An adaptive leveling platform based on ground monitoring and a leveling method thereof

Abstract

The present invention relates to an adaptive leveling platform based on ground monitoring and a leveling method thereof, which belongs to the field of leveling technology and solves the problems of platform leveling lag and inconsistent force on each leg in the prior art. The leveling platform of the present invention includes a platform body, legs, a monitoring system and a landing point adjustment mechanism; the legs serve as support members of the platform body and are adjustable in length; the monitoring system is used to realize ground monitoring and detect the height of the legs above the ground; the landing point adjustment mechanism is used to adjust the relative position of the legs and the platform body to realize the adjustment of the landing point of the legs. By adjusting the length of the legs according to the distance between the legs and the ground landing point, the leveling of the leveling platform is realized and each leg is guaranteed to land at the same time, so that each leg can provide balanced support.

Description

Technical Field

[0001] The invention relates to the technical field of leveling, and in particular to an adaptive leveling platform based on ground monitoring and a leveling method thereof. Background Art

[0002] Generally, the automatic leveling platform uses four electric cylinder legs and level sensors installed on the platform. The automatic leveling of the leveling platform is achieved by extending each leg. The automatic leveling process is generally divided into three stages: leg landing, rapid leg raising, and leveling.

[0003] The electric cylinder legs are generally rigidly connected to the platform. There are two problems encountered during the automatic leveling process.

[0004] First, during the landing of the outriggers, the uneven ground conditions lead to inconsistent times for each leg to touch the ground, and the force state of each leg is unstable during the dynamic adjustment process. There will be some deviation in judging the landing conditions of the outriggers through conditions such as supporting force.

[0005] After landing, the platform is leveled. During the leveling process, the platform is unstable and the leveling is not timely, so the leveling takes a long time.

[0006] Secondly, after leveling is completed, there will be inconsistency in the forces acting on the rigidly connected legs, and some legs may even be completely unstressed. Summary of the invention

[0007] In view of the above analysis, the present invention aims to provide an adaptive leveling platform based on ground monitoring and a leveling method thereof, so as to solve the problems of lag in leveling of the existing platform and inconsistent force on each leg.

[0008] The purpose of the present invention is mainly achieved through the following technical solutions:

[0009] An adaptive leveling platform based on ground monitoring, comprising:

[0010] A platform body, serving as the main body of the adaptive leveling platform;

[0011] Legs, serving as support members for the platform body, and having adjustable lengths;

[0012] A monitoring system, used to realize ground monitoring and detect the height of the legs above the ground;

[0013] The landing point adjustment mechanism is used to adjust the relative position of the supporting legs and the platform body to achieve the landing point adjustment of the supporting legs.

[0014] Furthermore, the monitoring system includes: a visual sensor, a laser sensor and a radar sensor for monitoring the ground environment.

[0015] Furthermore, the monitoring system includes a distance monitoring system, which is a distance measuring device installed on the legs and is used to monitor the height of each leg above the ground.

[0016] Further, the landing point adjustment mechanism includes: a rocker arm;

[0017] The legs include: a first leg, a second leg, a third leg and a fourth leg; the rocker lever includes: a first rocker lever, a second rocker lever, a third rocker lever and a fourth rocker lever;

[0018] The middle parts of the first rocker arm and the second rocker arm are hinged to the platform body, and the two ends are hinged to the first leg and the second leg respectively; the middle parts of the third rocker arm and the fourth rocker arm are hinged to the platform body, and the two ends are hinged to the third leg and the fourth leg respectively;

[0019] Furthermore, the first rocker arm is parallel to the second rocker arm, and the third rocker arm is parallel to the fourth rocker arm.

[0020] Furthermore, the landing point adjustment mechanism further includes a balancing mechanism; the balancing mechanism includes: a balancing rod, a first pull rod and a second pull rod;

[0021] The middle part of the balance rod is hinged to the platform body, and the two ends are respectively connected to one end of the first tie rod and the second tie rod through ball joints; the other end of the first tie rod is hinged to the second leg; the other end of the second tie rod is hinged to the fourth leg;

[0022] Further, the first rocker arm is hinged to the platform body through a first hinge point; the second rocker arm is hinged to the platform body through a second hinge point; and a line connecting the first hinge point and the second hinge point is perpendicular to the upper surface of the platform body;

[0023] The connecting line between the third rocker arm, the fourth rocker arm and the hinge point of the platform body is perpendicular to the upper surface of the platform body.

