Adjusting method, nonvolatile storage medium and adjusting device

Abstract

The invention provides an adjusting method, a nonvolatile storage medium and an adjusting device.The adjusting method is used for adjusting the height of a suspension of a vehicle and comprises the steps that first pressure at the joint of a first wheel on one side of the vehicle and the suspension of the vehicle is obtained, acquiring second pressure at the joint of a second wheel on the other side of the vehicle and the suspension of the vehicle; judging whether a vehicle body of the vehicle is in a balanced state or not according to the difference between the first pressure and the second pressure; and when it is determined that the vehicle body of the vehicle is in the unbalanced state, the deformation condition of a spring system of the vehicle is obtained, and the damping coefficient of a damper of the vehicle is adjusted according to the deformation condition of the spring system of the vehicle, so that the suspension height of the vehicle is adjusted. According to the technical scheme, the problem that in the prior art, an AGV trolley is prone to inclination in the transportation process can be solved.

Description

Technical Field

[0001] The present invention relates to the field of vehicle technology, and in particular to an adjustment method, a non-volatile storage medium and an adjustment device. Background Art

[0002] At present, AGV (automatic guided vehicle) has been widely used in automatic handling of goods, and can facilitate the automation of goods transfer.

[0003] However, in actual application scenarios, AGVs are often used in scenes with inclined or uneven roads. In this case, the AGV is prone to tilting, which can cause the cargo to tilt when carrying it. In harsh environments, the cargo may even slide or fall on the AGV. Summary of the invention

[0004] The main purpose of the present invention is to provide an adjustment method, a non-volatile storage medium and an adjustment device to solve the problem that the AGV vehicle in the prior art is prone to body tilt during transportation.

[0005] In order to achieve the above object, according to one aspect of the present invention, a regulating method is provided, wherein the regulating method is used to adjust the suspension height of a vehicle, and the regulating method comprises:

[0006] Acquire a first pressure at a connection between a first wheel on one side of the vehicle and a suspension of the vehicle, and acquire a second pressure at a connection between a second wheel on the other side of the vehicle and a suspension of the vehicle;

[0007] determining whether the vehicle body is in a balanced state according to the difference between the first pressure and the second pressure;

[0008] When it is determined that the body of the vehicle is in an unbalanced state, the deformation of the spring system of the vehicle is obtained, and the damping coefficient of the damper of the vehicle is adjusted according to the deformation of the spring system of the vehicle to adjust the suspension height of the vehicle.

[0009] Further, the spring system of the vehicle includes a first spring and a second spring, the first spring is connected to the first wheel, and the second spring is connected to the second wheel; the damper of the vehicle includes a first damper and a second damper, the first damper is connected to the first wheel, and the second damper is connected to the second wheel; obtaining the deformation of the spring system of the vehicle includes: obtaining the deformation of the first spring and the deformation of the second spring; adjusting the damping coefficient of the damper of the vehicle according to the deformation of the spring system of the vehicle includes:

[0010] adjusting the damping coefficient of the first damper according to the deformation of the first spring;

[0011] The damping coefficient of the second damper is adjusted according to the deformation of the second spring.

[0012] Further, obtaining the deformation of the first spring and the second spring includes:

[0013] Constructing the transfer function of the damping system Calculating the deformation amount of the first spring or the second spring according to the transfer function of the damping system;

[0014] Among them, x is the deformation of the first spring or the second spring, m is the pressure at the suspension of the first wheel or the second wheel and the vehicle, t is the inclination angle of the first wheel or the second wheel, c is the damping coefficient of the first spring or the second spring, and k is the elastic coefficient of the first spring or the second spring.

[0015] Furthermore, the obtaining of the deformation of the first spring and the second spring further includes:

[0016] Whether the deformation of the first spring or the second spring is elongation or shortening is determined according to the force direction of the first spring or the second spring.

[0017] Furthermore, the adjusting the damping coefficient of the first damper according to the deformation of the first spring also includes:

[0018] Calculating the current adjustment amount A1 of the first damper according to the deformation amount of the first spring;

[0019] When the first spring is extended, a reverse current A1 is applied to the first damper;

[0020] When the first spring is shortened, a positive current A1 is applied to the first damper.

