A platform six-point leveling method and system

Abstract

The application discloses a platform six-point leveling method, and relates to the technical field of platform leveling control, and comprises the following steps: controlling all platform support legs to stretch out until touching the ground; controlling all platform support legs to stretch out and lifting the platform to be supported by the platform support legs only; determining the highest platform support leg among four platform support legs located at the edge of the platform, adjusting the other three platform support legs located at the edge of the platform, making 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 both less than a threshold value, and always controlling the bearing value of any one platform support leg located in the middle of the platform to be equal to one half of the sum of the bearing values of the adjacent two platform support legs during the adjustment process. The position of the platform support legs at the four corners of the platform is controlled, and the moment of the two platform support legs in the middle is controlled, so that the leveling control of the whole platform is completed under the condition of ensuring rigidity.

Description

Technical Field

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

[0002] With the advancement of military modernization, many pieces of equipment have shifted from fixed deployment to mobile deployment, such as some radar and observation equipment. These devices have relatively strict requirements for the deployment environment, especially radar and optoelectronic equipment, which require stable and level deployment platforms. Hydraulic or electric lifting devices are used to control the platform, ensuring it maintains the required level accuracy for the equipment to operate normally.

[0003] Currently, leveling systems for such platforms come in various forms, generally employing three-point, four-point, and six-point support structures. The advantage of three-point support is its "three points on one surface," eliminating over-positioning issues. However, three-point support is suitable for relatively short vehicle platforms. For longer vehicles, four-point or even six-point support is typically used, especially for vehicles exceeding ten meters in length, where four-point support may result in insufficient stiffness in the length direction.

[0004] For long vehicles, a six-point support system is a reasonable solution. However, the static indeterminacy rate of a six-point support system is three times higher than that of a four-point support system, making leveling more complex. Furthermore, static indeterminacy can cause the platform to experience unstable stresses, leading to deformation and affecting the overall platform accuracy. A common leveling strategy is to divide the platform into two rectangles and perform leveling operations on each rectangle separately. (See [link to relevant documentation]). Figure 1 In this system, outriggers 5 and 6 simultaneously participate in the leveling control of two rectangles. The main problem with this strategy is the long leveling time, the need to install two angle sensors, and the fact that the leveling process of one rectangle can affect the horizontal attitude of the other. 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] To solve the above technical problems, the technical solution of the present invention is as follows:

[0007] A platform six-point balancing method includes:

[0008] Control all platform outriggers to extend until they touch the ground;

[0009] Extend all platform outriggers to raise the platform so that it is supported only by the platform outriggers;

[0010] Determine the tallest platform leg among the four platform legs located at the edge of the platform. Adjust the other three platform legs located at the edge of the platform so that the angles between the platform's length direction and the horizontal plane, as well as the angles between the platform's width direction and the horizontal plane, are both less than the threshold. 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.

[0011] As a preferred embodiment of the six-point leveling method for the platform described in this invention, the step of controlling all platform outriggers to extend until they touch the ground includes:

[0012] Control the six platform outriggers to extend downwards simultaneously at a certain speed;

[0013] The load-bearing capacity of each platform outrigger is detected by pressure sensors;

[0014] The system determines whether a platform leg is in contact with the ground based on its load-bearing capacity, and stops the corresponding platform leg from moving once it is determined to be in contact with the ground.

[0015] As a preferred embodiment of the six-point leveling method for the platform described in this invention, the step of determining the highest platform leg among the four platform legs located at the edge of the platform includes:

[0016] Get the heights at both ends of the platform's length direction and the heights on both sides of the platform's width direction;

[0017] Determine the corner of the platform that is higher in both length and width, and designate the platform leg adjacent to that corner as the highest platform leg.

[0018] As a preferred embodiment of the six-point platform leveling method of the present invention, the step of adjusting the other three platform legs located at the edge of the platform so that the angles between the platform length direction and the horizontal plane and the platform width direction and the horizontal plane are both less than a threshold includes:

[0019] The two platform legs at the lower end of the control platform's length direction extend downwards simultaneously until the angle between the platform's length direction and the horizontal plane is less than a threshold.