[0024] Furthermore, a level sensor is installed on the platform body.

[0025] A leveling method for an adaptive leveling platform based on ground monitoring, characterized in that it comprises the following steps:

[0026] Step S1: Keeping the main body of the adaptive leveling platform level;

[0027] Step S2: adjusting the landing point of each leg according to ground conditions;

[0028] Step S3: monitoring the distance between each leg and the ground, and adjusting the length of each leg;

[0029] Step S4: lowering the platform body until the legs are in contact with the ground;

[0030] The platform body is loosened and supported by the legs to complete the leveling installation.

[0031] In the step S2, the ground environment is monitored by a monitoring system to select a landing position; the relative position of the legs and the platform body is adjusted by a landing point adjustment mechanism to change the landing point of each leg.

[0032] In step S3, the distance between the legs and the ground is measured by a photoelectric rangefinder; the length of the legs is adjusted so that the distances between each leg and its landing point are equal.

[0033] The technical solution of the present invention can achieve at least one of the following effects:

[0034] 1. The adaptive leveling platform of the present invention comprises a rocker arm, a horizontal sensor, an encoder, four legs and a balancing mechanism. The first and second legs are hinged to the platform body through the first and second rocker arms, and the connection points are two revolute pairs. The third and fourth legs are hinged to the platform body through the third and fourth rocker arms. A parallelogram mechanism is formed between the legs and the two revolute pairs, which can swing around the platform body as a whole, and the linkage of the two sets of parallelogram mechanisms is maintained through the balancing mechanism, so that the legs are always perpendicular to the platform, and the spacing between the legs can be measured, and the landing position of each leg can be determined according to the surface conditions of the landing position and the distance between the legs. The present invention realizes the leveling of the adaptive leveling platform and ensures that each leg lands at the same time by adjusting the length and landing position of each leg, and can provide balanced support.

[0035] 2. The adaptive leveling platform of the present invention maintains the projection of the landing point of the four legs on the horizontal plane as a rectangle at all times through the balancing mechanism and the parallelogram mechanism, thereby realizing the linkage adjustment of the horizontal position of each leg and being able to accurately adjust the landing point of the legs so as to select the ground conditions suitable for supporting the platform body.

[0036] 3. The present invention installs a monitoring system on the leveling platform for realizing ground monitoring and detecting the height of the legs from the ground; it can judge whether the ground conditions / environment are suitable for the placement of the platform, and then can select a suitable landing point according to the ground environment.

[0037] In addition, by detecting the distance between each leg and the ground, the legs are adjusted to adapt to the uneven ground. After the leveling platform is dropped vertically, it can fit the uneven ground, achieving leveling before landing and the effect of multiple legs contacting the ground at the same time.

[0038] 4. The adaptive leveling platform of the present invention forms a parallelogram between the rocker arm and the legs, which can keep the legs and the platform body always perpendicular. When the platform body is kept horizontal, the legs are always in a vertical state, which can ensure the support stability of the legs when the adaptive leveling platform lands, thereby avoiding the phenomenon of the legs tilting. The present invention can instantly measure the distance between each leg and the ground through a distance measuring device, and then adjust the length of the legs, thereby achieving the adjustment of the length of the legs before landing, and further ensuring that each leg lands at the same time to achieve stable support for the platform body, avoiding the phenomenon of passive adjustment and leveling lag after the platform tilts.

[0039] 5. The main advantage of the adaptive leveling platform of the present invention is that it adopts an adaptive mechanism to ensure that each supporting leg can touch the ground reliably and each leg is evenly stressed during the landing stage, so that the supporting force can be used as the basis for judging whether the legs have landed. At the same time, after the leveling is completed, each leg bears the load evenly, thereby improving the load capacity of the adaptive leveling platform.

[0040] In the present invention, the above-mentioned technical solutions can also be combined with each other to achieve more preferred combination solutions. Other features and advantages of the present invention will be described in the subsequent description, and some advantages can become obvious from the description, or can be understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained through the contents particularly pointed out in the description and the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] The drawings are only for the purpose of illustrating particular embodiments and are not to be considered limiting of the present invention. Like reference symbols denote like components throughout the drawings.

