Vehicle-mounted parking apron leveling system

Abstract

The invention discloses a vehicle-mounted parking apron leveling system, which relates to the technical field of hydraulic control systems, and is characterized in that a vertical coordinate system X / Y and a first dip angle value in the vertical coordinate system are measured by using a double-shaft inclinometer, and a second dip angle value and a third dip angle value are calculated; the inclination condition of the parking apron is judged according to the first inclination angle value, the highest main supporting leg is obtained, the required extension length of each of the other main supporting legs is calculated according to the second inclination angle value and the third inclination angle value, and leveling of the parking apron is completed. According to the invention, the new coordinate system is established for the connecting lines of the main supporting legs, so that the first dip angle data measured by the double-shaft inclinometer is decomposed into the new coordinate system to obtain the second dip angle data and the third dip angle data which can directly reflect the dip angle state between the main supporting legs, and the main supporting legs which are asymmetrically distributed can be leveled; therefore, the leveling device has a wider application range.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of hydraulic control systems, more particularly, it relates to a vehicle-mounted apron leveling system. BACKGROUND

[0002] The vehicle-mounted apron is a foldable or telescopic mobile unmanned aerial vehicle landing platform installed on a vehicle, which realizes flexible movement through folding storage and unfolding use, and is mainly used in emergency rescue, medical rescue, urban security management and other fields, for example, quickly building a temporary landing point at a disaster site. Compared with the fixed apron, the vehicle-mounted apron does not require complex site conditions and has higher flexibility.

[0003] During the construction of the vehicle-mounted apron, the rapid unfolding and leveling of the vehicle-mounted apron are one of the important parameters of the entire control system, and the control accuracy of the leveling system device itself has a significant impact on the balance of the vehicle-mounted apron. The existing vehicle-mounted apron leveling system can only level the symmetrically distributed supporting legs, and it is difficult to level the asymmetrically distributed supporting legs, thereby causing certain limitations of the existing leveling system.

[0004] Therefore, a new scheme needs to be proposed to solve this problem. SUMMARY

[0005] The purpose of the embodiment of the present application is to provide a vehicle-mounted apron leveling system to solve the above problems.

[0006] The above technical purpose of the embodiment of the present application is realized by the following technical scheme: a vehicle-mounted apron leveling system, comprising the following steps:

[0007] The apron is moved to a specified position, and the controller controls the extension of each main supporting leg of the apron at the same time, so that each main supporting leg abuts against the ground;

[0008] Taking the center point of the apron as the origin, a double-axis inclinometer is used to measure the vertical coordinate system X / Y and the first inclination value in the vertical coordinate system, and the coordinates of each main supporting leg are obtained according to the device structure;

[0009] The vertical coordinate system X / Y is decomposed to obtain the coordinate system X1 / Y1 and the coordinate system X2 / Y2, and the second inclination value and the third inclination value of each main supporting leg in the coordinate system X1 / Y1 and the coordinate system X2 / Y2 are calculated according to the coordinates of each main supporting leg;

[0010] The inclination of the apron is judged by the first inclination value to obtain the highest main supporting leg, and the required elongation length of each main supporting leg other than the highest main supporting leg is calculated by the second inclination value and the third inclination value;

[0011] The controller controls the electromagnetic proportional valve by a PID control algorithm according to the calculated required elongation length, drives the elongation of the main support leg, and completes the leveling of the parking apron.

[0012] The application is further provided that: the first inclination values in the vertical coordinate system X / Y and the vertical coordinate system are measured by using a two-axis tilt meter, and the coordinates of each main support leg are obtained according to the device structure, including:

[0013] Each main support leg includes a main support leg one, a main support leg two, a main support leg three and a main support leg four; the distances of the main support leg one and the main support leg three to the X axis are b2 and b1 respectively, the distance of each main support leg to the Y axis is a, and the first inclination values are x, y respectively, x is a roll angle, and y is a pitch angle.

