Intelligent construction equipment and synchronous control method

Abstract

The intelligent construction equipment comprises a frame body, and the frame body is detachably provided with a plurality of building machine connecting assemblies or detachably provided with a building disassembling machine mounting assembly; intelligent construction equipment in a synchronous monitoring platform comprises the following steps that 1, an address is edited in a master station controller, and a plurality of hydraulic cylinders are numbered in sequence; 2, detecting whether each displacement sensor and each pressure sensor have readings or not, and determining an initial displacement value and an initial pressure value of a corresponding hydraulic cylinder by each slave station controller; and 3, the slave station controller judges whether the initial pressure value and the initial displacement value of the corresponding hydraulic cylinder meet design requirements or not, and if yes, the hydraulic cylinder starts to work. According to the equipment and the method, integral or segmented climbing of the controllable building manufacturing machine is achieved, and in the climbing process, the operation hydraulic cylinders work synchronously.

Description

Technical Field

[0001] The present invention relates to the technical field of building construction, and in particular to intelligent construction equipment and a synchronous control method. Background Art

[0002] In the construction of modern high-rise and super-high-rise buildings, building construction and demolition cranes, as key construction equipment integrated into aerial work platforms, are playing an increasingly important role. Due to their significant advantages, including high equipment integration, rapid construction speed, factory-like operations, and effective construction safety assurance, they have been widely used in numerous landmark high-rise construction projects, significantly promoting the development of high-rise construction towards mechanization and intelligentization. During construction, the platform's gradual raising and lowering requires the coordinated operation of multiple hydraulic cylinders. The general operating principle is as follows: a hydraulic pump system serves as the power source, while a hydraulic pump motor provides the system with power. The electrical control system, centered around a PLC and complemented by gate valves, sensors, and other components, enables precise control of the entire lifting process. During this process, each hydraulic cylinder must maintain a high degree of synchronization. However, many factors hinder the ideal synchronization of multiple hydraulic cylinders during actual construction. Firstly, construction sites are complex and dynamic, with platforms often loaded with various materials and equipment, such as rebar, lumber, and concrete placing booms. These loads are often distributed extremely unevenly. Secondly, hydraulic cylinders inevitably exhibit differences in manufacturing precision, internal friction, and sealing performance. These combined factors make it very easy for multiple hydraulic cylinders to operate asynchronously. Once these hydraulic cylinders operate asynchronously, they can cause the platform to exceed its level limit, causing it to tilt, impacting the safety of construction workers and ensuring accuracy. In severe cases, they can also cause partial deformation of the platform structure, potentially posing a significant risk of overturning, posing a serious safety hazard to the entire high-rise building construction process.

[0003] While some technical attempts and research have been conducted on the synchronous control of multiple hydraulic cylinders, for example, some technologies employ level measuring instruments such as static levels to monitor the platform's levelness and subsequently adjust the hydraulic cylinder's lifting action, these existing technologies still have limitations. They struggle to achieve high-precision, high-stability synchronous control of multiple hydraulic cylinders in complex and changing construction conditions, and cannot fully meet the stringent safety and efficiency requirements of modern high-rise building construction. Summary of the Invention

[0004] The purpose of the present invention is to provide an intelligent construction equipment and a synchronous control method, which solves the synchronization problem of multiple hydraulic cylinders during operation of an aerial work platform.

[0005] To achieve the above object, the present invention adopts the following technical solutions: A kind of intelligent construction equipment includes a frame, a lifting component and a hydraulic synchronous control system. The lifting component is connected to the hydraulic pump station and drives the frame to move on the synchronous monitoring platform; the hydraulic synchronous control system includes a master station and a slave station, one master station controls multiple slave stations, and one slave station controls multiple lifting components; the synchronous monitoring platform is a multi-layer steel structure, and its appearance is adapted to the frame.

[0006] Preferably, the synchronous monitoring platform includes an outer frame and an inner floor; the outer frame is a frame structure assembled from multiple horizontal bars and vertical bars; the inner floor includes multiple floor steel plates and steps connected between the floor steel plates, the floor steel plates are octagonal, and the floor steel plates are installed in the outer frame to form a triangular area with the four corners of the outer frame.

