A terrain self-balancing control system and method for a lifting platform and a lifting table

Abstract

The present invention provides a terrain self-balancing control system, method, and lifting table for a lifting platform, relating to the field of lifting platform control technology, including: a first motor, a second motor, a tilt detection device, and a self-balancing control module. When the first motor and the second motor are in an inoperative state and the first tilt angle is greater than a preset value, the module controls the first motor to drive the first lifting leg to adjust the preset height, and then obtains the second tilt angle detected by the tilt detection device in real time. The module processes the first tilt angle and the second tilt angle to obtain the required height and direction of the first and second lifting legs, and then controls the first motor and the second motor to respectively adjust the first and second lifting legs according to the required height and direction, so as to perform terrain self-balancing control on the placement platform. The beneficial effect is that the tilt detection device can obtain an accurate tilt angle when the lifting platform surface is stationary, eliminating angle measurement deviation caused by jitter during the control process.

Description

Technical Field

[0001] The present invention relates to the technical field of lifting platform control, and in particular to a terrain self-balancing control system and method for a lifting platform, and a lifting table. Background Art

[0002] When a lifting platform is raised and leveled, the existing self-balancing control method uses a six-axis sensor to detect the platform's tilt angle in real time during movement. The lifting legs then adjust this angle as they move until it falls within a set threshold. A problem with this method is that the measured angle can be subject to significant error due to the platform's vibrations during movement, resulting in a potential for a significant tilt angle to persist even after leveling. Summary of the Invention

[0003] In response to the problems existing in the prior art, the present invention provides a terrain self-balancing control system for a lifting platform, wherein the lifting platform includes a placement platform and a first lifting leg and a second lifting leg vertically arranged on both sides of the bottom of the placement platform; the terrain self-balancing control system includes:

[0004] a first motor, disposed on the first lifting leg;

[0005] a second motor, disposed on the second lifting leg;

[0006] a tilt detection device, disposed on the placement platform, for detecting in real time a first tilt angle of the placement platform relative to a horizontal plane;

[0007] The self-balancing control module is respectively connected to the first motor, the second motor and the tilt detection device, and is used to control the first motor to drive the first lifting leg to adjust the preset height when the first motor and the second motor are in an inoperative state and the first tilt angle is greater than a preset value, and then obtain the second tilt angle detected by the tilt detection device in real time, and obtain the required adjusted height and direction of the first lifting leg and the second lifting leg according to the first tilt angle and the second tilt angle, and then control the first motor and the second motor to respectively lift and lower the first lifting leg and the second lifting leg according to the required adjusted height and the required adjusted direction, so as to perform terrain self-balancing control on the placement platform.

[0008] Preferably, the self-balancing control module includes:

[0009] a leveling starting unit, configured to detect the working status of the first motor and the second motor in real time, obtain the first tilt angle when the working status indicates that the first motor and the second motor are in a non-working state, and generate a leveling start signal when the first tilt angle is greater than the preset value;

[0010] a first adjustment unit, connected to the leveling start unit, for controlling the first motor to drive the first lifting leg to adjust the preset height according to the leveling start signal, and then controlling the tilt detection device to detect and obtain the second tilt angle;

[0011] a lifting leg spacing calculation unit, connected to the first adjustment unit, for calculating a lifting leg horizontal spacing between the first lifting leg and the second lifting leg according to the first tilt angle, the second tilt angle, and the preset height;

[0012] a height adjustment calculation unit connected to the lifting leg spacing calculation unit, configured to calculate the height adjustment according to the second tilt angle and the horizontal spacing of the lifting legs;

[0013] an adjustment direction determination unit, connected to the first adjustment unit, configured to determine, based on the first tilt angle and the second tilt angle, a corresponding relationship between the lifting direction of the first lifting leg when adjusting the preset height and a changing trend of the tilt angle of the lifting platform, and to determine, based on the corresponding relationship, the required adjustment directions of the first motor and the second motor;

[0014] A control unit is connected to the adjustment direction judgment unit and the required adjustment height calculation unit, and is used to control the first motor and the second motor to respectively lift and lower the first lifting leg and the second lifting leg according to the required adjustment height and the required adjustment direction, so as to perform terrain self-balancing control on the placement platform.

