving mechanism includes an engine 113, a steering rod 114 and a connecting rod 115. The engine 113 is arranged at the inner top of the rotation groove 112 of the frame 103, and the steering rod 114 is connected to the output end of the engine 113 and is located below the engine 113. The two ends of the connecting rod 115 are respectively connected to the wheel 104 and are arranged at the lower end of the steering rod 114. The engine 113 is a 350 horsepower engine 113. The output end of the engine 113 is connected to the steering rod 114. 114 is connected and drives the steering rod 114 to rotate along its own axis in the rotating groove 112, thereby driving the connecting rod 115 to rotate along the axis of the steering rod 114 in the rotating groove 112, and further driving the wheel 104 to rotate along the axis of the steering rod 114 in the rotating groove 112. At the same time, the connecting rod 115 can rotate along its own axis in the rotating groove 112, driving the wheel 104 to rotate along the axis of the connecting rod 115 in the rotating groove 112. Combined with the rotation of the wheel 104 in the rotating groove 112 along the axis of the steering rod 114, the wheel 104 can move in any direction on the ground, so as to facilitate the movement of the drainage vehicle body to the vicinity of the area to be drained.

[0033] Again, the cab 101 is provided with an electric door 116, and the electric door 116 is used to open or close the interior space of the cab 101. The cab 101 is provided with a center console 117, and the center console 117 is electrically connected to the driving mechanism, the hydraulic oil tank 107 and the drainage vehicle 109, respectively, and is used to control the start and stop of the electrical components of the entire drainage vehicle. The cab 101 is provided with a rearview mirror outside the cab 101, and the rearview mirror can be electrically adjusted and has an automatic heating function.

[0034] At the same time, the protective layer 105 is made of all-aluminum patterned plate, and the protective layer 105 completely covers the interior of the carriage 102. Through the coordinated use of the protective layer 105 and the fireproof layer 106, the protective layer 105 and the fireproof layer 106 can jointly protect the electrical components in the carriage 102 to avoid the occurrence of safety accidents caused by a large number of electric sparks generated by the electrical components in the carriage 102 during operation.

[0035] In addition, a ladder 118 is movably provided on the rear door 111 , so that the ladder 118 can be folded on the rear door 111 , allowing the drainage trolley 109 to freely enter and exit the compartment 102 .

[0036] In addition, there are four hydraulic pipe winches 108, which are arranged in pairs on the left and right sides of the carriage 102 respectively. The hydraulic pipe winches 108 are movably arranged in the carriage 102 to achieve the purpose of horizontally extending the hydraulic pipe winches 108 from the carriage 102. An opening and closing door 119 is movably arranged on one side of the carriage 102 close to the hydraulic pipe winches 108, and the opening and closing door 119 exposes or closes the hydraulic pipe winches 108.

[0037] Finally, the drainage trolley 109 has three control modes, namely electronic module button operation, wireless remote control operation and full hydraulic mechanism control.

[0038] When using a hydraulically controlled mother-and-child drainage vehicle for retracting and unreeling a pipeline according to the present embodiment, when drainage is required in an area to be drained, the driver enters the cab 101 and sits on the seat of the cab 101, and then operates the corresponding buttons on the central console 117 in the cab 101 to control the start and stop of the engine 113. By starting the engine 113, the power output from the output end of the engine 113 drives the steering rod 114 to rotate along its own axis in the rotating groove 112, thereby driving the connecting rod 115 in the rotating groove 113. 12 rotates along the axis of the steering rod 114, thereby driving the wheel 104 to rotate in the rotating groove 112 along the axis of the steering rod 114. At the same time, the connecting rod 115 can rotate along its own axis in the rotating groove 112, driving the wheel 104 to rotate in the rotating groove 112 along the axis of the connecting rod 115. Combined with the rotation of the wheel 104 in the rotating groove 112 along the axis of the steering rod 114, the wheel 104 can move in any direction on the ground, so as to move the drainage vehicle body to the vicinity of the area to be drained.

[0039] When the drainage vehicle body moves to the designated position of the area to be drained, the rear door 111 is rotated behind the carriage 102, so that the interior space of the carriage 102 can be gradually opened. While the rear door 111 is rotating, the ladder 118 is rotated on the rear door 111. When the ladder 118 is completely flush with the rear door 111, the rear door 111 is continued to be rotated until the ladder 118 contacts the ground.