[0007] Preferably, the lifting assembly includes a guide rail, a step block, an upper climbing box, a lower climbing box and a hydraulic cylinder. The guide rail can be movably mounted on a plurality of wall-mounted parts, and the wall-mounted parts are fixedly mounted on the longitudinal rod. A plurality of step blocks are arranged at intervals on the guide rail. The upper climbing box and the lower climbing box are connected by a hydraulic cylinder, and the hydraulic cylinder is connected to the hydraulic pump station. The upper climbing box and the lower climbing box move in a step-by-step manner driven by the telescopic movement of the hydraulic cylinder; a displacement sensor is provided on the hydraulic cylinder.

[0008] Preferably, cams are provided in both the upper climbing box and the lower climbing box, and the cams are engaged with the step blocks through periodic flipping; and the cams are connected to the output end of the motor through a speed reducer.

[0009] A synchronous climbing control method for intelligent construction equipment comprises the following steps: Step 1: Edit the address in the master controller and number the multiple hydraulic cylinders in sequence; Step 2: Detect whether each displacement sensor has a reading, and each slave controller determines the initial displacement value of the corresponding hydraulic cylinder; Step 3: The slave controller determines whether the initial displacement value of the corresponding hydraulic cylinder meets the design requirements. If so, the hydraulic cylinder starts working. Step 4: Multiple hydraulic cylinders perform micro-exit, and the system drives the servo motor to move and rotate the cam in the climbing box to disengage the step block; Step 5: The cam in the climbing box has rotated into position, and multiple hydraulic cylinders continue to move out of the cylinder synchronously. The real-time displacement values ​​of each hydraulic cylinder are compared in the master station controller, and the hydraulic cylinder with the smallest real-time displacement value is selected by comparing adjacent hydraulic cylinders in pairs. This hydraulic cylinder is determined as the ascending base hydraulic cylinder; Step 6: In the master station controller, the real-time displacement value of the remaining hydraulic cylinder is compared with the real-time displacement value of the ascending base hydraulic cylinder. If the difference exceeds the design value, the corresponding hydraulic cylinder will suspend operation until the difference does not exceed the design value, and then the hydraulic cylinder will continue to operate; Step 7: After the real-time displacement value of each hydraulic cylinder reaches the maximum limit stroke, the master station controller controls each hydraulic cylinder to stop working; Step 8: The system drives the servo motor to move, rotate the cam in the climbing box, and multiple hydraulic cylinders perform micro-retraction until the cam steps on the step block; Step 9: The cam in the upper climbing box rotates to the right position, multiple hydraulic cylinders perform micro-retraction, and the system drives the servo motor to rotate the cam in the lower climbing box to disengage the step block; Step 10: The cam in the lower climbing box has rotated into place, and multiple hydraulic cylinders continue to retract synchronously; Step 11: After the real-time displacement value of each hydraulic cylinder reaches the minimum limit stroke, the master station controller controls each hydraulic cylinder to stop working; Step 12: The system drives the servo motor to move, rotate the cam in the lower climbing box, and multiple hydraulic cylinders perform micro-exit until the cam steps on the step block; Step 13: The cam pendulum block in the lower climbing box is in place. Repeat steps 4 to 12 until the automatic synchronous climbing is completed. Step 14: Carry out high-altitude operations.

[0010] Preferably, in step three, the initial displacement value is within the range of 0-450 mm.

[0011] Preferably, it is confirmed whether the cam in the upper climbing box and the cam in the lower climbing box have rotated into place by collecting the encoder values, visual recognition module parameters and laser infrared parameters arranged on the servo motor.

[0012] Preferably, the difference between the real-time displacement value of the remaining hydraulic cylinder and the real-time displacement value of the raising base hydraulic cylinder or the lowering base hydraulic cylinder should be controlled within 10 mm.

