Pipeline winding method and computer readable storage medium

Abstract

The invention discloses a pipeline winding method and a computer readable storage medium, and the method comprises the following steps: a first carrier is controlled to walk at a speed V1, the first carrier carries a pipeline, and the pipeline is wound on a winch; the number q of turns of the pipeline wound on the winch is obtained; obtaining the motion radius r2 according to the following formula: r2 = r1 + d * (q-1) + d / e; wherein q is the number of turns of the pipeline wound on the winch, d is the diameter of the pipeline, r1 is the radius of the winch, and e is larger than or equal to 1; the rotating speed n required by the winch is obtained according to the following formula: n = V1 / (2 * pi * r2); wherein V1 is the speed of the first carrier, and r2 is the movement radius; and controlling the winch to rotate at the rotating speed n to wind or unwind the pipeline. When the first carrier advances, the winch electric proportional reversing valve is started, the winch motor drives the winch to release the pipe automatically, and the operation mode can reduce the resistance of the winch motor, the pipeline and the winch, so that the walking resistance of the first carrier is reduced, the stress of a joint of the pipeline is smaller, the pipeline is safer, and the winding operation is convenient.

Description

Technical Field

[0001] The present invention relates to the technical field of pipeline reeling, and in particular to a pipeline reeling method and a computer-readable storage medium. Background Art

[0002] A parent-child vehicle system consists of a parent vehicle and one or more child vehicles. The parent vehicle is typically equipped with a power source and other supporting facilities, while the child vehicles are responsible for performing specific tasks such as drainage, detection, and handling. To enable the child vehicles to function properly in a remote location, they are connected by pipelines (oil pipes or cables) to transmit hydraulic fluid, electricity, or data signals.

[0003] Current pipeline management methods suffer from low efficiency. For example, when retrieving an oil pipe or cable, the operator typically manually controls the sub-trolley to retract a certain distance, then stops, and then operates the winch to retract the corresponding length of pipeline. This process must be repeated until the sub-trolley is fully adjacent to the main vehicle and all pipelines are retracted. This method is not only cumbersome but also time-consuming. Summary of the Invention

[0004] Therefore, it is necessary to provide a pipeline reeling method and a computer-readable storage medium to solve the problem of low efficiency of current pipeline management methods.

[0005] To achieve the above object, the inventor provides a pipeline reeling method, comprising the following steps:

[0006] Controlling a first vehicle to move at a speed V1, the first vehicle carrying a pipeline wound around a winch;

[0007] Obtain the number of turns q of the pipeline wound on the capstan;

[0008] The motion radius r2 is obtained according to the following formula:

[0009] r2=r1+d*(q-1)+d / e;

[0010] Where q is the number of turns of the pipeline wrapped around the capstan, d is the diameter of the pipeline, r1 is the radius of the capstan, and e≥1;

[0011] The required speed n of the winch is obtained according to the following formula:

[0012] n=V1 / (2*π*r2);

[0013] Where V1 is the velocity of the first vehicle, r2 is the movement radius;

[0014] The winch is controlled to rotate at a speed n to reel in or unreel the pipeline.

[0015] Furthermore, the method further comprises the following steps:

[0016] The required winch speed n is obtained by adjusting the adjustment coefficient k fed back by the remote controller:

[0017] n=V1 / (2*π*r2*k).

[0018] Furthermore, the adjustment coefficient k is 0.5 to 1.5.

[0019] Furthermore, controlling the first vehicle to move at a speed V1 is achieved by the following steps:

[0020] Output walking current signal according to the walking joystick amplitude of the remote controller;

[0021] Controlling the traveling electric proportional reversing valve on the first carrier according to the traveling current signal;

[0022] There are at least two pipelines, namely a high-pressure oil pipe and a low-pressure oil pipe. The flow rate of the hydraulic oil in the hydraulic system is adjusted according to the opening of the travel electric proportional reversing valve. The hydraulic oil is allowed to pass through the high-pressure oil pipe and the low-pressure oil pipe to provide hydraulic power to the hydraulic travel chassis of the first vehicle, thereby controlling the first vehicle to travel at a speed of V1;

[0023] There are multiple winches, and one high-pressure oil pipe and one low-pressure oil pipe correspond to each winch.

[0024] Furthermore, controlling the winch to rotate at a speed n to wind up or release the pipeline is achieved by the following steps:

[0025] Control the opening of the capstan electric proportional reversing valve to adjust the flow of hydraulic oil in the hydraulic system, and then adjust the capstan motor to drive the capstan to rotate at a speed n to wind up or release the pipeline;

[0026] Among them, one winch corresponds to one winch electric proportional reversing valve and one winch motor.

[0027] Furthermore, the method further comprises the following steps:

[0028] There are at least three pipelines, namely a high-pressure oil pipe, a low-pressure oil pipe, and an overflow pipe;

[0029] According to the water pump current signal output by the remote control, the opening of the control valve on the first vehicle is controlled, and the flow rate of the hydraulic oil in the hydraulic system is adjusted, so that the hydraulic oil passes through the high-pressure oil pipe and the low-pressure oil pipe of the pipeline to provide hydraulic power for the water pump motor on the first vehicle, and then the water pump motor is controlled to drive the water pump impeller to pump water. The water pump motor is also connected to the oil tank of the hydraulic system through an overflow pipe. There are multiple winches, one winch corresponds to one winch motor, and one high-pressure oil pipe, one low-pressure oil pipe, and one overflow pipe correspond to one winch respectively.

[0030] Furthermore, the number of turns q of the pipeline wound around the capstan is obtained by the following steps:

[0031] Get the total length of the pipeline;

[0032] The length of the pipeline released from the winch is obtained according to the speed V1 of the first vehicle and the time;

[0033] The number q of turns of the pipeline wound on the capstan is obtained according to the total length of the pipeline and the length of the pipeline released from the capstan.