[0020] The two platform legs on the lower side of the control platform width direction extend downwards simultaneously until the angle between the platform width direction and the horizontal plane is less than the threshold.

[0021] As a preferred embodiment of the six-point leveling method for the platform described in this invention, the method further includes: after the two platform legs located on the lower side of the control platform width direction extend downwards simultaneously until the angle between the platform width direction and the horizontal plane is less than a threshold, the method further includes:

[0022] Determine whether the angle between the platform's length direction and the horizontal plane, and the angle between the platform's width direction and the horizontal plane are both less than the threshold. If so, the adjustment is completed. If not, repeat the two steps mentioned above until the angle between the platform's length direction and the horizontal plane, and the angle between the platform's width direction and the horizontal plane are both less than the threshold.

[0023] The present invention also provides a platform six-point leveling system, comprising:

[0024] The ground contact control module is used to control all platform outriggers to extend until they touch the ground;

[0025] The lifting control module is used to control the extension of all platform outriggers, raising the platform to a position where it is supported only by the platform outriggers.

[0026] The leveling control module is used to determine the tallest 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 platform length direction and the horizontal plane and the angle between the platform width direction and the horizontal plane are both less than the threshold. 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.

[0027] As a preferred embodiment of the six-point leveling system of the platform described in this invention, the leveling control module includes a support leg determination module and an angle adjustment module;

[0028] The outrigger determination module includes:

[0029] The acquisition module is used to acquire the heights at both ends of the platform's length direction and the heights on both sides of the platform's width direction.

[0030] The determination module is used to determine the corner of the platform that is higher in the length direction and higher in the width direction, and the platform leg adjacent to the corner is the highest platform leg.

[0031] The angle adjustment module includes:

[0032] The first control module is used to control the two platform legs located at the lower end of the platform length direction to extend downwards simultaneously until the angle between the platform length direction and the horizontal plane is less than a threshold.

[0033] The second control module is used to control the two platform legs on the lower side of the platform width direction to extend downward simultaneously until the angle between the platform width direction and the horizontal plane is less than a threshold.

[0034] The judgment module is used to determine whether the angle between the platform's length direction and the horizontal plane and the angle between the platform's width direction and the horizontal plane are both less than the threshold. If so, the adjustment is completed; if not, the operation performed by the first control module and the second control module is executed again until the angle between the platform's length direction and the horizontal plane and the angle between the platform's width direction and the horizontal plane are both less than the threshold.

[0035] 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, wherein the processor executes the program to implement the method described in any of the above-described platform six-point balancing methods.

[0036] The present invention also discloses a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method described in any of the above-described platform six-point balancing methods.

[0037] The beneficial effects of this invention are:

[0038] (1) The present invention controls the position of the platform legs at the four corners of the platform and controls the torque of the two platform legs in the middle, so that the entire platform can be leveled while ensuring rigidity.

[0039] (2) In this invention, the leveling platform is controlled as a whole. The leveling controller collects the current XY axis angle of the platform by means of an angle meter, and uses the leveling control algorithm to calculate the control quantity of platform legs 1 to 4. The position of these four platform legs is adjusted so that the platform tends to be level. At the same time, the pressure set value of platform leg 5 is calculated based on the measured pressure values ​​of platform legs 1 and 2, and the pressure set value of platform leg 6 is calculated based on the measured pressure values ​​of platform legs 3 and 4. The pressure closed-loop control of platform legs 5 and 6 is performed. The platform legs provide corresponding support force to the platform through these two platform legs to ensure the rigidity of the platform is guaranteed. Attached Figure Description

[0040] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0041] Figure 1 This is a schematic diagram of the existing six-point leveling.

[0042] Figure 2 A flowchart illustrating the six-point leveling method for the platform provided by this invention;

[0043] Figure 3 This is a schematic diagram of the six-point leveling of the platform provided by the present invention;

[0044] Figure 4 A schematic diagram of the leveling process for platform legs 5 and 6 in the six-point leveling method provided by the present invention.