[0013] A synchronous descent control method for intelligent construction equipment comprises the following steps: Step 1: Multiple hydraulic cylinders perform micro-retraction, and then multiple hydraulic cylinders stop moving. The system drives the servo motor to move and rotate the cam in the lower climbing box to disengage the step block; Step 2: The cam in the lower climbing box has rotated into place, and multiple hydraulic cylinders begin to move out of the cylinder synchronously; Step 3: After the hydraulic cylinder reaches the maximum limit stroke, the multiple hydraulic cylinders stop moving; Step 4: Multiple hydraulic cylinders perform micro-retraction, and the system drives the servo motor to move and rotate the cam in the lower climbing box until the cam steps on the step block; Step 5: Multiple hydraulic cylinders perform micro-exit, and the system drives the servo motor to move and rotate the cam in the climbing box to disengage the step block; Step 6: The cam in the climbing box has rotated into position, and multiple hydraulic cylinders begin to retract synchronously. The real-time displacement values ​​of each hydraulic cylinder are compared in the master station controller, and the hydraulic cylinder with the smallest real-time displacement value is selected by comparing adjacent hydraulic cylinders in pairs. This hydraulic cylinder is determined as the lowering base hydraulic cylinder; Step 7: In the master station controller, the real-time displacement value of the remaining hydraulic cylinder is compared with the real-time displacement value of the lowering base hydraulic cylinder. If the difference exceeds the design value, the corresponding hydraulic cylinder will suspend operation until the difference does not exceed the design value, and then the hydraulic cylinder will continue to operate. Step 8: After the hydraulic cylinder reaches the minimum limit stroke, the multiple hydraulic cylinders stop moving; Step 9: Multiple hydraulic cylinders perform micro-exit, and the system drives the servo motor to move and rotate the cam in the climbing box until the cam steps on the step block; Step 10. Repeat steps 1 to 9 until the synchronous descent is completed.

[0014] This invention provides a construction platform for high-rise and super-high-rise building construction. Intelligent construction equipment can climb in whole or in sections. During the climbing process, a one-master-four-slave control logic is employed. Each slave station group can control eight hydraulic units. Slaves can operate independently of the master station to independently control the lifting of a single hydraulic cylinder within the group or the coordinated lifting of multiple hydraulic cylinders. This means that the hydraulic synchronization control system can simultaneously control the synchronous lifting of all hydraulic pump stations and hydraulic cylinders, as well as the lifting of a single hydraulic cylinder.

[0015] Each machine position lifting hydraulic cylinder is equipped with a displacement sensor. The displacement signal of each hydraulic cylinder is transmitted to the slave station controller, and then the master station controller collects the displacement sensor signal and converts the electrical signal into the hydraulic cylinder displacement. After comparing the hydraulic cylinder displacements, the base hydraulic cylinder is selected, and the displacement difference between the remaining hydraulic cylinders and the base hydraulic cylinder is judged to determine whether the corresponding hydraulic cylinder is actuated, ensuring that the displacement synchronization accuracy between the hydraulic cylinders on the building construction machine during actual construction is within 10mm.

[0016] Slave stations can operate independently of the master station. During local operation, one or more hydraulic cylinders can be independently controlled by selecting them on the touch screen. When operating locally, the displacement sensor returns a signal, and the master station controller calculates the displacement difference between each hydraulic cylinder and the base hydraulic cylinder. If the difference is greater than 10mm, the hydraulic cylinder with the larger displacement is temporarily suspended, while the hydraulic cylinder with the smaller displacement continues to rise. Once the displacement difference is within 5mm, the remaining hydraulic cylinders will operate synchronously.

[0017] When remote control is performed, the master control is responsible for the operation and status detection of the four slave stations. The working principle is the same as that of the slave stations. At this time, the maximum number of hydraulic cylinders is thirty-two.

[0018] Both the master and slave stations are equipped with emergency stop buttons. When the slave station is operating locally, the emergency stop signal is only for the current slave station. When communicating with the master control, the emergency stop signals configured by the master and slave stations are valid for the overall control.

[0019] The upper and lower climbing boxes are mobile platforms that carry loads. They integrate cams, motors, and sensor interfaces and are equipped with mechanical limit devices to ensure stability when heavy loads are lowered.

[0020] Cams are installed inside the upper and lower climbing boxes. They periodically rotate and engage with the guide rail steps, enabling the climbing boxes to descend in steps. Each set of cams is driven by an independent motor, which provides high torque through a reducer to ensure precise rotation.