[0034] Furthermore, e is 2.

[0035] Furthermore, a second vehicle is included, wherein a chassis of the second vehicle supports the winch, and the chassis of the second vehicle can be used for parking the first vehicle.

[0036] To achieve the above objectives, the inventors also provide a computer-readable storage medium storing a computer program. When the computer program is run, it is used to execute the pipeline reeling method of any one of the above embodiments.

[0037] Different from the existing technology, the above technical solution has the following beneficial effects:

[0038] While the first vehicle is moving forward, the capstan electric proportional reversing valve is opened, and the capstan motor drives the capstan to automatically release the pipe. This operation method can reduce the resistance of the capstan motor, pipeline and capstan itself, thereby reducing the walking resistance of the first vehicle, reducing the stress on the pipeline joints, making it safer and easier to reel in.

[0039] The above-mentioned records related to the content of the invention are only an overview of the technical solution of this application. In order to enable ordinary technicians in this field to understand the technical solution of this application more clearly, and then implement it according to the text of the specification and the contents recorded in the drawings, and to make the above-mentioned purposes and other purposes, features and advantages of this application easier to understand, the following is an explanation in combination with the specific implementation methods and drawings of this application. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] The drawings are only used to illustrate the principles, implementation methods, applications, features and effects of the specific embodiments of the present invention and other related contents, and are not to be considered as limiting the present application.

[0041] Figure 1 A hydraulic schematic diagram of a winch in some embodiments;

[0042] Figure 2 for Figure 1 A partial enlarged view of the

[0043] Figure 3This is a second hydraulic schematic diagram of the first carrier in some embodiments;

[0044] Figure 4 for Figure 3 A partial enlarged view of the

[0045] Figure 5 Schematic diagram of the connection between the remote control and the controller in this embodiment;

[0046] Figure 6 Schematic diagram of the walking rocker in this embodiment;

[0047] Figure 7 Schematic diagram of adjusting the joystick in this embodiment.

[0048] Description of reference numerals:

[0049] 1. Winch;

[0050] 2. Pipeline; 21. High-pressure oil pipe; 22. Low-pressure oil pipe; 23. Overflow pipe;

[0051] 3. Winch electric proportional reversing valve;

[0052] 4. First hydraulic pump;

[0053] 5. Control valve; 51. Stop valve; 52. Check valve; 53. Travel electric proportional reversing valve; 54. Cylinder electric proportional reversing valve;

[0054] 6. Winch motor

[0055] 7. Water pump motor;

[0056] 8. Travel motor;

[0057] 9. Oil cylinder;

[0058] 10. Second hydraulic pump;

[0059] 11. Remote control; 111. Remote control transmitter; 112. First remote control receiver; 113. Second remote control receiver; 114. Travel joystick; 115. Adjustment joystick;

[0060] 13. Controller. DETAILED DESCRIPTION

[0061] In order to explain in detail the possible application scenarios, technical principles, specific solutions that can be implemented, and the purpose and effects of this application, the following is a detailed description of the specific embodiments listed in conjunction with the accompanying drawings. The embodiments described herein are only used to more clearly illustrate the technical solutions of this application and are therefore only examples and are not intended to limit the scope of protection of this application.

[0062] References to "embodiments" herein mean that the specific features, structures, or characteristics described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the word "embodiment" in various places in the specification does not necessarily refer to the same embodiment, nor does it particularly limit its independence or relevance to other embodiments. In principle, in this application, as long as there are no technical contradictions or conflicts, the various technical features mentioned in the embodiments can be combined in any manner to form a corresponding implementable technical solution.

[0063] Unless otherwise defined, the technical terms used herein have the same meanings as those generally understood by those skilled in the art to which this application belongs; the use of relevant terms herein is only for describing specific embodiments and is not intended to limit this application.

[0064] In the description of this application, the term "and / or" is used to describe a logical relationship between objects, indicating that three relationships can exist. For example, A and / or B means: A exists, B exists, and both A and B exist. In addition, the character " / " in this document generally indicates that the objects before and after are in a logical "or" relationship.

[0065] In this application, terms such as "first" and "second" are merely used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual quantity, priority or sequence relationship between these entities or operations.

[0066] Without further limitations, in this application, the words "include", "comprise", "have" or other similar expressions used in the sentences are intended to cover non-exclusive inclusion. These expressions do not exclude the presence of additional elements in the process, method or product including the elements, so that the process, method or product including a series of elements may include not only those defined elements, but also other elements not explicitly listed, or elements inherent to such process, method or product.

[0067] Consistent with the understanding in the Examination Guidelines, in this application, expressions such as "greater than," "less than," and "exceed" are understood to exclude the number itself; expressions such as "above," "below," and "within" are understood to include the number itself. Furthermore, in the description of the embodiments of this application, "multiple" means more than two (including two), and similar expressions related to "multiple" are also understood in this manner, such as "multiple groups," "multiple times," etc., unless otherwise specifically defined.

[0068] In the description of the embodiments of the present application, the space-related expressions used, such as "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "vertical", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicate the orientation or position relationship based on the orientation or position relationship shown in the specific embodiments or drawings, and are only for the convenience of describing the specific embodiments of the present application or facilitating the reader's understanding, and do not indicate or imply that the device or component referred to must have a specific position, a specific orientation, or be constructed or operated in a specific orientation. Therefore, it should not be understood as a limitation on the embodiments of the present application.