[0042] Figure 1 It is an adaptive leveling platform based on ground monitoring of the present invention;

[0043] Figure 2 A state diagram of a self-adaptive leveling platform based on ground monitoring according to the present invention;

[0044] Figure 3 A side view of an adaptive leveling platform based on ground monitoring according to the present invention;

[0045] Figure 4 The main body view of the platform is omitted for an adaptive leveling platform based on ground monitoring of the present invention;

[0046] Figure 5 The linkage effect diagram of the supporting leg and the rocker arm of the present invention;

[0047] Figure 6 It is a schematic diagram of the leveling principle of the adaptive leveling platform of the present invention.

[0048] Reference numerals:

[0049] 1-first leg; 2-second leg; 3-third leg; 4-fourth leg; 5-first rocker arm; 6-second rocker arm; 7-third rocker arm; 8-fourth rocker arm; 9-balancing mechanism; 10-ground; 11-platform body;

[0050] 51 - first hinged rod; 61 - second hinged rod; 71 - third hinged rod; 81 - fourth hinged rod;

[0051] 91 - balance rod; 92 - first pull rod; 93 - second pull rod; 94 - fifth hinged rod. DETAILED DESCRIPTION

[0052] The preferred embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings, wherein the accompanying drawings constitute a part of the present invention and are used together with the embodiments of the present invention to illustrate the principles of the present invention, but are not used to limit the scope of the present invention.

[0053] Example 1

[0054] A specific embodiment of the present invention discloses an adaptive leveling platform based on ground monitoring, such as Figure 1 As shown,

[0055] It includes: a platform body 11, outriggers, a landing point adjustment mechanism and a monitoring system; wherein the platform body 11 serves as the main body of the leveling platform; the outriggers serve as supporting parts of the platform body 11, and the length of the outriggers is adjustable; the monitoring system is used to realize ground monitoring and detect the height of the outriggers from the ground; the landing point adjustment mechanism is used to adjust the relative position of the outriggers and the platform body 11 to realize the landing point adjustment of the outriggers.

[0056] The supporting legs include: a first supporting leg 1 , a second supporting leg 2 , a third supporting leg 3 and a fourth supporting leg 4 .

[0057] The monitoring system includes: visual sensors, laser sensors and radar sensors, which are used to monitor the ground environment. The monitoring system surveys the ground environment and then determines the landing position of the adaptive leveling platform.

[0058] The monitoring system also includes a distance monitoring system, which is a distance measuring device installed on the outriggers to monitor the height of each outrigger from the ground. By adjusting the length of the outriggers to make the distance between the lower end of each outrigger and its ground landing point equal, and lowering the platform as a whole by the same distance, the adaptive leveling platform can be landed in a balanced manner.

[0059] Furthermore, the landing point adjustment mechanism includes: a rocker arm and a balancing mechanism 9.

[0060] The rocker lever comprises a first rocker lever 5 , a second rocker lever 6 , a third rocker lever 7 and a fourth rocker lever 8 .

[0061] The middle parts of the first rocker arm 5 and the second rocker arm 6 are hinged to one side of the platform body 11, and the ends of the third rocker arm 7 and the fourth rocker arm 8 are respectively hinged to the first leg 1 and the second leg 2. The middle parts of the third rocker arm 7 and the fourth rocker arm 8 are hinged to the other side of the platform body 11, and the ends of the third rocker arm 7 and the fourth rocker arm 8 are respectively hinged to the third leg 3 and the fourth leg 4.

[0062] Furthermore, the first rocker arm 5 is parallel to the second rocker arm 6 , and the third rocker arm 7 is parallel to the fourth rocker arm 8 .

[0063] That is to say, the platform body 11 is rotatably connected to the middle part of the rocker arm, and both ends of the rocker arm are hinged to the supporting legs.

[0064] Furthermore, two groups of rocker arms are provided, and the two groups of rocker arms are symmetrically arranged on both sides of the platform body 11; and the balancing mechanism 9 is perpendicular to the plane where the rocker arms are located.