[0021] The hydraulic cylinder is used to provide power for the frame to climb and is equipped with displacement and pressure sensors.

[0022] Laser ranging sensors are arranged on the upper climbing box and the lower climbing box to measure the absolute distance to the ground or guide rail reference point with an accuracy of ±1mm.

[0023] The encoder is installed on the motor output shaft to record the cam flip angle and speed with a resolution of 0.01° to ensure flip accuracy.

[0024] The visual recognition module includes an industrial camera and an image processing unit to monitor the cam flipping status and guide rail step block deviation in real time.

[0025] The inclination sensor is used to monitor the horizontal state of the climbing box with an accuracy of ±0.1°.

[0026] Pressure sensors are used to monitor hydraulic system pressure to prevent overload or loss of pressure.

[0027] Control unit: PLC controller, integrating sensor data processing, motor control algorithm and execution instruction functions. Support multi-sensor data fusion to achieve precise synchronous control; BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 Schematic diagram of the overall structure of the present invention; Figure 2 It is a partial structural diagram of the present invention; Figure 3 Schematic diagram of the hydraulic synchronous control system of the present invention; Figure 4 This is a schematic diagram of the synchronous control method of the present invention; Figure 5 This is a schematic diagram of the synchronous climbing process of the present invention; Figure 6 This is a schematic diagram of the synchronous descent process of the present invention; Figure 7 This is a schematic diagram of the movement process of the cam from disengaging from the stepping block to stepping onto the stepping block during the synchronous descending process of the present invention; Figure 8 This is another structural diagram of the present invention.

[0029] In the figure: 0, frame; 1, synchronous monitoring platform; 2, lifting assembly; 3, hydraulic synchronous control system; 4, servo motor; 5, laser ranging sensor; 10, outer frame; 11, inner floor; 20, guide rail; 21, step block; 22, upper climbing box; 23, lower climbing box; 24, hydraulic cylinder; 25, wall attachment; 100, horizontal bar; 101, longitudinal bar; 110, floor steel plate; 111, ladder; 30, master station; 31, slave station. DETAILED DESCRIPTION

[0030] The present invention will be further described below with reference to the accompanying drawings: like Figures 1 to 8 The intelligent construction equipment shown includes a frame 0, a lifting component 2 and a hydraulic synchronous control system 3. The lifting component 2 is connected to the hydraulic pump station and drives the frame 0 to move on the synchronous monitoring platform 1.

[0031] The hydraulic synchronous control system 3 comprises a master station 30 and slave stations 31. One master station 30 controls multiple slave stations 31, and one slave station 31 controls multiple lifting assemblies 2. The master station 30 includes a master station controller, an industrial all-in-one computer, and a master station switch. The industrial all-in-one computer serves as the controller's data acquisition terminal. Both the master station controller and the industrial all-in-one computer are connected to the master station switch, which then connects multiple slave stations 31. The master station also features a display screen that displays real-time pressure values, displacement values, and differential values. The master station switch also includes control interfaces for the automatic sprinkler system, skylight system, and camera surveillance system, as well as interfaces for receiving and displaying data from instruments such as levels and inclinometers.

[0032] Slave station 31 includes a slave switch, a slave controller, and a touch screen. Both the slave controller and the touch screen are connected to the slave switch. Hydraulic unit 402 includes a hydraulic pump station motor, which is connected to the slave controller via a power connector. A gate valve is provided between the power connector and the slave controller to control the movement and self-locking of hydraulic cylinder 24. Hydraulic unit 402 can be switched to manual control in an emergency.

[0033] The synchronous monitoring platform 1 is a multi-layered steel structure, its outer shape matching that of the frame 0. It comprises an outer frame 10 and inner floors 11. The outer frame 10 is a frame structure assembled from multiple horizontal bars 100 and vertical bars 101. The inner floors 11 comprise multiple octagonal steel plates 110 and steps 111 connected between the plates. These plates 110 are mounted within the outer frame 10, forming triangular areas with the four corners of the outer frame 10.