[0069] Unless otherwise expressly specified or limited, in the description of the embodiments of the present application, the terms "installed", "connected", "connected", "fixed", "set", etc. used should be understood in a broad sense. For example, the "connection" can be a fixed connection, a detachable connection, or an integrated setting; it can be a mechanical connection, an electrical connection, or a communication connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal connection of two elements or the interaction relationship between two elements. For those skilled in the art of the present application, the specific meanings of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

[0070] This embodiment provides a pipeline reeling method, comprising the following steps:

[0071] Controlling a first vehicle to move at a speed V1, the first vehicle carrying a pipeline wound around a winch;

[0072] Obtain the number of turns q of the pipeline wound on the capstan;

[0073] The motion radius r2 is obtained according to the following formula:

[0074] r2=r1+d*(q-1)+d / e;

[0075] Where q is the number of turns of the pipeline wrapped around the capstan, d is the diameter of the pipeline, r1 is the radius of the capstan, and e≥1;

[0076] The required speed n of the winch is obtained according to the following formula:

[0077] n=V1 / (2*π*r2);

[0078] Where V1 is the velocity of the first vehicle, r2 is the radius of motion, and π is the circumference of a circle;

[0079] The winch is controlled to rotate at a speed n to reel in or unreel the pipeline.

[0080] It should be noted that the winch is spaced apart from the first vehicle to ensure operational flexibility and efficiency. One end of the pipeline is securely attached to the winch, while the other end is connected to the first vehicle. Depending on the specific application requirements, this pipeline can be either an oil pipe, used to provide hydraulic power to the first vehicle to support high-power output tasks such as drainage and excavation, or a cable, used to provide electrical power to the first vehicle, enabling the transmission of data and control signals to meet various needs such as power tool operation and sensor data transmission.

[0081] It should be noted that the pipe is a relatively high-hardness yet still coilable pipe, with a certain degree of flexibility, allowing it to be tightly wound around the capstan layer by layer. Although it can bend and coil, it is rigid enough to prevent deformation or collapse, ensuring that the diameter of each layer of pipe when coiled is almost the same as the initial state.

[0082] It should be noted that r1 is the radius of the capstan when no pipe is wound around it, and the movement radius r2 refers to the distance from the center of rotation of the capstan to a reference point on the current outermost pipe. Different e values ​​correspond to different reference point positions. As e increases, the reference point gradually approaches the center of rotation of the capstan. When e = 1, the reference point is located at the outer edge of the outermost pipe, and the calculation formula is r2 = r1 + d*(q-1) + d, which means that the movement radius includes the thickness of the entire pipe and is suitable for situations where the maximum extension of the pipe needs to be considered. When e = 2, the reference point is located at the center of the outermost pipe, r2 = r1 + d*(q-1) + d / 2. This method can more accurately reflect the movement radius r2, is suitable for most application scenarios, and is the preferred method in this method. Through the above formula and the selection of different e values, we can flexibly adjust the position of the reference point according to actual needs, so as to more accurately calculate the effective movement radius r2 of the capstan after each circle of pipe winding.

[0083] Assuming the total length of the pipeline installed on a real vehicle is 55 meters, every 22 meters of pipeline can be wound around the winch for one full layer (turn). When the pipeline is fully retracted into the winch, it can be wound 2.5 turns. In other words, the pipeline is divided into three sections. The third turn is the length of the pipeline released from 0 to 11 meters, the second turn is the length of the pipeline released from 11 to 33 meters, and the first turn is the length of the pipeline released from 33 to 55 meters. Assuming that the radius r1 of the winch is 0.26m (length unit, meter), the diameter of the oil pipe is 0.05m, and e is 2, based on these parameters, we can derive the corresponding movement radius of different layers: when the pipeline is reeled in or released to the first layer, the corresponding movement radius r2 = 0.26 + 0.025 = 0.285m; when the pipeline is reeled in or released to the second layer, the corresponding movement radius r2 = 0.26 + 0.025 + 0.05 = 0.335m; when the pipeline is reeled in or released to the third layer, the corresponding movement radius r2 = 0.26 + 0.025 + 0.05 + 0.05 = 0.385m.

[0084] To ensure that the pipeline reeling or deployment process is synchronized with the movement of the first vehicle, the pipeline reeling speed V2 should be the same as the first vehicle's travel speed V1. Therefore, the winch's rotational speed n can be calculated using the formula V1 / 2*π*r2. This allows the winch to precisely adjust its rotational speed based on the speed of the first vehicle, ensuring that the pipeline is always reeled or deployed with appropriate tension. This ensures coordinated and stable reeling, streamlines the entire reeling process, and significantly improves overall work efficiency.

[0085] In some embodiments, due to certain complex environmental factors, the actual walking speed of the sub-vehicle is different from the theoretical walking speed V1, and this difference will affect the reeling speed of the pipeline. The pipeline reeling method also includes the following steps:

[0086] The required winch speed n is obtained by adjusting the adjustment coefficient k fed back by the remote controller:

[0087] n=V1 / (2*π*r2*k).

[0088] When the actual walking speed of the sub-vehicle is lower than the theoretically calculated speed V1, if the winch still follows the original speed, the pipeline will be reeled or laid out too quickly, such as causing the pipeline to be over-straightened in the reeling mode, or causing the pipeline to become loose in the release mode. Therefore, in order to achieve synchronization, the actual required winch speed n needs to be reduced accordingly. Specifically, when the theoretically calculated walking speed V1 remains unchanged, the corresponding winch speed n can be reduced by increasing the adjustment coefficient k to be greater than 1, thereby achieving the purpose of slowing down the pipeline reeling and releasing speed. Similarly, when the actual walking speed of the sub-vehicle is higher than the theoretically calculated speed V1, the winch speed n can be increased by reducing the coefficient k to be less than 1, thereby ensuring that the pipeline reeling or laying speed is synchronized with the actual walking speed of the sub-vehicle. This dynamic adjustment mechanism enables the system to flexibly respond to various environmental changes, improving the overall coordination and reliability of the system.

[0089] In some embodiments, when the operator detects an abnormal condition such as an overtightened or overly loosened pipeline, the value of k is adjusted to match the actual operating state of the sub-vehicle. Of course, a more intelligent approach can also be adopted, where the processor of the first vehicle (such as the first remote control receiver) detects its actual speed in real time and compares it with the theoretical speed V1. The value of k is automatically adjusted based on the deviation, thus achieving dynamic correction of the winch speed.

