Accurate measurement device for bearing reaction force of crane and method for controlling movable support leg of crane

Abstract

The invention relates to an accurate measurement device for the reaction force of a crane, and aims to improve the measurement precision and the operation safety of the reaction force of a support leg of the crane. According to the device, the tilt angle sensor, the action control unit, the supporting leg control panel and the pressure monitoring assembly are integrated, so that accurate measurement of the supporting reaction force of the supporting leg of the crane is realized. The tilt angle sensor is used for measuring the tilt angle state of the crane chassis, and the pressure monitoring assembly is installed at the large cavity end of the horizontal oil cylinder and the vertical oil cylinder of the supporting leg and used for monitoring the pressure of the oil cylinders in real time. The invention further relates to a method for controlling the movable supporting leg of the crane. According to the method, the telescopic actions of the horizontal oil cylinder and the vertical oil cylinder are accurately controlled through the action control unit. Data of the tilt angle sensor and the pressure sensor are used for adjusting stretching of the supporting legs in real time, and it is ensured that the crane reaches the optimal stable state before operation. According to the method, all wheels are off the ground, a vehicle body is horizontal, and the pressure measured by the four vertical oil cylinder pressure sensors is within a set threshold interval.

Description

Technical Field

[0001] The present invention relates to the technical field of cranes, and in particular to a device for accurately measuring the reaction force of crane outriggers, which is suitable for outrigger reaction force measurement and safe operation control of various cranes.

[0002] The present invention also relates to a method for controlling the movable outriggers of a crane by utilizing a precise measurement device for the support reaction force of the crane. Background Art

[0003] The crane chassis is equipped with four outriggers: the left front outrigger, the right front outrigger, the left rear outrigger, and the right rear outrigger. These four outriggers are welded to the crane chassis and each consists of a movable outrigger, a horizontal cylinder, and a vertical cylinder. When the outriggers are extended or retracted, the horizontal cylinder retracts and extends the movable outrigger, while the vertical cylinder extends to lift the crane chassis. After the horizontal and vertical cylinders are fully extended, the vertical cylinder is fine-tuned to keep the crane chassis off the ground and level. Once the outriggers are leveled, the crane can begin operations. During operation, a pressure sensor in the vertical cylinder's large chamber monitors the pressure in real time and feeds it back to the crane's motion control unit. The control unit calculates the reaction force for each outrigger based on this pressure. Accurate reaction force calculation is essential for safe crane operation. The outrigger reaction force is a fundamental parameter for calculating the crane's tipping moment and stabilizing moment. Distortion in the reaction force will distort the load calculated by the crane's motion control unit, which in turn directly affects the crane's operational stability.

[0004] Accurately measuring the outrigger reaction force during crane operation is crucial to ensuring the crane's safety and stability. This force is a fundamental parameter for calculating the crane's tipping and stabilizing moments. Distortion in the outrigger reaction force measurement will distort the load calculated by the crane's motion control unit, directly impacting the crane's operational stability.

[0005] Prior art methods for measuring the reaction force of crane outriggers rely primarily on manual operation and pressure sensors. The manual outrigger extension process involves manually operating the outrigger control valves to extend the four horizontal cylinders. Then, the four vertical cylinders are extended manually. During this process, a bubble level is manually observed to determine, based on experience, whether the wheels are off the ground and the vehicle body is level. A pressure sensor is installed in the large chamber of the vertical cylinders. The pressure measured by the sensor represents the current outrigger reaction force.

[0006] There are many defects in the manual operation of the crane leg extension process: it is impossible to accurately judge whether the wheels are off the ground, whether the body is level, and whether the vertical cylinder is pressurized. This will cause the pressure measured by the vertical cylinder large cavity pressure sensor to be distorted, and the actual pressure of the vertical cylinder large cavity cannot be measured, which in turn affects the crane control unit's accurate calculation of the lifting weight.

[0007] Patent application number CN202310770386.3 discloses a method and device for calculating the node reaction forces of a tower crane's external support. The method involves obtaining the design parameters of the external support and the load applied by the tower crane to the external support. Based on a pre-established node reaction calculation function, the design parameters of the external support, and the load applied by the tower crane to the external support, the method calculates the range and maximum value of each node reaction force as a function of angle θ. Angle θ is the angle between the horizontal force applied by the tower crane to the external support and the X-axis parallel to the structure's exterior wall, and its value range is 0°-360°. Furthermore, a node reaction force-angle θ curve is plotted and presented based on the range and maximum value of each node reaction force as a function of angle θ.