[0034] The lifting assembly 2 comprises a guide rail 20, tread blocks 21, an upper climbing box 22, a lower climbing box 23, and a hydraulic cylinder 24. The guide rail 20 is movably mounted on multiple wall attachments 25, which are fixedly mounted on the longitudinal rod 101. Multiple tread blocks 21 are spaced apart on the guide rail 20. The upper climbing box 22 and the lower climbing box 23 are connected by a hydraulic cylinder 24, which is connected to a hydraulic pump station. The upper and lower climbing boxes 22 and 23 move in a step-by-step manner as the hydraulic cylinder 24 extends and retracts. Displacement sensors are installed on the hydraulic cylinder 24. Cams are located within both the upper and lower climbing boxes 22 and 23, periodically rotating to engage with the tread blocks 21. The cams are connected to the motor output via a speed reducer. The guide rail 20 has a linear motion trajectory. The tread blocks 21 are evenly spaced 370 mm apart and serve as support points for the upper and lower climbing boxes 22 and 23. The surface of the step block 21 is optimized for friction characteristics to ensure stability when the cam flips.

[0035] Specifications of hydraulic cylinder 24: rated working pressure 25MPa; maximum allowable pressure 35MPa; inner diameter of hydraulic cylinder 24 125mm; outer diameter of hydraulic cylinder 24 152mm; piston rod diameter 90mm; stroke of hydraulic cylinder 24 450mm; installation distance of hydraulic cylinder 24 1045mm, installation hole diameter 60mm; cylinder discharge speed of hydraulic cylinder 24 5mm / s; hydraulic cylinder 24 with safety valve and oil inlet and outlet located in the middle.

[0036] Specifications of the hydraulic pump station: rated working pressure 25MPa, maximum allowable pressure 30MPa; pump station motor power 3kW; motor insulation grade F, protection grade IP65, motor working mode S1; hydraulic pump flow 2.7cc / rev; oil tank capacity 10L; the central valve block is made of solid cast aluminum; the hydraulic pump station is equipped with a pressure sensor to monitor the system pressure data; the hydraulic pump station and hydraulic cylinder 24 adopt the "one cylinder and one pump" solution, and the oil pipe length between the hydraulic pump station and hydraulic cylinder 24 is not less than 4m. The oil inlet and outlet pipes are distinguished by different colored pipes. The pipes have quick plug-in and pull-out functions, and the joints are equipped with reliable anti-fouling and dust-proof measures; the hydraulic pump station must use imported parts; the inlet and outlet ports of the hydraulic pump station must be on the same side, and with the motor on top, they must be located on the left side of the front view; each hydraulic pump station must be equipped with a pressure gauge (with an error of no more than ±6.4bar).

[0037] The hydraulic synchronous control system 3 includes a PLC controller, which is used to integrate sensor data processing, motor control algorithm and execution instruction functions, support multi-sensor data fusion, and achieve precise synchronous control.