[0065] In a specific embodiment of the present invention, the legs include: a first leg 1, a second leg 2, a third leg 3 and a fourth leg 4; and the legs are parallel to each other. Figure 2 As shown, the first leg 1, the second leg 2, the third leg 3 and the fourth leg 4 are all retractable structures, that is, the lengths of the legs are adjustable to adapt to different ground conditions.

[0066] In a specific implementation of the present invention, the rocker lever comprises: a first rocker lever 5 , a second rocker lever 6 , a third rocker lever 7 and a fourth rocker lever 8 .

[0067] The first rocker lever 5 and the second rocker lever 6 are a first group of rocker levers, and the third rocker lever 7 and the fourth rocker lever 8 are a second group of rocker levers. The two groups of rocker levers are respectively arranged on both sides of the platform body 11 .

[0068] Furthermore, the first rocker arm 5 is parallel to the second rocker arm 6 , and the third rocker arm 7 is parallel to the fourth rocker arm 8 .

[0069] In a specific embodiment of the present invention, two ends of the first rocker arm 5 are respectively hinged to the first leg 1 and the second leg 2; two ends of the second rocker arm 6 are respectively hinged to the first leg 1 and the second leg 2; and the first rocker arm 5 is parallel to the second rocker arm 6;

[0070] The two ends of the third rocker arm 7 are hinged to the third leg 3 and the fourth leg 4 respectively; the two ends of the fourth rocker arm 8 are hinged to the third leg 3 and the fourth leg 4 respectively; and the third rocker arm 7 is parallel to the fourth rocker arm 8.

[0071] like Figure 3As shown, the first rocker arm 5 is parallel to the second rocker arm 6 , and the first rocker arm 5 and the second rocker arm 6 have the same length.

[0072] The first rocker arm 5 is hinged to the first leg 1 through the first hinge seat, and the first rocker arm 5 is hinged to the second leg 2 through the second hinge seat; the second rocker arm 6 is hinged to the first leg 1 through the third hinge seat, and the third rocker arm 6 is hinged to the second leg 2 through the fourth hinge seat. A parallelogram is formed between the first rocker arm 5, the first leg 1, the second rocker arm 6 and the second leg 2, wherein the first hinge seat, the second hinge seat, the third hinge seat and the fourth hinge seat serve as the four vertices of the parallelogram.

[0073] Similarly, the third rocker arm 7 is hingedly connected to the third leg 3 and the fourth leg 4 through the fifth hinge seat and the sixth hinge seat; the fourth rocker arm 8 is hingedly connected to the third leg 3 and the fourth leg 4 through the seventh hinge seat and the eighth hinge seat. The third rocker arm 7 is parallel to the fourth rocker arm 8 and the third rocker arm 7 and the fourth rocker arm 8 have the same length. A parallelogram is formed between the third rocker arm 7, the fourth rocker arm 8, the third leg 3 and the fourth leg 4, and the fifth hinge seat, the sixth hinge seat, the seventh hinge seat and the eighth hinge seat serve as the four vertices of the parallelogram.

[0074] Further:

[0075] The first rocker arm 5 is hinged to the platform body 11 through a first hinge point; the second rocker arm 6 is hinged to the platform body 11 through a second hinge point; and the line connecting the first hinge point and the second hinge point is perpendicular to the upper surface of the platform body 11; correspondingly, the line connecting the hinge points of the third rocker arm 7, the fourth rocker arm 8 and the platform body 11 is perpendicular to the upper surface of the platform body 11.

[0076] In a specific embodiment of the present invention, the first rocker arm 5 is hinged to the platform body 11 through the first hinge rod 51; the second rocker arm 6 is hinged to the platform body 11 through the second hinge rod 61; the third rocker arm 7 is hinged to the platform body 11 through the third hinge rod 71; the fourth rocker arm 8 is hinged to the platform body 11 through the fourth hinge rod 81. Among them, the first hinge rod 51 serves as the first hinge point, and the second hinge rod 61 serves as the second hinge point.

[0077] Specifically, the first hinged rod 51 is rotatably connected (hinged) to the first rocker arm 5, and the first hinged rod 51 is fixedly connected to the platform body 11. The second hinged rod 61 is rotatably connected (hinged) to the second rocker arm 6, and the second hinged rod 61 is fixedly connected to the platform body 11. Alternatively, the first hinged rod 51 is fixedly connected to the first rocker arm 5, the second hinged rod 61 is fixedly connected to the second rocker arm 6, and both the first hinged rod 51 and the second hinged rod 61 are hinged to the platform body 11.