[0014] The application is further provided that: the coordinate system X1 / Y1 and the coordinate system X2 / Y2 are obtained by decomposing the vertical coordinate system X / Y, including:

[0015] The main support leg one and the main support leg four are connected to form the X1 axis, the main support leg two and the main support leg three are connected to form the Y1 axis to form a new coordinate system X1 / Y1, and according to the geometric relationship, the following is obtained:

[0016] tan alpha = b1 / a, tan beta = b2 / a, tan gamma = a / b1, tan delta = a / b2;

[0017] alpha = arc tan (b1 / a), beta = arc tan (b2 / a), gamma = arc tan (a / b1), delta = arc tan (a / b2);

[0018] Wherein, alpha is the included angle between the main support leg three and the main support leg two and the X axis, beta is the included angle between the main support leg one and the main support leg four and the X axis, gamma is the included angle between the main support leg three and the main support leg two and the Y axis, and delta is the included angle between the main support leg one and the main support leg four and the Y axis;

[0019] The main support leg one and the main support leg two are connected to form the X2 axis, and the Y2 axis is established perpendicular to the X2 axis to form a new coordinate system X2 / Y2, and according to the geometric relationship, the following is obtained:

[0020] Tan epsilon = (b2-b1) / 2a, epsilon = arc tan ((b2-b1) / 2a);

[0021] Wherein, epsilon is the included angle between the main support leg one and the main support leg two and the X axis.

[0022] The application is further provided that: the second inclination values and the third inclination values of each main support leg in the coordinate system X1 / Y1 and the coordinate system X2 / Y2 are calculated according to the coordinates of each main support leg, including:

[0023] Decomposing the first tilt angle values ​​x and y onto the coordinate system X1 / Y1 yields:

[0024] The component of x on X1 is x1 = x*sinα / sin(π-α-β).

[0025] The component of x on Y1 is x2 = x*sinβ / sin(π-α-β).

[0026] The component of y on X1 is y1 = y*sinγ / sin(π-γ-δ).

[0027] The component of y on Y1 y2=y*sinδ / sin(π-γ-δ),

[0028] In coordinate system X1 / Y1, the second tilt angle data are obtained as x' = x1 + y1, y' = x2 + y2;

[0029] Decomposing the first tilt angle values ​​x and y onto the coordinate system X2 / Y2 yields:

[0030] The component of x on X2 is x3 = x*cosε.

[0031] The component of x in Y2 is x4 = x*sinε.

[0032] The component of y on X2 is y3 = y*sinε.

[0033] The component of y in Y2 is y4 = y*cosε.

[0034] In the coordinate system X2 / Y2, the third tilt angle data are obtained as x"=x3+y3, y"=x4+y4.

[0035] The present invention is further configured such that: the determination of the inclination of the helipad by using a first inclination angle value to obtain the highest main support leg includes:

[0036] When x>0 and y>0, the third main support leg is at the highest point; when x>0 and y<0, the first main support leg is at the highest point; when x<0 and y>0, the fourth main support leg is at the highest point; and when x<0 and y<0, the second main support leg is at the highest point.

[0037] The present invention is further configured such that: the calculation of the required extension length of each of the other main support legs using the second tilt angle value and the third tilt angle value includes:

[0038] When the main support leg is at its highest point

[0039] The required extension length of the second main support leg is: Δh2=e*tan x”;

[0040] The required extension length of the main supporting leg 3 is: Δh3=(b1+b2)*tan y;

[0041] The required extension length of the main support leg four is: Δh4=d*tan x';

[0042] When the second main support leg is at its highest point

[0043] The required extension length of the main support leg is: Δh1=e*tan x”;

[0044] The required extension length of the main support leg three is: Δh3=c*tan y';

[0045] The length that the main supporting leg four needs to extend further is: Δh4=(b1+b2)*tan y;

[0046] When the third main support leg is at its highest point

[0047] The required extension length of the main support leg is: Δh1=(b1+b2)*tan y;

[0048] The required extension length of the second main support leg is: Δh2=c*tan y';