[0015] Preferably, the first adjustment unit is further configured to generate a call signal after controlling the tilt detection device to detect the second tilt angle, and the self-balancing control module further comprises:

[0016] a storage unit connected to the adjustment direction determination unit and the lifting leg spacing calculation unit, and configured to store the lifting leg horizontal spacing and the corresponding relationship;

[0017] a data calling unit connected to the first adjustment unit, the storage unit, the height-to-be-adjusted calculating unit, and the adjustment direction determining unit, and configured to generate a processing signal when the horizontal spacing between the lifting legs and the corresponding relationship are not found in the storage unit according to the calling signal, and to send the horizontal spacing between the lifting legs to the height-to-be-adjusted calculating unit and the corresponding relationship to the adjustment direction determining unit when the horizontal spacing between the lifting legs and the corresponding relationship are found;

[0018] The lifting leg spacing calculation unit obtains the first tilt angle, the second tilt angle and the preset height according to the processing signal and processes them to obtain the lifting leg horizontal spacing.

[0019] Preferably, the tilt detection device is a six-axis sensor.

[0020] The present invention also provides a terrain self-balancing control method for a lifting platform, which is applied to the terrain self-balancing control system described above, wherein the lifting platform in the terrain self-balancing control system includes a placement platform and a first lifting leg and a second lifting leg vertically arranged on both sides of the bottom of the placement platform;

[0021] The terrain self-balancing control method includes:

[0022] Step S1: The terrain self-balancing control system determines whether the first tilt angle is greater than the preset value when the first motor and the second motor are in an inoperative state.

[0023] If yes, go to step S2;

[0024] If not, return to step S1;

[0025] In step S2, the terrain self-balancing control system controls the first motor to drive the first lifting leg to adjust the preset height, and then obtains the second tilt angle detected by the tilt detection device in real time, and obtains the required height and direction of the first lifting leg and the second lifting leg according to the first tilt angle and the second tilt angle, and then controls the first motor and the second motor to respectively lift and lower the first lifting leg and the second lifting leg according to the required height and the required direction, so as to perform terrain self-balancing control on the placement platform.

[0026] Preferably, the step S2 includes:

[0027] Step S21: The terrain self-balancing control system detects the working status of the first motor and the second motor in real time, and when the working status indicates that the first motor and the second motor are not working, obtains the first tilt angle, and generates a leveling start signal when the first tilt angle is greater than the preset value;

[0028] Step S22, the terrain self-balancing control system controls the first motor to drive the first lifting leg to adjust the preset height according to the start leveling signal, and then controls the tilt detection device to detect and obtain the second tilt angle;

[0029] Step S23, the terrain self-balancing control system calculates a horizontal distance between the first lifting leg and the second lifting leg according to the first inclination angle, the second inclination angle, and the preset height;

[0030] In step S24, the terrain self-balancing control system calculates the required height adjustment based on the second inclination angle and the horizontal spacing between the lifting legs, and calculates the required adjustment directions of the first motor and the second motor based on the corresponding relationship between the lifting direction when the first lifting leg adjusts the preset height and the changing trend of the inclination angle of the lifting platform;

[0031] In step S25, the terrain self-balancing control system controls the first motor and the second motor to respectively adjust the first lifting leg and the second lifting leg according to the required height and the required direction, so as to perform terrain self-balancing control on the placement platform.

[0032] Preferably, the terrain self-balancing control system further stores the horizontal spacing between the lifting legs and the corresponding relationship, and then the step S22 further includes:

[0033] The terrain self-balancing control system determines whether the horizontal spacing of the lifting legs and the corresponding relationship can be queried:

[0034] If yes, go to step S24;

[0035] If not, go to step S23.

