Control system and control method of hydraulic drive type heavy load jacking device

Abstract

The invention belongs to the technical field of engineering machinery, and particularly relates to a control system and a control method of a hydraulic drive type heavy load jacking device. The control system comprises a comprehensive control module, a laser radar ranging unit and a visual monitoring unit. The comprehensive control module is configured to detect the locking state of the hooking mechanism after receiving the starting instruction, and trigger the visual monitoring unit to detect whether an obstacle exists above the loading cross beam or not; outputting an instruction for driving the multi-stage hydraulic lifting mechanism to perform jacking action; and receiving distance data measured by the laser radar ranging unit in real time, and generating a deviation compensation command for controlling the walking mechanism and the steering mechanism. The laser radar distance measuring unit and the visual monitoring unit are fused, safe starting judgment, angle correction and precise positioning operation of the heavy-load jacking device are automatically completed, traditional tedious procedures depending on manual experience and intervention are abandoned, and the intelligent and automatic level of the heavy-load jacking device in the heavy-load carrying process is improved.

Description

A control system and control method for a hydraulically driven heavy-duty jacking device Technical Field

[0001] This invention belongs to the field of engineering machinery technology, specifically relating to a control system and control method for a hydraulically driven heavy-duty jacking device. Background Technology

[0002] In the field of engineering machinery and large equipment transportation, heavy-duty lifting devices are key equipment for lifting and transporting large workpieces. Among them, hydraulically driven heavy-duty lifting devices include a heavy-duty base for bearing the load, a heavy-duty stacking warehouse for placing the heavy load, four sets of load-bearing vehicles symmetrically arranged on both sides of the heavy-duty base, a multi-stage hydraulic lifting mechanism set on the load-bearing vehicles, two load-bearing crossbeams, and a hook mechanism installed between the two load-bearing crossbeams. Each load-bearing crossbeam corresponds to two sets of multi-stage hydraulic lifting mechanisms. The load-bearing vehicle includes at least a load-bearing mechanism, a traveling mechanism installed on the load-bearing mechanism, and a steering mechanism.

[0003] Hydraulic-driven heavy-duty jacking devices are widely used in bridge construction, wind power equipment maintenance, and large machinery overhaul. Their operational characteristics typically include large loads, high positioning accuracy, complex operating environments, and high operation frequency, placing stringent demands on the control system's response speed, operational stability, and operational safety. However, traditional hydraulic-driven heavy-duty jacking devices rely heavily on operator visual judgment and manual operation throughout the entire process, from hooking the heavy load, lifting, moving, and unloading. This model has several significant drawbacks: First, poor positioning accuracy and low efficiency; operators must repeatedly adjust their walking and turning to align with the heavy-duty storage area, especially in long distances or narrow passages. Second, high safety risks; checking the hook's locking status and overhead obstacles before lifting relies entirely on visual inspection, which is prone to oversights. Furthermore, operators must simultaneously observe multiple directions during equipment movement, resulting in heavy mental strain and increasing the risk of collisions. Finally, it demands high operator skills, incurring high training costs, and operational efficiency is significantly affected by operator fatigue. Therefore, traditional operating methods cannot meet the stringent requirements of modern engineering for automation, high precision, and high safety. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of existing technologies, such as low automation, poor path adaptability, reliance on human experience, and insufficient safety, and to provide a control system and control method for a hydraulically driven heavy-duty jacking device that integrates adaptive closed-loop control and has real-time environmental perception and intelligent correction capabilities.

[0005] The technical solution adopted by this invention to solve its technical problem is:

[0006] As a first aspect, the present invention provides a control system for a hydraulically driven heavy-duty jacking device, comprising:

[0007] The integrated control module is used to generate and output the travel control signal, steering control signal and lifting control signal of the heavy-duty jacking device;

[0008] The lidar ranging unit is installed on the walking mechanism and is connected to the integrated control module in real time to obtain the longitudinal distance and lateral offset on both sides of the walking mechanism relative to the heavy-duty stacking warehouse to be placed.

[0009] The visual monitoring unit is communicatively connected to the integrated control module and is used to monitor the operating status of the heavy-duty lifting device and the working status of the multi-stage hydraulic lifting mechanism in real time; it is also used to measure the lifting height and monitor the environmental conditions above the load-bearing beam.

[0010] The integrated control module is configured as follows:

[0011] Upon receiving the start command, the locking status of the hook mechanism is detected, and the visual monitoring unit is triggered to detect whether there are any obstacles above the load-bearing crossbeam. Based on the detection result, a command is output to drive the multi-stage hydraulic lifting mechanism to perform a lifting action.

[0012] During the movement of the walking mechanism, the distance data measured in real time by the lidar ranging unit is received, and a deviation compensation command for controlling the walking mechanism and the steering mechanism is generated based on the distance data.

[0013] After the heavy load is moved to the heavy load storage warehouse, a command is output to the multi-stage hydraulic lifting mechanism to perform the recovery action.

[0014] Furthermore, it also includes a display module that communicates and interacts with the integrated control module, and a working status indicator unit set on the display module. The working status indicator unit uses red, green and yellow indicator lights to map the working status of the heavy-duty lifting device in real time.

[0015] Furthermore, it also includes a pressure sensor installed on the load-bearing crossbeam, which is connected to the integrated control module for real-time acquisition of load data on the hook mechanism;

[0016] The integrated control module is also configured to: when the pressure sensor detects that the pressure has decreased to a preset pressure value that indicates the completion of heavy-load placement during the descent of the multi-stage hydraulic lifting mechanism, issue a command to stop retracting each stage of the multi-stage hydraulic lifting mechanism.

[0017] Furthermore, the step of outputting a command to drive the hydraulic lifting cylinders in the multi-stage hydraulic lifting mechanism based on the detection results includes the following:

[0018] When the hook mechanism is not in the locked state, the working status indicator unit will show a yellow indicator light that is always on, and the display module will indicate that there is a fault in the electromagnet in the hook mechanism and that no lifting operation will be performed.

[0019] When the hook mechanism is in the locked state, the integrated control module transmits a command to trigger the visual monitoring unit to detect whether there is an obstacle above the load beam of the heavy-duty lifting device. If an obstacle is detected above the load beam, the working status indicator unit will turn on the yellow indicator light and display a message on the display module indicating that the environmental conditions do not support the lifting action and the lifting operation will not be performed.

[0020] The integrated control module outputs a command to control the multi-stage hydraulic lifting mechanism to perform a lifting operation only when the hook mechanism is in the locked state and no obstruction is detected above the load-bearing beam.

[0021] Furthermore, after the integrated control module controls the multi-stage hydraulic lifting mechanism to raise the lifting column step by step, the visual monitoring unit detects whether the current height of the multi-stage hydraulic lifting mechanism has reached the safe transportation height threshold range. If the current height of the multi-stage hydraulic lifting mechanism is detected to be within the performance index range of its maximum lifting height, a signal is sent to the integrated control module. If the current height of the multi-stage hydraulic lifting mechanism is detected to be not within the safe transportation height threshold range, the difference between the current height and the target height is analyzed based on the lifting height information measured by the visual monitoring unit, and the multi-stage hydraulic lifting mechanism is activated to perform height compensation. At this time, the working status indicator unit will show a flashing yellow indicator light.

[0022] Furthermore, the step of generating a deviation compensation command for controlling the walking mechanism and the steering mechanism based on the distance data includes the following:

[0023] The integrated control module performs deviation analysis based on the real-time lateral distance between the left and right walking mechanisms and the heavy-duty stacking warehouse received from the laser radar ranging unit.