[0021] Further, the calculating the current adjustment amount A1 of the first damper according to the deformation amount of the first spring includes:

[0022] Determining the actual force magnitude of the first spring according to the magnitude of the deformation of the first spring;

[0023] Comparing the actual force magnitude of the first spring with the preset balanced force magnitude of the first spring, and determining the magnitude of the force that needs to be adjusted for the first damper according to the difference between the actual force magnitude of the first spring and the preset balanced force magnitude of the first spring;

[0024] The magnitude A1 of the current adjustment amount of the first damper is determined according to the magnitude of the force that the first damper needs to adjust.

[0025] Further, judging whether the vehicle body is in a balanced state according to the difference between the first pressure and the second pressure includes:

[0026] comparing a difference between the first pressure F1 and the second pressure F2 with a predetermined equilibrium pressure value F0 of the wheel and the suspension;

[0027] Whether the vehicle body is in a balanced state is determined based on a comparison result between a difference between the first pressure F1 and the second pressure F2 and a predetermined balance pressure value F0 of the wheel and the suspension.

[0028] Further, judging whether the vehicle body is in a balanced state according to a comparison result of the difference between the first pressure F1 and the second pressure F2 and a predetermined balance pressure value F0 of the wheel and the suspension includes:

[0029] Calculating an absolute value Ft of a difference between the first pressure F1 and the second pressure F2;

[0030] When 0≤Ft≤0.1F0, it is judged that the body of the vehicle is in a balanced state;

[0031] When Ft>0.1F0, it is determined that the body of the vehicle is in an unbalanced state.

[0032] According to another aspect of the present invention, a non-volatile storage medium is provided, wherein the non-volatile storage medium includes a program, and the program adopts the adjustment method provided above.

[0033] According to another aspect of the present invention, there is provided an adjusting device for adjusting the suspension height of a vehicle, the adjusting device comprising:

[0034] an acquisition module, configured to acquire a first pressure at a connection between a first wheel on one side of the vehicle and a suspension of the vehicle, and acquire a second pressure at a connection between a second wheel on the other side of the vehicle and a suspension of the vehicle;

[0035] a judging module, configured to judge whether the vehicle body is in a balanced state according to the difference between the first pressure and the second pressure;

[0036] The adjustment module is configured to obtain the deformation of the spring system of the vehicle when it is determined that the body of the vehicle is in an unbalanced state, and adjust the damping coefficient of the damper of the vehicle according to the deformation of the spring system of the vehicle to adjust the suspension height of the vehicle.

[0037] By applying the technical solution of the present invention, it is possible to adjust the suspension height of the vehicle, thereby facilitating the adjustment of the state of the vehicle body, so that when the vehicle body tilts, the vehicle body can be adjusted to a balanced state in time, thereby avoiding the tilting of the cargo on the vehicle body, effectively protecting the cargo on the vehicle body, ensuring the stable transportation of the cargo on the vehicle body, and ensuring the stability of vehicle transportation. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The drawings constituting a part of the present application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0039] Figure 1 A flow chart of a regulating method provided according to an embodiment of the present invention is shown;

[0040] Figure 2 A complete control flow chart of the adjustment method provided according to an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0041] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0042] like Figure 1 As shown, a first embodiment of the present invention provides an adjustment method for adjusting the suspension height of a vehicle, the adjustment method comprising: obtaining a first pressure at a connection between a first wheel on one side of the vehicle and the suspension of the vehicle, and obtaining a second pressure at a connection between a second wheel on the other side of the vehicle and the suspension of the vehicle; judging whether the vehicle body is in a balanced state according to the difference between the first pressure and the second pressure; when it is determined that the vehicle body is in an unbalanced state, obtaining the deformation of the spring system of the vehicle, and adjusting the damping coefficient of the damper of the vehicle according to the deformation of the spring system of the vehicle, so as to adjust the suspension height of the vehicle.

[0043] The adjustment method provided in this embodiment can be used to adjust the height of the vehicle's suspension, thereby facilitating the adjustment of the state of the vehicle body, so that when the vehicle body tilts, the vehicle body can be adjusted to a balanced state in time, thereby preventing the cargo on the vehicle body from tilting, effectively protecting the cargo on the vehicle body, and ensuring the stable transportation of the cargo on the vehicle body. Therefore, the adjustment method provided in this embodiment can solve the problem of the AGV trolley in the prior art being prone to tilting during transportation.