[0045] Figure 5 Another flowchart illustrating the six-point leveling method for the platform provided by the present invention;

[0046] Figure 6 A schematic diagram of the six-point leveling system for the platform provided by the present invention;

[0047] Figure 7 A schematic diagram of the computer device provided by the present invention. Detailed Implementation

[0048] To make the content of this invention easier to understand, the invention will be further described in detail below with reference to specific embodiments and accompanying drawings.

[0049] Figure 2 A flowchart illustrating the six-point balancing method for a platform provided in this application embodiment. The method specifically includes the following steps:

[0050] Step S101: Control all platform outriggers to extend until they touch the ground;

[0051] Specifically, the system controls six platform outriggers to extend downwards simultaneously at a certain speed. Each platform outrigger determines whether it has touched the ground based on the load-bearing value detected by the pressure sensor installed on it. Once the system determines that the corresponding platform outrigger has touched the ground, it controls the corresponding platform outrigger to stop moving until all six platform outriggers have touched the ground and stopped moving.

[0052] Step S102: Extend all platform legs to raise the platform to a position where it is supported only by the platform legs;

[0053] Specifically, after all platform outriggers have touched the bottom, all platform outriggers are extended simultaneously to raise the platform to a certain height and then stop, transferring the platform's weight from other supports to the platform outriggers alone.

[0054] Step S103: Determine the tallest 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 platform length direction and the horizontal plane and the angle between the platform width direction and the horizontal plane are both less than the threshold. 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.

[0055] See Figure 3In this embodiment, the platform support leg located at the upper left corner of the platform is platform support leg 1, the platform support leg located at the upper right corner of the platform is platform support leg 2, the platform support leg located at the lower right corner of the platform is platform support leg 3, the platform support leg located at the lower left corner of the platform is platform support leg 4, the platform support leg between platform support leg 1 and platform support leg 2 is platform support leg 5, and the platform support leg between platform support leg 3 and platform support leg 4 is platform support leg 6.

[0056] Specifically, determining the tallest platform leg among the four platform legs located at the edge of the platform includes the following steps:

[0057] Step S104a: Obtain the heights at both ends of the platform in the length direction and the heights on both sides of the platform in the width direction.

[0058] Step S104b: Determine the corner of the platform that is higher in both length and width, and take the platform leg adjacent to that corner as the highest platform leg.

[0059] Next, the other three platform legs located at the edge of the platform are adjusted so that the angles between the platform's length direction and the horizontal plane, as well as the angles between the platform's width direction and the horizontal plane, are both less than the threshold values. This specifically includes the following steps:

[0060] Step S104c: Control the two platform legs at the lower end of the platform length direction to extend downwards simultaneously until the angle between the platform length direction and the horizontal plane is less than the threshold.

[0061] Step S104d: Control the two platform legs on the lower side of the platform width direction to extend downwards simultaneously until the angle between the platform width direction and the horizontal plane is less than the threshold.

[0062] Step S104e: Determine whether the angle between the platform length direction and the horizontal plane and the angle between the platform width direction and the horizontal plane are both less than the threshold. If yes, the adjustment is completed. If not, execute steps S104c and S104d again until the angle between the platform length direction and the horizontal plane and the angle between the platform width direction and the horizontal plane are both less than the threshold.

[0063] See Figure 3 In this embodiment, the tilt angle along the platform's length is set as X, with the angle X formed by the right end of the platform tilting upwards being positive and the angle X formed by the left end tilting upwards being negative. The tilt angle along the platform's width is set as Y, with the angle Y formed by the lower side of the platform tilting upwards being positive and the angle Y formed by the upper side of the platform tilting upwards being negative. The threshold value is 7°. Therefore, the specific operation flow of this step is as follows:

[0064] If X > 7° and Y > 7°, then platform leg 3 is the highest platform leg. Ensure platform leg 3 remains stationary and first adjust the tilt angle along the platform's length. Extend platform legs 1 and 4 until the tilt angle along the platform's length is within -7° to 7°. After adjusting the tilt angle along the platform's length, begin adjusting the tilt angle along the platform's width. Extend platform legs 1 and 2 until the tilt angle along the platform's width is within -7° to 7°. After adjusting the tilt angle along the platform's width, check if the tilt angles along both the platform's length and width are within -7° to 7°. If they are, the leveling operation is complete; otherwise, repeat the leveling operation.