[0040] The drainage trolley 109 is controlled by any one of electronic module button operation, wireless remote control operation or full hydraulic mechanism control, so that the drainage trolley 109 moves on the rear door 111 and the ladder 118 in turn, so that the drainage trolley 109 can be gradually moved to the ground.

[0041] At this time, the hydraulic pipeline 110 wound outside the hydraulic pipe winch 108 will be gradually unwound, and then the drainage cart 109 will be moved to the water in the area to be drained, and then the corresponding buttons on the central console 117 in the cab 101 are operated to control the start and stop of the hydraulic oil tank 107, and then the power source can be provided to the drainage cart 109 through the hydraulic pipeline 110. After the drainage cart 109 obtains the power source, the drainage cart 109 can move arbitrarily in the water and drain the accumulated water area.

[0042] When the hydraulic oil tank 107 is working, the protective layer 105 and the fireproof layer 106 are used in coordination, so that the protective layer 105 and the fireproof layer 106 can jointly protect the electrical components in the compartment 102, so as to avoid the situation in which a large number of electric sparks generated by the electrical components in the compartment 102 during operation are prone to cause safety accidents. This solves the technical problem that the motor transmission system of the existing drainage vehicle is not provided with a protective mechanism, resulting in a large number of electric sparks generated by the motor transmission system during operation, and the generated electric sparks are prone to cause explosions of flammable and explosive materials, thereby causing safety accidents.

[0043] Second embodiment:

[0044] Based on the first embodiment, please refer to Figure 6 The present invention also provides a control method for a pipeline retractable hydraulically controlled mother-and-child drainage vehicle, comprising the following steps:

[0045] S101, let the driver sit in the cab 101, and operate the corresponding buttons on the central console 117 in the cab 101 to move the wheels 104 on the ground, thereby driving the drainage vehicle body to move on the ground.

[0046] Specifically, when drainage is required in the area to be drained, the driver enters the cab 101 and sits on the seat of the cab 101, and then operates the corresponding button on the central console 117 in the cab 101 to control the start and stop of the engine 113. By starting the engine 113, the power output from the output end of the engine 113 drives the steering rod 114 to rotate along its own axis in the rotation groove 112, thereby driving the connecting rod 115 in the rotation groove 112 along the steering rod 114. 4 rotates along the axis of the steering rod 114, thereby driving the wheel 104 to rotate in the rotating groove 112 along the axis of the steering rod 114. At the same time, the connecting rod 115 can rotate along its own axis in the rotating groove 112, driving the wheel 104 to rotate in the rotating groove 112 along the axis of the connecting rod 115. Combined with the rotation of the wheel 104 in the rotating groove 112 along the axis of the steering rod 114, the wheel 104 can move in any direction on the ground, so as to move the drainage vehicle body to the vicinity of the area to be drained.

[0047] S102, when the drainage vehicle body moves to the designated position, the rear door 111 is rotated behind the vehicle compartment 102 to gradually open the interior space of the vehicle compartment 102, and while the rear door 111 is rotating, the ladder 118 is rotated on the rear door 111.

[0048] S103 , when the ladder 118 is completely flush with the rear door 111 , continue to rotate the rear door 111 until the ladder 118 contacts the ground.

[0049] Specifically, after the drainage vehicle body moves to the designated position of the area to be drained, the rear door 111 is rotated behind the carriage 102, so that the interior space of the carriage 102 can be gradually opened. While the rear door 111 is rotating, the ladder 118 is rotated on the rear door 111. When the ladder 118 is completely flush with the rear door 111, the rear door 111 continues to rotate until the ladder 118 contacts the ground.

[0050] S104, control the drainage trolley 109 by electronic module button operation, wireless remote control operation or full hydraulic mechanism control, so that the drainage trolley 109 moves on the rear door 111 and the ladder 118 in turn, and moves the drainage trolley 109 to the ground.

[0051] Specifically, the drainage trolley 109 is controlled by adopting any one of the control methods such as electronic module button operation, wireless remote control operation or full hydraulic mechanism control, so that the drainage trolley 109 moves on the rear door 111 and the ladder 118 in turn, so that the drainage trolley 109 can be gradually moved to the ground.