[0024] When there is no deviation in lateral distance, the traveling mechanism travels at the standard speed; when there is a deviation in lateral distance, the difference in lateral distance between the two traveling mechanisms and the geometric center line of the heavy-duty stacking warehouse is calculated, and the deviation angle between the two traveling mechanisms and the geometric center line of the heavy-duty stacking warehouse is calculated based on this difference. At the same time, the traveling speed of the traveling mechanism is reduced, and the steering mechanism is activated to compensate for the angle. At this time, the working status indicator unit will show a yellow indicator light flashing.

[0025] Once the angle compensation is complete and no further lateral distance deviation is detected, the speed limit on the traveling mechanism is lifted, and it travels at the standard speed. At this time, the working status indicator unit will show a flashing green indicator light.

[0026] Furthermore, the step of generating alignment commands for controlling the walking mechanism and the steering mechanism based on distance data includes the following: after the lateral distance deviation angle is compensated, the integrated control module controls the walking mechanism to stop based on the longitudinal distance between the walking mechanism and the heavy-duty stacking warehouse measured in real time by the laser radar ranging unit. The laser radar ranging unit measures the longitudinal distance between the front walking mechanism and the front face of the heavy-duty stacking warehouse, and the longitudinal distance between the rear walking mechanism and the rear face of the heavy-duty stacking warehouse, respectively, and transmits the measured longitudinal distance data to the integrated control module.

[0027] The integrated control module analyzes the longitudinal distance data output by the laser radar ranging unit. If the longitudinal distance between the front traveling mechanism and the front face of the heavy-duty stacking warehouse is equal to the longitudinal distance between the rear traveling mechanism and the rear face of the heavy-duty stacking warehouse, it is determined to be aligned. The integrated control module then receives a signal to retract each stage of the multi-stage hydraulic lifting mechanism. If the longitudinal distance between the front traveling mechanism and the front face of the heavy-duty stacking warehouse is not equal to the longitudinal distance between the rear traveling mechanism and the rear face of the heavy-duty stacking warehouse, it is determined to be misaligned. The module then calculates the distance that needs to be adjusted and starts the traveling mechanism to perform distance compensation. At this time, the working status indicator unit will flash a yellow indicator light.

[0028] As a second aspect, the present invention also provides a control method for a hydraulically driven heavy-duty lifting device based on the control system described above, comprising the following steps:

[0029] Step S10: Power on and initialize the control system, reset the walking mechanism, steering mechanism, and multi-stage hydraulic lifting mechanism to their initial positions, and calibrate the lidar ranging unit and visual monitoring unit;

[0030] Step S20: Respond to the external start command and detect the locking status of the hook mechanism;

[0031] If the locking state is invalid, the working status indicator unit will be triggered to display a fault alarm and the subsequent process will be stopped;

[0032] If the locking state is valid, continue with the steps;

[0033] Step S30: Control the visual monitoring unit to perform a three-dimensional spatial scan of the area above the load-bearing crossbeam and the predetermined lifting path to obtain obstacle detection results;

[0034] If an obstacle is detected, the working status indicator unit will display an environmental alarm and the subsequent process will be suspended.

[0035] If no obstacle is detected, the multi-stage hydraulic lifting mechanism is controlled to perform multi-stage lifting actions;

[0036] Step S40: During the lifting process or after reaching the preset height, the lifting height information measured by the visual monitoring unit is fed back to verify whether the actual lifting height has reached the safe transportation height threshold, and height compensation is performed.

[0037] Step S50: Control the walking mechanism to drive the load-bearing crossbeam forward;

[0038] Step S60: Acquire the lateral distance data collected by the lidar ranging unit in real time, analyze whether there is a deviation in the lateral distance between the two walking mechanisms and the left and right ends of the heavy-duty stacking warehouse, and calculate the real-time yaw angle.

[0039] Step S70: Determine whether the yaw angle exceeds the preset yaw angle; if so, enter the correction sub-process and simultaneously control the steering mechanism to output the compensation angle; after compensation, return to S60 for re-evaluation.

[0040] Step S80: When the heavy load approaches the heavy load storage warehouse, reduce the travel speed of the traveling mechanism, enter low speed mode, and stop after reaching the predetermined position of the heavy load storage warehouse;

[0041] Step S90: Obtain the longitudinal distance between the walking mechanism and the heavy-duty stacking warehouse detected by the lidar ranging unit, and determine whether the heavy load is aligned with the heavy-duty stacking warehouse; if not aligned, control the walking mechanism to perform micro-motion compensation until aligned.

[0042] Step S100: Control the multi-stage hydraulic lifting mechanism to lower and unload the heavy load, and monitor the pressure of the load beam in real time; when the pressure drops to the preset pressure value, stop lowering, complete the unloading of the heavy load, and reset the heavy load lifting device.

[0043] Specifically, in step S70, the entry into the correction subprocess includes the following:

[0044] When the integrated control module fails to detect any deviation in the lateral distance between the two walking mechanisms and the left and right ends of the heavy-duty stacking warehouse, the walking mechanism will maintain a standard speed. At this time, the working status indicator unit will show a flashing green indicator light.

[0045] When the integrated control module analyzes that there is a deviation in the lateral distance between the two traveling mechanisms and the left and right end faces of the heavy-duty stacking warehouse, it calculates the difference in lateral distance between the two traveling mechanisms and the geometric center line of the heavy-duty stacking warehouse, and calculates the deviation angle between the two traveling mechanisms and the geometric center line of the heavy-duty stacking warehouse based on this difference, while reducing the traveling speed of the traveling mechanism.

[0046] The integrated control module activates the steering mechanism to perform angle compensation based on the analyzed deviation angle. At this time, the working status indicator unit will show a flashing yellow indicator light.

[0047] After angle compensation is completed, return to step S60 for re-evaluation.

[0048] Specifically, in step S100, the reset operation of the heavy-duty lifting device includes the following:

[0049] Step 1: After unloading is completed, the integrated control module receives a reset signal and starts the walking mechanism to return;

[0050] Step 2: The longitudinal distance between the walking mechanism and the initial reference point is measured in real time by the lidar ranging unit, and the walking mechanism is controlled to move and stop, so that the walking mechanism reaches the preset turning point;

[0051] Step 3: Activate the steering mechanism to perform a 180° steering operation, and dynamically center the steering angle based on the lateral distance between the walking mechanism and the left and right sides of the starting point measured in real time by the lidar ranging unit during the steering process;

[0052] Step 4: After steering and centering, control the walking mechanism to move again, and stop at the initial standby position based on the longitudinal distance detected by the lidar ranging unit;

[0053] Step 5: Control the walking mechanism, steering mechanism, and multi-stage hydraulic lifting mechanism to reset to the physical zero position and electrical standby state in sequence.