[0065] If X > 7° and Y < -7°, then platform leg 2 is the highest platform leg. Ensure platform leg 2 remains stationary and first adjust the tilt angle along the platform's length. Extend platform legs 1 and 4 until the tilt angle along the platform's length is within -7° to 7°, indicating the adjustment is complete. After adjusting the tilt angle along the platform's length, begin adjusting the tilt angle along the platform's width. Extend platform legs 3 and 4 until the tilt angle along the platform's width is within -7° to 7°, indicating the adjustment is complete. After adjusting the tilt angle along the platform's width, check if the tilt angles along both the platform's length and width are within -7° to 7°. If they are, the leveling operation is complete; otherwise, repeat the leveling operation.

[0066] If X < -7°, Y < -7°, then platform leg 1 is the highest platform leg. Ensure platform leg 1 remains stationary and first adjust the tilt angle along the platform's length. Extend platform legs 2 and 3 until the tilt angle along the platform's length is within -7° to 7°, at which point the adjustment is complete. After adjusting the tilt angle along the platform's length, begin adjusting the tilt angle along the platform's width. Extend platform legs 3 and 4 until the tilt angle along the platform's width is within -7° to 7°, at which point the adjustment is complete. After adjusting the tilt angle along the platform's width, check if the tilt angles along both the platform's length and width are within -7° to 7°. If they are, the leveling operation is complete; otherwise, repeat the leveling operation.

[0067] If X < -7°, Y > 7°, then platform leg 4 is the highest platform leg. Ensure platform leg 4 remains stationary and first adjust the tilt angle along the platform's length. Extend platform legs 2 and 3 until the tilt angle along the platform's length is within -7° to 7°, at which point the adjustment is complete. After adjusting the tilt angle along the platform's length, begin adjusting the tilt angle along the platform's width. Extend platform legs 1 and 2 until the tilt angle along the platform's width is within -7° to 7°, at which point the adjustment is complete. After adjusting the tilt angle along the platform's width, check if the tilt angles along both the platform's length and width are within -7° to 7°. If they are, the leveling operation is complete; otherwise, repeat the leveling operation.

[0068] It should be noted that during the adjustment process, the load-bearing capacity of any platform outrigger located in the middle of the platform must always be controlled to be equal to half the sum of the load-bearing capacities of the two adjacent platform outriggers; that is, always ensure that:

[0069] The load-bearing capacity of platform 5 outrigger = (measured load-bearing capacity of platform 1 outrigger + measured load-bearing capacity of platform 2 outrigger) / 2;

[0070] The load-bearing capacity of platform 5 outrigger = (the measured load-bearing capacity of platform 3 outrigger + the measured load-bearing capacity of platform 4 outrigger) / 2.

[0071] For details, see Figure 4 During the adjustment process, it is determined whether the load-bearing capacity of platform leg #5 is less than half of the sum of the measured load-bearing capacities of platform legs #1 and #2. If so, platform leg #5 is extended; otherwise, it is retracted until the load-bearing capacity of platform leg #5 equals half of the sum of the measured load-bearing capacities of platform legs #1 and #2. The adjustment principle for platform leg #6 is the same as that for platform leg #5, and will not be repeated here.

[0072] Figure 5 This is another flowchart illustrating the six-point leveling method for the platform provided in this embodiment.

[0073] It should be noted that the platform outriggers are adjusted using a hydraulic pump or motor as the driving force.

[0074] The above technical solution controls the leveling platform as a whole. The leveling controller acquires the current XY axis angles of the platform using an angle meter, and calculates the control values ​​for platform legs 1 to 4 using a leveling control algorithm. The position of these four platform legs is adjusted to make the platform more level. Simultaneously, the pressure setpoint for platform leg 5 is calculated based on the measured pressure values ​​of platform legs 1 and 2, and the pressure setpoint for platform leg 6 is calculated based on the measured pressure values ​​of platform legs 3 and 4. Closed-loop pressure control is implemented for platform legs 5 and 6, providing corresponding support force to the platform and ensuring its rigidity.