[0052] S105. At this time, the hydraulic pipeline 110 wound outside the hydraulic pipe winch 108 will be gradually unwound, and then the drainage trolley 109 will be moved into the water to be drained and moved arbitrarily to achieve drainage of the drainage trolley 109.

[0053] Specifically, at this time, the hydraulic pipeline 110 wound outside the hydraulic pipe winch 108 will be gradually unwound, and then the drainage cart 109 will be moved into the water in the area to be drained, and then the corresponding buttons on the central console 117 in the cab 101 are operated to control the start and stop of the hydraulic oil tank 107, and then the power source can be provided to the drainage cart 109 through the hydraulic pipeline 110. After the drainage cart 109 obtains the power source, the drainage cart 109 can move arbitrarily in the water and drain the accumulated water area.

[0054] When the hydraulic pipeline 110 wound outside the hydraulic pipe winch 108 is gradually unwound, the drainage trolley 109 will gradually start to move. At this time, the movement rate of the drainage trolley 109 is monitored in real time by the monitor arranged on the drainage trolley 109, and the unwinding rate of the hydraulic pipeline 110 is calculated in real time by the sensor and calculator arranged on the hydraulic pipe winch 108. At the same time, through the coordinated use of an integrated control system and a speed matching algorithm, the movement control of the sub-trolley and the unwinding control of the oil pipe winch are integrated together to ensure that the movement rate of the drainage trolley 109 is synchronized with the unwinding rate of the hydraulic pipeline 110.

[0055] 1. The integrated control system is implemented using a PID controller, as follows:

[0056]

[0057] Among them, u(t) is the control signal, K p is the proportional gain coefficient, e(t) is the deviation signal, that is, the difference between the expected output and the actual output, K i is the integral gain coefficient, represents the integral of the error signal from 0 to time t, K d is the differential gain coefficient, represents the derivative of the error signal.

[0058] 2. The speed matching algorithm is a speed matching algorithm based on feedback control, as follows:

[0059] 1.1. Define variables:

[0060] V car : The actual moving speed of the drainage trolley 109 (sub-trolley).

[0061] V reel : The actual unwinding speed of the hydraulic pipe winch 108.

[0062] V desired : The desired moving speed of the drainage trolley 109 (can be set by the operator or automatically calculated according to task requirements).

[0063] k p : Proportional gain coefficient, used to adjust the sensitivity of the control output.

[0064] k i : Integral gain coefficient, used to eliminate steady-state error.

[0065] k d : Differential gain coefficient, used to improve the response speed and stability of the system.

[0066] 1.2. Speed ​​error calculation:

[0067] e=V desired -V car

[0068] Where e represents the error between the desired speed and the actual speed.

[0069] 1.3. Control output calculation:

[0070] A PID (Proportional-Integral-Derivative) controller is used to calculate the control output to adjust the unwinding speed of the tubing capstan.

[0071]

[0072] Wherein, u represents the control output, which is used to adjust the unwinding speed of the tubing winch to reduce the speed error e.

[0073] 1.4. Adjustment of the unwinding speed of the oil pipe capstan:

[0074] Convert the control output u into the actual unwinding speed V of the tubing winch reel This usually involves flow and pressure control in hydraulic systems.

[0075] V reel＝ V base +u·ΔVwhere V base is the basic unwinding speed of the tubing winch, and ΔV is the unwinding speed increment adjusted according to the control output u.

[0076] 1.5. Notes

[0077] 1.5.1. Parameter adjustment: proportional gain k p , integral gain k i and the differential gain k d The choice of has a significant impact on the performance of the system, and these parameters usually need to be optimized through experimentation and adjustment.

[0078] 1.5.2. System stability: When designing the speed matching algorithm, it is necessary to ensure the stability of the system to avoid oscillation or instability.

[0079] 1.5.3. Real-time requirements: Since the moving speed of the sub-trolley and the unwinding speed of the tubing winch change in real time, the speed matching algorithm needs to have sufficient real-time performance to quickly respond to speed changes.

[0080] 1.5.4 Environmental adaptability: In actual applications, the mother-and-child drainage vehicle may face different operating environments and load conditions. Therefore, the speed matching algorithm needs to have a certain degree of environmental adaptability and be able to be adjusted and optimized according to actual conditions.