[0054] The beneficial effects of the control system and control method of the hydraulically driven heavy-duty jacking device of the present invention are as follows:

[0055] The control system of this invention uses a comprehensive control module as its core, integrating a lidar ranging unit and a visual monitoring unit. It can autonomously complete the safe start-up judgment, angle correction, and precise positioning of the hydraulically driven heavy-duty lifting device. It eliminates the cumbersome procedures that rely on human experience and intervention, and improves the intelligence and automation level of the hydraulically driven heavy-duty lifting device in the heavy-duty handling process. Specifically, in the start-up phase, the comprehensive control module is configured to detect the locking status of the hook mechanism after receiving the start command, and trigger the visual monitoring unit to detect whether there are obstacles above the load-bearing crossbeam. Before lifting, electrical locking verification and visual obstacle detection are performed in sequence to eliminate the risk of misoperation from the source. During the movement of the walking mechanism, the distance data measured in real time by the lidar ranging unit is received. Based on the distance data, deviation compensation commands for controlling the walking mechanism and the steering mechanism are generated. That is, based on the pose information fed back by the lidar ranging unit in real time, the yaw angle is dynamically calculated and a deceleration and / or steering collaborative compensation command is generated to realize online correction and tracking of the travel path, thereby ensuring lateral positioning accuracy. During the unloading phase, precise longitudinal positioning of the heavy-load lifting device is achieved through front and rear distance comparison and micro-motion compensation using the lidar ranging unit. This enables adaptive control of the heavy-load lifting device, effectively improving the efficiency of lifting and transportation operations, reducing the frequency of manual intervention and labor intensity, saving human resources, and lowering the cost of equipment operation and maintenance.

[0056] Meanwhile, the control system of this invention is also equipped with a display module and a working status indicator unit. In the full-process video environment monitoring, it works in conjunction with a multi-level working status indicator unit with red, green, and yellow indicator lights, and together with the display module, provides operators with intuitive status perception and abnormal warnings. By moving the interception point of safety risks forward, it significantly reduces safety accidents caused by human misjudgment, operational errors, or sudden environmental changes, ensuring stable equipment operation and personnel safety. Attached Figure Description

[0057] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0058] Figure 1 is a control block diagram of the control system in this embodiment.

[0059] Figure 2 is a schematic diagram of the heavy-duty lifting device used in this embodiment.

[0060] Figure 3 is a structural schematic diagram of the initial state of the heavy-duty lifting device used in this embodiment.

[0061] Figure 4 is an installation diagram of the carrier vehicle body and the multi-stage hydraulic lifting device used in this embodiment.

[0062] Figure 5 is a schematic diagram of the structure from another perspective of Figure 4.

[0063] Figure 6 is a structural schematic diagram of the heavy-duty lifting device in the lifting state used in this embodiment 1.

[0064] Figure 7 is a flowchart of the control method in this embodiment 2.

[0065] Figure 8 is a flowchart of the method for the operator to hook the heavy load and start the heavy load lifting device in this embodiment 2.

[0066] Figure 9 is a flowchart of the method by which the heavy-load lifting device lifts the heavy load away from the heavy-load base in this embodiment 2.

[0067] Figure 10 is a flowchart of the method for retracting the lifting column after the heavy-load lifting device has completed the transportation of the heavy load in Embodiment 2.

[0068] Figure 11 is a flowchart of the method for the operator to unload the heavy load in this embodiment 2.

[0069] Figure 12 is a flowchart of the steps of resetting the heavy-load lifting device in this embodiment 2.

[0070] Figure 13 is a flowchart of the specific method for resetting the heavy-load lifting device in this embodiment 2.

[0071] In the diagram: 1. Heavy load, 2. Heavy load base, 3. Carrier body, 31. Load-bearing mechanism, 32. Traveling mechanism, 33. Steering mechanism, 4. Multi-stage hydraulic lifting mechanism, 5. Load-bearing crossbeam, 6. Hook mechanism, 7. Electrical control box, 9. Heavy load storage warehouse.

[0072] 100. Integrated control module; 200. Working status indication unit; 300. Visual monitoring unit; 400. Pressure sensor; 500. Display module; 600. LiDAR ranging unit. Detailed Implementation

[0073] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, illustrating only the basic structure of the invention, and therefore only show the components relevant to the invention.

[0074] Example 1

[0075] Figures 1-6 show a specific embodiment of the control system for a hydraulically driven heavy-duty lifting device according to the present invention. The system includes an integrated control module 100 for generating and outputting travel control signals, steering control signals, and lifting control signals for the heavy-duty lifting device. A laser radar ranging unit 600 is mounted on the traveling mechanism 32 and communicates with the integrated control module 100. This unit acquires in real-time the longitudinal distance and lateral offsets on both sides of the traveling mechanism 32 relative to the heavy-duty stacking warehouse 9 where the heavy load 1 is to be placed. A visual monitoring unit 300 communicates with the integrated control module 100 and monitors in real-time the operating status of the heavy-duty lifting device and the working status of the multi-stage hydraulic lifting mechanism 4. It also measures the lifting height and monitors the environmental conditions above the load-bearing beam 5. The integrated control module 100 is configured to: upon receiving a start command, detect the locking status of the hook mechanism 6 and trigger the visual monitoring unit 300 to detect whether there are obstacles above the load-bearing beam 5; based on the detection results, output a command to drive the multi-stage hydraulic lifting mechanism 4 to perform a lifting action. During the movement of the walking mechanism 32, it receives distance data measured in real time by the lidar ranging unit 600. Based on the distance data, it generates a deviation compensation command to control the walking mechanism 32 and the steering mechanism 33. After the heavy load 1 moves to the heavy load storage silo 9, it outputs a command for the multi-stage hydraulic lifting mechanism 4 to perform a retrieval action.

[0076] The control system in this embodiment is based on the integrated control module 100, which integrates the lidar ranging unit 600 and the visual monitoring unit 300. It can autonomously complete the safe start judgment, angle correction and precise positioning of the hydraulically driven heavy-duty lifting device, eliminating the cumbersome procedures that rely on human experience and intervention. This improves the intelligence and automation level of the hydraulically driven heavy-duty lifting device in the heavy-duty handling process. Specifically, in the start-up phase, the integrated control module 100 is configured to detect the locking state of the hook mechanism 6 after receiving the start command and trigger the visual monitoring unit. The 300 detector checks for obstacles above the load-bearing crossbeam 5. Before lifting, it sequentially performs electrical locking verification and visual obstacle detection to eliminate the risk of misoperation from the source. During the movement of the traveling mechanism 32, it receives real-time distance data measured by the lidar ranging unit 600. Based on the distance data, it generates deviation compensation commands to control the traveling mechanism 32 and the steering mechanism 33. That is, based on the pose information fed back by the lidar ranging unit 600 in real time, it dynamically calculates the yaw angle and generates coordinated compensation commands for deceleration and / or steering, realizing online correction and tracking of the travel path and ensuring lateral positioning accuracy. During the unloading phase, through the comparison of forward and backward distance measurements and micro-motion compensation by the lidar ranging unit 600, it achieves precise longitudinal positioning of the heavy load 1, thereby realizing adaptive control of the heavy load lifting device. This effectively improves the efficiency of lifting and transportation operations, reduces the frequency of manual intervention and labor intensity, saves human resources, and reduces the cost of equipment operation and maintenance.

[0077] In actual operation, before starting the lifting operation, the integrated control module 100 in this embodiment must sequentially verify the electrical locking signal from the hook mechanism 6 and the visual confirmation signal of no obstruction from the visual monitoring unit 300. This eliminates the possibility of erroneous starting of the lifting operation in dangerous situations such as the hook mechanism 6 not being locked or the presence of obstacles (such as personnel, other equipment, or structural interference) above the load-bearing beam 5, effectively preventing possible equipment damage and personal injury accidents.