[0049] The required extension length of the main support leg four is: Δh4=e*tan x”;

[0050] When the main supporting leg is at its highest point

[0051] The required extension length of the main support leg is: Δh1=d*tan x';

[0052] The required extension length of the second main support leg is: Δh2=(b1+b2)*tan y;

[0053] The required extension length of the main support leg three is: Δh3=e*tan x”;

[0054] Where c is the distance between main support leg two and main support leg three, d is the distance between main support leg one and main support leg four, e is the distance between main support leg one and main support leg two, b1+b2 is the distance between main support leg one and main support leg three, and Δh1, Δh2, Δh3, and Δh4 are the lengths that main support leg one, main support leg two, main support leg three, and main support leg four need to be extended.

[0055] The present invention is further configured such that when the sum of the required extension length of the main support leg and the already extended length exceeds the stroke of the main support leg, a prompt is issued indicating that leveling cannot be performed and a new position needs to be selected.

[0056] The invention is further configured such that: four auxiliary support legs are also provided on the helipad, and each of the four auxiliary support legs is equipped with a weighing sensor. When the helipad is leveled using the four main support legs, the controller receives feedback from the weighing sensors and controls the electromagnetic proportional valve through a PID control algorithm to make the auxiliary support legs follow the main support legs, so as to keep the force on the four auxiliary support legs stable at the set value.

[0057] In summary, the present invention has the following beneficial effects:

[0058] By establishing a new coordinate system by connecting the main support legs, the vertical tilt data measured by the dual-axis inclinometer, i.e. the first tilt data, is decomposed into the new coordinate system to obtain the second tilt data and the third tilt data, which can directly reflect the tilt state between the main support legs. This enables the leveling of asymmetrically distributed main support legs, making this leveling patent have a wider range of applications.

[0059] Meanwhile, by establishing new coordinate systems X1 / Y1 and X2 / Y2, the required extension length of each main support leg can be directly obtained through calculation. The leveling can be completed in one pass through PID control, making the leveling process fast and accurate.

[0060] By setting auxiliary support legs, heavy-duty platforms can be provided with additional support, which can greatly reduce the rigidity requirements of the platform itself and improve the stability of the leveling system. Attached Figure Description

[0061] Figure 1 This is a flowchart of a vehicle-mounted helipad leveling system according to the present invention;

[0062] Figure 2 This is a diagram of the coordinate system used in this invention;

[0063] Figure 3 This is a schematic diagram showing the length that the other main support legs need to extend further when one of the main support legs is at a high point in this invention.

[0064] Figure 4 This is a schematic diagram showing the length that the other main support legs need to extend further when the second main support leg is at its highest point in this invention.

[0065] Figure 5 This is a schematic diagram showing the length that the remaining main support legs need to extend when the third main support leg is at its highest point in this invention.

[0066] Figure 6 This is a schematic diagram showing the length that the remaining main support legs need to extend when the fourth main support leg is at its highest point in this invention. Detailed Implementation

[0067] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0068] In one possible embodiment, please refer to Figures 1-6 As shown, a vehicle-mounted helipad leveling system includes the following steps:

[0069] Step 101: Move the helipad to the designated position, and the controller controls each of the helipad's main support legs to extend downwards simultaneously, so that each main support leg contacts the ground;

[0070] Step 102: Using the center point of the helipad as the origin, use a dual-axis inclinometer to measure the vertical coordinate system X / Y and the first inclinometer value of the vertical coordinate system X / Y, and obtain the coordinates of each main support leg according to the equipment structure;

[0071] Step 103: By decomposing the vertical coordinate system X / Y, coordinate systems X1 / Y1 and X2 / Y2 are obtained. The second tilt angle and third tilt angle values ​​of each main support leg in coordinate systems X1 / Y1 and X2 / Y2 are calculated by using the coordinates of each main support leg.

[0072] Step 104: Determine the tilt of the apron by using the first tilt angle value to obtain the highest main support leg, and calculate the required extension length of each of the other main support legs by using the second and third tilt angle values.