[0078] Furthermore, a line connecting the first hinge rod 51 and the second hinge rod 61 is parallel to the supporting leg; a line connecting the third hinge rod 71 and the fourth hinge rod 81 is parallel to the supporting leg.

[0079] like Figure 5 As shown, the lines connecting the first leg 1, the first rocker arm 5, the second rocker arm 6 and the first hinge rod 51 (first hinge point) and the second hinge rod 61 (second hinge point) form a small parallelogram, and the lines connecting the second leg 2, the first rocker arm 5, the second rocker arm 6 and the first hinge rod 51 and the second hinge rod 61 form another small parallelogram.

[0080] Since the installation position between the first hinged rod 51, the second hinged rod 61 and the platform body 11 is fixed, the connecting line between the first hinged rod 51 and the second hinged rod 61 is always perpendicular to the platform body 11, and the connecting lines between the first leg 1, the first rocker arm 5, the second rocker arm 6 and the first hinged rod 51 (first hinge point) and the second hinged rod 61 (second hinge point) form a parallelogram structure, and the connecting lines between the second leg 2, the first rocker arm 5, the second rocker arm 6 and the first hinged rod 51 (first hinge point) and the second hinged rod 61 (second hinge point) form a parallelogram structure.

[0081] The first leg 1 and the second leg 2 are always parallel to the line between the first hinge rod 51 (first hinge point) and the second hinge rod 61 (second hinge point). Therefore, the first leg 1 and the second leg 2 are always perpendicular to the platform body 11.

[0082] Similarly, the third leg 3 and the fourth leg 4 are also always perpendicular to the platform body 11 .

[0083] That is to say, during the descent process of the adaptive leveling platform of the present invention, it is only necessary to keep the platform body 11 in a horizontal state to ensure that each leg is always in a vertical state, that is, each leg is always perpendicular to the ground.

[0084] Furthermore, the landing point adjustment mechanism also includes a balancing mechanism 9.

[0085] In a specific embodiment of the present invention, the balancing mechanism 9 includes: a balancing rod 91, a first pull rod 92 and a second pull rod 93; the middle part of the balancing rod 91 is hinged to the platform body 11, and the two ends are respectively connected to one end of the first pull rod 92 and the second pull rod 93 through ball joints; the other end of the first pull rod 92 is hinged to the second leg 2; the other end of the second pull rod 93 is hinged to the fourth leg 4.

[0086] That is to say, the balance rod 91 is hinged to the platform body 11; one end of the first pull rod 92 is hinged to the second leg 2, and the other end is connected to the balance rod 91 through a ball joint; one end of the second pull rod 93 is hinged to the fourth leg 4, and the other end is connected to the balance rod 91 through a ball joint.

[0087] In a specific implementation of the present invention, the balancing rod 91 is hinged to the platform body 11 via a fifth hinge rod 94 .

[0088] The first pull rod 92, the second pull rod 93, and the balance rod 91 form a balance mechanism 9, which connects the leg mechanisms on the left and right sides of the platform body 11 to ensure that the two sets of leg mechanisms swing in opposite directions to adapt to different ground surfaces.

[0089] like Figure 3 , Figure 4 As shown, when the second leg 2 is higher than the first leg 1, the second leg 2 will drive the first pull rod 92 to move upward, and at the same time the first pull rod 92 will deflect toward the first leg 1, and then the balance bar 91 will rotate clockwise, with the left end of the balance bar 91 higher than the right end, and the balance bar 91 will drive the second pull rod 93 to move downward, so that the fourth leg 4 is lower than the third leg 3, and at the same time the second pull rod 93 will deflect toward the third leg 3.

[0090] That is to say, the two ends of the balance bar 91 rotate at the same angle relative to the fifth hinged rod 94, that is, the height at which the left end of the balance bar 91 rises is equal to the height at which the right end of the balance bar 91 falls, and the height difference between the second leg 2 and the first leg 1 is equal to the height difference between the third leg 3 and the fourth leg 4. Due to the shape characteristics of the parallelogram, the first rocker arm 5 and the third rocker arm 7 have the same inclination angle but opposite inclination directions, and the spacing between the first leg 1 and the second leg 2 is equal to the spacing between the third leg 3 and the fourth leg 4.