[0078] This embodiment utilizes a lidar ranging unit 600 installed on the traveling mechanism 32 to continuously acquire the longitudinal and bilateral lateral offsets of the device relative to the heavy-duty stacking warehouse 9 in real time during its movement. Based on this received pose data, the integrated control module 100 dynamically calculates the deviation in the traveling direction and generates coordinated control commands for deceleration and steering compensation in real time to dynamically correct the deviation, ensuring that the heavy-duty lifting device automatically maintains alignment with the target path. This not only reduces reliance on skilled operators but also avoids the problem of frequent stops and adjustments due to path deviations, ensuring the smoothness and efficiency of the transportation process.

[0079] This embodiment also includes a pressure sensor 400 installed on the load-bearing beam 5. The pressure sensor 400 is connected to the integrated control module 100 for real-time acquisition of load data on the hook mechanism 6. The integrated control module 100 is also configured to: during the descent of the multi-stage hydraulic lifting mechanism 4, when the pressure sensor 400 detects that the pressure has decreased to a preset pressure value indicating that the heavy load 1 has been placed, issue a command to stop retracting each stage of the multi-stage hydraulic lifting mechanism 4.

[0080] When the hoisted heavy load 1 arrives at the heavy load storage area 9, it makes a precise final stop based on the feedback from the lidar ranging unit 600, and the integrated control module 100 then controls the multi-stage hydraulic lifting mechanism 4 to perform the recovery action.

[0081] This embodiment also includes a display module 500 that communicates with the integrated control module 100, and a working status indicator unit 200 mounted on the display module 500. The working status indicator unit 200 uses red, green, and yellow indicator lights to map the working status of the heavy-duty lifting device in real time. By combining visual monitoring with the red, green, and yellow multi-level status indicator unit, operators are provided with intuitive status perception and abnormal warnings. This significantly reduces safety accidents caused by human error, operational mistakes, or sudden environmental changes, ensuring stable equipment operation and personnel safety.

[0082] It should be understood that the hydraulically driven heavy-duty lifting device used in this embodiment, as shown in Figures 2 to 6, includes a heavy-duty base 2 for bearing the load, four sets of load-bearing vehicles 3 symmetrically arranged on both sides of the heavy-duty base 2, a multi-stage hydraulic lifting mechanism 4 set on the load-bearing vehicles 3, two load-bearing crossbeams 5, and a hook mechanism 6 installed between the two load-bearing crossbeams 5. Each load-bearing crossbeam 5 corresponds to two sets of multi-stage hydraulic lifting mechanisms 4, and also includes an electrical control box 7 and a pump station for communicating with the oil tank. Each load-bearing vehicle 3 includes a load-bearing mechanism 31 and a hook mechanism 6 installed on the load-bearing mechanism 31. The system includes a traveling mechanism 32 and a steering mechanism 33. The steering mechanism 33 is bolted to the traveling mechanism 32, and the load-bearing mechanism 31 is screwed to the steering mechanism 33. The multi-stage hydraulic lifting mechanism 4 is connected to the load-bearing mechanism 31 via pins. The visual monitoring unit 300 is installed on both sides of the traveling mechanism 32, or alternatively on both sides of the load-bearing mechanism 31; there is no absolute limitation. The electrical control box 7 is installed on the external plate of the multi-stage hydraulic lifting mechanism 4, and the pump station is screwed to the external plate of the multi-stage hydraulic lifting mechanism 4. The working status indicator unit 200 is installed above the electrical control box 7. In this embodiment, the integrated control module 100 is located in the central area of ​​the electrical control box 7, the working status indicator unit 200 is located in the left side area of ​​the electrical control box 7, and the visual monitoring unit 300 is located in the right side area of ​​the electrical control box 7. The components are arranged closely at a certain distance to facilitate stable and reliable data communication and reduce wiring difficulty.

[0083] In a preferred embodiment, the electrical control box 7 in this embodiment is also equipped with a start button, a stop button and a return button, and all three buttons are connected to the integrated control module 100 via signals.

[0084] In this embodiment, the multi-stage hydraulic lifting mechanism 4, the traveling mechanism 32, the steering mechanism 33, and the load-bearing mechanism 31 all adopt structures that are available in the prior art. Specifically, the multi-stage hydraulic lifting mechanism 4 includes a hydraulic lifting cylinder, a first-stage lifting column, a second-stage lifting column, a third-stage lifting column, a fourth-stage lifting column, and a support base. The lifting column is raised step by step by pushing out the piston rod of the hydraulic lifting cylinder to lift the load beam 5. Then, the heavy load 1 is lifted away from the heavy load base 2 by the hook mechanism 6 to lift the heavy load 1. The support base is connected to the load-bearing mechanism 31 by a pin and fixed with a cotter pin.

[0085] As shown in Figures 4 and 5, the steering mechanism 33 in this embodiment consists of a rotary drive, a hydraulic motor, and a flange. When the integrated control module 100 receives a steering signal, it drives the traveling mechanism 32 to turn via the steering mechanism 33, thereby realizing the steering function of the heavy-duty lifting device. The traveling mechanism 32 consists of a rotary drive, a hydraulic motor, gears, chains, tires, a load-bearing plate, and a drive shaft. When the integrated control module 100 receives a traveling signal, it drives the drive shaft and tires to rotate via sprocket transmission, thereby realizing the traveling function of the heavy-duty lifting device. It should be understood that the multi-stage hydraulic lifting mechanism 4, traveling mechanism 32, steering mechanism 33, and load-bearing mechanism 31 in this embodiment can also adopt other structures. The specific structure of the multi-stage hydraulic lifting mechanism 4, traveling mechanism 32, steering mechanism 33, and load-bearing mechanism 31 is not absolutely limited here.

[0086] Based on the test results, the above-mentioned output commands to drive the hydraulic lifting cylinders in the multi-stage hydraulic lifting mechanism 4 include the following: When the hook mechanism 6 is not in the locked state, the working status indicator unit 200 will show a constantly lit yellow indicator light and display a message on the display module 500 indicating that the electromagnet in the hook mechanism 6 is faulty and that no lifting operation will be performed; when the hook mechanism 6 is in the locked state, the integrated control module 100 will transmit commands to trigger the visual monitoring unit 300 to detect whether there are any obstacles above the load beam 5 of the heavy-duty lifting device. If an obstacle is detected above the load beam 5, the working status indicator unit 200 will show a constantly lit yellow indicator light and display a message on the display module 500 indicating that the environmental conditions do not support the lifting operation and that no lifting operation will be performed; only when the hook mechanism 6 is in the locked state and no obstacle is detected above the load beam 5, the integrated control module 100 will output commands to control the multi-stage hydraulic lifting mechanism 4 to perform a lifting operation.

[0087] When the integrated control module 100 controls the multi-stage hydraulic lifting mechanism 4 to raise the lifting column step by step, the visual monitoring unit 300 detects whether the current height of the multi-stage hydraulic lifting mechanism 4 has reached the safe transportation height threshold range. If the current height of the multi-stage hydraulic lifting mechanism 4 is detected to be within the performance index range of its maximum lifting height, a signal is sent to the integrated control module 100. If the current height of the multi-stage hydraulic lifting mechanism 4 is detected to be not within the safe transportation height threshold range, the difference between the current height and the target height is analyzed based on the lifting height information measured by the visual monitoring unit 300, and the multi-stage hydraulic lifting mechanism 4 is activated to perform height compensation. At this time, the working status indicator unit 200 will flash a yellow indicator light.