[0044] Specifically, the damper in this embodiment may be an electromagnetic damper or a hydraulic damper; when it is an electromagnetic damper, the corresponding current is adjusted; when it is a hydraulic damper, the corresponding hydraulic pressure is adjusted.

[0045] The vehicle in this embodiment is mainly an AGV. The suspension of the vehicle in this embodiment is an independent suspension structure, which can be adaptively adjusted to adjust the balance state of the vehicle body by adjusting the height of the independent suspension structure, so that the vehicle body is in a balanced state as much as possible, thereby avoiding the tilting of the cargo carried on the vehicle body, thereby ensuring the stable transportation of the cargo and avoiding dumping.

[0046] It should be noted that when the vehicle body is in a balanced state, the load-bearing surface of the vehicle body is as horizontal as possible (the inclination angle with the horizontal direction is zero, or the inclination angle in the horizontal direction is less than or equal to a certain small angle range) to ensure the stable placement of the cargo; when the vehicle body is in an unbalanced state, the vehicle body has a large inclination angle relative to the horizontal direction, and the cargo may be at risk of tipping over.

[0047] In this embodiment, the spring system of the vehicle includes a first spring and a second spring, the first spring is connected to the first wheel, and the second spring is connected to the second wheel; the damper of the vehicle includes a first damper and a second damper, the first damper is connected to the first wheel, and the second damper is connected to the second wheel; obtaining the deformation of the spring system of the vehicle includes: obtaining the deformation of the first spring and the deformation of the second spring; adjusting the damping coefficient of the damper of the vehicle according to the deformation of the spring system of the vehicle includes: adjusting the damping coefficient of the first damper according to the deformation of the first spring; adjusting the damping coefficient of the second damper according to the deformation of the second spring. By adopting such a method, it is easy to know the deformation of the first spring and the second spring respectively, and adjust the damping coefficient of the first damper and the second damper respectively according to the deformation of the first spring and the second spring, so as to better realize the adjustment of the first wheel and the second wheel, so as to adjust the vehicle body to a balanced state through the adjustment of the first wheel and the second wheel, and then it is possible to ensure that the goods on the vehicle body do not tilt or even fall, so as to ensure the smooth transportation.

[0048] Specifically, the two wheels include a first wheel and a second wheel. The suspension includes a first suspension and a second option. The first wheel is connected to the first suspension, and the second wheel is connected to the second option. The first suspension can also be called a left suspension, and the second suspension can also be called a right suspension. The first wheel can be called a left wheel, and the second wheel can be called a right wheel. The compression of the left wheel corresponds to the compression of the first spring corresponding to the left wheel, and the compression of the right wheel corresponds to the compression of the second spring corresponding to the right wheel.

[0049] Specifically, obtaining the deformation of the first spring and the second spring includes:

[0050] Constructing the transfer function of the damping system The deformation amount of the first spring or the second spring is calculated according to the transfer function of the damping system; wherein, x is the deformation amount of the first spring or the second spring, m is the pressure at the suspension of the first wheel or the second wheel and the vehicle, t is the inclination angle of the first wheel or the second wheel, c is the damping coefficient of the first spring or the second spring, and k is the elastic coefficient of the first spring or the second spring.

[0051] By adopting this method, it is possible to accurately calculate the deformation magnitude of the first spring and the deformation magnitude of the second spring, thereby providing a precise adjustment basis for the subsequent adjustment of the damping coefficient of the first damper and the damping coefficient of the second damper.

[0052] In this embodiment, the deformation of the first spring and the second spring is obtained, and further includes: determining whether the deformation of the first spring or the second spring is elongated or shortened according to the force direction of the first spring or the second spring. With such a method, it is easy to know whether the deformation of the first spring and the second spring is elongated or shortened, so as to facilitate determining the damping force of the first damper and the direction in which the second damper needs to be adjusted, so as to facilitate better ensuring that the force of the first damper and the adjustment of the second damper can achieve the adjustment of the vehicle body balance.

