Platform six-point leveling method and system

Abstract

The invention discloses a platform six-point leveling method, which relates to the technical field of platform leveling control, and comprises the following steps: controlling all platform support legs to extend out until the platform support legs touch the ground; all the platform supporting legs are controlled to stretch out, and the platform is lifted to be only supported by the platform supporting legs; the highest platform supporting leg in the four platform supporting legs located on the side portions of the platform is determined, and the other three platform supporting legs located on the side portions of the platform are adjusted, so that the included angle between the length direction of the platform and the horizontal plane and the included angle between the width direction of the platform and the horizontal plane are both smaller than a threshold value; and in the adjusting process, the bearing value of any platform supporting leg located in the middle of the platform is controlled to be equal to one half of the sum of the bearing values of the two adjacent platform supporting legs all the time. Position control is carried out on the platform supporting legs at the four corners of the platform, torque control is carried out on the two platform supporting legs in the middle, and therefore leveling control is completed on the condition that the rigidity of the whole platform is guaranteed.

Description

Technical Field

[0001] The invention relates to the technical field of platform leveling control, and in particular to a platform six-point leveling method and system. Background Art

[0002] With the advancement of military modernization, many equipment have changed from fixed deployment to mobile deployment, such as some radars, sighting equipment, etc. These equipment have relatively strict requirements on the deployment environment, especially radar and optoelectronic equipment, which require a stable and horizontal deployment platform. The lifting device powered by hydraulic or electric power is used to control the carrier platform to achieve and maintain the horizontal accuracy required by the equipment so that the equipment installed on it can operate normally.

[0003] At present, the leveling system of such platforms is in various forms, generally using three-point, four-point and six-point support structures. The advantage of three-point support is "three points on one side", and there is no problem of over-positioning, but three-point support is suitable for relatively short vehicle platforms. For longer vehicles, four-point or even six-point support is generally used, especially for vehicles over ten meters long, the use of four-point support will have the problem of insufficient stiffness in the length direction.

[0004] For a longer vehicle, a six-point support is a reasonable solution. However, the number of static indeterminate times for a six-point support is three times higher than that for a four-point support, making the leveling problem more complicated. Moreover, the static indeterminate situation will cause the platform to be subjected to unstable stress, which will cause deformation and affect the accuracy of the entire platform. The usual leveling strategy is to divide the platform into two rectangles and perform leveling operations on each of them. See Figure 1 , where legs 5 and 6 participate in the leveling control of two rectangles at the same time. The main problem with this strategy is that the leveling time is long and two angle sensors need to be installed. The leveling process of one rectangle will affect the horizontal posture of the other rectangle. Summary of the invention

[0005] The technical problem to be solved by the present invention is to overcome the shortcomings of the prior art and provide a platform six-point leveling method and system.

[0006] In order to solve the above technical problems, the technical solution of the present invention is as follows: A six-point leveling method for a platform, comprising: Control all platform outriggers to extend until they touch the ground; Control all platform outriggers to extend and raise the platform to be supported only by the platform outriggers; Determine the highest platform leg among the four platform legs located at the edges of the platform, and adjust the other three platform legs located at the edges of the platform so that the angle between the length direction of the platform and the horizontal plane and the angle between the width direction of the platform and the horizontal plane are both smaller than the threshold value. During the adjustment process, the load-bearing value of any platform leg located in the middle of the platform is always controlled to be equal to half of the sum of the load-bearing values ​​of the two adjacent platform legs.

[0007] As a preferred solution of the six-point leveling method of the platform of the present invention, the step of controlling all the platform legs to extend until they touch the ground comprises: Control the six platform legs to extend downward at a certain speed at the same time; The load-bearing value of each platform leg is detected by a pressure sensor; Whether the corresponding platform leg touches the ground is determined according to the load-bearing value of each platform leg, and the corresponding platform leg is controlled to stop moving after it is determined that the platform leg touches the ground.