[0088] Based on the distance data, a deviation compensation command is generated between the control walking mechanism 32 and the steering mechanism 33, including the following:

[0089] The integrated control module 100 performs deviation analysis based on the real-time lateral distance measurements between the left and right walking mechanisms 32 and the heavy-duty stacking warehouse 9 received from the laser radar ranging unit 600. When there is no lateral distance deviation, the walking mechanism 32 travels at a standard speed. When there is a lateral distance deviation, the module calculates the lateral distance difference between the two walking mechanisms 32 and the geometric center line of the heavy-duty stacking warehouse 9, and calculates the deviation angle between the two walking mechanisms 32 and the geometric center line of the heavy-duty stacking warehouse 9 based on this difference. Simultaneously, the module reduces the travel speed of the walking mechanism 32 and activates the steering mechanism 33 for angle compensation. At this time, the working status indicator unit 200 flashes a yellow indicator light. Once the angle compensation is completed and no further lateral distance deviation is detected, the speed limit on the walking mechanism 32 is lifted, and it travels at a standard speed. At this time, the working status indicator unit 200 flashes a green indicator light.

[0090] Based on the distance data, a centering command is generated to control the walking mechanism 32 and the steering mechanism 33, including the following: After the lateral distance deviation angle is compensated, the integrated control module 100 controls the walking mechanism 32 to stop based on the longitudinal distance between the walking mechanism 32 and the heavy-duty stacking warehouse 9 measured in real time by the laser radar ranging unit 600. The laser radar ranging unit 600 measures the longitudinal distance between the front walking mechanism 32 and the front end face of the heavy-duty stacking warehouse 9, and the longitudinal distance between the rear walking mechanism 32 and the rear end face of the heavy-duty stacking warehouse 9, and transmits the measured longitudinal distance data to the integrated control module 100. The integrated control module 100 analyzes the longitudinal distance data output by the laser radar ranging unit 600. If the longitudinal distance between the front traveling mechanism 32 and the front end of the heavy-duty stacking warehouse 9 is equal to the longitudinal distance between the rear traveling mechanism 32 and the rear end of the heavy-duty stacking warehouse 9, it is determined to be aligned. The integrated control module 100 then receives a signal and begins to retract each stage of the multi-stage hydraulic lifting mechanism 4. If the longitudinal distance between the front traveling mechanism 32 and the front end of the heavy-duty stacking warehouse 9 is not equal to the longitudinal distance between the rear traveling mechanism 32 and the rear end of the heavy-duty stacking warehouse 9, it is determined to be misaligned. The required adjustment distance is then calculated, and the traveling mechanism 32 is activated for distance compensation. At this time, the working status indicator unit 200 will flash a yellow indicator light.

[0091] Example 2

[0092] Referring to Figure 7, the control method for the hydraulically driven heavy-duty jacking device based on the above control system includes the following steps:

[0093] Step S10: Power on and initialize the control system, reset the walking mechanism 32, steering mechanism 33, and multi-stage hydraulic lifting mechanism 4 to their initial positions, and calibrate the lidar ranging unit 600 and the visual monitoring unit 300.

[0094] Step S20: In response to the external start command, detect the locking status of the hook mechanism 6;

[0095] If the locking state is invalid, the working status indicator unit 200 will be triggered to display a fault alarm and the subsequent process will be stopped;

[0096] If the locking state is valid, continue with the steps;

[0097] Step S30: Control the visual monitoring unit 300 to perform a three-dimensional spatial scan of the area above the load-bearing crossbeam 5 and the predetermined lifting path to obtain obstacle detection results;

[0098] If an obstacle is detected, the working status indicator unit 200 will display an environmental alarm and the subsequent process will be stopped.

[0099] If no obstacle is detected, the multi-stage hydraulic lifting mechanism 4 is controlled to perform multi-stage lifting actions;

[0100] Step S40: During the lifting process or after reaching the preset height, the visual distance measurement feedback of the visual monitoring unit 300 is used to verify whether the actual lifting height has reached the safe transportation height threshold, and height compensation is performed.

[0101] Step S50: Control the walking mechanism 32 to drive the load-bearing crossbeam 5 to move forward;

[0102] Step S60: Acquire the lateral distance data collected by the lidar ranging unit 600 in real time, analyze whether there is a deviation in the lateral distance between the two walking mechanisms 32 and the left and right ends of the heavy-duty stacking warehouse 9, and calculate the real-time yaw angle.

[0103] Step S70: Determine whether the yaw angle exceeds the preset yaw angle; if so, enter the correction sub-process and synchronously control the steering mechanism 33 to output the compensation angle; after compensation, return to S60 for re-evaluation.

[0104] Step S80: When the heavy load 1 approaches the heavy load storage warehouse 9, reduce the travel speed of the walking mechanism 32, enter the low speed mode, and stop after reaching the predetermined position of the heavy load storage warehouse 9;

[0105] Step S90: Obtain the longitudinal distance between the walking mechanism 32 and the heavy-duty stacking warehouse 9 detected by the lidar ranging unit 600, and determine whether the heavy load 1 is aligned with the heavy-duty stacking warehouse 9; if not aligned, control the walking mechanism 32 to perform micro-motion compensation until aligned.

[0106] Step S100: Control the multi-stage hydraulic lifting mechanism 4 to lower and unload the heavy load 1, and monitor the pressure of the load beam 5 in real time; when the pressure drops to the unloading completion threshold, stop lowering, complete the unloading of the heavy load 1, and reset the heavy load lifting device.

[0107] Specifically, in step S10, the control system of the hydraulically driven heavy-duty lifting device is initialized, resetting the walking mechanism 32, steering mechanism 33, multi-stage hydraulic lifting mechanism 4, and vision monitoring unit 300 to their initial states. To prevent operators from misoperating due to insufficient operational knowledge or weak emergency response capabilities, the system sets corresponding prompt mechanisms for different operating states of the machine, thereby improving the safety and reliability of the machine's operation. After the heavy-duty lifting device is initialized, the working status indicator unit 200 will display a constantly lit green indicator light. When the multi-stage hydraulic lifting mechanism 4 is in the preparation stage, the integrated control module 100 transmits signals to the vision monitoring unit 300 for vision monitoring calibration, as shown in Figure 8.

[0108] In step S20, after the operator sees the indicator light turn solid green, the operator hooks the heavy load 1 onto the load-bearing beam 5 via the hook mechanism 6. After hooking the heavy load 1, the operator checks if the hook connection is secure. If the connection is secure, the operator presses the start button, and the integrated control module 100 responds to the external start command. That is, when the operator presses the start button, the electromagnet equipped with the hook mechanism 6 is energized, keeping the hook mechanism 6 locked to prevent accidental disengagement during lifting and transportation. The visual monitoring unit 300 is simultaneously activated to monitor the operating status of the heavy load lifting device in real time. The integrated control module 100 checks if the hook mechanism 6 is locked. If the hook mechanism 6 is not locked, the entire machine stops executing subsequent commands and displays a faulty electromagnet on the display screen of the electrical control box 7. Simultaneously, the working status indicator unit 200 displays a solid yellow indicator light. At this time, the operator repairs the electromagnet. After repair, step S20 is repeated.

