Adjusting method and adjusting device

Abstract

The invention provides an adjusting method and an adjusting device.The adjusting method is used for adjusting the position of a vehicle-mounted radar relative to a vehicle body and comprises the steps that in the running process of the vehicle body, the vibration condition of the vehicle body and the relative position relation between the vehicle-mounted radar and an obstacle are obtained; and adjusting the installation height and / or the installation angle of the installation bottom surface of the vehicle-mounted radar according to the vibration condition of the vehicle body and / or the relative position relationship between the vehicle-mounted radar and the obstacle. Through the technical scheme provided by the invention, the problem that the detection range of the vehicle-mounted radar in the prior art is easily limited or misjudged can be solved.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle-mounted radar, and in particular to an adjustment method and an adjustment device. Background Art

[0002] Currently, in the field of logistics and warehousing, AGV is a key equipment for improving operational efficiency and accuracy.

[0003] However, during AGV operation in various scenarios, the radar may occasionally fail to avoid obstacles, or even fail to effectively avoid them. This is usually caused by the adjustment device used to install the radar becoming loose or deviating due to vibration or external interference after a period of use. This can cause the radar's reference surface to deviate, resulting in limited detection range or misjudgment. Summary of the Invention

[0004] The main purpose of the present invention is to provide an adjustment method and an adjustment device to solve the problem that the vehicle-mounted radar in the prior art is prone to limited detection range or misjudgment.

[0005] To achieve the above object, according to one aspect of the present invention, an adjustment method is provided. The adjustment method is used to adjust the position of a vehicle-mounted radar relative to a vehicle body. The adjustment method includes:

[0006] During the operation of the vehicle, the vibration of the vehicle and the relative position relationship between the vehicle radar and the obstacle are obtained;

[0007] The installation height and / or installation angle of the installation bottom surface of the vehicle-mounted radar are adjusted according to the vibration of the vehicle body and / or the relative position relationship between the vehicle-mounted radar and the obstacle.

[0008] Furthermore, the installation height and / or installation angle of the mounting bottom surface of the vehicle-mounted radar is adjusted according to the vibration of the vehicle body and the relative position relationship between the vehicle-mounted radar and the obstacle, including:

[0009] Obtaining a distance L between the vehicle-mounted radar and the obstacle, and comparing the distance L between the vehicle-mounted radar and the obstacle with a preset obstacle critical distance L0;

[0010] When L<L0, the installation height and / or installation angle of the installation bottom surface of the vehicle-mounted radar is adjusted to move the vehicle-mounted radar in a direction away from the obstacle;

[0011] When L≥L0, obtain the distance H between the vehicle-mounted radar and the obstacle in the direction perpendicular to the installation bottom surface, and determine whether to adjust the installation height and / or installation angle of the installation bottom surface of the vehicle-mounted radar based on H.

[0012] Furthermore, determining whether to adjust the installation height and / or installation angle of the installation bottom surface of the vehicle-mounted radar according to H includes:

[0013] Compare H with the optimal height difference range;

[0014] When H is within the optimal height difference range, the vibration of the vehicle body is obtained, and the installation angle of the installation bottom surface is adjusted according to the vibration of the vehicle body;

[0015] When H is less than or equal to the optimal height difference range, the installation height, or the installation height and installation angle of the installation bottom surface are adjusted, and the response time is adjusted according to the size of H to adjust H to the optimal height difference range.

[0016] Furthermore, the installation angle of the installation bottom surface is adjusted according to the vibration of the vehicle body, including:

[0017] Obtaining a vibration direction and a vibration offset distance of a preset detection position on the installation bottom surface in a direction perpendicular to the installation bottom surface;

[0018] The position of the preset detection part of the installation bottom surface is adjusted according to the vibration direction and the vibration offset distance.