[0075] Therefore, this application controls the position of the platform legs at the four corners and the torque of the two middle platform legs, so that the entire platform can be leveled while ensuring rigidity.

[0076] Figure 6 This is a schematic diagram of a six-point leveling system for a platform provided in an embodiment of this application. The system includes a ground contact control module 201, a lifting control module 202, and a leveling control module 203.

[0077] The ground contact control module 201 is used to control all platform outriggers to extend until they touch the ground.

[0078] The lifting control module 202 is used to control the extension of all platform outriggers to lift the platform to a position where it is supported only by the platform outriggers.

[0079] 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 platform length direction and the horizontal plane and the angle between the platform width direction and the horizontal plane are both less than the threshold. 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.

[0080] 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.

[0081] The acquisition module is used to acquire the heights at both ends of the platform's length direction and the heights on both sides of the platform's width direction.

[0082] The determination module is used to determine the corner of the platform that is higher in the length direction and higher in the width direction, and the platform leg adjacent to the corner is the highest platform leg.

[0083] The first control module is used to control the two platform legs located at the lower end of the platform length direction to extend downwards simultaneously until the angle between the platform length direction and the horizontal plane is less than a threshold.

[0084] The second control module is used to control the two platform legs on the lower side of the platform width direction to extend downwards simultaneously until the angle between the platform width direction and the horizontal plane is less than a threshold.

[0085] The judgment module is used to determine whether the angle between the platform's length direction and the horizontal plane and the angle between the platform's width direction and the horizontal plane are both less than the threshold. If so, the adjustment is completed. If not, the operation performed by the first control module and the second control module is executed again until the angle between the platform's length direction and the horizontal plane and the angle between the platform's width direction and the horizontal plane are both less than the threshold.

[0086] See Figure 7 This embodiment also provides a computer device, the components of which may include, but are not limited to: one or more processors or processing units, system memory, and buses connecting different system components (including system memory and processing units).

[0087] A bus refers to one or more of several bus architectures, including a memory bus or memory controller, a peripheral bus, a graphics acceleration port, a processor, or a local bus using any of the various bus architectures. Examples of 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.

[0088] Computer systems / servers typically include 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, and removable and non-removable media.

[0089] 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. Disk drives for reading and writing to removable non-volatile disks (e.g., "floppy disks") and optical disc drives for reading and writing to removable non-volatile optical discs (e.g., CD-ROMs, DVD-ROMs, or other optical media) may be provided. In these cases, each drive may be connected to a bus via one or more data media interfaces. The memory may include at least one program product having a set (e.g., at least one) of program modules configured to perform the functions of the embodiments of the present invention.

[0090] A program / utility having a set (at least one) of program modules can be stored, for example, in memory. Such program modules include—but are not limited to—an operating system, one or more application programs, other program modules, and program data. Each or some combination of these examples may include an implementation of a network environment. The program modules typically perform the functions and / or methods described in the embodiments of this invention.

[0091] Computer devices can also communicate with one or more external devices (such as keyboards, pointing devices, monitors, etc.). This communication can be done through input / output (I / O) interfaces. Furthermore, computer devices can communicate with one or more networks (such as local area networks (LANs), wide area networks (WANs), and / or public networks, such as the Internet) via network adapters.

[0092] The processing unit executes the functions and / or methods described in the embodiments of the present invention by running programs stored in the system memory.

[0093] The aforementioned computer program can be stored in a computer storage medium, that is, the computer storage medium is encoded with a computer program, which, when executed by one or more computers, causes one or more computers to perform the method flow and / or device operation shown in the above embodiments of the present invention.

[0094] With the development of time and technology, the meaning of "medium" has become increasingly broad. The dissemination of computer programs is no longer limited to tangible media; they can also be downloaded directly from the network. Any combination of one or more computer-readable media can be used. A computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. Computer-readable storage media can be, for example,—but not limited to—electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatuses, or devices, or any combination thereof. More specific examples of computer-readable storage media (a non-exhaustive list) include: electrical connections having one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In this document, a computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0095] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals may take various forms, including—but not limited to—electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media may also be any computer-readable medium other than computer-readable storage media, capable of transmitting, propagating, or transmitting programs for use by or in connection with an instruction execution system, apparatus, or device.