[0073] Step 105: The controller uses a PID control algorithm to control the electromagnetic proportional valve based on the calculated required extension length, thereby extending the main support leg and completing the leveling of the helipad.

[0074] Specifically, each main support leg is equipped with a displacement sensor. The sensor feedback ensures that each main support leg is in contact with the ground. By connecting the main support legs to establish a new coordinate system, the vertical tilt data measured by the dual-axis inclinometer, i.e., the first tilt data, is decomposed into the new coordinate system to obtain the second tilt data and the third tilt data, which can directly reflect the tilt state between the main support legs. This enables the leveling of asymmetrically distributed main support legs, making this leveling patent have a wider range of applications.

[0075] Meanwhile, by establishing new coordinate systems X1 / Y1 and X2 / Y2, the required extension length of each main support leg can be directly obtained through calculation. The leveling process can be completed in one pass through PID control, making the leveling process fast and accurate.

[0076] For further details, please refer to Figure 1 and Figure 2 As shown, in step 102, a biaxial inclinometer is used to measure the vertical coordinate system X / Y and the first inclinometer value of the vertical coordinate system X / Y, and the coordinates of each main support leg are obtained according to the equipment structure:

[0077] Each main support leg includes main support leg one, main support leg two, main support leg three, and main support leg four. The distances between main support leg one and main support leg three and the X-axis are measured to be b2 and b1, respectively, and the distance from each main support leg to the Y-axis is a. The first tilt angle values ​​are x and y, where x is the flip angle, that is, the flip angle of the helipad on the X-axis. If x is greater than 0, the X-axis is higher in the positive direction, and if x is less than 0, the X-axis is higher in the negative direction. y is the pitch angle, that is, the pitch angle of the helipad on the Y-axis. If y is greater than 0, the Y-axis is higher in the positive direction, and if y is less than 0, the Y-axis is higher in the negative direction. Thus, the coordinates of each support leg and the tilt angle of the helipad can be obtained.

[0078] For further details, please refer to Figure 1 and Figure 2 As shown, in step 103, obtaining coordinate systems X1 / Y1 and X2 / Y2 by decomposing the vertical coordinate system X / Y includes:

[0079] A new coordinate system X1 / Y1 is formed by using the line connecting main support leg one and main support leg four as the X1 axis and the line connecting main support leg two and main support leg three as the Y1 axis. Based on geometric relationships, the following is obtained:

[0080] tanα=b1 / a, tanβ=b2 / a, tanγ=a / b1, tanδ=a / b2;

[0081] α=arc tan(b1 / a), β=arc tan(b2 / a), γ=arc tan(a / b1), δ=arc tan(a / b2);

[0082] Wherein, α is the angle between the line connecting main support leg three and main support leg two and the X-axis, β is the angle between the line connecting main support leg one and main support leg four and the X-axis, γ is the angle between the line connecting main support leg three and main support leg two and the Y-axis, and δ is the angle between the line connecting main support leg one and main support leg four and the Y-axis. Main support leg one and main support leg four are the main support legs with the furthest distance, and are vertical angles, thus laying the groundwork for calculating the actual tilt angle values ​​of the first tilt angle value on main support leg one and main support leg four.

[0083] Using the line connecting main support leg one and main support leg two as the X2 axis, and establishing a new coordinate system X2 / Y2 perpendicular to the X2 axis, the following is obtained based on geometric relationships:

[0084] tanε=(b2-b1) / 2a, ε=arc tan((b2-b1) / 2a);

[0085] Wherein, ε is the angle between the line connecting main support leg one and main support leg two and the X-axis. Support leg one and main support leg two are the closest main support legs, thus laying the groundwork for calculating the actual tilt angle value of the first tilt angle value on main support leg one and main support leg two.