[0036] Preferably, the tilt detection device is a six-axis sensor.

[0037] The present invention also provides a lifting table, comprising the above-mentioned terrain self-balancing control system.

[0038] The above technical solution has the following advantages or beneficial effects: a more accurate tilt angle is obtained through the tilt detection device when the lifting platform is stationary, eliminating the deviation in angle measurement caused by jitter during terrain self-balancing control, and avoiding the situation where a large tilt angle still exists after the control is completed. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 This is a schematic structural diagram of a terrain self-balancing control system for a lifting platform in a preferred embodiment of the present invention;

[0040] Figure 2 FIG1 is a flow chart of a terrain self-balancing control method for a lifting platform in a preferred embodiment of the present invention;

[0041] Figure 3 1 is a schematic diagram of a sub-flow chart of step S2 of a terrain self-balancing control method of a lifting platform in a preferred embodiment of the present invention. DETAILED DESCRIPTION

[0042] The present invention is described in detail below with reference to the accompanying drawings and specific embodiments. The present invention is not limited to this embodiment, and other embodiments may also fall within the scope of the present invention as long as they conform to the gist of the present invention.

[0043] In a preferred embodiment of the present invention, based on the above-mentioned problems existing in the prior art, a terrain self-balancing control system of a lifting platform is provided, wherein the lifting platform comprises a placing platform and a first lifting leg and a second lifting leg arranged on both sides of the bottom of the placing platform in a vertical direction; Figure 1 As shown, the terrain self-balancing control system includes:

[0044] A first motor 1 is provided on the first lifting leg;

[0045] A second motor 2 is provided on the second lifting leg;

[0046] The tilt detection device 3 is provided on the placement platform and is used to detect a first tilt angle of the placement platform relative to a horizontal plane in real time;

[0047] The self-balancing control module 4 is respectively connected to the first motor 1, the second motor 2 and the tilt detection device 3, and is used to control the first motor 1 to drive the first lifting leg to adjust the preset height when the first motor 1 and the second motor 2 are in an inoperative state and the first tilt angle is greater than a preset value, and to obtain the second tilt angle detected by the tilt detection device in real time, and to obtain the height and direction to be adjusted of the first lifting leg and the second lifting leg according to the first tilt angle and the second tilt angle, and then control the first motor 1 and the second motor 2 to lift and lower the first lifting leg and the second lifting leg according to the height and direction to be adjusted, so as to perform terrain self-balancing control on the placement platform.

[0048] Specifically, in this embodiment, when the first motor 1 and the second motor 2 are in a non-working state, when the first tilt angle is greater than a preset value, it indicates that leveling needs to be started, and the first motor 1 is controlled to adjust the first lifting leg to a fixed preset height. At this time, the second tilt angle is obtained, and the height to be adjusted and the direction to be adjusted corresponding to the first motor 1 and the second motor 2 are obtained according to the difference between the first tilt angle and the second tilt angle and the preset height, so as to control the first motor 1 and the second motor 2 to adjust the first lifting leg and the second lifting leg accordingly, and finally realize the leveling of the lifting platform.

[0049] In a preferred embodiment of the present invention, the tilt detection device 3 is a six-axis sensor.

[0050] Specifically, in this embodiment, the six-axis sensor is used to obtain the Y-axis gravity acceleration value and the Z-axis gravity acceleration value of the lifting platform, and the inverse tangent function is used to calculate the current tilt angle θ. The calculation formula is as follows:

[0051] θ=180*(arctan2(iAccVal_y,iAccVal_z) / PI);

[0052] In the formula, iAccVal_y is the gravity acceleration value on the Y-axis, iAccVal_z is the gravity acceleration value on the Z-axis, and PI is the pi.

[0053] The calculated tilt angle θ has a value range of (-180, 180) degrees and needs to be converted to a range of (-90, 90) degrees. If the θ range is (90, 180) degrees, the tilt angle θ is subtracted from the preset adjustment value, that is: θ = θ - 180 degrees; if the θ range is (-180, -90) degrees, the tilt angle θ is added to the preset adjustment value, that is: θ = θ + 180 degrees.