[0008] As a preferred solution of the six-point leveling method of the platform of the present invention, the method of determining the highest platform leg among the four platform legs located at the edge of the platform includes: Get the heights of both ends of the platform in the length direction and the heights of both sides of the platform in the width direction; Determine the corner of the platform where the higher end in the length direction and the higher side in the width direction are located, and take the platform leg adjacent to the corner as the highest platform leg.

[0009] As a preferred solution of the six-point leveling method of the platform of the present invention, wherein: the adjusting of the other three platform legs located at the edge of the platform so that the angle between the length direction of the platform and the horizontal plane and the angle between the width direction of the platform and the horizontal plane are both less than the threshold value comprises: The two platform legs at the lower end of the length direction of the control platform are extended downward at the same time until the angle between the length direction of the platform and the horizontal plane is less than a threshold value; The two platform legs on the lower side in the width direction of the platform are controlled to extend downward simultaneously until the angle between the width direction of the platform and the horizontal plane is less than a threshold value.

[0010] As a preferred solution of the six-point leveling method of the platform of the present invention, wherein: after the two platform legs located on the lower side of the width direction of the control platform are extended downward at the same time until the angle between the width direction of the platform and the horizontal plane is less than a threshold value, it also includes: Determine whether the angle between the length direction of the platform and the horizontal plane and the angle between the width direction of the platform and the horizontal plane are both less than the threshold. If so, complete the adjustment. If not, execute the above two steps again until the angle between the length direction of the platform and the horizontal plane and the angle between the width direction of the platform and the horizontal plane are both less than the threshold.

[0011] The present invention also provides a platform six-point leveling system, comprising: A touchdown control module is used to control all platform legs to extend until they touch the ground; A lifting control module is used to control the extension of all platform legs to lift the platform to be supported only by the platform legs; The leveling control module is used to determine the highest platform leg among the four platform legs located at the edge of the platform, and adjust the other three platform legs located at the edge of the platform so that the angle between the length direction of the platform and the horizontal plane and the angle between the width direction of the platform and the horizontal plane are both less than a threshold value, and during the adjustment process, the load-bearing value of any platform leg located in the middle of the platform is always controlled to be equal to half of the sum of the load-bearing values ​​of the two adjacent platform legs.

[0012] As a preferred solution of the six-point leveling system of the platform of the present invention, wherein: the leveling control module includes a leg determination module and an angle adjustment module; The outrigger determination module comprises: An acquisition module is used to acquire the heights of both ends of the platform in the length direction and the heights of both sides of the platform in the width direction; A determination module, used to determine the corner of the platform where the end with a higher length direction and the side with a higher width direction are located, and the platform leg adjacent to the corner is the highest platform leg; The angle adjustment module comprises: The first control module is used to control the two platform legs at the lower end of the platform length direction to extend downward at the same time until the angle between the platform length direction and the horizontal plane is less than a threshold value; The second control module is used to control the two platform legs located on the lower side in the platform width direction to extend downward at the same time until the angle between the platform width direction and the horizontal plane is less than a threshold value; The judgment module is used to judge whether the angle between the length direction of the platform and the horizontal plane and the angle between the width direction of the platform and the horizontal plane are both less than a threshold value. If so, the adjustment is completed; if not, the operations performed by the first control module and the second control module are executed again until the angle between the length direction of the platform and the horizontal plane and the angle between the width direction of the platform and the horizontal plane are both less than a threshold value.

[0013] The present invention also discloses a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, the method described in any of the above-mentioned six-point leveling methods for the platform is implemented.

[0014] The present invention also discloses a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the method described in any of the above-mentioned platform six-point leveling methods is implemented.

[0015] The beneficial effects of the present invention are: (1) The present invention controls the positions of the platform legs at the four corners of the platform and controls the torque of the two middle platform legs, so that the entire platform can complete the leveling control while ensuring the rigidity.

[0016] (2) The present invention controls the leveling platform as a whole. The leveling controller collects the current platform XY axis angle from the inclinometer, calculates the control amount of platform legs 1 to 4 using the leveling control algorithm, and adjusts the positions of these four platform legs to make the platform level. At the same time, the pressure setting value of platform leg 5 is calculated based on the measured pressure values ​​of platform legs 1 and 2, and the pressure setting value of platform leg 6 is calculated based on the measured pressure values ​​of platform legs 3 and 4. The pressure closed-loop control is performed on platform legs 5 and 6, and the two platform legs provide corresponding support force to the platform to ensure the rigidity of the platform. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative labor.