[0086] For further details, please refer to Figure 1 and Figure 2 As shown, in step 103, the second and third tilt angle values ​​of each main support leg are calculated using the coordinates of each main support leg in coordinate systems X1 / Y1 and X2 / Y2, respectively, including:

[0087] Decomposing the first tilt angle values ​​x and y onto the coordinate system X1 / Y1 yields:

[0088] The component of x on X1 is x1 = x*sinα / sin(π-α-β).

[0089] The component of x on Y1 is x2 = x*sinβ / sin(π-α-β).

[0090] The component of y on X1 is y1 = y*sinγ / sin(π-γ-δ).

[0091] The component of y on Y1 y2=y*sinδ / sin(π-γ-δ),

[0092] In coordinate system X1 / Y1, the second tilt angle data are obtained as x' and y', where x' = x1 + y1 and y' = x2 + y2.

[0093] Decomposing the first tilt angle values ​​x and y onto the coordinate system X2 / Y2 yields:

[0094] The component of x on X2 is x3 = x*cosε.

[0095] The component of x in Y2 is x4 = x*sinε.

[0096] The component of y on X2 is y3 = y*sinε.

[0097] The component of y in Y2 is y4 = y*cosε.

[0098] In the coordinate system X2 / Y2, the third tilt angle data are obtained as x" and y", x" = x3 + y3, y" = x4 + y4. By calculating the second and third tilt angle values, the true tilt angle values ​​of the apron between main support leg one and main support leg four, and between main support leg one and main support leg two can be obtained, thus revealing the true tilt of the apron.

[0099] For further details, please refer to Figures 1-6 As shown, in step 104, the tilt of the helipad is determined by the first tilt angle value, and the highest main support leg is determined to include:

[0100] When x>0 and y>0, meaning both the roll angle and pitch angle are greater than 0, the upper left corner of the apron is at its highest point, i.e., the third main outrigger is at its highest point. When x>0 and y<0, meaning the roll angle is greater than 0 and the pitch angle is less than 0, the upper right corner of the apron is at its highest point, i.e., the third main outrigger is at its highest point. When x<0 and y>0, meaning the roll angle is less than 0 and the pitch angle is greater than 0, the lower left corner of the apron is at its highest point, i.e., the third main outrigger is at its highest point. When x<0 and y<0, meaning both the roll angle and pitch angle are less than 0, the lower right corner of the apron is at its highest point, i.e., the third main outrigger is at its highest point.

[0101] Furthermore, the required extension lengths of the other main support legs are calculated using the second and third tilt angle values, including:

[0102] When the main support leg is at its highest point

[0103] The required extension length of the second main support leg is: Δh2=e*tan x”;

[0104] The required extension length of the main supporting leg 3 is: Δh3=(b1+b2)*tan y;

[0105] The required extension length of the main support leg four is: Δh4=d*tan x';

[0106] When the second main support leg is at its highest point

[0107] The required extension length of the main support leg is: Δh1=e*tan x”;

[0108] The required extension length of the main support leg three is: Δh3=c*tan y';

[0109] The length that the main supporting leg four needs to extend further is: Δh4=(b1+b2)*tan y;

[0110] When the third main support leg is at its highest point

[0111] The required extension length of the main support leg is: Δh1=(b1+b2)*tan y;

[0112] The required extension length of the second main support leg is: Δh2=c*tan y';

[0113] The required extension length of the main support leg four is: Δh4=e*tan x”;

[0114] When the main supporting leg is at its highest point

[0115] The required extension length of the main support leg is: Δh1=d*tan x';

[0116] The required extension length of the second main support leg is: Δh2=(b1+b2)*tan y;

[0117] The required extension length of the main support leg three is: Δh3=e*tan x”;

[0118] Where c is the distance between main support leg two and main support leg three, d is the distance between main support leg one and main support leg four, e is the distance between main support leg one and main support leg two, b1+b2 is the distance between main support leg one and main support leg three, and Δh1, Δh2, Δh3, and Δh4 are the lengths that main support leg one, main support leg two, main support leg three, and main support leg four need to be extended, respectively. Thus, the required extension lengths of different support legs under different maximum main support leg conditions can be obtained, thereby enabling the helipad to be accurately leveled.