[0054] It can be seen that the angle range of the first tilt angle and the second tilt angle is between (-90, 90) degrees, and the first tilt angle and the second tilt angle are positive at (0, 90) degrees and negative at (-90, 0) degrees.

[0055] In a preferred embodiment of the present invention, Figure 1 As shown, the self-balancing control module 4 includes:

[0056] a leveling start unit 41 for detecting the working status of the first motor 1 and the second motor 2 in real time, obtaining a first tilt angle when the working status indicates that the first motor 1 and the second motor 2 are not working, and generating a leveling start signal when the first tilt angle is greater than a preset value;

[0057] The first adjustment unit 42 is connected to the leveling start unit 41 and is used to control the first motor 1 to drive the first lifting leg to adjust the preset height according to the leveling start signal, and then control the tilt detection device to detect and obtain a second tilt angle;

[0058] a lifting leg spacing calculation unit 43 connected to the first adjustment unit 42 and configured to calculate a lifting leg horizontal spacing between the first lifting leg and the second lifting leg according to the first tilt angle, the second tilt angle, and a preset height;

[0059] The height adjustment calculation unit 44 is connected to the lifting leg spacing calculation unit 43 and is used to calculate the height adjustment according to the second tilt angle and the horizontal spacing of the lifting legs;

[0060] An adjustment direction determination unit 45 is connected to the first adjustment unit 42 and is used to determine, based on the first tilt angle and the second tilt angle, the lifting direction of the first lifting leg when adjusting the preset height, the corresponding relationship between the lifting direction and the changing trend of the tilt angle of the lifting platform, and the required adjustment direction of the first motor 1 and the second motor 2;

[0061] The control unit 46 is connected to the adjustment direction judgment unit 45 and the height adjustment calculation unit 44, and is used to control the first motor 1 and the second motor 2 to respectively adjust the first lifting leg and the second lifting leg according to the required height and the required direction, so as to perform terrain self-balancing control on the placement platform.

[0062] Specifically, in this embodiment, the first inclination angle and the second inclination angle of the placement platform relative to the horizontal plane are obtained respectively in the static state and after the first lifting leg is adjusted. The horizontal spacing of the lifting legs is calculated by the trigonometric function of the two inclination angles and the preset height. The calculation formula is as follows:

[0063] L=L0 / (Sinθ2-Sinθ1),

[0064] Then, the heights that need to be adjusted for the first and second lifting legs are calculated using the trigonometric function of the horizontal spacing between the lifting legs and the second tilt angle. The calculation formula is as follows:

[0065] L1=L*Sinθ2

[0066] In the above formula, L is the horizontal distance between the lifting legs, L0 is the preset height, θ2 is the second tilt angle, θ1 is the first tilt angle, and L1 is the height to be adjusted.

[0067] Then, the corresponding relationship between the lifting direction of the first lifting leg when adjusting the preset height and the changing trend of the inclination angle of the lifting platform is obtained, and the adjustment directions of the first lifting leg and the second lifting leg are obtained according to the corresponding relationship. For example, the first inclination angle and the second inclination angle are positive at (0, 90) degrees and negative at (-90, 0) degrees. If the second inclination angle is positive and the first lifting leg rises so that the first inclination angle is greater than the second inclination angle, it means that the first lifting leg needs to rise and the second lifting leg needs to fall; if the second inclination angle is positive and the first lifting leg rises so that the first inclination angle is not greater than the second inclination angle, it means that the first lifting leg needs to fall and the second lifting leg needs to rise; and if the second inclination angle is negative and the first lifting leg rises so that the first inclination angle is greater than the second inclination angle, it means that the first lifting leg needs to fall and the second lifting leg needs to rise; if the second inclination angle is negative and the first lifting leg rises so that the first inclination angle is not greater than the second inclination angle, it means that the first lifting leg needs to rise and the second lifting leg needs to fall.