[0109] When the judgment result is that the hook mechanism 6 is in the locked state, the multi-stage hydraulic lifting mechanism 4 is prepared to be started, that is, step S30 is executed. Specifically, referring to Figure 9, the integrated control module 100 obtains the real-time image information transmitted by the visual monitoring unit 300 to detect whether the environmental conditions of the multi-stage hydraulic lifting mechanism 4 support its operation. When the judgment result is that the environment of the multi-stage hydraulic lifting mechanism 4 does not support its operation, the whole machine stops executing subsequent instructions and prompts on the display screen of the electrical control box 7 that the environmental conditions do not support the operation of the multi-stage hydraulic lifting mechanism 4. At the same time, the working status indicator unit 200 shows a yellow indicator light that is constantly lit. At this time, the operator removes the obstacle above the load beam 5. After the removal is completed, the start button is pressed to continue executing step S30.

[0110] When the environment supports the operation of the multi-stage hydraulic lifting mechanism 4, the multi-stage hydraulic lifting mechanism 4 is controlled to perform multi-stage lifting actions, and the multi-stage hydraulic lifting mechanism 4 is started to raise the lifting column step by step to lift the load beam 5. Then, the heavy load 1 is lifted off the heavy load base 2 through the hook mechanism 6. It should be understood that when the multi-stage hydraulic lifting mechanism 4 is running normally, the working status indicator unit 200 will show a flashing green indicator light.

[0111] As shown in Figure 9, in step S40, after the multi-stage hydraulic lifting mechanism 4 raises the lifting column, the integrated control module 100 obtains the real-time image information transmitted by the visual monitoring unit 300 to detect whether the current height of the multi-stage hydraulic lifting mechanism 4 has reached the performance index range of its maximum lifting height. When the judgment result is that the current height of the multi-stage hydraulic lifting mechanism 4 has not reached the performance index range of its maximum lifting height, the integrated control module 100 analyzes the difference between the current height and the target height based on the distance measurement information of the visual monitoring unit 300, and starts the multi-stage hydraulic lifting mechanism 4 to perform height compensation. At this time, the working status indicator unit 200 will flash a yellow indicator light. After the height compensation is completed, the height judgment will be performed again. When the judgment result is that the current height of the multi-stage hydraulic lifting mechanism 4 has reached the performance index range of its maximum lifting height, a signal is sent to the integrated control module 100 to prepare for the execution of subsequent instructions. At this time, the working status indicator unit 200 will flash a green indicator light.

[0112] As shown in Figure 10, in step S50, the traveling mechanism 32 is started and travels at a standard speed. During the traveling process, i.e., in step S60, the lidar ranging unit 600 of the heavy-duty lifting device measures the lateral distance between the two traveling mechanisms 32 and the left and right ends of the heavy-duty stacking warehouse 9 in real time, analyzes whether there is a deviation in the lateral distance between the two traveling mechanisms 32 and the left and right ends of the heavy-duty stacking warehouse 9, and calculates the real-time yaw angle. That is, when the integrated control module 100 analyzes that there is a deviation in the lateral distance between the two traveling mechanisms 32 and the left and right ends of the heavy-duty stacking warehouse 9, it calculates the lateral distance difference between the two traveling mechanisms 32 and the geometric center line of the heavy-duty stacking warehouse 9, and calculates the deviation angle between the two traveling mechanisms 32 and the geometric center line of the heavy-duty stacking warehouse 9 based on this difference.

[0113] Then, step S70 is performed to determine whether the yaw angle exceeds the preset yaw angle. If it exceeds the preset yaw angle, the correction sub-process is initiated, and the steering mechanism 33 is simultaneously controlled to output a compensation angle. If the integrated control module 100 does not detect any deviation in the lateral distance between the two traveling mechanisms 32 and the left and right end faces of the heavy-duty stacking warehouse 9, the heavy-duty lifting device is kept traveling at the standard speed.

[0114] Specifically, the process of entering the correction sub-process includes the following:

[0115] A1: When the integrated control module 100 fails to analyze the deviation of the lateral distance between the two walking mechanisms 32 and the left and right end faces of the heavy-duty stacking warehouse 9, the walking mechanism 32 will maintain a standard speed. At this time, the working status indicator unit 200 will show a flashing green indicator light.

[0116] A2: When the integrated control module 100 analyzes that there is a deviation in the lateral distance between the two walking mechanisms 32 and the left and right end faces of the heavy-duty stacking warehouse 9, it calculates the difference in lateral distance between the two walking mechanisms 32 and the geometric center line of the heavy-duty stacking warehouse 9, and calculates the deviation angle between the two walking mechanisms 32 and the geometric center line of the heavy-duty stacking warehouse 9 based on this difference, and at the same time reduces the travel speed of the walking mechanism 32.

[0117] A3: The integrated control module 100 starts the steering mechanism 33 to perform angle compensation based on the analyzed deviation angle. At this time, the working status indicator unit 200 will show a yellow indicator light flashing.

[0118] A4: After angle compensation is completed, return to step S60 for re-evaluation. After the evaluation is qualified, the heavy-duty lifting device travels at the standard speed. When the heavy-duty lifting device maintains the standard speed, the working status indicator unit 200 will show a flashing green indicator light.

[0119] In step S80, after the heavy-duty lifting device maintains a standard speed for a period of time, when its front walking mechanism 32 passes the front face of the heavy-duty stacking warehouse 9, the integrated control module 100 receives a signal, reduces the speed of the walking mechanism 32 to make the heavy-duty lifting device enter a low-speed mode, and controls the walking mechanism 32 to stop after reaching the predetermined position of the heavy-duty stacking warehouse 9.

[0120] In step S90, the longitudinal distance between the walking mechanism 32 and the heavy-duty stacking warehouse 9 detected by the lidar ranging unit 600 is obtained, and it is determined whether they are aligned. Alignment means determining whether the longitudinal distances between the left and right walking mechanisms 32 and the front and rear ends of the heavy-duty stacking warehouse 9 are equal. If they are equal, they are aligned; if they are not equal, they are not aligned. When the longitudinal distances between the front and rear walking mechanisms 32 and the front and rear ends of the heavy-duty stacking warehouse 9 are not equal, the integrated control module 100 calculates the distance that needs to be adjusted. At this time, the working status indicator unit 200 will flash a yellow indicator light. After the distance compensation is completed, the alignment judgment is performed again.

[0121] In step S100, when the longitudinal distance between the front and rear traveling mechanisms 32 and the front and rear ends of the heavy-duty stacking warehouse 9 is equal, the integrated control module 100 receives a signal to activate the multi-stage hydraulic lifting mechanism 4 to retract each stage of the lifting column. The pressure sensor 400 equipped on the load-bearing beam 5 collects pressure values ​​in real time to determine whether the current pressure has dropped to the preset pressure value that represents the completion of the placement of the heavy load 1, i.e., the expected pressure value that represents the completion of the placement of the heavy load 1. When the pressure has not decreased to the preset pressure value, the retraction of each stage of the lifting column continues, and the working status indicator unit 200 flashes a yellow indicator light. When the pressure decreases to the preset pressure value, the retraction of the lifting column stops, and the unloading of the heavy load 1 is completed.

[0122] As shown in Figure 12, step S100 of this embodiment includes the following resetting operation of the heavy-duty lifting device:

[0123] Step 1: After unloading is completed, the integrated control module 100 receives a reset signal and starts the walking mechanism 32 to return;

[0124] Step 2: The longitudinal distance between the walking mechanism 32 and the initial reference point is measured in real time by the lidar ranging unit 600, and the walking mechanism 32 is controlled to move and stop, so that the walking mechanism 32 reaches the preset turning point;

[0125] Step 3: Start the steering mechanism 33 to perform a 180° steering operation, and dynamically center the steering angle based on the lateral distance between the walking mechanism 32 and the left and right sides of the starting point, which is measured in real time by the lidar ranging unit 600.