[0081] During the unwinding process of the hydraulic pipeline 110, it is necessary to judge the pipeline status of the hydraulic pipeline 110 based on the data collected by the sensor arranged on the hydraulic pipe winch 108. If the pipeline status does not reach the safety threshold, the unwinding will continue. If the pipeline status reaches the safety threshold, the unwinding will not continue, and a warning will be issued to the staff (including the warning sound of the alarm and the flashing of the warning indicator light). The frequency of the warning sound of the alarm is f=1kHz, and the flashing period of the warning indicator light is T=2s, so as to prompt the on-site operators. At the same time as the warning is issued, the warning record will be sent to the management background for record filing.

[0082] What is disclosed above is only one or more preferred embodiments of the present application, and cannot be used to limit the scope of rights of the present application. Ordinary technicians in this field can understand that all or part of the processes of implementing the above embodiments and equivalent changes made according to the claims of the present application are still within the scope covered by the present application.

Claims

1. A hydraulically controlled drainage vehicle for pipeline reeling and unreeling, comprising a drainage vehicle body, characterized in that: The main body of the drainage vehicle includes a frame, a cab and a car body. The cab and the car body are arranged above the frame from left to right. The interior of the cab and the car body are both hollow structures. The car body is covered with a protective layer and a fireproof layer from top to bottom. A hydraulic oil tank, a hydraulic pipe winch and a drainage trolley are placed in the car body from left to right. Hydraulic pipelines are wound around the hydraulic pipe winch. The hydraulic oil tank and the drainage trolley are connected through the hydraulic pipelines. A rear door is movably arranged on the side of the car body away from the cab to open or close the interior space of the car body.

2. The pipeline reeling and unreeling hydraulically controlled mother-and-child drainage vehicle according to claim 1, characterized in that: The frame comprises a frame body, a driving mechanism and wheels. The frame body has a rotation groove. The driving mechanism and the wheels are both located in the rotation groove of the frame body. The driving mechanism is used to drive the wheels to rotate in the rotation groove of the frame body.

3. The pipeline retracting and unreeling hydraulically controlled mother-and-child drainage vehicle according to claim 1, characterized in that: The protective layer is made of an all-aluminum patterned plate, and the protective layer completely covers the interior of the vehicle compartment.

4. The pipeline retracting and unreeling hydraulically controlled mother-and-child drainage vehicle according to claim 1, characterized in that: A ladder is movably provided on the rear door of the vehicle, so that the ladder can be folded on the rear door of the vehicle, allowing the drainage trolley to freely enter and exit the vehicle compartment.

5. The hydraulically controlled mother-and-child drainage vehicle for retracting and unreeling pipelines according to claim 1, characterized in that: The number of the hydraulic pipe winches is four, and they are arranged in pairs on the left and right sides of the carriage respectively. The hydraulic pipe winches are movably arranged in the carriage to achieve the purpose of horizontally extending the hydraulic pipe winches from the carriage.

6. The pipeline reeling and unreeling hydraulically controlled mother-and-child drainage vehicle according to claim 1, characterized in that: The drainage trolley has three control modes, namely electronic module button operation, wireless remote control operation and full hydraulic mechanism control.

7. A control method for a hydraulically controlled mother-and-child drainage vehicle for retracting and unreeling a pipeline, applied to the hydraulically controlled mother-and-child drainage vehicle for retracting and unreeling a pipeline as claimed in any one of claims 1 to 6, characterized in that: The following steps are involved: The driver is allowed to sit in the cab and operate the corresponding buttons on the central console in the cab to move the wheels on the ground, thereby driving the drainage vehicle body to move on the ground; When the drainage vehicle body moves to the designated position, the rear door is rotated behind the vehicle compartment to gradually open the interior space of the vehicle compartment, and the ladder is rotated on the rear door while the rear door is rotating; When the ladder is completely flush with the rear door of the vehicle, continue to rotate the rear door of the vehicle until the ladder contacts the ground; The drainage trolley is controlled by electronic module key operation, wireless remote control operation or full hydraulic mechanism control, so that the drainage trolley moves on the rear door of the vehicle and the ladder in turn, and moves the drainage trolley to the ground; At this time, the hydraulic pipeline wound outside the hydraulic pipe winch will be gradually unwound, and then the drainage trolley will be moved into the water to be drained and moved arbitrarily to achieve drainage of the drainage trolley.

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