[0068] Finally, the first motor 1 and the second motor 2 are controlled to respectively adjust the first lifting leg and the second lifting leg according to the height and direction to be adjusted, wherein the first lifting leg and the second lifting leg can adjust the heights separately at the same time, and the sum of the heights adjusted separately is equal to the height to be adjusted, so as to perform terrain self-balancing control on the placement platform.

[0069] In a preferred embodiment of the present invention, the first adjustment unit 41 is further configured to generate a call signal after the tilt detection device is controlled to detect the second tilt angle, such as Figure 1 As shown, the self-balancing control module 4 also includes:

[0070] The storage unit 47 is connected to the adjustment direction determination unit 45 and the lifting leg spacing calculation unit 43, and is used to store the horizontal spacing of the lifting legs and the corresponding relationship;

[0071] The data calling unit 48 is connected to the first adjustment unit 42, the storage unit 47, the height adjustment calculation unit 44, and the adjustment direction determination unit 45, and is configured to generate a processing signal when the horizontal spacing of the lifting legs and the corresponding relationship are not found in the storage unit 47 according to the calling signal, and to send the horizontal spacing of the lifting legs to the height adjustment calculation unit 44 and the corresponding relationship to the adjustment direction determination unit 45 when the horizontal spacing of the lifting legs and the corresponding relationship are found;

[0072] The lifting leg spacing calculation unit obtains the first tilt angle, the second tilt angle and the preset height according to the processing signal and processes them to obtain the lifting leg horizontal spacing.

[0073] Specifically, in this embodiment, the terrain self-balancing control system can also store the correspondence between the horizontal spacing of the lifting legs and the lifting direction when the first lifting leg adjusts the preset height, and the changing trend of the inclination angle of the lifting platform. Before each terrain self-balancing control, it queries whether there is a stored horizontal spacing of the lifting legs and the corresponding relationship. If so, the horizontal spacing of the lifting legs and the corresponding relationship are directly called for subsequent control, which reduces steps and is convenient and quick.

[0074] The present invention also provides a terrain self-balancing control method for a lifting platform, which is applied to the terrain self-balancing control system described above. The lifting platform in the terrain self-balancing control system includes a placement platform and a first lifting leg and a second lifting leg vertically arranged on both sides of the bottom of the placement platform.

[0075] like Figure 2 As shown, the terrain self-balancing control method includes:

[0076] Step S1: The terrain self-balancing control system determines whether the first tilt angle is greater than a preset value when the first motor and the second motor are in an inoperative state.

[0077] If yes, go to step S2;

[0078] If not, return to step S1;

[0079] In step S2, the terrain self-balancing control system controls the first motor to drive the first lifting leg to adjust the preset height, and then obtains the second tilt angle detected by the tilt detection device in real time, and obtains the height and direction to be adjusted of the first lifting leg and the second lifting leg according to the first tilt angle and the second tilt angle, and then controls the first motor and the second motor to respectively adjust the first lifting leg and the second lifting leg according to the height and direction to be adjusted, so as to perform terrain self-balancing control on the placement platform.

[0080] In a preferred embodiment of the present invention, Figure 3 As shown, step S2 includes:

[0081] Step S21: The terrain self-balancing control system detects the working status of the first motor and the second motor in real time, obtains a first tilt angle when the working status indicates that the first motor and the second motor are not working, and generates a leveling start signal when the first tilt angle is greater than a preset value;

[0082] Step S22: The terrain self-balancing control system controls the first motor to drive the first lifting leg to adjust the preset height according to the start leveling signal, and then controls the tilt detection device to detect and obtain a second tilt angle.