[0126] Step 4: After steering and centering, control the walking mechanism 32 to move again, and stop at the initial standby position based on the longitudinal distance detected by the lidar ranging unit 600.

[0127] Step 5: Control the walking mechanism 32, steering mechanism 33, and multi-stage hydraulic lifting mechanism 4 to reset to the physical zero position and electrical standby state in sequence.

[0128] Specifically, as shown in Figures 12 and 13, when the operator determines that the heavy load 1 has been placed in the heavy load storage silo 9, he presses the stop button. The electromagnet equipped with the hook mechanism 6 is de-energized, causing the hook mechanism 6 to release from the locked state. The operator then releases the hook connection between the heavy load 1 and the load beam 5.

[0129] Then, the heavy-load lifting device after unloading heavy load 1 is returned and reset. After receiving the return and reset signal, the integrated control module 100 starts the walking mechanism 32. When the walking mechanism 32 is running, the laser radar ranging unit 600 mounted on the heavy-load lifting device will measure the longitudinal distance between each walking mechanism 32 and the heavy-load stacking warehouse 9 in real time. At this time, the working status indicator unit 200 will show a flashing green indicator light. The laser radar ranging unit 600 will transmit the longitudinal distance to the walking control to determine whether the current longitudinal distance has reached the expected value. If the walking control determines that the current longitudinal distance has not reached the preset turning point, it will continue to move. If the walking control determines that the current longitudinal distance has reached the preset turning point, it will stop the walking mechanism 32, and the integrated control module 100 will start the walking mechanism 32. The steering mechanism 33 performs a 180-degree turn. During the turn, the lidar ranging unit 600 measures the lateral distance between the left and right walking mechanisms 32 and the left and right end faces of the heavy-duty stacking warehouse 9 in real time and uploads the measured distance to the integrated control module 100. When the two lateral distances are equal, the integrated control module 100 stops the steering mechanism 33. At this time, the heavy-duty lifting device has completed the turn. Subsequently, the integrated control module 100 starts the walking mechanism 32 to drive the heavy-duty lifting device to travel at a standard speed. During the travel, the lidar ranging unit 600 on the heavy-duty lifting device will measure the longitudinal distance between each walking mechanism 32 and the heavy-duty stacking warehouse 9 in real time. When the longitudinal distance reaches the expected value, the integrated control module 100 stops the walking mechanism 32. At this time, the heavy-duty lifting device is in the initial position.

[0130] When the heavy-duty lifting device returns to its initial position, the integrated control module 100 receives the signal and sequentially uploads the walking data, steering data, and lifting data of this heavy-duty 1 transport to the industrial cloud platform and resets the walking mechanism 32, steering mechanism 33, and multi-stage hydraulic lifting mechanism 4 to their initial state. After the reset is completed, the working status indicator unit 200 will show a solid green indicator light, and the operator can hook the next heavy-duty 1 to start the next work cycle.

[0131] The control method in this embodiment relies on the real-time feedback of the load's posture by the lidar ranging unit 600 and the intelligent recognition of the surrounding environment by the visual monitoring unit 300. This enables the safe start-up of the entire heavy-duty lifting device and the dynamic adaptive correction function during transportation. It transforms the traditional discrete processes relying on manual coordination and experience-based judgment into a highly efficient and continuous automated process, significantly shortening the cycle time of each operation and substantially improving work efficiency. While enhancing the safety and reliability of the heavy-duty lifting device's lifting operation, it also ensures the stability of the entire device's operation and the safety of the personnel.

[0132] It should be understood that the specific embodiments described above are for illustrative purposes only and are not intended to limit the scope of the invention. Obvious variations or modifications derived from the spirit of the invention are still within the protection scope of the invention.

Claims

1. A control system for a hydraulically driven heavy-duty jacking device, characterized in that, include: The integrated control module is used to generate and output the travel control signal, steering control signal and lifting control signal of the heavy-duty jacking device; A lidar ranging unit, mounted on the traveling mechanism and communicatively connected to the integrated control module, is used to acquire in real time the longitudinal distance and lateral offset of the traveling mechanism relative to the heavy-duty stacking warehouse to be placed. A visual monitoring unit, also communicatively connected to the integrated control module, is used to monitor in real time the operating status of the heavy-duty lifting device and the working status of the multi-stage hydraulic lifting mechanism; it is also used to measure the lifting height and monitor the environmental conditions above the load-bearing beam. The integrated control module is configured to: upon receiving a start command, detect the locking status of the hook mechanism and trigger the visual monitoring unit to detect whether there are obstacles above the load-bearing beam; based on the detection results, output a command to drive the multi-stage hydraulic lifting mechanism to perform a lifting action. During the movement of the walking mechanism, the distance data measured in real time by the lidar ranging unit is received. Based on the distance data, a deviation compensation command and a centering command are generated to control the walking mechanism and the steering mechanism. After the heavy load is moved to the heavy load storage warehouse, a command is output to the multi-stage hydraulic lifting mechanism to perform the recovery action.

2. The control system of the hydraulically driven heavy-duty jacking device according to claim 1, characterized in that: It also includes a display module that communicates and interacts with the integrated control module, and a working status indicator unit set on the display module. The working status indicator unit uses red, green and yellow indicator lights to map the working status of the heavy-duty lifting device in real time.

3. The control system of the hydraulically driven heavy-duty jacking device according to claim 2, characterized in that: It also includes a pressure sensor installed on the load-bearing crossbeam, which is connected to the integrated control module for real-time acquisition of load data on the hook mechanism; the integrated control module is also configured to: when the pressure sensor detects that the pressure has decreased to a preset pressure value that indicates the completion of heavy load placement during the descent of the multi-stage hydraulic lifting mechanism, issue a command to stop retracting each stage of the multi-stage hydraulic lifting mechanism.

4. The control system of the hydraulically driven heavy-duty jacking device according to claim 2, characterized in that, The command to drive the hydraulic lifting cylinders in the multi-stage hydraulic lifting mechanism according to the detection results includes the following: When the hook mechanism is not in the locked state, the working status indicator unit will show a solid yellow indicator light and indicate on the display module that the electromagnet in the hook mechanism is faulty and lifting operation will not be performed; when the hook mechanism is in the locked state, the integrated control module will transmit a command to trigger the visual monitoring unit to detect whether there is an obstacle above the load beam of the heavy-duty lifting device. If an obstacle is detected above the load beam, the working status indicator unit will show a solid yellow indicator light and indicate on the display module that the environmental conditions do not support the lifting operation and lifting operation will not be performed; only when the hook mechanism is in the locked state and no obstacle is detected above the load beam will the integrated control module output a command to control the multi-stage hydraulic lifting mechanism to perform a lifting operation.

5. The control system of the hydraulically driven heavy-duty jacking device according to claim 4, characterized in that, After the integrated control module controls the multi-stage hydraulic lifting mechanism to raise the lifting column step by step, the visual monitoring unit detects whether the current height of the multi-stage hydraulic lifting mechanism has reached the safe transportation height threshold range. If the current height of the multi-stage hydraulic lifting mechanism is detected to be within the performance index range of its maximum lifting height, a signal is sent to the integrated control module. If the current height of the multi-stage hydraulic lifting mechanism is detected to be not within the safe transportation height threshold range, the difference between the current height and the target height is analyzed based on the lifting height information measured by the visual monitoring unit, and the multi-stage hydraulic lifting mechanism is activated to perform height compensation. At this time, the working status indicator unit will show a flashing yellow indicator light.