[0008] However, the above patented technical knowledge, when used in conjunction with an external bracket, cannot solve the defects in the support reaction force measurement of the existing crane itself, nor can it provide technical inspiration for solving the problems in the existing technology. Summary of the Invention

[0009] The purpose of the present invention is to provide a device for accurately measuring the reaction force of a crane to solve the problems raised in the above background technology:

[0010] (1) How to apply it to the measurement of the outrigger reaction force of the crane and the safe operation control of the crane.

[0011] The present invention also aims to provide a method for controlling the movable legs of a crane using a precise measurement device for the crane's support reaction force, so as to solve the problems raised in the above background technology:

[0012] (1) How to solve the problem of distortion in the measurement of support reaction force in the existing technology and provide a low-cost, high-precision method for controlling the movable support legs of a crane for accurate calculation of the support reaction force.

[0013] To achieve the above object, the present invention provides the following technical solutions:

[0014] A crane counterforce precision measuring device, the crane is provided with a plurality of leg assemblies, the leg assembly includes a movable leg, a leg control integrated electric proportional valve, a horizontal oil cylinder and a vertical oil cylinder, the movable leg gap is installed in the chassis abdomen, the movable leg vertical oil cylinder is threadedly connected to the end of the movable leg, the movable leg horizontal oil cylinder is threadedly installed in the movable leg abdomen, the leg control integrated electric proportional valve is electrically connected with the output port of the action control unit, the leg control integrated electric proportional valve is connected with the vertical oil cylinder and the horizontal oil cylinder respectively, and the leg control integrated electric proportional valve is used for controlling the extension and retraction of the horizontal oil cylinder and the vertical oil cylinder;

[0015] The crane counterforce precision measuring device comprises an inclination sensor, an action control unit and a plurality of pressure monitoring assemblies.

[0016] The inclination sensor is threadedly connected to the side of the chassis, and the inclination sensor is used for measuring the inclination state of the chassis of the crane and transmitting the measurement result to the action control unit.

[0017] The action control unit is used for controlling the extension and retraction and leveling operation of the leg, and calculating the counterforce according to the feedback information of the inclination sensor and the pressure monitoring assembly.

[0018] The plurality of pressure monitoring assemblies are installed at the large cavity end of the horizontal oil cylinder and the vertical oil cylinder of the plurality of leg assemblies, and the pressure monitoring assemblies are threadedly connected to the large cavity end of the horizontal oil cylinder and the vertical oil cylinder respectively.

[0019] The inclination sensor and the pressure monitoring assembly are electrically connected with the input port of the action control unit, and the leg control integrated electric proportional valve of the leg assembly is electrically connected with the output port of the action control unit.

[0020] On the basis of the above technical scheme, the present application can also be improved as follows.

[0021] Further, the leg control panel is further included, and the leg control panel is used for manually operating the extension and retraction and leveling of the leg, and the leg control panel is electrically connected with the input port of the action control unit.

[0022] Further, the action control unit is threadedly connected to the side of the chassis.

[0023] Further, the pressure monitoring assembly is a pressure sensor.

[0024] In the crane counterforce precision measuring device, the inclination sensor measures the inclination state of the chassis of the crane and transmits the measurement result to the action control unit. The action control unit controls the extension and retraction and leveling operation of the leg, and calculates the counterforce according to the feedback information of the inclination sensor and the pressure monitoring assembly. The leg control panel is used for manually operating the extension and retraction and leveling of the leg. The pressure monitoring assembly is installed at the large cavity end of the horizontal oil cylinder and the vertical oil cylinder of the four leg assemblies, and is used for measuring the pressure of the oil cylinder.

[0025] The beneficial effects of this crane support reaction force precision measurement device are:

[0026] (1) By automatically controlling the extension and leveling of the outriggers, the errors caused by manual operation are reduced and the accuracy of the support reaction force measurement is improved.

[0027] (2) The use of pressure sensors and inclination sensors, combined with automated control logic, can accurately measure the support reaction force of the support legs.