[0119] Furthermore, the helipad is equipped with four auxiliary support legs, each equipped with a load cell. When the helipad is leveled using the four main support legs, the controller receives feedback from the load cells and uses a PID control algorithm to control the electromagnetic proportional valves to make the auxiliary support legs follow the main support legs, keeping the force on the four auxiliary support legs stable near the set value. By setting auxiliary support legs, the heavy platform can be provided with auxiliary support, which can greatly reduce the rigidity requirements of the platform itself, simplify the platform structure, reduce the platform manufacturing cost, and improve the stability of the leveling system.

[0120] Furthermore, when the sum of the required extension length of the main support leg and the already extended length exceeds the total stroke of the main support leg, a prompt will be issued indicating that leveling cannot be performed and a new position needs to be selected. After the new position is selected, the measurement and calculation will be performed again to determine whether the conditions are met and whether leveling can be performed.

[0121] The preferred embodiments of the present invention disclosed above are merely illustrative of the invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the invention to the specific implementations described. Clearly, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of the invention, thereby enabling those skilled in the art to better understand and utilize the invention.

Claims

1. A vehicle-mounted helipad leveling system, characterized in that, Includes the following steps: The helipad is moved to the designated position, and the controller controls all the main support legs of the helipad to extend simultaneously, so that each main support leg comes into contact with the ground; Using the center point of the apron as the origin, a dual-axis inclinometer is used to measure the vertical coordinate system X / Y and the first incline value in the vertical coordinate system. Based on the equipment structure, the coordinates of each main support leg are obtained. By decomposing the vertical coordinate system X / Y, coordinate systems X1 / Y1 and X2 / Y2 are obtained. The second and third tilt angle values ​​of each main support leg in coordinate systems X1 / Y1 and X2 / Y2 are calculated by the coordinates of each main support leg. The tilt of the apron is determined by the first tilt angle value to obtain the highest main support leg. The required extension length of each of the other main support legs is calculated by the second and third tilt angle values. The controller uses a PID control algorithm to control the electromagnetic proportional valve based on the calculated required extension length, thereby extending the main support leg and completing the leveling of the helipad.

2. The vehicle-mounted helipad leveling system according to claim 1, characterized in that: The vertical coordinate system X / Y and the first tilt angle value in the vertical coordinate system are measured using a biaxial tilt meter. Based on the equipment structure, the coordinates of each main support leg are obtained, including: Each main support leg includes main support leg one, main support leg two, main support leg three, and main support leg four; the measured distances between main support leg one and main support leg three and the X-axis are b2 and b1, respectively, and the distance from each main support leg to the Y-axis is a. The first tilt angle values ​​are x and y, where x is the tilt angle and y is the pitch angle.

3. The vehicle-mounted helipad leveling system according to claim 2, characterized in that: The process of obtaining coordinate systems X1 / Y1 and X2 / Y2 by decomposing the vertical coordinate system X / Y includes: A new coordinate system X1 / Y1 is formed by using the line connecting main support leg one and main support leg four as the X1 axis and the line connecting main support leg two and main support leg three as the Y1 axis. Based on geometric relationships, the following is obtained: tanα=b1 / a, tanβ=b2 / a, tanγ=a / b1, tanδ=a / b2; α=arc tan(b1 / a), β=arc tan(b2 / a), γ=arc tan(a / b1), δ=arc tan(a / b2); Among them, α is the angle between the line connecting the main support leg 3 and the main support leg 2 and the X-axis, β is the angle between the line connecting the main support leg 1 and the main support leg 4 and the X-axis, γ is the angle between the line connecting the main support leg 3 and the main support leg 2 and the Y-axis, and δ is the angle between the line connecting the main support leg 1 and the main support leg 4 and the Y-axis. Using the line connecting main support leg one and main support leg two as the X2 axis, and establishing a new coordinate system X2 / Y2 perpendicular to the X2 axis, the following is obtained based on geometric relationships: tanε=(b2-b1) / 2a, ε=arc tan((b2-b1) / 2a); Wherein, ε is the angle between the line connecting the first and second main support legs and the X-axis.