6. The control system of the hydraulically driven heavy-duty jacking device according to claim 2, characterized in that, The process of generating deviation compensation commands for the walking and steering mechanisms based on distance data includes the following: The integrated control module measures the lateral distance between the walking mechanisms on both sides and the heavy-duty stacking warehouse in real time based on the received laser radar ranging unit, and performs deviation analysis; when there is no lateral distance deviation, the walking mechanism travels at a standard speed; when there is a lateral distance deviation, the difference in lateral distance measurement between the walking mechanisms on both sides and the geometric center line of the heavy-duty stacking warehouse is calculated, and the deviation angle between the walking mechanisms on both sides and the geometric center line of the heavy-duty stacking warehouse is calculated based on this difference. At the same time, the travel speed of the walking mechanism is reduced, and the steering mechanism is activated for angle compensation. At this time, the working status indicator unit shows a flashing yellow indicator light; when the angle compensation is completed and no further lateral distance deviation is found, the speed limit on the walking mechanism is lifted, and it travels at a standard speed. At this time, the working status indicator unit shows a flashing green indicator light.

7. The control system of the hydraulically driven heavy-duty jacking device according to claim 6, characterized in that, The process of generating alignment commands for the walking and steering mechanisms based on distance data includes the following: After lateral distance deviation angle compensation, the integrated control module controls the walking mechanism to stop based on the longitudinal distance between the walking mechanism and the heavy-duty stacking warehouse measured in real time by the laser radar ranging unit. The laser radar ranging unit measures the longitudinal distance between the front walking mechanism and the front face of the heavy-duty stacking warehouse, and the longitudinal distance between the rear walking mechanism and the rear face of the heavy-duty stacking warehouse, and transmits the measured longitudinal distance data to the integrated control module. The integrated control module analyzes the longitudinal distance data output by the laser radar ranging unit. If the longitudinal distance between the front walking mechanism and the front face of the heavy-duty stacking warehouse is equal to the longitudinal distance between the rear walking mechanism and the rear face of the heavy-duty stacking warehouse, it is determined to be aligned. Then, the integrated control module receives a signal to retract each stage of the multi-stage hydraulic lifting mechanism's lifting column. If the longitudinal distance between the front traveling mechanism and the front face of the heavy-duty stacking warehouse is not equal to the longitudinal distance between the rear traveling mechanism and the rear face of the heavy-duty stacking warehouse, it is determined to be misaligned. The distance that needs to be adjusted is calculated, and the traveling mechanism is started to perform distance compensation. At this time, the working status indicator unit will show a yellow indicator light flashing.

8. A control method for a hydraulically driven heavy-duty jacking device based on the control system described in any one of claims 1-7, characterized in that, Includes the following steps: Step S10: Power on and initialize the control system, reset the walking mechanism, steering mechanism, and multi-stage hydraulic lifting mechanism to their initial positions, and calibrate the lidar ranging unit and visual monitoring unit; Step S20: Respond to the external start command and detect the locking status of the hook mechanism; If the locking state is invalid, the working status indicator unit is triggered to display a fault alarm and the subsequent process is stopped; if the locking state is valid, the steps continue; Step S30: Control the visual monitoring unit to perform a three-dimensional spatial scan of the area above the load-bearing beam and the predetermined lifting path to obtain obstacle detection results; if an obstacle is detected, the working status indicator unit is triggered to display an environmental alarm and the subsequent process is stopped; if no obstacle is detected, control the multi-stage hydraulic lifting mechanism to perform multi-stage lifting actions; Step S40: During the lifting process or after reaching the preset height, the visual monitoring unit is controlled to perform a three-dimensional spatial scan of the area above the load-bearing beam and the predetermined lifting path to obtain obstacle detection results; if an obstacle is detected, the working status indicator unit is triggered to display an environmental alarm and the subsequent process is stopped; if no obstacle is detected, the multi-stage hydraulic lifting mechanism is controlled to perform multi-stage lifting actions; The lifting height information measured by the monitoring unit is fed back to verify whether the actual lifting height has reached the safe transportation height threshold, and height compensation is performed; Step S50: Control the walking mechanism to drive the load-bearing crossbeam to move; Step S60: Real-time acquisition of lateral distance data collected by the lidar ranging unit, analysis of whether there is a deviation in the lateral distance between the two walking mechanisms and the left and right ends of the heavy-duty stacking warehouse, and calculation of the real-time yaw angle; Step S70: Determine whether the yaw angle exceeds the preset yaw angle; if so, enter the correction sub-process, and synchronously control the steering mechanism to output the compensation angle; After compensation, return to step S60 for reassessment; Step S80: When the heavy load approaches the heavy load storage warehouse, reduce the traveling speed of the traveling mechanism, enter low-speed mode, and stop after reaching the predetermined position of the heavy load storage warehouse; Step S90: Obtain the longitudinal distance between the traveling mechanism and the heavy load storage warehouse detected by the lidar ranging unit, and determine whether the heavy load is aligned with the heavy load storage warehouse; if not aligned, control the traveling mechanism to perform micro-motion compensation until aligned; Step S100: Control the multi-stage hydraulic lifting mechanism to lower and unload the heavy load, and monitor the pressure of the load beam in real time; when the pressure drops to the preset pressure value, stop lowering, complete the unloading of the heavy load, and reset the heavy load lifting device.

9. The control method for the hydraulically driven heavy-duty jacking device according to claim 8, characterized in that: In step S70, the entry into the correction sub-process includes the following: When the integrated control module does not analyze any deviation in the lateral distance between the two walking mechanisms and the left and right end faces of the heavy-duty stacking warehouse, the walking mechanism maintains a standard speed, and the working status indicator unit flashes a green indicator light; when the integrated control module analyzes any deviation in the lateral distance between the two walking mechanisms and the left and right end faces of the heavy-duty stacking warehouse, the lateral distance difference between the two walking mechanisms and the geometric center line of the heavy-duty stacking warehouse is calculated, and the deviation angle between the two walking mechanisms and the geometric center line of the heavy-duty stacking warehouse is calculated based on this difference, while the speed of the walking mechanism is reduced; the integrated control module starts the steering mechanism to perform angle compensation based on the analyzed deviation angle, and the working status indicator unit flashes a yellow indicator light; after the angle compensation is completed, the process returns to step S60 for re-evaluation.

10. The control method for a hydraulically driven heavy-duty lifting device according to claim 1, characterized in that, In step S100, the reset operation of the heavy-duty lifting device includes the following: Step 1: After unloading, the integrated control module receives the reset signal and starts the walking mechanism to return; Step 2: The longitudinal distance between the walking mechanism and the initial reference point is measured in real time by the laser radar ranging unit, and the walking mechanism is controlled to move and stop, so that the walking mechanism reaches the preset turning point; Step 3: The steering mechanism is started to perform a 180° turning operation, and the turning angle is dynamically aligned based on the lateral distance between the walking mechanism and the left and right sides of the starting point measured in real time by the laser radar ranging unit; Step 4: After the turning is aligned, the walking mechanism is controlled to move again, and based on the longitudinal distance detected by the laser radar ranging unit, it stops at the initial standby position; Step 5: The walking mechanism, steering mechanism, and multi-stage hydraulic lifting mechanism are controlled to be reset to the physical zero position and electrical standby state in sequence.

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