[0028] (3) Ensure that the wheels are off the ground, the body is level and the support reaction force is measured accurately during crane operation, which effectively improves the safety and stability of crane operation.

[0029] (4) It is suitable for all types of cranes and has broad application prospects.

[0030] To achieve the above object, the present invention further provides the following technical solutions:

[0031] A method for controlling a crane's movable outrigger using the above-mentioned crane's support reaction force precision measurement device comprises the following steps:

[0032] a) Normally start the crane's movable outrigger function;

[0033] b) The motion control unit controls the outriggers to operate the integrated electric proportional valve to extend the horizontal cylinder. When the motion control unit detects that the pressure measured by the pressure monitoring component on the horizontal cylinder reaches the first calibration pressure of the horizontal cylinder, it can be determined that the horizontal cylinder is in the fully extended state;

[0034] c) the inclination sensor detects the initial state of the vehicle, which is the inclination state of the entire vehicle before the vertical cylinder is extended; and the inclination sensor transmits the measured inclination information of the initial state of the vehicle to the motion control unit;

[0035] d) The motion control unit first controls the outriggers to operate the integrated electric proportional valves to extend the vertical cylinders. When the pressure measured by a vertical cylinder pressure monitoring assembly reaches the lower limit of the vertical cylinder's first calibration pressure threshold, all vertical cylinders cease extension. The first calibration pressure of the vertical cylinders is defined as the threshold interval consisting of the maximum and minimum values ​​measured by the four vertical cylinder pressure monitoring assemblies after all four vertical cylinders are in full contact with the ground and the wheels are completely off the ground.

[0036] e) The motion control unit calculates the vertical cylinder that needs to be extended and retracted based on the inclination information of the vehicle's initial state to achieve pre-leveling of the vehicle body;

[0037] f) After the vehicle body is pre-leveled, the motion control unit controls the outriggers to manipulate the integrated electric proportional valves to achieve synchronous and equal flow motions of several vertical cylinders. At this time, the vehicle body is lifted in a horizontal posture by the vertical cylinders;

[0038] g) When the pressure value measured by one or more pressure monitoring components reaches the upper limit of the second calibrated pressure threshold of the vertical oil cylinder, the operation of the integrated electric proportional valve for operating the outriggers is immediately stopped; the second calibrated pressure of the vertical oil cylinder is a threshold interval, the upper limit of the threshold is the overflow pressure of the vertical oil cylinder, and the lower limit of the threshold is a pressure value less than the overflow pressure of the vertical oil cylinder;

[0039] h) The motion control unit again detects the measurement values ​​of the pressure monitoring components of the multiple vertical cylinders. If the measurement values ​​of the pressure monitoring components on the multiple vertical cylinders are all less than the lower limit of the second calibrated pressure threshold of the vertical cylinder and are within the first calibrated pressure threshold range of the vertical cylinder, the motion control unit exits control and no longer outputs the outrigger control integrated electric proportional valve action signal, and the outrigger control integrated electric proportional valve is in the neutral position;

[0040] If the measurement value of one or more pressure monitoring components is greater than the upper limit of the first calibrated pressure threshold of the vertical cylinder, the motion control unit controls the outrigger to manipulate the integrated electric proportional valve to retract the four vertical cylinders to the same distance at the same time. At this time, the pressure measured by the pressure monitoring components on the four vertical cylinders is less than the lower limit of the second calibrated pressure threshold of the vertical cylinder and is within the first calibrated pressure threshold range of the vertical cylinder;

[0041] i) At this time, the motion control unit detects the horizontal state of the vehicle body again. If the vehicle body is not in a horizontal state, the motion control unit calculates the vertical cylinder that needs to be telescoped and adjusted based on the current inclination angle information of the vehicle to achieve vehicle body leveling. If the vehicle body is already in a horizontal state, no leveling is required; wherein, the upper limit of the first calibrated pressure threshold of the vertical cylinder is less than the lower limit of the second calibrated pressure threshold of the vertical cylinder.

[0042] j) Ultimately, all wheels are off the ground, the vehicle body is level, and the pressure measured by the four vertical cylinder pressure monitoring components is within the first calibrated pressure threshold range of the vertical cylinder.