[0090] In some embodiments, the adjustment coefficient k can be adjusted by the operator manually controlling the remote control. Specifically, the operator can gradually increase or decrease the value of k by pressing the function button on the remote control or pushing the adjustment rocker 115; for example, see Figure 7Adjustment lever 115 can be a single-axis lever with effective travel in only one direction (forward or backward or left or right) to control the retraction or extension of the pipeline. Furthermore, if the remote control is equipped with a touchscreen display, the value of k can also be set by sliding or clicking the corresponding control in the virtual interface. This approach makes the adjustment process more intuitive and convenient, enabling rapid response to actual on-site working conditions and achieving real-time and precise control of the capstan speed.

[0091] In some embodiments, the adjustment coefficient k ranges from 0.5 to 1.5, with specific values ​​including, but not limited to, 0.5, 0.6, 0.7, 0.8, 1, 1.2, 1.3, and 1.5. The operator can select the appropriate adjustment coefficient k based on actual on-site conditions and pipeline tension to precisely match the winch speed. Without manual or automatic adjustment, the default value of the adjustment coefficient k is 1, indicating that the winch theoretically operates in a manner consistent with the vehicle's travel speed V1. The adjustment coefficient k can be 0.5, 0.6, 0.7, 0.8, 1, 1.2, 1.3, or 1.5, depending on the pipeline status.

[0092] When the theoretical walking speed of the sub-vehicle V1 = 0.6m / s and the current movement radius of the winch r2 = 0.335m, the calculated winch speed n is: n = V1 / (2*π*r2) = 0.6 / (2*π*0.335) = 0.285 rpm.

[0093] Case 1: If the operator observes the pipeline being tightened during retraction (indicating that the actual vehicle speed is less than V1), they use the remote control to adjust the adjustment coefficient k to 1.2. At this time, the winch speed becomes: n = V1 / (2*π*r2*k) = 0.6 / (2*π*0.335*1.2) = 0.237 rpm. By reducing the winch speed, the pipeline release / retraction speed is matched to the actual moving speed of the vehicle.

[0094] Case 2: If the operator observes the pipeline becoming loose during retraction (indicating that the actual vehicle speed is greater than V1), the operator adjusts the adjustment coefficient k to 0.8 via the remote control. At this point, the winch speed becomes: n = V1 / (2*π*r2*k) = 0.6 / (2*π*0.335*0.8) = 0.357 rpm. By increasing the winch speed, the pipeline release / retraction speed matches the actual vehicle speed.

[0095] In some embodiments, controlling the first vehicle to move at a speed V1 is achieved by the following steps:

[0096] Outputting a walking current signal according to the walking rocker amplitude of the remote controller 11;

[0097] Controlling the traveling electric proportional reversing valve 53 on the first carrier according to the traveling current signal;

[0098] Pipeline 2 has at least two components: a high-pressure oil pipe 21 and a low-pressure oil pipe 22. The flow of hydraulic oil in the hydraulic system is regulated by the opening of the electric proportional reversing valve 53. The hydraulic oil flows through the high-pressure oil pipe 21 and the low-pressure oil pipe 22 of pipeline 2 to provide hydraulic power to the hydraulic chassis of the first vehicle, thereby controlling the first vehicle to travel at a speed V1.

[0099] There are multiple winches 1 , and one high-pressure oil pipe 21 and one low-pressure oil pipe 22 correspond to one winch 1 respectively. The winch 1 is used to reel in a pipeline 2 .

[0100] See also Figure 6 The walking rocker 114 can be a single-axis rocker with an effective travel in only one direction (front and back or left and right) to control the forward or backward movement of the first vehicle. The output signal of the rocker is linearly related to its pushing amplitude, that is, the larger the pushing angle, the stronger the output walking current signal. For example, when the walking rocker 114 is not pushed (0%), the output current is 0mA (current unit, milliampere), and the first vehicle stops; when the walking rocker 114 is half pushed (50%), the output current is 400mA, and the first vehicle moves at a medium speed; when the walking rocker 114 is fully pushed (100%), the output current is 800mA, and the first vehicle moves at the maximum speed.

[0101] When the operator pushes the travel lever 114 forward, the first remote control receiver 112 on the first vehicle recognizes it as a "forward" command; when the operator pulls the travel lever 114 backward, the first remote control receiver 112 recognizes it as a "reverse" command. The direction the lever is pushed indicates the travel direction. The travel electric proportional valve has two solenoid coils, one for controlling the forward and reverse movements of the travel motor. When the operator pushes the travel lever 114 forward, the first remote control receiver 112 recognizes it as a "forward" command and activates the first solenoid coil of the travel electric proportional valve. This solenoid coil generates a magnetic field, driving the valve core to move, connecting to the corresponding working oil port, driving the motor forward, thus moving the first vehicle forward. Conversely, when the operator pulls the travel lever 114 backward, the first remote control receiver 112 recognizes it as a "reverse" command and activates the second solenoid coil of the travel electric proportional valve. This solenoid coil generates a magnetic field, driving the valve core to move in the opposite direction, driving the motor in the reverse direction, thus moving the first vehicle backward.

[0102] See also Figure 3 and Figure 4The high-pressure oil pipe 21 is used to deliver hydraulic power to the hydraulic actuators on the first vehicle, while the low-pressure oil pipe 22 is used for oil return, returning the used hydraulic oil to the oil tank. The hydraulic pump pumps the hydraulic oil from the oil tank. The hydraulic oil enters the oil inlet of the travel motor 8 of the hydraulic travel chassis through the high-pressure oil pipe 21, and then returns to the oil tank through the oil outlet of the travel motor 8 and the low-pressure oil pipe 22, forming a hydraulic circuit. During this period, the remote control transmitter 111 of the remote control 11 sends a travel current signal to the first remote control receiver 112 of the first vehicle. The first remote control receiver 112 controls the opening of the travel electric proportional reversing valve 53 on the first vehicle, thereby adjusting the flow of hydraulic oil.