[0018] Figure 1 This is the existing six-point leveling diagram; Figure 2 A schematic diagram of the process flow of the six-point leveling method for a platform provided by the present invention; Figure 3 A schematic diagram of six-point leveling of the platform provided by the present invention; Figure 4 A schematic diagram of the leveling process of the No. 5 platform leg and the No. 6 platform leg in the six-point leveling method of the platform provided by the present invention; Figure 5 Another schematic diagram of the process flow of the six-point leveling method for a platform provided by the present invention; Figure 6 A schematic diagram of a six-point leveling system for a platform provided by the present invention; Figure 7 A schematic diagram of a computer device provided by the present invention. DETAILED DESCRIPTION

[0019] In order to make the content of the present invention more clearly understood, the present invention is further described in detail below according to specific implementation modes and in combination with the accompanying drawings.

[0020] Figure 2 The following is a flow chart of the six-point leveling method for a platform provided in an embodiment of the present application. The method specifically comprises the following steps: Step S101: Control all platform legs to extend until they touch the ground; Specifically, the six platform legs are controlled to extend downward at a certain speed at the same time, and each platform leg determines whether the corresponding platform leg touches the ground according to the load-bearing value detected by the pressure sensor arranged on it, and controls the corresponding platform leg to stop moving after determining that the corresponding platform leg touches the ground, until all six platform legs touch the ground and stop moving.

[0021] Step S102: Control all platform legs to extend, and lift the platform to be supported only by the platform legs; Specifically, after all the platform legs have touched the bottom, all the platform legs are controlled to extend simultaneously, the platform is raised to a certain height and then stopped, and the weight of the platform is transferred from other supports to being supported only by the platform legs.

[0022] Step S103: Determine the highest platform leg among the four platform legs located at the edge of the platform, and adjust the other three platform legs located at the edge of the platform so that the angle between the length direction of the platform and the horizontal plane and the angle between the width direction of the platform and the horizontal plane are both smaller than the threshold value, and during the adjustment process, always control the load-bearing value of any platform leg located in the middle of the platform to be equal to half of the sum of the load-bearing values ​​of the two adjacent platform legs.

[0023] See also Figure 3 In this embodiment, the platform leg at the upper left corner of the platform is platform leg No. 1, the platform leg at the upper right corner of the platform is platform leg No. 2, the platform leg at the lower right corner of the platform is platform leg No. 3, the platform leg at the lower left corner of the platform is platform leg No. 4, the platform leg between platform leg No. 1 and platform leg No. 2 is platform leg No. 5, and the platform leg between platform leg No. 3 and platform leg No. 4 is platform leg No. 6.

[0024] Specifically, determining the highest platform leg among the four platform legs located at the edge of the platform specifically includes the following steps: Step S104a: Obtain the heights of both ends of the platform in the length direction and the heights of both sides of the platform in the width direction.

[0025] Step S104b: determine the corner of the platform where the end that is higher in the length direction and the side that is higher in the width direction are located, and take the platform leg adjacent to the corner as the highest platform leg.

[0026] Afterwards, the other three platform legs located at the edge of the platform are adjusted so that the angle between the length direction of the platform and the horizontal plane and the angle between the width direction of the platform and the horizontal plane are both less than the threshold. Specifically, the following steps are included: Step S104c: Control the two platform legs at the lower end of the platform in the length direction to extend downward at the same time until the angle between the length direction of the platform and the horizontal plane is less than a threshold value; Step S104d: Control the two platform legs on the lower side in the width direction of the platform to extend downward at the same time until the angle between the width direction of the platform and the horizontal plane is less than a threshold value; Step S104e: Determine whether the angle between the length direction of the platform and the horizontal plane and the angle between the width direction of the platform and the horizontal plane are both less than the threshold value. If so, complete the adjustment; if not, execute step S104c and step S104d again until the angle between the length direction of the platform and the horizontal plane and the angle between the width direction of the platform and the horizontal plane are both less than the threshold value.