[0043] In the method for controlling the movable outriggers of a crane, when the crane is in a leveling state with the outriggers in place, the four outrigger vertical cylinders are simultaneously depressurized after any one or more vertical cylinders of the four outriggers reach the overflow pressure, and the four outrigger vertical cylinders are controlled to simultaneously retract to the same stroke, so that the pressure value measured by the vertical cylinder pressure measuring device can feedback the actual vertical cylinder large cavity pressure.

[0044] The beneficial technical effects of the method for controlling the movable legs of a crane are:

[0045] (1) Through automated control processes, the complexity of manual operations is reduced and operational efficiency is improved.

[0046] (2) Through multiple inspections and adjustments, we ensure that the crane is in the best condition before operation, reducing operational accidents caused by outrigger problems.

[0047] (3) It can adapt to different ground conditions and working environments, which improves the applicability of the crane. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 This is one of the three-dimensional views of the embodiment of the crane support reaction force precision measurement device in use.

[0049] Figure 2 This is the second stereoscopic view of the use state of the embodiment of the crane support reaction force precision measurement device.

[0050] Figure 3 yes Figure 2 Magnified view of part A.

[0051] Figure 4 This is the third stereoscopic diagram of the use state of the embodiment of the crane support reaction force precision measurement device.

[0052] Figure 5 yes Figure 4 Enlarged view of part B.

[0053] Description of the numbers in the figure:

[0054] Movable outrigger 210; outrigger control integrated electric proportional valve 220; horizontal cylinder 230; vertical cylinder 240; tilt sensor 110; motion control unit 120; outrigger control panel 130; pressure sensor 140; chassis 300. DETAILED DESCRIPTION

[0055] To make the above-mentioned objects, features, and advantages of the present invention more readily apparent, specific embodiments of the present invention are described in detail below with reference to the accompanying drawings. The following description sets forth numerous specific details to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways than those described herein, and those skilled in the art may make similar modifications without departing from the scope of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0056] The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only and do not represent the only implementations.

[0057] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this invention pertains. The terms used in this specification of the present invention are for the purpose of describing specific embodiments only and are not intended to limit the present invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0058] See also Figures 1 to 5 .

[0059] The wheeled crane is provided with four groups of outrigger assemblies, which include movable outriggers 210, outrigger control integrated electric proportional valves 220, horizontal oil cylinders 230 and vertical oil cylinders 240, which are used to realize horizontal extension and retraction and vertical lifting of the outriggers. The movable outriggers 210 are gap-mounted in the belly of the chassis 300, the vertical oil cylinder 240 is threadedly connected to the end of the movable outriggers 210, and the horizontal oil cylinder 230 is threadedly installed in the belly of the movable outriggers 210. The outrigger control integrated electric proportional valve 220 is electrically connected to the output port of the motion control unit 120, and the outrigger control integrated electric proportional valve 220 is connected to the vehicle chassis 300 by bolts. The outrigger control integrated electric proportional valve 220 is respectively connected to the large and small chambers of the vertical oil cylinder 240 and the horizontal oil cylinder 230, and the outrigger control integrated electric proportional valve 220 is used to control the extension and retraction of the horizontal oil cylinder 230 and the vertical oil cylinder 240.

[0060] The crane support reaction force precision measurement device includes an inclination sensor 110, a motion control unit 120, an outrigger control panel 130, and four sets of pressure monitoring components;

[0061] The tilt sensor 110 is threadedly connected to the side of the chassis 300. The tilt sensor 110 is used to measure the tilt state of the crane chassis 300 and transmit the measurement result to the action control unit 120.

[0062] The motion control unit 120 uses a commercially available EPEC programmable controller. The outrigger control integrated electric proportional valve 220 is electrically connected to the output port of the motion control unit 120. The motion control unit 120 is used to control the extension and leveling operations of the outriggers and calculate the support reaction force based on the feedback information from the inclination sensor 110 and the pressure monitoring component.

[0063] Multiple sets of pressure monitoring components are installed at the large cavity ends of the horizontal cylinders 230 and the vertical cylinders 240 of the four sets of leg assemblies to measure the pressure of the cylinders. The pressure monitoring components include a pressure sensor 140. The pressure sensor 140 is set at the large cavity ends of the vertical cylinder 240 and the horizontal cylinder 230. The pressure sensor 140 monitors the large cavity pressure value of the vertical cylinder 240 or the horizontal cylinder 230.