[0091] That is to say, the adaptive leveling platform based on ground monitoring of the present invention ensures that the horizontal spacing between the first leg 1 and the second leg 2 is always equal to the horizontal spacing between the third leg 3 and the fourth leg 4 by setting a balancing mechanism 9, and the projections of the landing points of the four legs on the horizontal plane always form a regular rectangle. That is, by ensuring that the landing points of the four legs remain rectangular, the four legs can achieve uniform support for the platform body 11, ensuring that the loads borne by the four legs are the same.

[0092] In a specific implementation of the present invention, a level sensor is installed on the platform body 11 .

[0093] The distance monitoring system is a distance measuring device installed on the supporting legs, and is used to monitor the height of each supporting leg above the ground.

[0094] Preferably, the distance measuring device is a photoelectric distance meter, and a photoelectric distance meter is installed on each leg.

[0095] The level sensor is installed on the platform body 11 to measure the levelness of the platform.

[0096] Furthermore, the leveling platform of the present invention is also provided with an encoder for measuring the deflection angle of the balancing pole 91. The encoder is installed at the gyration center (rotation center) between the balancing pole 91 and the platform body 11 to measure the rotation angle of the balancing pole 91 relative to the platform body 11.

[0097] According to the above principle, the leveling platform of the present invention can know the rotation angle of the rocker arm and the distance between the first leg 1 and the second leg 2 by measuring the rotation angle of the balance bar 91. When each leg lands, the relative position of each leg landing point can be calculated by the horizontal sensor to keep the platform body 11 horizontal and the deflection angle of the balance bar 91 measured by the encoder, which serves as the control basis for rapid leveling.

[0098] Furthermore, photoelectric rangefinders are installed on the first leg 1, the second leg 2, the third leg 3 and the fourth leg 4, and the photoelectric rangefinders are installed at the lower ends of the legs. The photoelectric rangefinders can measure the distance between the legs and the ground.

[0099] When leveling, the length of the legs is adjusted according to the distance between the legs and the ground measured by the photoelectric rangefinder, thereby ensuring that the four legs land at the same time. In addition, the length of the legs is adjusted based on the measured landing point position of the legs and the distance between each leg and its landing point measured by the photoelectric rangefinder.

[0100] Furthermore, a rotating motor is installed at the rotation center of the balance bar 91 (i.e., the fifth hinged rod 94), which can adjust the deflection angle of each rocker arm by controlling the deflection angle of the balance bar 91, thereby achieving adjustment of the landing point of each leg.

[0101] When implementing,

[0102] The present invention provides an adaptive leveling platform based on ground monitoring, and the leveling platform comprises a horizontal sensor, an encoder, four leveling legs, a set of balancing mechanisms 9 and two sets of rocker lever mechanisms. The first leg 1 and the second leg 2 on the left side of the platform body are connected to the platform body 11 through the first rocker lever 5, the second rocker lever 6 and the first hinged rod 51 and the second hinged rod 61 on the rocker lever, and the connection point is two revolute pairs. A parallelogram mechanism is formed between the first leg 1, the second leg 2 and the two revolute pairs, which can swing around the platform body as a whole, and ensure that the first leg 1, the second leg 2 and the platform body 11 (upper surface) remain vertical.

[0103] Similarly, the third leg 3 and the fourth leg 4 on the right side of the platform are connected in the same way. A parallelogram mechanism is formed between the third leg 3, the fourth leg 4 and the two revolving pairs (the third and fourth hinged rods), which can swing around the platform body 11 as a whole and ensure that the third leg 3, the fourth leg 4 remain perpendicular to the platform body 11 (upper surface).

[0104] Example 2

[0105] A leveling method for an adaptive leveling platform based on ground monitoring, such as Figure 6 As shown, the method for leveling an adaptive leveling platform based on ground monitoring in Example 1 includes the following steps:

[0106] Step S1: Keeping the platform body 11 of the adaptive leveling platform level;

[0107] Step S2: adjusting the landing point of each leg according to ground conditions;

[0108] Step S3: monitoring the distance between each leg and the ground, and adjusting the length of each leg;

[0109] Step S4: vertically lower the platform body 11 until the legs touch the ground; loosen the platform body 11, and support the platform body 11 through the legs to complete the leveling installation.