[0027] See also Figure 3 In this embodiment, the inclination angle in the length direction of the platform is set to X, and the angle X formed by the upward inclination of the right end of the platform is a positive number, and the angle X formed by the upward inclination of the left end of the platform is a negative number. The inclination angle in the width direction of the platform is set to Y, and the angle Y formed by the upward inclination of the lower side of the platform is a positive number, and the angle Y formed by the upward inclination of the upper side of the platform is a negative number. The above threshold is 7°, and the specific operation flow of this step is: If X>7°, Y>7°, then the No. 3 platform outrigger is the highest platform outrigger. Make sure that the No. 3 platform outrigger does not move, and adjust the inclination angle in the length direction of the platform first. Extend the No. 1 and No. 4 platform outriggers. When the inclination angle in the length direction of the platform is within -7°~7°, the adjustment is completed. After the inclination angle adjustment in the length direction of the platform is completed, start to adjust the inclination angle in the width direction of the platform. Extend the No. 1 and No. 2 platform outriggers. When the inclination angle in the width direction of the platform is within -7°~7°, the adjustment is completed. After the inclination angle adjustment in the width direction of the platform is completed, determine whether the inclination angles in the length direction and the width direction of the platform are both within -7°~7°. If the conditions are met, the leveling operation is completed, otherwise, perform the leveling operation again.

[0028] If X>7°, Y<-7°, then the No. 2 platform outrigger is the highest platform outrigger. Ensure that the No. 2 platform outrigger does not move, and first adjust the inclination angle in the length direction of the platform. Extend the No. 1 and No. 4 platform outriggers. When the inclination angle in the length direction of the platform is within -7°~7°, the adjustment is completed. After the inclination angle adjustment in the length direction of the platform is completed, start to adjust the inclination angle in the width direction of the platform. Extend the No. 3 and No. 4 platform outriggers. When the inclination angle in the width direction of the platform is within -7°~7°, the adjustment is completed. After the inclination angle adjustment in the width direction of the platform is completed, determine whether the inclination angles in the length direction and the width direction of the platform are both within -7°~7°. If the conditions are met, the leveling operation is completed, otherwise, perform the leveling operation again.

[0029] If X<-7°, Y<-7°, then the platform leg No. 1 is the highest platform leg. Make sure that the platform leg No. 1 does not move, and adjust the inclination angle in the length direction of the platform first. Extend the platform legs No. 2 and No. 3, and the adjustment is completed when the inclination angle in the length direction of the platform is within -7°~7°. After the inclination angle adjustment in the length direction of the platform is completed, start to adjust the inclination angle in the width direction of the platform. Extend the platform legs No. 3 and No. 4, and the adjustment is completed when the inclination angle in the width direction of the platform is within -7°~7°. After the inclination angle adjustment in the width direction of the platform is completed, determine whether the inclination angles in the length direction and the width direction of the platform are both within -7°~7°. If they are satisfied, the leveling operation is completed, otherwise, repeat the leveling operation.

[0030] If X<-7°, Y>7°, then the No. 4 platform outrigger is the highest platform outrigger. Ensure that the No. 4 platform outrigger does not move, and first adjust the inclination angle in the length direction of the platform. Extend the No. 2 and No. 3 platform outriggers. When the inclination angle in the length direction of the platform is within -7°~7°, the adjustment is completed. After the inclination angle adjustment in the length direction of the platform is completed, start to adjust the inclination angle in the width direction of the platform. Extend the No. 1 and No. 2 platform outriggers. When the inclination angle in the width direction of the platform is within -7°~7°, the adjustment is completed. After the inclination angle adjustment in the width direction of the platform is completed, determine whether the inclination angles in the length direction and the width direction of the platform are both within -7°~7°. If they are satisfied, the leveling operation is completed, otherwise, perform the leveling operation again.