[0064] The tilt sensor 110 , the pressure monitoring assembly, and the outrigger control panel 130 are electrically connected to the input ports of the motion control unit 120 , respectively. The outrigger control integrated electric proportional valve 220 of the outrigger assembly is electrically connected to the output port of the motion control unit 120 .

[0065] The leg control panel 130 is used to manually operate the extension and leveling of the legs. The motion control unit 120 is screwed to the side of the chassis 300.

[0066] The method for controlling the movable support leg 210 of a crane using the above-mentioned crane support reaction force precise measurement device comprises the following steps:

[0067] a) Normally start the function of the movable legs 210 of the crane, that is, after pressing the automatic extension and leveling button of the crane;

[0068] b) The motion control unit 120 controls the outriggers to operate the integrated electric proportional valve 220 to extend the horizontal cylinder 230. When the motion control unit 120 detects that the pressure measured by the pressure sensor 140 on the horizontal cylinder 230 reaches the first calibration pressure of the horizontal cylinder 230, it can be determined that the horizontal cylinder 230 is in the fully extended state. The first calibration pressure of the horizontal cylinder 230 is the overflow pressure of the horizontal cylinder 230;

[0069] c) The tilt sensor 110 detects the initial state of the vehicle, which is the tilt state of the entire vehicle before the vertical cylinder 240 is extended; and the tilt sensor 110 transmits the measured initial state tilt information of the vehicle to the motion control unit 120;

[0070] d) The motion control unit 120 first controls the outrigger to manipulate the integrated electric proportional valve 220 to extend the vertical cylinders 240. When the pressure measured by the pressure sensor 140 on a particular vertical cylinder 240 reaches the lower limit of a first calibrated pressure threshold of the vertical cylinder 240, the extension of all vertical cylinders 240 is stopped. The first calibrated pressure of the vertical cylinders 240 is defined as the threshold interval consisting of the maximum and minimum values ​​measured by the pressure sensors 140 on the four vertical cylinders 240 after all four vertical cylinders 240 are in full contact with the ground and the wheels are completely off the ground.

[0071] e) The motion control unit 120 calculates the vertical cylinder 240 that needs to be telescopically adjusted based on the inclination information of the vehicle's initial state to achieve pre-leveling of the vehicle body;

[0072] f) After the vehicle body is pre-leveled, the motion control unit 120 controls the outriggers to manipulate the integrated electric proportional valve 220 to achieve synchronous and equal flow motion of the four vertical cylinders 240. At this time, the vehicle body is lifted in a horizontal posture by the vertical cylinders 240;

[0073] g) When the pressure value measured by the pressure sensor 140 on one or more vertical cylinders 240 reaches the upper limit of the second calibrated pressure threshold of the vertical cylinder 240, the outrigger is controlled to manipulate the integrated electric proportional valve 220 to immediately stop the movement of the four vertical cylinders 240; wherein the second calibrated pressure of the vertical cylinder 240 is within a certain threshold range, wherein the upper limit of the threshold is the overflow pressure of the vertical cylinder 240, and the lower limit of the threshold is a certain pressure less than the overflow pressure of the vertical cylinder 240 (the lower limit of the threshold is 80% of the overflow pressure of the vertical cylinder 240);

[0074] h) The motion control unit 120 again detects the measurement values ​​of the pressure sensors 140 of the four vertical cylinders 240. If the measurement values ​​of the pressure sensors 140 on the four vertical cylinders 240 are all less than the lower limit of the second calibrated pressure threshold of the vertical cylinders 240 and are within the first calibrated pressure threshold range of the vertical cylinders 240, the motion control unit 120 exits control and no longer outputs the outrigger control integrated electric proportional valve 220 actuation signal, and controls the outrigger control integrated electric proportional valve 220 of the vertical cylinders 240 to be in the neutral position;

[0075] If the measured value of the pressure sensor 140 on one or more vertical cylinders 240 is greater than the upper limit of the first calibrated pressure threshold of the vertical cylinder 240, the motion control unit 120 controls the outrigger control integrated electric proportional valve 220 to retract the four vertical cylinders 240 simultaneously to the same distance (the outrigger control integrated electric proportional valve 220 is energized at the same time and for the same time, thereby controlling the flow rate entering the small chamber of the vertical cylinder 240 to be the same). At this time, the pressure measured by the pressure sensor 140 on the four vertical cylinders 240 is less than the lower limit of the second calibrated pressure threshold of the vertical cylinder 240 and is within the first calibrated pressure threshold range of the vertical cylinder 240.