[0103] In some embodiments, the hydraulic traveling chassis of the first vehicle is a crawler chassis, and there are two traveling rockers 114, corresponding to the left and right rows of crawler wheels (with traveling motors 8), that is, the two traveling motors 8 are controlled respectively to drive the first vehicle to travel.

[0104] In some embodiments, controlling the winch 1 to rotate at a speed n to wind up or release the pipeline 2 is achieved by the following steps:

[0105] Control the opening of the winch electric proportional reversing valve 3 to adjust the flow of hydraulic oil in the hydraulic system, and then adjust the winch motor 1 to drive the winch 1 to rotate at a speed n to wind up or release the pipeline 2;

[0106] Among them, one winch 1 hydraulic motor corresponds to one winch electric proportional reversing valve 3 and one winch 1 motor.

[0107] See also Figure 1 and Figure 2 The capstan electric proportional reversing valve 3 is connected to the working oil port of the capstan 1 motor via two oil pipes. Driven by the hydraulic system's hydraulic pump, hydraulic oil flows through these two high-pressure and low-pressure oil pipes to drive the capstan 1 motor, causing the capstan 1 to rotate at a speed n, thereby achieving the reeling or releasing action of the pipeline 2. The capstan 1 motor can be connected to the rotation center of the capstan 1 via a speed reducer to achieve speed matching; alternatively, the capstan 1 motor itself can be integrated with a speed change mechanism and directly connected to the rotating shaft of the capstan 1 via a coupling, achieving a compact and highly efficient drive system.

[0108] Because there are multiple winches 1, each winch 1 is independently configured with a corresponding winch 1 motor. That is, one winch 1 corresponds to one winch 1 motor. For example, when there are two winches 1, two winch 1 motors are configured accordingly; when there are three winches 1 in the system, three winch 1 motors are configured, and so on. Each winch 1 motor is connected to an independently controlled winch electric proportional reversing valve 3, which is used to adjust the flow and direction of the hydraulic oil entering the hydraulic motor, thereby achieving independent control of the speed and rotation direction of the winch 1. Through the above structural design, each winch 1 can achieve independent operation without interfering with each other, which makes it convenient to set the speed n according to the movement radius r2 and working status of different pipelines 2.

[0109] While the first vehicle is moving forward, the capstan electric proportional reversing valve 3 is opened, and the capstan 1 motor drives the capstan 1 to release the pipe autonomously. This operation method can reduce the resistance of the capstan 1 motor, the pipe 2 and the capstan 1 itself, thereby reducing the walking resistance of the first vehicle, and the joints of the pipe 2 are subjected to less stress, making it safer.

[0110] In some embodiments, the pipeline 2 reeling method further includes the following steps:

[0111] There are at least three pipelines 2, namely the high-pressure oil pipe 21, the low-pressure oil pipe 22, and the overflow pipe 23;

[0112] According to the water pump current signal output by the remote control 11, the opening of the control valve 5 on the first vehicle is controlled to adjust the flow of the hydraulic oil in the hydraulic system, so that the hydraulic oil passes through the high-pressure oil pipe 21 and the low-pressure oil pipe 22 of the pipeline 2 to provide hydraulic power for the water pump motor 7 on the first vehicle, and then controls the water pump motor 7 to drive the water pump impeller to pump water. The water pump motor 7 is also connected to the oil tank of the hydraulic system through the overflow pipe 23. There are multiple winches 1, and one winch 1 corresponds to one winch 1 motor. A high-pressure oil pipe 21, a low-pressure oil pipe 22, and an overflow pipe 23 correspond to one winch 1 respectively.

[0113] In some embodiments, the method for winding the pipeline 2 obtains the number of turns q of the pipeline 2 wound on the winch 1 by the following steps:

[0114] Get the total length of the pipeline;

[0115] The length of the pipeline released from the winch is obtained according to the speed V1 of the first vehicle and the time;

[0116] The number q of turns of the pipeline wound on the capstan 1 is obtained according to the total length of the pipeline and the length of the pipeline released from the capstan.

[0117] The controller 13 calculates the release distance of the pipe 2 according to the walking speed and time of the first vehicle, and then determines the number of turns of the current pipe 2. Assuming that the total length of the pipe 2 assembled on the actual vehicle is 55 meters, every 22 meters of the pipe 2 can be wound around a full layer (turn) of the winch 1, and the pipe 2 can be wound around 2.5 layers when it is fully received by the winch 1, that is, the pipe 2 is divided into 3 sections, and the length of the pipe 2 released from 0 to 11 meters is 3 turns of the pipe 2, the length of the pipe 2 released from 11 to 33 meters is 2 turns of the pipe 2, and the length of the pipe 2 released from 33 to 55 meters is 1 turn of the pipe 2. Assuming that the first vehicle (sub-vehicle) moves at a speed of V1 = 0.6m / s, and the controller 13 records the walking time as 10s, then it is calculated that the length of the pipe 2 released is 6m, and the pipe 2 is still wound around 3 turns, and the pipe 2 is on the third layer.

[0118] In some embodiments, a rotary encoder can be installed on the capstan 1 shaft or the capstan 1 motor output shaft to output a certain number of pulse signals per rotation. The controller 13 calculates the total number of rotations of the capstan 1 by accumulating the number of pulses, and thus obtains the number of rotations of the pipeline 2.

[0119] In some embodiments, the pipeline 2 reeling method further includes a second vehicle, wherein the chassis of the second vehicle supports the winch 1 , and the chassis of the second vehicle can be used for parking the first vehicle.

