Method for detecting touchdown of lifting legs of mobile platform

Abstract

The invention provides a method for detecting touchdown of lifting legs of a mobile platform. Hardware equipment comprises a dual-axis tilt angle sensor and a mobile platform leveling control system arranged on the mobile platform. The method comprises the following steps that: a, the mobile platform leveling control system controls a certain lifting leg of the mobile platform to stretch out until the lifting leg touches down and jacks up the mobile platform for a certain height, and the mobile platform leveling control system generates a control signal through detected output signal change of the dual-axis tilt angle sensor; b, the mobile platform leveling control system stops the stretch of the lifting leg through the control signal to complete the touchdown detection on the lifting leg; and c, performing touchdown detection on other lifting legs one by one according to the steps a and b until the touchdown detection on all lifting legs is completed. The method has the advantages that: the whole system is more miniature and integrated, and has lower energy consumption; and the installation and debugging are simpler, and the performance and reliability are improved.

Description

Technical field [0001] The invention relates to a detection technology for a lifting leg of a mobile platform before being automatically leveled. Background technique [0002] The existing mobile platform leveling system needs to detect the ground contact of the lifting leg before leveling. The traditional mobile platform leveling system detects the ground contact of the lifting leg: by adding a pressure on each lifting leg The sensor, when the lifting leg touches the ground, the pressure in the lifting leg increases immediately, so by detecting the change of the pressure in each lifting leg, it can reach the ground reliably. The dual-axis inclination sensor installed on the existing mobile platform is used to automatically level the mobile platform. The mobile platform control system judges whether the platform is level according to the output signal of the dual-axis inclination sensor, and then controls the lifting leg of the platform in the corresponding position Exercise and...

AI Technical Summary

Problems solved by technology

[0004] 1. In the traditional mobile platform lifting outrigger system, it is necessary to install a pressure sensor on each lifting outrigger to detect the ground contact of the lifting outrigger. The installation is cumbersome, the wiring is complicated, the maintenance cost is high, and the modularization of the system low level

[0005] 2. Due to the large difference in the load of the mobile platform, the internal pressure will also be different when the lifting outrigger touches the ground. After one setting, the ground contact detection effect of the mobile platform under different load conditions cannot be guaranteed to be consistent, which may easily cause the lifting outriggers to touch the ground. System malfunction

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