[0038] A synchronous climbing control method for intelligent construction equipment comprises the following steps: Step 1: Edit the address in the master station controller and number the multiple hydraulic cylinders 24 in sequence; Step 2: Detect whether each displacement sensor has a reading, and each slave controller determines the initial displacement value of the corresponding hydraulic cylinder 24; Step 3: The slave controller determines whether the initial displacement value of the corresponding hydraulic cylinder 24 meets the design requirements. If so, the hydraulic cylinder 24 starts working; the initial displacement value is within the range of 0-450mm; Step 4: Multiple hydraulic cylinders perform micro-exit, and the system drives the servo motor 4 to move. Specifically, the servo motor 4 rotates in an angle range of 0 to 80 degrees, rotating the cam in the climbing box to disengage the step block 21; Step 5: The cam in the ascending box has rotated into position, and multiple hydraulic cylinders continue to move out of the cylinder synchronously. The real-time displacement values ​​of each hydraulic cylinder 24 are compared in the master station controller. The hydraulic cylinder 24 with the smallest real-time displacement value is selected by comparing the adjacent hydraulic cylinders 24 in pairs, and the hydraulic cylinder 24 is determined as the ascending base hydraulic cylinder; Step 6: In the master station controller, the real-time displacement value of the remaining hydraulic cylinder 24 is compared with the real-time displacement value of the ascending base hydraulic cylinder. If the difference exceeds the design value, the corresponding hydraulic cylinder 24 will suspend operation until the difference does not exceed the design value, and then the hydraulic cylinder 24 will continue to operate. Step 7: After the real-time displacement value of each hydraulic cylinder 24 reaches the maximum limit stroke, the master station controller controls each hydraulic cylinder 24 to stop working; Step 8: The system drives the servo motor 4 to move, rotate the cam in the climbing box, and multiple hydraulic cylinders perform micro-retraction until the cam steps on the step block 21; Step 9: The cam in the upper climbing box rotates to the right position, and multiple hydraulic cylinders perform micro-retraction. The system drives the servo motor 4 to move and rotate the cam in the lower climbing box to disengage the step block 21; Step 10: The cam in the lower climbing box has rotated into place, and multiple hydraulic cylinders continue to retract synchronously; Step 11: After the real-time displacement value of each hydraulic cylinder 24 reaches the minimum limit stroke, the master station controller controls each hydraulic cylinder 24 to stop working; Step 12: The system drives the servo motor 4 to move, rotate the cam in the lower climbing box, and multiple hydraulic cylinders perform micro-exit until the cam steps on the step block 21; Step 13: The cam pendulum block in the lower climbing box is in place. Repeat steps 4 to 12 until the automatic synchronous climbing is completed. Step 14: Carry out high-altitude operations.

[0039] By collecting the encoder values, visual recognition module parameters and laser infrared parameters arranged on the servo motor 4, it is confirmed whether the cam in the upper climbing box and the cam in the lower climbing box have rotated into place. Based on PID control combined with feedforward compensation, the motor speed is dynamically adjusted to ensure that the synchronization error is less than 1mm and the cam flip angle error is less than 0.1°. If the visual recognition module detects that the cam has not flipped into place, or the guide rail 20 and the step block 21 are deviated, the system pauses the descent and issues an alarm. If the inclination sensor or pressure sensor triggers an abnormal threshold, the control unit stops the motor operation and locks the hydraulic system to enter safety mode; when the climbing box reaches the target position, the laser ranging and encoder confirm the position and cam status, and the system stops the descent operation. The inclination sensor is used to monitor the horizontal state of the climbing box, and the pressure sensor is used to monitor the status of the hydraulic system.

[0040] The laser ranging sensor 5 is arranged on the upper climbing box and the lower climbing box to measure the absolute distance to the ground or the guide rail reference point with an accuracy of ±1mm.

[0041] In this example, the difference between the real-time displacement value of the remaining hydraulic cylinder 24 and the real-time displacement value of the base raising hydraulic cylinder or the base lowering hydraulic cylinder should be controlled within 10 mm.

[0042] A synchronous descent control method for intelligent construction equipment comprises the following steps: Step 1: Multiple hydraulic cylinders perform micro-retraction, and then multiple hydraulic cylinders stop moving. The system drives the servo motor 4 to move and rotate the cam in the lower climbing box to disengage the step block 21; Step 2: The cam in the lower climbing box has rotated into place, and multiple hydraulic cylinders begin to move out of the cylinder synchronously; Step 3: After the hydraulic cylinder reaches the maximum limit stroke, the multiple hydraulic cylinders stop moving; Step 4: Multiple hydraulic cylinders perform micro-retraction, and the system drives the servo motor 4 to move and rotate the cam in the lower climbing box until the cam steps on the step block 21; Step 5: Multiple hydraulic cylinders perform micro-exit, and the system drives the servo motor 4 to move and rotate the cam in the climbing box to disengage the step block 21; Step 6: The cam in the climbing box has rotated into position, and multiple hydraulic cylinders begin to retract synchronously. The real-time displacement values ​​of each hydraulic cylinder 24 are compared in the master station controller. The hydraulic cylinder 24 with the smallest real-time displacement value is selected by comparing two adjacent hydraulic cylinders 24. This hydraulic cylinder 24 is determined as the lowering base hydraulic cylinder. Step 7: In the master station controller, the real-time displacement value of the remaining hydraulic cylinder 24 is compared with the real-time displacement value of the lowering base hydraulic cylinder. If the difference exceeds the design value, the corresponding hydraulic cylinder 24 will suspend operation until the difference does not exceed the design value, and then the hydraulic cylinder 24 will continue to operate. Step 8: After the hydraulic cylinder reaches the minimum limit stroke, the multiple hydraulic cylinders stop moving; Step 9: Multiple hydraulic cylinders perform micro-exit, and the system drives the servo motor 4 to move and rotate the cam in the climbing box until the cam steps on the step block 21; Step 10. Repeat steps 1 to 9 until the synchronous descent is completed.