[0110] In step S1:

[0111] First, the ground environment is monitored through the monitoring system (such as potholes, water accumulation or small slopes, etc.), and the placement location of the adaptive leveling platform is selected; the levelness of the platform body 11 is monitored by the level sensor; that is, during the leveling and landing process of the adaptive leveling platform, the platform body 11 is kept in a level state through real-time monitoring by the level sensor.

[0112] In step S2,

[0113] The ground environment is monitored by the monitoring system to select the landing position; the relative position of the legs and the platform body 11 is adjusted by the landing point adjustment mechanism to change the landing point of each leg. The encoder can measure the rotation angle of the balance bar 91, and then the relative position of each leg and the platform body 11 can be calculated, and the landing point position of each leg can be calculated.

[0114] Furthermore, the rotating motor at the position of the fifth articulated rod 94 is driven, and the rotating motor drives the balancing rod 91 to rotate, so as to adjust the deflection angle between the balancing rod 91 and the platform body 11, and then adjust the deflection angle of each rocker arm and the platform body 11, and finally realize the adjustment of the landing position of each leg.

[0115] By deflecting the balancing rod 91, the first rocker arm 5 and the second rocker arm 6 are driven to deflect relative to the platform body 11, and based on the deformation principle of the parallelogram, the horizontal position and the vertical position of the first leg 1 and the second leg 2 relative to the platform body 11 are adjusted.

[0116] In step S3,

[0117] The distance between the outriggers and the ground is measured by a photoelectric rangefinder; the length of the outriggers is adjusted so that the distance between each outrigger and its landing point is equal.

[0118] That is to say, the distance between each leg and the ground can be measured instantly by the photoelectric rangefinder, and the length of each leg can be adjusted accordingly; after adjustment, the distance between the lower end of each leg and the ground is made the same.

[0119] Specifically, when the distances between the legs and the ground measured by the various photoelectric rangefinders are different, the lengths of the legs are adjusted; when the distances between the legs and the ground measured by the various photoelectric rangefinders are the same, the adjustment of the lengths of the legs is completed.

[0120] In step S4,

[0121] Since the distances between each leg and its ground landing point are the same, each leg can contact the ground at the same time after descending the same distance.

[0122] Specifically, by setting the balancing mechanism 9, it is ensured that the distance between the first leg 1 and the second leg 2 is always equal to the distance between the third leg 3 and the fourth leg 4, and the landing points of the four legs always form a regular rectangle; by ensuring that the landing points of the four legs remain rectangular, the four legs can evenly support the platform body 11, and the loads borne by the four legs are the same. When the four legs are reliably landed, the extension length of each leg and the force condition of each leg are calculated.

[0123] Compared with the prior art, the technical solution provided by this embodiment has at least one of the following beneficial effects:

[0124] The leveling platform of the present invention can achieve that the platform body 11 remains level in different ground environments, and provides a stable load-bearing capability by having all four legs in contact with the ground.

[0125] The existing automatic leveling platform uses four electric cylinder legs and a horizontal sensor installed on the platform. After the platform lands, the legs are extended and retracted to achieve automatic leveling of the leveling platform. The process is generally divided into three stages: leg landing, rapid leg raising, and leveling.

[0126] The adaptive leveling platform based on ground monitoring of the present invention can automatically level before landing, adjust the length of each leg, calculate the landing point, and each leg lands at the same time to provide uniform support force to the platform body 11. The leveling process includes three stages: measuring the landing point, adjusting the length of the leg, and landing the leg. The adaptive leveling platform based on ground monitoring of the present invention and its leveling method change the existing passive adjustment method after landing and realize active adjustment before the platform body 11 lands.

[0127] The leveling platform of the present invention adopts an adaptive mechanism to ensure that each supporting leg can touch the ground reliably and each leg is evenly stressed during the landing stage of the legs, so that the size of the leg load can be measured as a basis for judging whether the legs have landed. The encoder and horizontal sensor installed on the platform can quickly calculate the extension length of each electric cylinder to achieve the function of rapid leveling. After the leveling is completed, each leg bears the load evenly, thereby improving the load capacity of the leveling platform.

