Stacking machine with four-direction walking function, and control method thereof

The invention discloses a stacking machine with a four-direction walking function. The stacking machine with the four-direction walking function comprises a stacking machine vehicle body, wherein thestacking machine vehicle body is provided with a four-direction walking mechanism, a lifting mechanism, an electric control system, an energy system and a communication system; the four-direction walking mechanism comprises active turning driving wheels arranged in the diagonal direction of a chassis of the stacking machine vehicle body; the chassis of the stacking machine vehicle body is furtherprovided with auxiliary turning walking wheels; and the active turning driving wheels are connected with a first servo motor driving the active turning driving wheels to rotate and a second servo motor changing the angles of the active turning driving wheels. According to the stacking machine with the four-direction walking function, the storage density of an existing stereoscopic warehouse is greatly increased, and the au