[0053] Specifically, the damping coefficient of the first damper is adjusted according to the deformation of the first spring, and further includes: calculating the current adjustment amount A1 of the first damper according to the deformation amount of the first spring; when the first spring is extended, a reverse current A1 is applied to the first damper; when the first spring is shortened, a forward current A1 is applied to the first damper. This method can facilitate better adjustment of the first damper to achieve adjustment of the balance state of the vehicle body and ensure that the vehicle body is in a balanced state as much as possible.

[0054] Specifically, when the spring is compressed, the forward current is increased according to the corresponding electromagnetic damper, the damping coefficient is changed, and the compression amount of the spring is reduced to adjust and achieve balance.

[0055] In this embodiment, according to the deformation magnitude of the first spring, the current adjustment magnitude A1 of the first damper is calculated, including: determining the actual force magnitude of the first spring according to the deformation magnitude of the first spring; comparing the actual force magnitude of the first spring with the preset balanced force magnitude of the first spring, and determining the magnitude of the force that needs to be adjusted by the first damper according to the difference between the actual force magnitude of the first spring and the preset balanced force magnitude of the first spring; and determining the magnitude A1 of the current adjustment magnitude of the first damper according to the magnitude of the force that needs to be adjusted by the first damper. Such a method can facilitate the accurate calculation of the current adjustment magnitude of the first damper to improve the accuracy of the adjustment.

[0056] Correspondingly, the adjustment of the second spring is a similar process to the adjustment of the first spring. Accordingly, the current adjustment amount A2 of the second damper can be calculated according to the deformation amount of the second spring, and the forward or reverse current can be adjusted accordingly.

[0057] Specifically, judging whether the vehicle body is in a balanced state according to the difference between the first pressure and the second pressure includes: comparing the difference between the first pressure F1 and the second pressure F2 with the predetermined balanced pressure value F0 of the wheel and the suspension; judging whether the vehicle body is in a balanced state according to the comparison result of the difference between the first pressure F1 and the second pressure F2 and the predetermined balanced pressure value F0 of the wheel and the suspension. Such a method can improve the accuracy of judging the balanced state of the vehicle body.

[0058] In this embodiment, judging whether the vehicle body is in a balanced state according to the comparison result of the difference between the first pressure F1 and the second pressure F2 and the predetermined balanced pressure value F0 of the wheel and the suspension includes: calculating the absolute value Ft of the difference between the first pressure F1 and the second pressure F2; judging that the vehicle body is in a balanced state when 0≤Ft≤0.1F0; judging that the vehicle body is not in a balanced state when Ft>0.1F0. With such a setting, it is possible to avoid misjudgment caused by small roadblocks, so as to more accurately confirm whether the vehicle body is in a balanced state and improve the accuracy of judgment.

[0059] A second embodiment of the present invention provides a non-volatile storage medium, the non-volatile storage medium includes a program, and the program adopts the adjustment method provided above.

[0060] Embodiment three of the present invention provides an adjusting device, which is used to adjust the suspension height of a vehicle, and the adjusting device includes: an acquisition module, which is configured to acquire a first pressure at a connection between a first wheel on one side of the vehicle and the suspension of the vehicle, and acquire a second pressure at a connection between a second wheel on the other side of the vehicle and the suspension of the vehicle; a judgment module, which is configured to judge whether the body of the vehicle is in a balanced state based on the difference between the first pressure and the second pressure; and an adjustment module, which is configured to acquire the deformation of the spring system of the vehicle when it is determined that the body of the vehicle is in an unbalanced state, and adjust the damping coefficient of the damper of the vehicle based on the deformation of the spring system of the vehicle to adjust the suspension height of the vehicle.

[0061] like Figure 2 As shown, first, sensor data is collected, and pressure and speed sensors are used to collect real-time data of the vehicle, such as acceleration, braking status, etc.; then the sensor data is processed and analyzed, and useful information such as vehicle body status and wheel pressure are extracted through pressure and vehicle body acceleration conditions, so as to judge the real-time vehicle status and road conditions, and adopt corresponding strategies for different vehicle status and road conditions.