[0120] The second vehicle is the "mother vehicle" mentioned above, and the first vehicle is the "sub-vehicle." The second vehicle has a dedicated chassis designed to carry the first vehicle (e.g., a tracked or wheeled sub-vehicle) for driving or parking, facilitating transportation, maintenance, and operational preparation. An engine (e.g., a diesel engine) is mounted on the chassis of the second vehicle and is in transmission connection with the hydraulic pump in the hydraulic system. This engine drives the hydraulic pump, thereby providing a stable source of pressurized oil to the hydraulic circuit of the entire hydraulic system.

[0121] At least one winch 1 is installed on the second vehicle for automatically reeling in or releasing the pipeline 2 connecting the second vehicle and the first vehicle. In addition, the second vehicle is provided with a winch electric proportional reversing valve 3 and a corresponding oil circuit for controlling the winch 1. In particular, when the first vehicle is a drainage vehicle, the hydraulic actuators thereon (such as a water pump, a tilting water pump cylinder 9, a translation water pump cylinder 9, etc.) all require hydraulic power drive, so at least three winches 1 are provided, each used to reel in the following three types of pipelines 2: a high-pressure oil pipe 21: the main oil supply pipe; a low-pressure oil pipe 22: the return oil pipe; an overflow pipe 23: used to assist in pressure relief or oil drainage. Hydraulic power can be used to drive the following components: the water pump on the first vehicle; the hydraulic walking chassis of the first vehicle; the oil cylinder 9 for the tilting water pump on the first vehicle; and the oil cylinder 9 for the translation water pump on the first vehicle.

[0122] See also Figures 1 to 5, this embodiment also provides a pipeline 2 reeling device, which includes a first vehicle, a pipeline 2, a winch 1, a hydraulic system, an electronic control system and a second vehicle, the hydraulic system including a first hydraulic pump 4, a winch electric proportional reversing valve 3 and a winch 1 motor, the first hydraulic pump 4 is connected to the oil inlet (i.e., the pressure port) of the winch 1 electric proportional valve, the two working oil ports of the winch electric proportional reversing valve 3 are respectively connected to the two working oil ports of the winch 1 motor, the return oil port of the winch electric proportional reversing valve 3 is connected to the oil tank, the winch 1 motor is connected to the winch 1, and is used to drive the winch 1 to rotate to reel in or release the pipeline 2; the electronic control system is respectively connected to the first hydraulic pump 4, the winch electric proportional reversing valve 3, the winch 1 motor and the first vehicle, and is used to control the movement of the first vehicle, and control the winch electric proportional reversing valve 3 to adjust the flow of hydraulic oil in the hydraulic system and thereby adjust the speed of the winch 1 motor, so that the speed of reeling in or releasing the pipeline 2 matches the speed of the first vehicle.

[0123] See also Figure 3 and Figure 4 In some embodiments, there are at least two pipelines 2, namely a high-pressure oil pipe 21 and a low-pressure oil pipe 22. The first vehicle includes a hydraulic actuator, and the hydraulic system also includes a second hydraulic pump 10, a control valve 5, and a fuel tank. The second hydraulic pump 10 is connected to the oil inlet of the control valve 5 via the high-pressure oil pipe 21. The two working oil ports of the control valve 5 are respectively connected to the two working oil ports of the hydraulic actuator. The return oil port of the control valve 5 is connected to the fuel tank via the low-pressure oil pipe 22. The control valve 5 is located on the first vehicle. The working oil port refers to the oil port on the hydraulic valve or hydraulic actuator used to control the flow of hydraulic oil and realize the action of the actuator. It is usually divided into an oil inlet and an oil outlet, which are used to introduce pressurized oil and discharge return oil to the fuel tank, respectively, thereby driving the hydraulic cylinder to extend and retract or the hydraulic motor to rotate. In addition to the working oil port, some components are also equipped with an overflow port for discharging internal leaked oil.

[0124] See also Figures 1 to 4 In some embodiments, the hydraulic oil required for the operation of the winch 1 motor is delivered by the first hydraulic pump 4, and the hydraulic oil required for the operation of the hydraulic actuator of the first vehicle is delivered by the second hydraulic pump 10. By setting up two independent hydraulic pumps, the stability and response efficiency of the system are improved.

[0125] See also Figure 3 and Figure 4In some embodiments, the first vehicle has a water pump motor 7, two travel motors 8 and at least two oil cylinders 9, which are respectively used to realize the water pumping function, the autonomous travel function and the water pump posture adjustment function. The travel chassis supports the water pump, and the water pump motor 7 is used to drive the internal impeller of the water pump to rotate, thereby completing the suction and delivery of the liquid medium. The two travel motors 8 drive the left and right tracks respectively to realize the forward, backward and differential steering of the first vehicle; at least one of the two oil cylinders 9 pushes the water pump to pitch and adjust the direction of the water inlet, and the other oil cylinder 9 pushes the water pump to move forward and backward. In order to ensure the independence of the actions between the hydraulic actuators, the control valve 5 (electric proportional reversing valve, stop valve 51) of the hydraulic system sets the various hydraulic oil circuits to a parallel connection state without interfering with each other.

[0126] See also Figure 3 and Figure 4 In some embodiments, the control valve 5 includes a shutoff valve 51 and a check valve 52. The second hydraulic pump 10 is connected to the oil inlet of the shutoff valve 51 via a high-pressure oil pipe 21. The shutoff valve 51 has a working oil port (serving as an oil outlet) connected to a working oil port (serving as an oil inlet) of the water pump motor 7. The check valve 52 has a working oil port (serving as an oil inlet) connected to another working oil port (serving as an oil outlet) of the water pump motor 7. The check valve 52 has an oil return port connected to the low-pressure oil pipe 22. There are at least three pipelines 2. In addition to the high-pressure oil pipe 21 and the low-pressure oil pipe 22, one pipeline 2 is an overflow pipe 23. The overflow port of the water pump motor 7 is connected to the oil tank via the overflow pipe 23. There are at least three winches 1. The first winch 1 reels the high-pressure oil pipe 21, the second winch 1 reels the low-pressure oil pipe 21, and the third winch 1 reels the overflow pipe 23. The water pump motor 7 drives the impeller in the pump casing to rotate, thereby pumping water.