[0031] It should be noted that during the adjustment process, the load-bearing value of any platform leg located in the middle of the platform must always be controlled to be equal to half of the sum of the load-bearing values ​​of the two adjacent platform legs, that is, always ensure that: The load-bearing value of the No. 5 platform outrigger = (the measured load-bearing value of the No. 1 platform outrigger + the measured load-bearing value of the No. 2 platform outrigger) / 2; The load-bearing value of platform leg No. 5 = (the measured load-bearing value of platform leg No. 3 + the measured load-bearing value of platform leg No. 4) / 2.

[0032] For details, see Figure 4 During the adjustment process, it is determined whether the load-bearing value of the No. 5 platform outrigger is less than half of the sum of the measured load-bearing value of the No. 1 platform outrigger and the measured load-bearing value of the No. 2 platform outrigger. If so, the No. 5 platform outrigger is controlled to extend. If not, the No. 5 platform outrigger is controlled to retract until the load-bearing value of the No. 5 platform outrigger is equal to half of the sum of the measured load-bearing value of the No. 1 platform outrigger and the measured load-bearing value of the No. 2 platform outrigger. The adjustment principle of the No. 6 platform outrigger is the same as that of the No. 5 platform outrigger, which will not be repeated here.

[0033] Figure 5 Another schematic flow chart of the six-point leveling method for a platform provided in this embodiment.

[0034] It should be noted that when the platform legs are adjusted, a hydraulic pump or a motor is used as the driving force.

[0035] The above technical solution controls the leveling platform as a whole. The leveling controller collects the current platform XY axis angle from the inclinometer, calculates the control amount of platform legs 1 to 4 using the leveling control algorithm, and adjusts the positions of these four platform legs to make the platform level. At the same time, the pressure setting value of platform leg 5 is calculated based on the measured pressure values ​​of platform legs 1 and 2, and the pressure setting value of platform leg 6 is calculated based on the measured pressure values ​​of platform legs 3 and 4. The pressure closed-loop control is performed on platform legs 5 and 6, and the corresponding support force is provided to the platform through these two platform legs to ensure the rigidity of the platform.

[0036] Therefore, the present application performs position control on the platform legs at the four corners of the platform and torque control on the two middle platform legs, so that the entire platform can complete leveling control while ensuring rigidity.

[0037] Figure 6 This is a schematic diagram of a six-point leveling system for a platform provided in an embodiment of the present application. The system includes a ground contact control module 201 , a lifting control module 202 , and a leveling control module 203 .

[0038] The ground contact control module 201 is used to control all platform legs to extend until they touch the ground.

[0039] The lifting control module 202 is used to control all platform legs to extend, and to lift the platform to be supported only by the platform legs.

[0040] The leveling control module 203 is used to determine the highest platform leg among the four platform legs located at the edge of the platform, and adjust the other three platform legs located at the edge of the platform so that the angle between the length direction of the platform and the horizontal plane and the angle between the width direction of the platform and the horizontal plane are both smaller than a threshold value, and during the adjustment process, the load-bearing value of any platform leg located in the middle of the platform is always controlled to be equal to half of the sum of the load-bearing values ​​of the two adjacent platform legs.

[0041] Specifically, the leveling control module 203 includes a leg determination module and an angle adjustment module. The leg determination module includes an acquisition module and a determination module. The angle adjustment module includes a first control module, a second control module and a judgment module.

[0042] The acquisition module is used to obtain the heights of both ends of the platform in the length direction and the heights of both sides of the platform in the width direction.

[0043] The determination module is used to determine the corner where the higher end in the length direction and the higher side in the width direction of the platform are located, and the platform leg adjacent to the corner is the highest platform leg.

[0044] The first control module is used to control the two platform legs at the lower end of the platform length direction to extend downward at the same time until the angle between the platform length direction and the horizontal plane is less than a threshold value; The second control module is used to control the two platform legs on the lower side of the platform width direction to extend downward at the same time until the angle between the platform width direction and the horizontal plane is less than a threshold value; The judgment module is used to judge whether the angle between the length direction of the platform and the horizontal plane and the angle between the width direction of the platform and the horizontal plane are both less than a threshold value. If so, the adjustment is completed; if not, the operations performed by the first control module and the second control module are executed again until the angle between the length direction of the platform and the horizontal plane and the angle between the width direction of the platform and the horizontal plane are both less than a threshold value.