[0096] The program code contained on a computer-readable medium may be transmitted using any suitable medium, including—but not limited to—wireless, wire, optical fiber, RF, etc., or any suitable combination thereof.

[0097] Computer program code for performing the operations of this invention can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, as well as conventional procedural programming languages ​​such as "C" or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0098] In addition to the above embodiments, the present invention may have other implementation methods; all technical solutions formed by equivalent substitution or equivalent transformation fall within the protection scope claimed 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; Extend all platform outriggers to raise the platform so that it is supported only by the platform outriggers; Determine the tallest platform leg among the four platform legs located at the edge of the platform. Adjust the other three platform legs located at the edge of the platform so that the angle between the platform length direction and the horizontal plane and the angle between the platform width direction and the horizontal plane are both less than the threshold. 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. The process of determining the highest platform leg among the four platform legs located at the edge of the platform includes: obtaining the heights at both ends of the platform in the length direction and the heights on both sides of the platform in the width direction; determining the corner of the platform where the end with the higher length direction and the side with the higher width direction are located, and taking the platform leg adjacent to that corner as the highest platform leg. The adjustment of the other three platform legs located at the edge of the platform to make the angles between the platform length direction and the horizontal plane and the platform width direction and the horizontal plane both less than the threshold includes: controlling the two platform legs located at the lower end of the platform length direction to extend downwards simultaneously until the angle between the platform length direction and the horizontal plane is less than the threshold; controlling the two platform legs located at the lower side of the platform width direction to extend downwards simultaneously until the angle between the platform width direction and the horizontal plane is less than the threshold. After the two platform legs on the lower side of the control platform in the width direction extend downwards simultaneously until the angle between the platform width direction and the horizontal plane is less than a threshold, the process further includes: determining whether the angle between the platform length direction and the horizontal plane and the angle between the platform width direction and the horizontal plane are both less than the threshold. If so, the adjustment is completed; if not, the aforementioned two steps are repeated until the angle between the platform length direction and the horizontal plane and the angle between the platform width direction and the horizontal plane are both less than the threshold.

2. The platform six-point leveling method according to claim 1, characterized in that: The control of all platform outriggers extending until they touch the ground includes: Control the six platform outriggers to extend downwards simultaneously at a certain speed; The load-bearing capacity of each platform outrigger is detected by pressure sensors; The system determines whether a platform leg is in contact with the ground based on its load-bearing capacity, and stops the corresponding platform leg from moving once it is determined to be in contact with the ground.

3. A platform six-point leveling system, characterized in that: include: The ground contact control module is used to control all platform outriggers to extend until they touch the ground; The lifting control module is used to control the extension of all platform outriggers, raising the platform to a position where it is supported only by the platform outriggers. 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 platform length direction and the horizontal plane and the angle between the platform width direction and the horizontal plane are both less than the threshold. 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. The leveling control module includes a leg determination module and an angle adjustment module; The outrigger determination module includes: The acquisition module is used to acquire the heights at both ends of the platform's length direction and the heights on both sides of the platform's width direction. The determination module is used to determine the corner of the platform that is higher in the length direction and higher in the width direction, and the platform leg adjacent to the corner is the highest platform leg. The angle adjustment module includes: The first control module is used to control the two platform legs located at the lower end of the platform length direction to extend downwards simultaneously until the angle between the platform length direction and the horizontal plane is less than a threshold. The second control module is used to control the two platform legs on the lower side of the platform width direction to extend downward simultaneously until the angle between the platform width direction and the horizontal plane is less than a threshold. The judgment module is used to determine whether the angle between the platform's length direction and the horizontal plane and the angle between the platform's width direction and the horizontal plane are both less than the threshold. If so, the adjustment is completed; if not, the operation performed by the first control module and the second control module is executed again until the angle between the platform's length direction and the horizontal plane and the angle between the platform's width direction and the horizontal plane are both less than the threshold.

4. 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, it implements the method as described in claim 1 or 2.

5. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by the processor, it implements the method as described in claim 1 or 2.

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