[0043] The above embodiments are merely some explanations of the concept and implementation of the present invention, and are not intended to limit the same. Under the concept of the present invention, technical solutions that have not been substantially changed are still within the scope of protection.

Claims

1. An intelligent construction equipment, characterized by: The invention comprises a frame (0), a lifting assembly (2) and a hydraulic synchronous control system (3), wherein the lifting assembly (2) is connected to a hydraulic pump station and drives the frame (0) to move on a synchronous monitoring platform (1); the hydraulic synchronous control system (3) comprises a master station (30) and a slave station (31), wherein one master station (30) controls a plurality of slave stations (31), and one slave station (31) controls a plurality of lifting assemblies (2); the synchronous monitoring platform (1) is a multi-layer steel structure, and its shape is adapted to the frame (0).

2. The intelligent construction equipment according to claim 1, characterized in that: The synchronous monitoring platform (1) includes an outer frame (10) and an inner floor (11); the outer frame (10) is a frame structure assembled from a plurality of transverse rods (100) and longitudinal rods (101); the inner floor (11) includes a plurality of floor steel plates (110) and steps (111) connected between the floor steel plates (110), the floor steel plates (110) being octagonal, and the floor steel plates (110) being installed inside the outer frame (10) and forming a triangular area with the four corners of the outer frame (10).

3. The intelligent construction equipment according to claim 2, characterized in that: The lifting assembly (2) includes a guide rail (20), a stepping block (21), an upper climbing box (22), a lower climbing box (23) and a hydraulic cylinder (24). The guide rail (20) can be movably mounted on a plurality of wall-mounted parts (25), and the wall-mounted parts are fixedly mounted on the longitudinal rod (101). A plurality of stepping blocks (21) are arranged at intervals on the guide rail (20). The upper climbing box (22) and the lower climbing box (23) are connected through a hydraulic cylinder (24). The hydraulic cylinder (24) is connected to a hydraulic pump station. The upper climbing box (22) and the lower climbing box (23) move in a stepping manner driven by the telescopic movement of the hydraulic cylinder (24); a displacement sensor is arranged on the hydraulic cylinder (24).

4. The intelligent construction equipment according to claim 1, characterized in that: Cams are provided in both the upper climbing box (22) and the lower climbing box (23), and the cams are engaged with the stepping blocks (21) through periodic flipping; the cams are connected to the output end of the motor through a speed reducer.