[0128] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by any technician familiar with the technical field within the technical scope disclosed by the present invention should be covered within the protection scope of the present invention.

Claims

1. An adaptive leveling platform based on ground monitoring, characterized in that: include: A platform body (11), serving as the main body of the adaptive leveling platform; A leg, serving as a support for the platform body (11), and having an adjustable length; A monitoring system, used to realize ground monitoring and detect the height of the legs above the ground; A landing point adjustment mechanism, used for adjusting the relative position of the supporting legs and the platform body (11), so as to adjust the landing point of the supporting legs; The monitoring system includes: a visual sensor, a laser sensor and a radar sensor for monitoring the ground environment; The monitoring system includes a distance monitoring system, which is a distance measuring device installed on the legs and is used to monitor the height of each leg above the ground; The legs comprise: a first leg (1), a second leg (2), a third leg (3) and a fourth leg (4); the first leg (1), the second leg (2), the third leg (3) and the fourth leg (4) are all equipped with photoelectric distance meters, and the photoelectric distance meters are installed at the lower ends of the legs, and the distance between the legs and the ground can be measured by the photoelectric distance meters; The drop point adjustment mechanism comprises: a rocker arm; The rocker lever comprises: a first rocker lever (5), a second rocker lever (6), a third rocker lever (7) and a fourth rocker lever (8); The first rocker arm (5) and the second rocker arm (6) are hinged to the platform body (11) at their middle parts, and their two ends are hinged to the first leg (1) and the second leg (2) respectively; the third rocker arm (7) and the fourth rocker arm (8) are hinged to the platform body (11) at their middle parts, and their two ends are hinged to the third leg (3) and the fourth leg (4) respectively; Furthermore, the first rocker arm (5) is parallel to the second rocker arm (6), and the third rocker arm (7) is parallel to the fourth rocker arm (8); The landing point adjustment mechanism further comprises a balancing mechanism (9); the balancing mechanism (9) comprises: a balancing rod (91), a first pull rod (92) and a second pull rod (93); The middle part of the balance bar (91) is hinged to the platform body (11), and the two ends are respectively connected to the first tie rod (92) and one end of the second tie rod (93) through ball joints; the other end of the first tie rod (92) is hinged to the second leg (2); the other end of the second tie rod (93) is hinged to the fourth leg (4); a rotating motor is installed at the rotation center position of the balance bar (91), which can adjust the deflection angle of each rocker arm by controlling the deflection angle of the balance bar (91), thereby realizing the adjustment of the landing point of each leg.

2. The adaptive leveling platform based on ground monitoring according to claim 1, characterized in that: The first rocker arm (5) is hinged to the platform body (11) via a first hinge point; the second rocker arm (6) is hinged to the platform body (11) via a second hinge point; and a line connecting the first hinge point and the second hinge point is perpendicular to an upper surface of the platform body (11); The connecting line between the hinge points of the third rocker arm (7), the fourth rocker arm (8) and the platform body (11) is perpendicular to the upper surface of the platform body (11).

3. The adaptive leveling platform based on ground monitoring according to claim 1, characterized in that: A level sensor is installed on the platform body (11).

4. A leveling method for an adaptive leveling platform based on ground monitoring, characterized in that: The adaptive leveling platform based on ground monitoring according to any one of claims 1 to 3 comprises the following steps: Step S1: Keeping the platform body (11) of the adaptive leveling platform level; Step S2: adjusting the landing point of each leg according to ground conditions; Step S3: monitoring the distance between each leg and the ground, and adjusting the length of each leg; Step S4: lowering the platform body (11) until the legs are in contact with the ground; The platform body (11) is loosened, and the platform body (11) is supported by the legs to complete the leveling installation.

5. The leveling method of the adaptive leveling platform based on ground monitoring according to claim 4, characterized in that: In the step S2, the ground environment is monitored by a monitoring system to select a landing position; the relative position of the legs and the platform body (11) is adjusted by a landing point adjustment mechanism, thereby changing the landing point of each leg.

6. The leveling method of the adaptive leveling platform based on ground monitoring according to claim 5, characterized in that: In step S3, the distance between the legs and the ground is measured by a photoelectric rangefinder; the length of the legs is adjusted so that the distances between each leg and its landing point are equal.

Images