[0019] Furthermore, the preset detection portion includes n points to be detected that are arranged at intervals, where n is 2, 3, or 4, and the mounting bottom surface has n or n+1 adjustment support points that can be used to adjust the position, and the adjustment support points are arranged at intervals from the points to be detected; adjusting the position of the preset detection portion of the mounting bottom surface according to the vibration direction and the vibration offset distance includes:

[0020] The constant vibration direction A0 and the constant vibration offset distance B0 of each point to be detected within a preset time period are obtained, and the position of each point to be detected is adjusted according to the constant vibration direction A0 and the constant vibration offset distance B0.

[0021] Furthermore, the mounting bottom surface has four adjustable support points that can be used to adjust the position, two of which are adjustable in angle and height, and the other two are adjustable in height. Before adjusting the mounting angle of the mounting bottom surface according to the vibration of the vehicle body, the adjustment method includes:

[0022] Obtaining an angle α between the installation bottom surface and the road surface on which the vehicle is traveling, and determining whether the installation bottom surface is in a steep slope state based on the angle α;

[0023] When the installation bottom surface is in a state of large slope, the height of the other two adjustment support points is controlled to adjust, and two of the adjustment support points are controlled to be in an angle-adjustable state;

[0024] When the installation bottom surface is not in a steep slope state, two of the adjustment support points are controlled to adjust the height and / or angle, so that the other two adjustment support points are not moved, and are locked after the two adjustment support points are adjusted.

[0025] According to another aspect of the present invention, there is provided an adjustment device applicable to the adjustment method provided above, the adjustment device comprising:

[0026] The acquisition module is configured to: acquire the vibration of the vehicle body and the relative position relationship between the vehicle-mounted radar and the obstacle during the operation of the vehicle body;

[0027] The adjustment module is configured to adjust the installation height and / or installation angle of the installation bottom surface of the vehicle-mounted radar according to the vibration of the vehicle body and / or the relative position relationship between the vehicle-mounted radar and the obstacle.

[0028] Furthermore, the regulating device further comprises:

[0029] Install the base and fix it on the vehicle body;

[0030] A support plate, on which the mounting bottom surface of the vehicle-mounted radar is supported, and on which n or n+1 adjustable support points are arranged that are adjustable relative to the mounting base;

[0031] The adjustment module includes n adjustment members, and the adjustment ends of the n adjustment members are spaced apart and connected to the support plate, so that the support plate can be adjusted through the adjustment ends of the n adjustment members;

[0032] Wherein, n is 2 or 3 or 4.

[0033] Furthermore, the mounting base includes a mounting base plate and mounting side plates connected to each other, the support plate is adjustably arranged on the mounting side plates, the support plate is arranged opposite to the mounting base plate, the mounting base plate, the mounting side plates and the support plate form a protective cavity, and the n adjustment members are all installed in the protective cavity; and / or,

[0034] The adjusting device further includes n detecting members, which are arranged in one-to-one correspondence with the n adjusting members. Each detecting member is arranged on a corresponding adjusting member to detect the vibration condition at the position where the corresponding adjusting member is located.

[0035] Furthermore, n is 2, the support plate has two hinge points for being hinged to the mounting base, and the support plate also has two adjustable support points whose positions are adjustable relative to the mounting base; the line connecting the adjustment ends of the two adjustment members is arranged parallel to the line connecting the two hinge points, and the adjustment end of each adjustment member is used to adjust the adjustment support point on the corresponding vehicle-mounted radar; or,

[0036] n is 3, the support plate has a hinge point for being hinged to the mounting base, and the support plate also has three adjustable support points that are adjustable relative to the mounting base; the adjustment end of each adjustment member is used to adjust the adjustment support point on the corresponding vehicle-mounted radar; or,

[0037] n is 3, the support plate has four adjustable support points relative to the mounting base, there are three adjusting members, and the adjusting end of each adjusting member is used to adjust the corresponding adjustment support point on the vehicle-mounted radar; or,

[0038] n is 4, and the support plate has four adjustable support points that can be adjusted relative to the mounting base; the adjusting ends of two of the adjusting members are respectively hingedly connected to two of the adjusting support points, and the adjusting ends of the other two adjusting members are respectively fixedly connected to the other two adjusting support points, and the line connecting the two adjusting support points is set parallel to the line connecting the other two adjusting support points, and the adjusting end of each adjusting member is used to adjust the corresponding adjusting support point.