[0127] The inlet of shutoff valve 51 receives hydraulic oil. Its outlet is connected to the inlet of water pump motor 7, controlling the direction of high-pressure oil supply. The outlet of water pump motor 7 is connected to the inlet of check valve 52, which prevents hydraulic oil from flowing back into the outlet of water pump motor 7. The return port of check valve 52 is connected to low-pressure oil pipe 22. High-pressure oil enters one of the working oil ports of water pump motor 7 through shutoff valve 51, driving its rotation. The return port is connected to low-pressure oil pipe 22 through check valve 52, ultimately returning to the fuel tank. Any internal leakage generated by water pump motor 7 during operation is discharged into the fuel tank through the overflow port. The first remote control receiver 112 of the electronic control system is connected to shutoff valve 51 to control the opening of shutoff valve 51.

[0128] See also Figure 3 and Figure 4In some embodiments, the control valve 5 also includes a traveling electric proportional reversing valve 53. The second hydraulic pump 10 is connected to the oil inlet of the traveling electric proportional reversing valve 53 through a high-pressure oil pipe 21. The two working oil ports of the traveling electric proportional reversing valve 53 are respectively connected to the two working oil ports of the traveling motor 8. The return oil port of the traveling electric proportional reversing valve 53 is connected to the oil tank through a low-pressure oil pipe 22.

[0129] If the first vehicle's traveling chassis is a tracked chassis, it is equipped with two traveling motors 8 and two traveling electric proportional reversing valves 53, which respectively drive the left and right tracks, achieving differential steering and flexible movement. The oil inlet (i.e., pressure port) of the traveling electric proportional reversing valve 53 is connected to the second hydraulic pump 10 via a high-pressure oil pipe 21, and the oil return port is connected to the oil tank via a low-pressure oil pipe 22. The two working oil ports of the traveling electric proportional reversing valve 53, one for oil inlet and one for oil outlet, correspond to the two working oil ports of the traveling motor 8, one for oil outlet and one for oil inlet. The traveling electric proportional reversing valve 53 adjusts its internal valve core position according to the instructions of the electronic control system, thereby controlling the on-off state and opening of the two working oil ports. When pressurized oil is connected to one of the working oil ports, the traveling motor 8 rotates forward; at the same time, the other working oil port is in the oil return state. Furthermore, as the reversing valve switches, the roles of the two working oil ports are reversed accordingly, i.e., the working oil port that originally served as the oil inlet becomes the oil outlet, and the original oil outlet becomes the oil inlet, thereby achieving reverse rotation of the motor.

[0130] See also Figure 3 and Figure 4 In some embodiments, the second hydraulic pump 10 is connected to the oil inlet (i.e., pressure port) of the cylinder electric proportional reversing valve 54 through a high-pressure oil pipe 21, the two working oil ports of the cylinder electric proportional reversing valve 54 are respectively connected to the two working oil ports of the cylinder 9, and the return oil port of the cylinder electric proportional reversing valve 54 is connected to the oil tank through a low-pressure oil pipe 22.

[0131] The linear extension and retraction movement of the oil cylinder 9, combined with other physical structures, can achieve the pitch or translation of the water pump on the first vehicle. Of course, the oil cylinder 9 can also be used for other purposes, such as supporting the first vehicle against the ground. The oil inlet of the oil cylinder electric proportional reversing valve 54 is connected to the second hydraulic pump 10 through the high-pressure oil pipe 21, and the oil return port is connected to the oil tank through the low-pressure oil pipe 22. The two working oil ports of the oil cylinder electric proportional reversing valve 54 are one for oil inlet and one for oil outlet, and the corresponding two working oil ports of the oil cylinder 9 are one for oil outlet and one for oil inlet. The oil cylinder electric proportional reversing valve 54 adjusts its internal valve core position according to the instructions of the electronic control system, thereby achieving control over the on-off state and opening of the two working oil ports. When one of the working oil ports is connected to the pressurized oil, the corresponding oil cylinder 9 cavity is filled with oil and pushes the piston to move; at the same time, the other working oil port is in the oil return state, discharging the hydraulic oil in the cavity to the oil tank. In addition, as the reversing valve switches, the roles of the two working oil ports will be swapped accordingly, that is, the working oil port originally serving as the oil inlet becomes the oil outlet, and the original oil outlet becomes the oil inlet, thereby achieving the reversal of the movement direction of the cylinder 9.

[0132] In some embodiments, the second vehicle's chassis is equipped with an engine, which is connected to the first hydraulic pump 4 and the second hydraulic pump 10, respectively. The second vehicle is a drainage vehicle. A diesel engine can be installed on the second vehicle's chassis to drive the first hydraulic pump 4 and the second hydraulic pump 10 in the hydraulic system, thereby providing a stable source of pressurized oil to the entire hydraulic system.

[0133] See also Figure 5 In some embodiments, the electronic control system includes a remote control 11 and a controller 13; the first vehicle is provided with a first remote control receiver 112, which is communicatively connected to the remote control transmitter 111 of the remote control 11 and is used to obtain a traveling current signal sent by the remote control transmitter 111 from the first remote control receiver 112 to control the travel of the first vehicle; the controller 13 is provided with a second remote control receiver 113, which is communicatively connected to the remote control transmitter 111 of the remote control 11, and is connected to the winch electric proportional reversing valve 3, which is used to obtain a traveling current signal sent by the remote control transmitter 111 from the second remote control receiver 113, control the winch electric proportional reversing valve 3 to adjust the flow of hydraulic oil in the hydraulic system and thereby adjust the speed of the winch 1 motor, so that the speed of winding up or releasing the pipeline 2 matches the speed of the travel of the first vehicle.