[0076] i) At this time, the motion control unit 120 detects the horizontal state of the vehicle body again. If the vehicle body is not in a horizontal state, the motion control unit 120 calculates the vertical cylinder 240 that needs to be telescopically adjusted based on the current inclination angle information of the vehicle to achieve vehicle body leveling. If the vehicle body is already in a horizontal state, no leveling is required; wherein, the upper limit of the first calibrated pressure threshold of the vertical cylinder 240 is less than the lower limit of the second calibrated pressure threshold of the vertical cylinder 240.

[0077] j) All wheels are finally off the ground, the vehicle body is level, and the pressures measured by the pressure sensors 140 of the four vertical oil cylinders 240 are within the first calibrated pressure threshold range of the vertical oil cylinders 240.

[0078] The pressure monitoring component in this embodiment can also achieve the technical effect achieved by the first embodiment.

[0079] The above is only one embodiment of the present invention. It should be pointed out that for ordinary technicians in this field, several modifications and improvements can be made without departing from the principles of the present invention, and these should also be regarded as falling within the scope of protection of the present invention.

Claims

1. A crane support reaction force precision measurement device, the crane is provided with a plurality of support leg assemblies, the support leg assemblies comprising a movable support leg (210), a support leg control integrated electric proportional valve (220), a horizontal oil cylinder (230) and a vertical oil cylinder (240), the movable support leg (210) is installed in the middle of a chassis (300), the vertical oil cylinder (240) is threadedly connected to the end of the movable support leg (210), the horizontal oil cylinder (230) is threadedly installed in the middle of the movable support leg (210), the support leg control integrated electric proportional valve (220) is electrically connected to the output port of an action control unit (120), the support leg control integrated electric proportional valve (220) is respectively connected to the large and small chambers of the vertical oil cylinder (240) and the horizontal oil cylinder (230), and the support leg control integrated electric proportional valve (220) is used to control the telescopic action of the horizontal oil cylinder (230) and the vertical oil cylinder (240); Its characteristics are: The crane support reaction force precision measurement device comprises an inclination sensor (110), an action control unit (120), and several pressure monitoring components; The tilt sensor (110) is threadedly connected to the side of the chassis (300), and the tilt sensor (110) is used to measure the tilt state of the crane chassis (300) and transmit the measurement result to the action control unit (120); The motion control unit (120) is used to control the extension and retraction and leveling operations of the support legs, and calculate the support reaction force based on the feedback information of the tilt sensor (110) and the pressure monitoring component; A plurality of pressure monitoring components are installed on the large cavity ends of the horizontal oil cylinders (230) and the vertical oil cylinders (240) of the plurality of leg components, and the pressure monitoring components are respectively threadedly connected to the large cavity ends of the horizontal oil cylinders (230) and the vertical oil cylinders (240); The tilt sensor (110) and the pressure monitoring assembly are electrically connected to the input ports of the motion control unit (120), respectively, and the leg manipulation integrated electric proportional valve (220) of the leg assembly is electrically connected to the output port of the motion control unit (120).

2. The crane support reaction force precision measurement device according to claim 1 is characterized by: The utility model also comprises a leg control panel (130), which is used for manually operating the extension and retraction and leveling of the legs. The leg control panel (130) is electrically connected to the input port of the motion control unit (120).

3. The crane support reaction force precision measurement device according to claim 1 is characterized by: The motion control unit (120) is threadedly connected to the side of the chassis (300).

4. The crane support reaction force precision measurement device according to claim 1 is characterized by: The pressure monitoring component is a pressure sensor (140).