[0083] Step S23, the terrain self-balancing control system calculates the horizontal distance between the first lifting leg and the second lifting leg according to the first inclination angle, the second inclination angle and the preset height;

[0084] Step S24: The terrain self-balancing control system calculates the required height adjustment based on the second inclination angle and the horizontal spacing between the lifting legs, and the required adjustment directions of the first motor and the second motor based on the corresponding relationship between the lifting direction when the first lifting leg is adjusted to the preset height and the changing trend of the inclination angle of the lifting platform;

[0085] In step S25 , the terrain self-balancing control system controls the first motor and the second motor to respectively adjust the first lifting leg and the second lifting leg according to the required height and direction to be adjusted, so as to perform terrain self-balancing control on the placement platform.

[0086] In a preferred embodiment of the present invention, the terrain self-balancing control system further stores the horizontal spacing of the lifting legs and the corresponding relationship, and then after step S22, the following steps are further included:

[0087] The terrain self-balancing control system determines whether it can query the horizontal spacing and corresponding relationship of the lifting legs:

[0088] If yes, go to step S24;

[0089] If not, go to step S23.

[0090] In a preferred embodiment of the present invention, the tilt detection device is a six-axis sensor.

[0091] The present invention also provides a lifting table, comprising the above-mentioned terrain self-balancing control system.

[0092] Specifically, in this embodiment, a controller is provided on the lifting table, the self-balancing control module is integrated into the controller, and the tilt detection device can be provided at the bottom of the lifting table top and connected to the controller via wired or wireless connection, or can be integrated into the controller.

[0093] The above are only preferred embodiments of the present invention and do not limit the implementation mode and protection scope of the present invention. For those skilled in the art, it should be aware that all solutions obtained by equivalent substitutions and obvious changes made using the contents of this specification and illustrations should be included in the protection scope of the present invention.

Claims

1. A terrain self-balancing control system for a lifting platform, characterized in that: The lifting platform includes a placing platform and a first lifting leg and a second lifting leg arranged on both sides of the bottom of the placing platform in a vertical direction; the terrain self-balancing control system includes: a first motor, disposed on the first lifting leg; a second motor, disposed on the second lifting leg; a tilt detection device, disposed on the placement platform, for detecting in real time a first tilt angle of the placement platform relative to a horizontal plane; a self-balancing control module, connected to the first motor, the second motor, and the tilt detection device, respectively, and configured to, when the first motor and the second motor are in an inoperative state and the first tilt angle is greater than a preset value, control the first motor to drive the first lifting leg to adjust to a preset height, then acquire a second tilt angle detected by the tilt detection device in real time, and process the first and second tilt angles to obtain required heights and directions of the first and second lifting legs, respectively, based on the required heights and directions, and then control the first and second motors to respectively raise and lower the first and second lifting legs according to the required heights and directions, thereby performing terrain self-balancing control on the placement platform; The self-balancing control module includes: a leveling starting unit, configured to detect the working status of the first motor and the second motor in real time, obtain the first tilt angle when the working status indicates that the first motor and the second motor are in a non-working state, and generate a leveling start signal when the first tilt angle is greater than the preset value; a lifting leg spacing calculation unit, configured to calculate a lifting leg horizontal spacing between the first lifting leg and the second lifting leg according to the first inclination angle, the second inclination angle, and the preset height; a height adjustment calculation unit connected to the lifting leg spacing calculation unit, configured to calculate the height adjustment according to the second tilt angle and the horizontal spacing of the lifting legs; a first adjustment unit, connected to the leveling start unit and the lifting leg spacing calculation unit, for controlling the first motor to drive the first lifting leg to adjust the preset height according to the leveling start signal, and then controlling the tilt detection device to detect and obtain the second tilt angle; an adjustment direction determination unit, connected to the first adjustment unit, configured to determine, based on the first tilt angle and the second tilt angle, a corresponding relationship between the lifting direction of the first lifting leg when adjusting the preset height and a changing trend of the tilt angle of the lifting platform, and to determine, based on the corresponding relationship, the required adjustment directions of the first motor and the second motor; A control unit is connected to the adjustment direction judgment unit and the required adjustment height calculation unit, and is used to control the first motor and the second motor to respectively lift and lower the first lifting leg and the second lifting leg according to the required adjustment height and the required adjustment direction, so as to perform terrain self-balancing control on the placement platform.