[0134] The operator sets the travel direction and speed of the first vehicle through the remote control 11. The remote control 11 sends the corresponding travel current signal to the remote control transmitter 111 wirelessly. The first remote control receiver 112 receives the signal and converts it into a control instruction to drive the travel motor 8 of the first vehicle. In addition, it can also realize forward, backward or turning actions. The second remote control receiver 113 also receives the same travel current signal at the same time. The controller 13 calculates the required winch 1 speed based on the signal and sends a control signal to the winch electric proportional reversing valve 3 to adjust its opening, thereby controlling the hydraulic oil flow supplied to the winch 1 motor. The winch 1 motor adjusts its speed accordingly to keep the winding or release speed of the pipeline 2 synchronized with the travel speed of the first vehicle.

[0135] In a preferred embodiment, the first remote control receiver 112 not only has the basic function of receiving commands from the remote control 11 but also integrates a data processing unit capable of obtaining real-time operating status information of various components on the first vehicle, such as the speed of the travel motor 8 and the pressure of the hydraulic system. Based on the received remote control commands and local sensor feedback data, the first remote control receiver 112 can autonomously generate control signals and output them to the corresponding actuators, such as the control valve 5 and the hydraulic motor, thereby realizing intelligent control of the first vehicle.

[0136] This embodiment further provides a computer scale storage medium, in which a computer program is stored. When the computer program is run, it is used to execute the pipeline reeling method described in any one of the above embodiments.

[0137] Finally, it should be noted that although the above embodiments have been described in the specification and drawings of this application, this does not limit the scope of patent protection of this application. All technical solutions generated by replacing or modifying equivalent structures or equivalent processes based on the essential concepts of this application using the contents recorded in the specification and drawings of this application, as well as directly or indirectly implementing the technical solutions of the above embodiments in other related technical fields, are included in the scope of patent protection of this application.

Claims

1. A pipeline winding method, characterized in that: The steps include: Controlling a first vehicle to move at a speed V1, the first vehicle carrying a pipeline wound around a winch; Obtain the number of turns q of the pipeline wound on the capstan; The motion radius r2 is obtained according to the following formula: r2=r1+d*(q-1)+d / e; Where q is the number of turns of the pipeline wrapped around the capstan, d is the diameter of the pipeline, r1 is the radius of the capstan, and e≥1; The required speed n of the winch is obtained according to the following formula: n=V1 / (2*π*r2); Where V1 is the velocity of the first vehicle, r2 is the movement radius; The winch is controlled to rotate at a speed n to reel in or unreel the pipeline.

2. The pipeline reeling method according to claim 1, characterized in that: The following steps are also included: The required winch speed n is obtained by adjusting the adjustment coefficient k fed back by the remote controller: n=V1 / (2*π*r2*k).

3. The pipeline reeling method according to claim 2, characterized in that: The adjustment coefficient k is 0.5 to 1.

5.

4. The pipeline reeling method according to claim 1, characterized in that: Controlling the first vehicle to move at speed V1 is achieved through the following steps: Output walking current signal according to the walking joystick amplitude of the remote controller; Controlling the traveling electric proportional reversing valve on the first carrier according to the traveling current signal; There are at least two pipelines, namely a high-pressure oil pipe and a low-pressure oil pipe. The flow rate of the hydraulic oil in the hydraulic system is adjusted according to the opening of the travel electric proportional reversing valve. The hydraulic oil is allowed to pass through the high-pressure oil pipe and the low-pressure oil pipe to provide hydraulic power to the hydraulic travel chassis of the first vehicle, thereby controlling the first vehicle to travel at a speed of V1; There are multiple winches, and one high-pressure oil pipe and one low-pressure oil pipe correspond to each winch.

5. The pipeline reeling method according to claim 4, characterized in that: Controlling the winch to rotate at a speed n to reel in or unreel the pipe is achieved by the following steps: Control the opening of the capstan electric proportional reversing valve to adjust the flow of hydraulic oil in the hydraulic system, and then adjust the capstan motor to drive the capstan to rotate at a speed n to wind up or release the pipeline; Among them, one winch corresponds to one winch electric proportional reversing valve and one winch motor.

6. The pipeline reeling method according to claim 4, characterized in that: The following steps are also included: There are at least three pipelines, namely a high-pressure oil pipe, a low-pressure oil pipe, and an overflow pipe; According to the water pump current signal output by the remote control, the opening of the control valve on the first vehicle is controlled, and the flow rate of the hydraulic oil in the hydraulic system is adjusted, so that the hydraulic oil passes through the high-pressure oil pipe and the low-pressure oil pipe of the pipeline to provide hydraulic power for the water pump motor on the first vehicle, and then the water pump motor is controlled to drive the water pump impeller to pump water. The water pump motor is also connected to the oil tank of the hydraulic system through an overflow pipe. There are multiple winches, one winch corresponds to one winch motor, and one high-pressure oil pipe, one low-pressure oil pipe, and one overflow pipe correspond to one winch respectively.

7. The pipeline reeling method according to claim 1, characterized in that: The number of turns q of the pipe wrapped around the capstan is obtained by the following steps: Get the total length of the pipeline; The length of the pipeline released from the winch is obtained according to the speed V1 of the first vehicle and the time; The number q of turns of the pipeline wound on the capstan is obtained according to the total length of the pipeline and the length of the pipeline released from the capstan.

8. The pipeline reeling method according to claim 1, characterized in that: e is 2.

9. The pipeline reeling method according to claim 1, characterized in that: A second vehicle is also included, wherein a chassis of the second vehicle supports the winch, and the chassis of the second vehicle can be used for parking the first vehicle.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed, it is used to execute the pipeline reeling method according to any one of claims 1 to 9.

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