5. A method for controlling a crane's movable outrigger (210) using the crane's support reaction force precision measurement device according to any one of claims 1 to 4, comprising the following steps: a) Normally start the function of the movable legs (210) of the crane; b) the motion control unit (120) controls the supporting legs to operate the integrated electric proportional valve (220) to extend the horizontal oil cylinder (230), and when the motion control unit (120) detects that the pressure measured by the pressure monitoring component on the horizontal oil cylinder (230) reaches the first calibration pressure of the horizontal oil cylinder (230), it can be determined that the horizontal oil cylinder (230) is in a fully extended state; c) the inclination sensor (110) detects the initial state of the vehicle, which is the inclination state of the entire vehicle before the vertical oil cylinder (240) is extended; and the inclination sensor (110) transmits the measured inclination information of the initial state of the vehicle to the action control unit (120); d) The motion control unit (120) first controls the outrigger to manipulate the integrated electric proportional valve (220) to extend the vertical oil cylinder (240), and stops extending all vertical oil cylinders (240) when the pressure measured by the pressure monitoring component of a certain vertical oil cylinder (240) reaches the lower limit of the first calibration pressure threshold of the vertical oil cylinder (240); wherein the first calibration pressure of the vertical oil cylinder (240) is a threshold interval consisting of the maximum and minimum values ​​of the values ​​measured by the pressure monitoring components of the four vertical oil cylinders (240) after all four vertical oil cylinders (240) are in full contact with the ground and the wheels are completely off the ground; e) the motion control unit (120) calculates the vertical oil cylinder (240) that needs to be telescopically adjusted based on the inclination information of the vehicle in its initial state to achieve pre-leveling of the vehicle body; f) After the vehicle body is pre-leveled, the motion control unit (120) controls the outriggers to manipulate the integrated electric proportional valve (220) to achieve synchronous and equal flow motion of a plurality of vertical oil cylinders (240), at which point the vehicle body is lifted in a horizontal posture by the vertical oil cylinders (240); g) when the pressure value measured by one or more pressure monitoring components reaches the upper limit of the second calibrated pressure threshold of the vertical oil cylinder (240), the action of the outrigger operating integrated electric proportional valve (220) is immediately stopped; wherein the second calibrated pressure of the vertical oil cylinder (240) is a threshold interval, the upper limit of the threshold is the overflow pressure of the vertical oil cylinder (240), and the lower limit of the threshold is a pressure value less than the overflow pressure of the vertical oil cylinder (240); h) the motion control unit (120) detects the measured values ​​of the pressure monitoring components of the plurality of vertical oil cylinders (240) again, and if the measured values ​​of the pressure monitoring components on the plurality of vertical oil cylinders (240) are all less than the lower limit of the second calibrated pressure threshold of the vertical oil cylinder (240) and are within the first calibrated pressure threshold interval of the vertical oil cylinder (240), the motion control unit (120) exits the control, and the motion control unit (120) no longer outputs the motion signal of the outrigger control integrated electric proportional valve (220), and controls the outrigger control integrated electric proportional valve (220) of the vertical oil cylinder (240) to be in the middle position; If the measured value of one or more pressure monitoring components is greater than the upper limit of the first calibrated pressure threshold of the vertical oil cylinder (240), the action control unit (120) controls the outrigger to manipulate the integrated electric proportional valve (220) so that the four vertical oil cylinders (240) are retracted to the same distance at the same time. At this time, the pressure measured by the pressure monitoring components on the four vertical oil cylinders (240) is less than the lower limit of the second calibrated pressure threshold of the vertical oil cylinder (240) and is within the first calibrated pressure threshold range of the vertical oil cylinder (240); i) At this time, the motion control unit (120) detects the horizontal state of the vehicle body again. If the vehicle body is not in the horizontal state, the motion control unit (120) calculates the vertical oil cylinder (240) that needs to be telescopically adjusted based on the current inclination angle information of the vehicle to achieve vehicle body leveling. If the vehicle body is already in the horizontal state, no further leveling is required; wherein the upper limit of the first calibrated pressure threshold of the vertical oil cylinder (240) is less than the lower limit of the second calibrated pressure threshold of the vertical oil cylinder (240); j) ultimately achieving that all wheels are off the ground, the vehicle body is level, and the pressures measured by the pressure monitoring components of the four vertical oil cylinders (240) are within the first calibrated pressure threshold interval of the vertical oil cylinders (240).

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