[0062] Specifically, P = (Vout - Vzero) / Vs * Pmax;

[0063] P is the actual pressure value, Vout is the voltage value output by the sensor, Vzero is the zero drift (the voltage value when the sensor is at zero pressure), Vs is the sensitivity of the sensor (the linear relationship between voltage and pressure), and Pmax is the maximum pressure value that the sensor can measure. By detecting the real-time voltage value of the sensor: Control Signal = Kp*Error Control Signal is a control signal used to adjust the actuator, and Kp is the proportional gain, which determines the response speed of the controller to the error. Error is the error between the current pressure value (the above-mentioned detected P value) and the target pressure value. The pressure sensor converts the voltage value into a pressure value, and the pressure value is offset by negative feedback regulation.

[0064] After collecting the pressure data, the linear equation of the damping system is constructed. m can be regarded as the pressure received by the pressure sensor, x can be regarded as the deformation of the spring system, and t is the tilt angle.

[0065]

[0066] f(t) = sint;

[0067] The transfer function of the damping system can be obtained:

[0068]

[0069] The data collected by the sensor enters the transfer function to obtain the required feedback data, and then the body state is further judged by the spring state. Reverse and forward currents are applied corresponding to different conditions of body sinking and body lifting to change the damping ratio, thereby adjusting the body state and ensuring the stability of the body.

[0070] After the electromagnetic damper acts on the suspension system, the suspension system returns the real-time parameters to the sensor to complete the information feedback, detects whether the body state is corrected successfully after the action, and performs a cyclic detection to correct the body state.

[0071] This solution mainly uses sensors, electromagnetic dampers, and independent suspension to detect and correct the vehicle status of the AGV in real time, preventing the AGV from tilting due to uneven or inclined roads, and reducing the risk of cargo collapse.

[0072] Through the vehicle parameters of normal load driving, the control algorithm is preset, and the body state is corrected according to the real-time input sensor data, the damping adjustment strategy required by the suspension system is determined, the corresponding calculation results are generated, the corresponding control signal is generated, and the control signal to be output is transmitted to the electromagnetic damper control unit. The damping characteristics are adjusted by controlling the current of the electromagnetic coil. By changing the current intensity of the electromagnetic coil, the intensity and direction of the magnetic field are changed, thereby changing the magnitude and direction of the electromagnetic force on the piston, and then adjusting the damping characteristics of the damper. By changing the damping characteristics of the damper, it acts on the suspension system to correct the body state in the corresponding road conditions, improve the stability and consistency of the overall movement, and prevent the body from tilting on one side, causing the cargo to collapse. Specifically, the speed can continue to be linearly scaled by the load on the vehicle, and the steering size can be adjusted by the load.

[0073] From the above description, it can be seen that the above embodiments of the present invention achieve the following technical effects: the independent suspension can be used to adjust the suspension height of each wheel to adapt to different terrains and improve stability on uneven ground. The independent suspension of the AGV can maintain the wheel grip, reduce wheel slippage, and improve the stability and safety of the AGV. The stability and safety of the AGV during use are improved, and the collapse and tilting of goods during transportation are reduced.

[0074] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0075] Unless otherwise specifically stated, the relative arrangement, numerical expressions and numerical values ​​of the parts and steps set forth in these embodiments do not limit the scope of the application. Meanwhile, it should be understood that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to actual proportional relationships. The technology, methods and equipment known to those of ordinary skill in the relevant art may not be discussed in detail, but in appropriate cases, the technology, methods and equipment should be considered as a part of the specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters represent similar items in the following drawings, and therefore, once a certain item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0076] In the description of the present application, it should be understood that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the device or element referred to must have a specific direction or be constructed and operated in a specific direction, and therefore cannot be understood as limiting the scope of protection of the present application; the directional words "inside and outside" refer to the inside and outside relative to the outline of each component itself.

[0077] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0078] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of this application.

[0079] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A method of regulation, characterized in that: The adjustment method is used to adjust the suspension height of a vehicle, and the adjustment method comprises: Acquire a first pressure at a connection between a first wheel on one side of the vehicle and a suspension of the vehicle, and acquire a second pressure at a connection between a second wheel on the other side of the vehicle and a suspension of the vehicle; determining whether the vehicle body is in a balanced state according to the difference between the first pressure and the second pressure; When it is determined that the body of the vehicle is in an unbalanced state, the deformation of the spring system of the vehicle is obtained, and the damping coefficient of the damper of the vehicle is adjusted according to the deformation of the spring system of the vehicle to adjust the suspension height of the vehicle.