4. The vehicle-mounted helipad leveling system according to claim 1, characterized in that: The calculation of the second and third tilt angle values ​​of each main support leg in coordinate systems X1 / Y1 and X2 / Y2, respectively, using the coordinates of each main support leg, includes: Decomposing the first tilt angle values ​​x and y onto the coordinate system X1 / Y1 yields: The component of x on X1 is x1 = x*sinα / sin(π-α-β). The component of x on Y1 is x2 = x*sinβ / sin(π-α-β). The component of y on X1 is y1 = y*sinγ / sin(π-γ-δ). The component of y on Y1 y2=y*sinδ / sin(π-γ-δ), In coordinate system X1 / Y1, the second tilt angle data are obtained as x' = x1 + y1, y' = x2 + y2; Decomposing the first tilt angle values ​​x and y onto the coordinate system X2 / Y2 yields: The component of x on X2 is x3 = x*cosε. The component of x in Y2 is x4 = x*sinε. The component of y on X2 is y3 = y*sinε. The component of y in Y2 is y4 = y*cosε. In the coordinate system X2 / Y2, the third tilt angle data are obtained as x"=x3+y3, y"=x4+y4.

5. The vehicle-mounted helipad leveling system according to claim 4, characterized in that: The determination of the helipad's tilt using the first tilt angle value, resulting in the highest main support leg, includes: When x>0 and y>0, the third main support leg is at the highest point; when x>0 and y<0, the first main support leg is at the highest point; when x<0 and y>0, the fourth main support leg is at the highest point; and when x<0 and y<0, the second main support leg is at the highest point.

6. The vehicle-mounted helipad leveling system according to claim 5, characterized in that: The required extension lengths of the other main support legs, calculated using the second and third tilt angle values, include: When the main support leg is at its highest point The required extension length of the second main support leg is: Δh2=e*tan x”; The required extension length of the main supporting leg 3 is: Δh3=(b1+b2)*tan y; The required extension length of the main support leg four is: Δh4=d*tan x'; When the second main support leg is at its highest point The required extension length of the main support leg is: Δh1=e*tan x”; The required extension length of the main support leg three is: Δh3=c*tan y'; The length that the main supporting leg four needs to extend further is: Δh4=(b1+b2)*tan y; When the third main support leg is at its highest point The required extension length of the main support leg is: Δh1=(b1+b2)*tan y; The required extension length of the second main support leg is: Δh2=c*tan y'; The required extension length of the main support leg four is: Δh4=e*tan x”; When the main supporting leg is at its highest point The required extension length of the main support leg is: Δh1=d*tan x'; The required extension length of the second main support leg is: Δh2=(b1+b2)*tan y; The required extension length of the main support leg three is: Δh3=e*tan x”; Where c is the distance between main support leg two and main support leg three, d is the distance between main support leg one and main support leg four, e is the distance between main support leg one and main support leg two, b1+b2 is the distance between main support leg one and main support leg three, and Δh1, Δh2, Δh3, and Δh4 are the lengths that main support leg one, main support leg two, main support leg three, and main support leg four need to be extended.

7. The vehicle-mounted helipad leveling system according to claim 6, characterized in that: When the sum of the required extension length of the main support leg and the already extended length exceeds the stroke of the main support leg, a prompt will be issued indicating that leveling cannot be performed and a new position needs to be selected.

8. The vehicle-mounted helipad leveling system according to claim 1, characterized in that: The helipad is also equipped with four auxiliary support legs, each with a load cell. When the helipad is leveled using the four main support legs, the controller receives feedback from the load cells and uses a PID control algorithm to control the electromagnetic proportional valve to make the auxiliary support legs follow the main support legs, keeping the force on the four auxiliary support legs stable at the set value.

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