5. The synchronous climbing control method for intelligent construction equipment according to any one of claims 1 to 4, characterized in that: The following steps are involved: Step 1: Edit the address in the master station controller and number the multiple hydraulic cylinders (24) in sequence; Step 2: Detect whether each displacement sensor has a reading, and each slave controller determines the initial displacement value of the corresponding hydraulic cylinder (24); Step 3: The slave controller determines whether the initial displacement value of the corresponding hydraulic cylinder (24) meets the design requirements. If so, the hydraulic cylinder (24) starts working; Step 4: Multiple hydraulic cylinders perform micro-exit, and the system drives the servo motor (4) to move, rotating the cam in the climbing box to disengage the step block (21); Step 5: The cam in the ascending box has rotated to its proper position, and the multiple hydraulic cylinders continue to move out of the cylinder synchronously. The real-time displacement values ​​of the hydraulic cylinders (24) are compared in the master station controller, and the hydraulic cylinder (24) with the smallest real-time displacement value is selected by comparing the adjacent hydraulic cylinders (24) in pairs, and the hydraulic cylinder (24) is determined as the ascending base hydraulic cylinder; Step 6: In the master station controller, the real-time displacement value of the remaining hydraulic cylinder (24) is compared with the real-time displacement value of the ascending base hydraulic cylinder. If the difference exceeds the design value, the corresponding hydraulic cylinder (24) is suspended. The hydraulic cylinder (24) continues to work until the difference does not exceed the design value. Step 7: After the real-time displacement value of each hydraulic cylinder (24) reaches the maximum limit stroke, the master station controller controls each hydraulic cylinder (24) to stop working; Step 8: The system drives the servo motor (4) to move, rotate the cam in the climbing box, and the multiple hydraulic cylinders perform micro-retraction until the cam steps on the step block (21); Step 9: The cam in the upper climbing box rotates to the right position, and the multiple hydraulic cylinders perform micro-retraction. The system drives the servo motor (4) to move and rotate the cam in the lower climbing box to disengage the step block (21); Step 10: The cam in the lower climbing box has rotated into place, and multiple hydraulic cylinders continue to retract synchronously; Step 11: After the real-time displacement value of each hydraulic cylinder (24) reaches the minimum limit stroke, the master station controller controls each hydraulic cylinder (24) to stop working; Step 12: The system drives the servo motor (4) to move, rotate the cam in the lower climbing box, and the multiple hydraulic cylinders perform micro-exit until the cam steps on the step block (21); Step 13: The cam pendulum block in the lower climbing box is in place. Repeat steps 4 to 12 until the automatic synchronous climbing is completed. Step 14: Carry out high-altitude operations.

6. The synchronous control method according to claim 5, characterized in that: In step three, the initial displacement value is within the range of 0-450 mm.

7. The synchronous control method according to claim 6, characterized in that: By collecting the encoder value, visual recognition module parameters and laser infrared parameters arranged on the servo motor (4), it is confirmed whether the cam in the upper climbing box and the cam in the lower climbing box have rotated to the correct position.

8. The synchronous control method according to claim 7, characterized in that: The difference between the real-time displacement value of the remaining hydraulic cylinder (24) and the real-time displacement value of the ascending base hydraulic cylinder or the descending base hydraulic cylinder should be controlled within 10 mm.

9. A synchronous descent control method for intelligent construction equipment according to any one of claim 8, characterized in that: The following steps are involved: Step 1: The multiple hydraulic cylinders perform micro-retraction, and then the multiple hydraulic cylinders stop moving, and the system drives the servo motor (4) to move, rotating the cam in the lower climbing box to disengage the step block (21); Step 2: The cam in the lower climbing box has rotated into place, and multiple hydraulic cylinders begin to move out of the cylinder synchronously; Step 3: After the hydraulic cylinder reaches the maximum limit stroke, the multiple hydraulic cylinders stop moving; Step 4: Multiple hydraulic cylinders perform micro-retraction, and the system drives the servo motor (4) to move, rotating the cam in the lower climbing box until the cam steps on the step block (21); Step 5: Multiple hydraulic cylinders perform micro-exit, and the system drives the servo motor (4) to move, rotating the cam in the climbing box to disengage the step block (21); Step 6: The cam in the climbing box has been rotated into position, and the multiple hydraulic cylinders begin to retract synchronously. The real-time displacement values ​​of the hydraulic cylinders (24) are compared in the master station controller, and the hydraulic cylinder (24) with the smallest real-time displacement value is selected by comparing the adjacent hydraulic cylinders (24) in pairs, and the hydraulic cylinder (24) is determined as the lowering base hydraulic cylinder; Step 7: In the master station controller, the real-time displacement value of the remaining hydraulic cylinder (24) is compared with the real-time displacement value of the lowering base hydraulic cylinder. If the difference exceeds the design value, the corresponding hydraulic cylinder (24) is suspended. The hydraulic cylinder (24) continues to work until the difference does not exceed the design value. Step 8: After the hydraulic cylinder reaches the minimum limit stroke, the multiple hydraulic cylinders stop moving; Step 9: Multiple hydraulic cylinders perform micro-exit, and the system drives the servo motor (4) to move, rotating the cam in the climbing box until the cam steps on the step block (21); Step 10. Repeat steps 1 to 9 until the synchronous descent is completed.

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