[0039] Furthermore, the adjustment device further includes a vibration reduction structure, the vibration reduction structure including a guide rod and a vibration reduction airbag, the guide rod is fixedly connected to the mounting base, the guide rod is passed through the support plate, and the vibration reduction airbag is arranged between the support plate and the mounting base; and / or,

[0040] The support plate is made of honeycomb aluminum matrix composite material.

[0041] The application of the technical solution of the present invention can realize intelligent adjustment: this solution automatically adjusts the height and angle of the adjustment device by real-time monitoring of the vehicle body vibration and the relative position of the radar and the obstacle, which significantly improves the operation stability and safety of the AGV in complex environments. It has strong adaptability. Whether in a narrow passage or a wide storage area, the adjustment device can be intelligently adjusted according to actual needs to ensure the optimal state of the radar detection range and angle. Reduce maintenance costs: The automatic reset and shock-absorbing design reduces the maintenance costs caused by frequent manual adjustments, reduces the equipment failure rate, and extends the service life of the adjustment device. Improve obstacle avoidance accuracy: The dynamic adjustment function effectively avoids the misjudgment of obstacle avoidance and improves the obstacle avoidance accuracy and efficiency of the AGV during operation. By reducing abnormal situations during operation, the overall performance of the AGV is improved, and the user's trust and satisfaction with the automated logistics system is enhanced. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The accompanying drawings, which constitute part of this application, are intended to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are intended to explain the present invention and do not constitute an undue limitation of the present invention. In the accompanying drawings:

[0043] Figure 1 A schematic flow chart of an adjustment method according to an embodiment of the present invention is shown;

[0044] Figure 2 A schematic diagram of an adjustment process for adjusting the position of a vehicle-mounted radar relative to a vehicle body according to L and H provided in an embodiment of the present invention is shown;

[0045] Figure 3 A schematic structural diagram of an adjusting device provided in an embodiment of the present invention is shown;

[0046] Figure 4 It shows a front view of an adjusting device provided according to an embodiment of the present invention;

[0047] Figure 5 A partial cross-sectional view of an adjustment device according to an embodiment of the present invention is shown;

[0048] Figure 6 A side view of an adjusting device according to an embodiment of the present invention is shown;

[0049] Figure 7 A schematic structural diagram of an adjusting device with four adjusting members according to an embodiment of the present invention is shown;

[0050] Figure 8 A side view of an adjusting device with four adjusting members provided according to an embodiment of the present invention is shown.

[0051] The above drawings include the following reference numerals:

[0052] 10. Install the base; 11. Install the bottom plate; 12. Install the side panels; 13. Connect the support plates;

[0053] 20. Support plate; 21. Hinge point; 22. Adjustable support point;

[0054] 30. Adjustment parts;

[0055] 40. Inspection parts;

[0056] 51. First connecting column; 52. Second connecting column;

[0057] 60. Vibration-damping structure; 61. Guide rod; 62. Vibration-damping airbag. DETAILED DESCRIPTION

[0058] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments in this 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.

[0059] like Figure 1As shown, embodiment 1 of the present invention provides an adjustment method for adjusting the position of a vehicle-mounted radar relative to a vehicle body. The adjustment method includes: obtaining the vibration condition of the vehicle body and the relative position relationship between the vehicle-mounted radar and an obstacle during the operation of the vehicle body; and adjusting the installation height and / or installation angle of the installation bottom surface of the vehicle-mounted radar according to the vibration condition of the vehicle body and / or the relative position relationship between the vehicle-mounted radar and the obstacle.

[0060] The core principle of this adjustment method is to automatically adjust the radar's installation height and angle by monitoring the vehicle's vibration and the relative position of the radar and obstacles in real time. This ensures that the radar's detection range and effectiveness are not affected by vehicle vibration or terrain changes. This has significantly improved the AGV's operational stability and obstacle avoidance accuracy in complex environments, while reducing misjudgments caused by improper radar positioning.