2. The terrain self-balancing control system according to claim 1, characterized in that: The first adjustment unit is further configured to generate a call signal after controlling the tilt detection device to detect the second tilt angle, and the self-balancing control module further includes: a storage unit connected to the adjustment direction determination unit and the lifting leg spacing calculation unit, and configured to store the lifting leg horizontal spacing and the corresponding relationship; a data calling unit connected to the first adjustment unit, the storage unit, the height-to-be-adjusted calculating unit, and the adjustment direction determining unit, and configured to generate a processing signal when the horizontal spacing between the lifting legs and the corresponding relationship are not found in the storage unit according to the calling signal, and to send the horizontal spacing between the lifting legs to the height-to-be-adjusted calculating unit and the corresponding relationship to the adjustment direction determining unit when the horizontal spacing between the lifting legs and the corresponding relationship are found; The lifting leg spacing calculation unit obtains the first tilt angle, the second tilt angle and the preset height according to the processed signal and processes them to obtain the lifting leg horizontal spacing.

3. The terrain self-balancing control system according to claim 1, characterized in that: The tilt detection device is a six-axis sensor.

4. A terrain self-balancing control method for a lifting platform, characterized in that: Applicable to the terrain self-balancing control system according to any one of claims 1 to 3, wherein the lifting platform in the terrain self-balancing control system comprises a placement platform and a first lifting leg and a second lifting leg arranged on both sides of the bottom of the placement platform in a vertical direction; The terrain self-balancing control method includes: Step S1: The terrain self-balancing control system determines whether the first tilt angle is greater than the preset value when the first motor and the second motor are in an inoperative state. If yes, go to step S2; If not, return to step S1; In step S2, the terrain self-balancing control system controls the first motor to drive the first lifting leg to adjust the preset height, and then obtains the second inclination angle detected by the inclination detection device in real time, and obtains the required height and the required direction of the first lifting leg and the second lifting leg according to the first inclination angle and the second inclination angle, and then controls the first motor and the second motor to respectively lift and lower the first lifting leg and the second lifting leg according to the required height and the required direction, so as to perform terrain self-balancing control on the placement platform.

5. The terrain self-balancing control method according to claim 4, characterized in that: The step S2 comprises: Step S21: The terrain self-balancing control system detects the working status of the first motor and the second motor in real time, and when the working status indicates that the first motor and the second motor are not working, obtains the first tilt angle, and generates a leveling start signal when the first tilt angle is greater than the preset value; Step S22, the terrain self-balancing control system controls the first motor to drive the first lifting leg to adjust the preset height according to the start leveling signal, and then controls the tilt detection device to detect and obtain the second tilt angle; Step S23, the terrain self-balancing control system calculates a horizontal distance between the first lifting leg and the second lifting leg according to the first inclination angle, the second inclination angle, and the preset height; In step S24, the terrain self-balancing control system calculates the required height adjustment based on the second inclination angle and the horizontal spacing between the lifting legs, and calculates the required adjustment directions of the first motor and the second motor based on the corresponding relationship between the lifting direction when the first lifting leg adjusts the preset height and the changing trend of the inclination angle of the lifting platform; In step S25, the terrain self-balancing control system controls the first motor and the second motor to respectively adjust the first lifting leg and the second lifting leg according to the required height and the required direction, so as to perform terrain self-balancing control on the placement platform.

6. The terrain self-balancing control method according to claim 5, characterized in that: The terrain self-balancing control system further stores the horizontal spacing between the lifting legs and the corresponding relationship, and then the step S22 further includes: The terrain self-balancing control system determines whether the horizontal spacing of the lifting legs and the corresponding relationship can be queried: If yes, go to step S24; If not, go to step S23.

7. The terrain self-balancing control method according to claim 4, characterized in that: The tilt detection device is a six-axis sensor.

8. A lifting table, characterized in that: It comprises a terrain self-balancing control system as described in any one of claims 1-3.

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