[0045] See also Figure 7 This embodiment also provides a computer device, and the components of the computer device may include but are not limited to: one or more processors or processing units, a system memory, and a bus connecting different system components (including the system memory and the processing unit).

[0046] The term "bus" refers to one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor or a local bus using any of a variety of bus architectures. For example, these architectures include, but are not limited to, the Industry Standard Architecture (ISA) bus, the Micro Channel Architecture (MAC) bus, the Enhanced ISA bus, the Video Electronics Standards Association (VESA) local bus, and the Peripheral Component Interconnect (PCI) bus.

[0047] The computer system / server typically includes a variety of computer system readable media. These media can be any available media that can be accessed by the computer system / server, including volatile and non-volatile media, removable and non-removable media.

[0048] The system memory may include computer system readable media in the form of volatile memory, such as random access memory (RAM) and / or cache memory. The computer device may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, the storage system may be used to read and write non-removable, non-volatile magnetic media. A disk drive for reading and writing removable non-volatile disks (such as "floppy disks") and an optical disk drive for reading and writing removable non-volatile optical disks (such as CD-ROMs, DVD-ROMs or other optical media) may be provided. In these cases, each drive may be connected to the bus via one or more data medium interfaces. The memory may include at least one program product having a set (e.g., at least one) of program modules that are configured to perform the functions of the various embodiments of the present invention.

[0049] A program / utility having a set (at least one) of program modules may be stored, for example, in a memory, such program modules including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment. The program modules generally perform the functions and / or methods of the embodiments described herein.

[0050] The computer device may also communicate with one or more external devices such as a keyboard, a pointing device, a display, etc. Such communication may be performed through an input / output (I / O) interface. Furthermore, the computer device may also communicate with one or more networks (such as a local area network (LAN), a wide area network (WAN) and / or a public network, such as the Internet) through a network adapter.

[0051] The processing unit executes the functions and / or methods described in the embodiments of the present invention by running the programs stored in the system memory.

[0052] The above-mentioned computer program can be set in a computer storage medium, that is, the computer storage medium is encoded with a computer program, and when the program is executed by one or more computers, it enables one or more computers to execute the method flow and / or device operation shown in the above-mentioned embodiments of the present invention.

[0053] With the development of time and technology, the meaning of medium is becoming more and more extensive, and the propagation path of computer programs is no longer limited to tangible media, but can also be downloaded directly from the network, etc. Any combination of one or more computer-readable media can be used. Computer-readable media can be computer-readable signal media or computer-readable storage media. Computer-readable storage media can be, for example, - but not limited to - electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or devices, or any combination of the above. More specific examples of computer-readable storage media (non-exhaustive list) include: electrical connections with one or more wires, portable computer disks, hard disks, random access memories (RAM), read-only memories (ROM), erasable programmable read-only memories (EPROM or flash memory), optical fibers, portable compact disk read-only memories (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the above. In this document, computer-readable storage media can be any tangible medium containing or storing programs, which can be used by or in combination with instruction execution systems, devices or devices.

[0054] Computer-readable signal media may include a data signal propagated in baseband or as part of a carrier wave, which carries a computer-readable program code. Such propagated data signals may take a variety of forms, including, but not limited to, electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0055] Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0056] Computer program code for performing the operations of the present invention may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages, such as Java, Smalltalk, C++, and conventional procedural programming languages, such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0057] In addition to the above embodiments, the present invention may also have other implementation modes; any technical solutions formed by equivalent replacement or equivalent transformation shall fall within the protection scope required by the present invention.

Claims

1. A six-point leveling method for a platform, characterized in that: include: Control all platform outriggers to extend until they touch the ground; Control all platform outriggers to extend and raise the platform to be supported only by the platform outriggers; Determine the highest platform leg among the four platform legs located at the edges of the platform, and adjust the other three platform legs located at the edges of the platform so that the angle between the length direction of the platform and the horizontal plane and the angle between the width direction of the platform and the horizontal plane are both smaller than the threshold value. During the adjustment process, the load-bearing value of any platform leg located in the middle of the platform is always controlled to be equal to half of the sum of the load-bearing values ​​of the two adjacent platform legs.