[0061] Specifically, the adjustment method in this embodiment is primarily applicable to logistics warehousing, manufacturing production lines, and unmanned delivery. This method can effectively improve the safety and efficiency of AGVs, particularly in environments with variable terrain or a large number of dynamic obstacles. During use, sensors on the adjustment device continuously collect data. Once abnormal vibration or an approaching obstacle is detected, the adjustment mechanism is immediately activated to adjust the radar position to ensure it is always in optimal working condition.

[0062] In this embodiment, the installation height and / or installation angle of the installation bottom surface of the vehicle-mounted radar are adjusted according to the vibration of the vehicle body and the relative positional relationship between the vehicle-mounted radar and the obstacle, including: obtaining the distance L between the vehicle-mounted radar and the obstacle, and comparing the distance L between the vehicle-mounted radar and the obstacle with the preset obstacle critical distance L0; when L<L0, adjusting the installation height and / or installation angle of the installation bottom surface of the vehicle-mounted radar to move the vehicle-mounted radar away from the obstacle; when L≥L0, obtaining the distance H between the vehicle-mounted radar and the obstacle in a direction perpendicular to the installation bottom surface, and judging whether to adjust the installation height and / or installation angle of the installation bottom surface of the vehicle-mounted radar based on H.

[0063] This embodiment accurately measures the distance L between the radar and the obstacle, and compares it with the preset critical distance L0 of the obstacle. When L is less than L0, that is, when the radar is too close to the obstacle, the radar position is automatically adjusted to avoid collision. At the same time, by measuring the distance H in the vertical direction, it is determined whether the radar needs to be further adjusted in height to optimize the detection effect. This method can effectively deal with various emergencies, such as sudden obstacles or terrain changes, thereby improving the reaction speed and obstacle avoidance ability of the AGV. Application scenarios include but are not limited to cargo handling inside warehouses, material transportation within factories, and outdoor unmanned vehicle navigation. During use, the sensors on the adjustment device continuously monitor, and once a potential risk is detected, the adjustment program is immediately triggered to ensure that the radar maintains a safe distance from the obstacle, while optimizing the radar's detection angle.

[0064] Specifically, if Figure 2 As shown, whether to adjust the installation height and / or installation angle of the installation bottom surface of the vehicle-mounted radar is determined according to H, including: comparing H with the optimal height difference range; when H is within the optimal height difference range, obtaining the vibration condition of the vehicle body, and adjusting the installation angle of the installation bottom surface according to the vibration condition of the vehicle body; when H is less than or equal to the optimal height difference range, adjusting the installation height of the installation bottom surface, or adjusting both the installation height and the installation angle, and adjusting the response time according to the size of H to adjust H to the optimal height difference range.

[0065] This embodiment sets an optimal height difference range. When the vertical distance H between the vehicle-mounted radar and the obstacle is not within this range, the installation height of the radar is automatically adjusted to ensure that the radar can detect at the most suitable height. At the same time, considering that the vibration of the vehicle body may affect the detection accuracy of the radar, when H is within the optimal range, the focus will be on adjusting the angle of the radar according to the vibration of the vehicle body to reduce the impact of vibration on the radar operation. This method not only improves the detection efficiency of the radar, but also enhances its adaptability in complex environments. Application scenarios include AGVs that need to cross shelves of different heights or travel on uneven ground when performing cargo handling tasks. During use, the adjustment device automatically adjusts the height and angle of the radar based on real-time monitoring data to ensure that the radar can detect obstacles in front in a timely and accurate manner, thereby avoiding collisions and improving operational safety.

[0066] Specifically, the optimal height difference range is greater than 5m.

[0067] Specifically, "adjusting the response time according to the size of H" can be understood as different specific response times in the safe operation stage (H>5m), pre-adjustment stage (3m<H≤5m, in the adjustment preparation stage), emergency adjustment stage (1m<H≤3m, corresponding to the adjustment stage for adjusting the height and / or installation angle of the installation base), and emergency stop stage (H≤1m, corresponding to the stage where gas, electricity, and machinery are all stopped and locked). The response time in the pre-adjustment stage is greater than that in the emergency adjustment stage, and the response time in the emergency adjustment stage is greater than that in the emergency stop stage, so that the response is faster in the more urgent stages, thereby greatly ensuring the safety of operation.