2. The adjustment method according to claim 1, characterized in that: The spring system of the vehicle includes a first spring and a second spring, the first spring is connected to the first wheel, and the second spring is connected to the second wheel; the damper of the vehicle includes a first damper and a second damper, the first damper is connected to the first wheel, and the second damper is connected to the second wheel; Obtaining the deformation of the spring system of the vehicle includes: obtaining the deformation of the first spring and the deformation of the second spring; and adjusting the damping coefficient of the damper of the vehicle according to the deformation of the spring system of the vehicle includes: adjusting the damping coefficient of the first damper according to the deformation of the first spring; The damping coefficient of the second damper is adjusted according to the deformation of the second spring.

3. The adjustment method according to claim 2, characterized in that: The obtaining of deformation conditions of the first spring and the second spring includes: Constructing the transfer function of the damping system Calculating the deformation amount of the first spring or the second spring according to the transfer function of the damping system; Among them, x is the deformation of the first spring or the second spring, m is the pressure at the suspension of the first wheel or the second wheel and the vehicle, t is the inclination angle of the first wheel or the second wheel, c is the damping coefficient of the first spring or the second spring, and k is the elastic coefficient of the first spring or the second spring.

4. The adjustment method according to claim 3, characterized in that: The obtaining of the deformation of the first spring and the second spring further includes: Whether the deformation of the first spring or the second spring is elongation or shortening is determined according to the force direction of the first spring or the second spring.

5. The adjustment method according to claim 2, characterized in that: The adjusting the damping coefficient of the first damper according to the deformation of the first spring further includes: Calculating the current adjustment amount A1 of the first damper according to the deformation amount of the first spring; When the first spring is extended, a reverse current A1 is applied to the first damper; When the first spring is shortened, a positive current A1 is applied to the first damper.

6. The adjustment method according to claim 5, characterized in that: The step of calculating the current adjustment amount A1 of the first damper according to the deformation amount of the first spring includes: Determining the actual force magnitude of the first spring according to the magnitude of the deformation of the first spring; Comparing the actual force magnitude of the first spring with the preset balanced force magnitude of the first spring, and determining the magnitude of the force that needs to be adjusted for the first damper according to the difference between the actual force magnitude of the first spring and the preset balanced force magnitude of the first spring; The magnitude A1 of the current adjustment amount of the first damper is determined according to the magnitude of the force that the first damper needs to adjust.

7. The adjustment method according to claim 1, characterized in that: The determining whether the vehicle body is in a balanced state according to the difference between the first pressure and the second pressure includes: comparing a difference between the first pressure F1 and the second pressure F2 with a predetermined equilibrium pressure value F0 of the wheel and the suspension; Whether the vehicle body is in a balanced state is determined based on a comparison result between a difference between the first pressure F1 and the second pressure F2 and a predetermined balance pressure value F0 of the wheel and the suspension.

8. The adjustment method according to claim 7, characterized in that: The step of judging whether the vehicle body is in a balanced state according to a comparison result of the difference between the first pressure F1 and the second pressure F2 and a predetermined balanced pressure value F0 between the wheel and the suspension includes: Calculating an absolute value Ft of a difference between the first pressure F1 and the second pressure F2; When 0≤Ft≤0.1F0, it is judged that the body of the vehicle is in a balanced state; When Ft>0.1F0, it is determined that the body of the vehicle is in an unbalanced state.

9. A non-volatile storage medium, characterized in that: The non-volatile storage medium includes a program, and the program adopts the adjustment method according to any one of claims 1 to 8.

10. A regulating device, characterized in that: The adjusting device is used to adjust the suspension height of the vehicle, and the adjusting device comprises: an acquisition module, configured to acquire a first pressure at a connection between a first wheel on one side of the vehicle and a suspension of the vehicle, and acquire a second pressure at a connection between a second wheel on the other side of the vehicle and a suspension of the vehicle; a judging module, configured to judge whether the vehicle body is in a balanced state according to the difference between the first pressure and the second pressure; The adjustment module is configured to obtain the deformation of the spring system of the vehicle when it is determined that the body of the vehicle is in an unbalanced state, and adjust the damping coefficient of the damper of the vehicle according to the deformation of the spring system of the vehicle to adjust the suspension height of the vehicle.

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