2. The six-point leveling method of the platform according to claim 1, characterized in that: The controlling all platform legs to extend until they touch the ground comprises: Control the six platform legs to extend downward at a certain speed at the same time; The load-bearing value of each platform leg is detected by a pressure sensor; Whether the corresponding platform leg touches the ground is determined according to the load-bearing value of each platform leg, and the corresponding platform leg is controlled to stop moving after it is determined that the platform leg touches the ground.

3. The six-point leveling method of the platform according to claim 1, characterized in that: The determining of the highest platform leg among the four platform legs located at the edge of the platform comprises: Get the heights of both ends of the platform in the length direction and the heights of both sides of the platform in the width direction; Determine the corner of the platform where the higher end in the length direction and the higher side in the width direction are located, and take the platform leg adjacent to the corner as the highest platform leg.

4. The six-point leveling method of the platform according to claim 3, characterized in that: The adjusting of the other three platform legs located at the edge of the platform so that the angle between the length direction of the platform and the horizontal plane and the angle between the width direction of the platform and the horizontal plane are both less than the threshold value comprises: The two platform legs at the lower end of the length direction of the control platform are extended downward at the same time until the angle between the length direction of the platform and the horizontal plane is less than a threshold value; The two platform legs on the lower side in the width direction of the platform are controlled to extend downward simultaneously until the angle between the width direction of the platform and the horizontal plane is less than a threshold value.

5. The six-point leveling method of the platform according to claim 4, characterized in that: After the two platform legs on the lower side in the width direction of the control platform are extended downward simultaneously until the angle between the platform width direction and the horizontal plane is less than a threshold, the method further includes: Determine whether the angle between the length direction of the platform and the horizontal plane and the angle between the width direction of the platform and the horizontal plane are both less than the threshold. If so, complete the adjustment. If not, execute the above two steps again until the angle between the length direction of the platform and the horizontal plane and the angle between the width direction of the platform and the horizontal plane are both less than the threshold.

6. A six-point leveling system for a platform, characterized in that: include: A touchdown control module is used to control all platform legs to extend until they touch the ground; A lifting control module is used to control the extension of all platform legs to lift the platform to be supported only by the platform legs; The leveling control module is used to determine the highest platform leg among the four platform legs located at the edge of the platform, and adjust the other three platform legs located at the edge of the platform so that the angle between the length direction of the platform and the horizontal plane and the angle between the width direction of the platform and the horizontal plane are both less than a threshold value, and during the adjustment process, the load-bearing value of any platform leg located in the middle of the platform is always controlled to be equal to half of the sum of the load-bearing values ​​of the two adjacent platform legs.

7. The platform six-point leveling system according to claim 6, characterized in that: The leveling control module includes a leg determination module and an angle adjustment module; The outrigger determination module comprises: An acquisition module, used to acquire the heights of both ends of the platform in the length direction and the heights of both sides of the platform in the width direction; A determination module, used to determine the corner of the platform where the end with a higher length direction and the side with a higher width direction are located, and the platform leg adjacent to the corner is the highest platform leg; The angle adjustment module comprises: The first control module is used to control the two platform legs at the lower end of the platform length direction to extend downward at the same time until the angle between the platform length direction and the horizontal plane is less than a threshold value; The second control module is used to control the two platform legs on the lower side of the platform width direction to extend downward at the same time until the angle between the platform width direction and the horizontal plane is less than a threshold value; The judgment module is used to judge whether the angle between the length direction of the platform and the horizontal plane and the angle between the width direction of the platform and the horizontal plane are both less than a threshold value. If so, the adjustment is completed; if not, the operations performed by the first control module and the second control module are executed again until the angle between the length direction of the platform and the horizontal plane and the angle between the width direction of the platform and the horizontal plane are both less than a threshold value.

8. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the method according to any one of claims 1 to 5 is implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the method according to any one of claims 1 to 5 is implemented.

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