[0068] Specifically, the corresponding response time in the pre-adjustment stage is ≤500ms, the response time in the emergency adjustment stage is ≤200ms, and the response time in the emergency stop stage is ≤50ms.

[0069] In this embodiment, the installation angle of the installation bottom surface is adjusted according to the vibration conditions of the vehicle body, including: obtaining the vibration direction and vibration offset distance of a preset detection part of the installation bottom surface in a direction perpendicular to the installation bottom surface; and adjusting the position of the preset detection part of the installation bottom surface according to the vibration direction and the vibration offset distance.

[0070] This embodiment focuses on detecting the direction and offset distance of vehicle body vibration and intelligently adjusting the angle of the adjustment device to offset the impact of vibration on radar detection. Specifically, the adjustment device is equipped with a special detection module that can accurately capture the vibration of the vehicle body in the vertical direction, and then adjust the angle of the adjustment device based on these data to ensure that the radar is always in a stable working state. This method not only reduces radar false alarms caused by vibration, but also improves the operating efficiency of AGV on uneven roads. Application scenarios cover AGV operations on complex terrain, such as shuttling across uneven ground in a warehouse, or bypassing machinery and equipment in a factory workshop. During use, the detection module on the adjustment device continuously monitors the vibration of the vehicle body. Once it detects that the vibration exceeds the threshold, it immediately starts the angle adjustment program to ensure that the accuracy of radar detection is not affected by vibration.

[0071] Specifically, the preset detection part includes n points to be detected that are set at intervals, where n is 2, 3, or 4, and the installation bottom surface has n or n+1 adjustment support points 22 that can be used to adjust the position, and the adjustment support points 22 are set at intervals from the points to be detected; the position of the preset detection part of the installation bottom surface is adjusted according to the vibration direction and the vibration offset distance, including: obtaining the constant vibration direction A0 and the constant vibration offset distance B0 of each point to be detected within a preset time period, and adjusting the position of each point to be detected according to the constant vibration direction A0 and the constant vibration offset distance B0.

[0072] This embodiment sets n points to be detected on the adjustment device, and each point is equipped with an independent adjustment support point 22, which can more finely control the angle adjustment of the adjustment device. Specifically, when the vibration of the vehicle body is detected, the system will calculate the vibration direction A0 and the vibration offset distance B0 of each detection point within a preset time period, and then adjust the position of each support point individually according to these data to achieve the best shock absorption effect. The advantage of this method is that it can adapt to vibrations of different intensities and directions, ensuring that the radar can remain stable under any circumstances, and improving the operational reliability of the AGV in complex environments. Application scenarios include when the AGV is running at high speed or passing through bumpy roads, and it is necessary to maintain stable radar detection. During use, the detection points on the adjustment device continuously monitor the vibration of the vehicle body, and the system adjusts the position of each support point according to real-time data to ensure that the adjustment device can respond quickly and offset the impact of vibration, maintaining the stability and accuracy of the radar detection range.

[0073] Specifically, in one embodiment, the mounting base has four adjustable support points, two of which are adjustable in angle and height, and the other two are adjustable in height. Before adjusting the mounting angle of the mounting base according to the vibration of the vehicle body, the adjustment method includes: obtaining an angle α between the mounting base and the road surface on which the vehicle body is traveling, and determining whether the mounting base is in a steep slope state based on the angle α; when the mounting base is in a steep slope state, controlling the height of the other two adjustment support points to adjust, and controlling two of the adjustment support points to be in an angle-adjustable state; when the mounting base is not in a steep slope state, controlling two of the adjustment support points to adjust their height and / or angle, so that the other two adjustment support points do not operate, and locking the two adjustment support points after the adjustment is completed. In this way, the mounting base can be adjusted more accurately, and each adjustment support point can be adaptively operated as a whole.

[0074] Specifically, when α is greater than 3° and exceeds 1s (to prevent false triggering), the leveling mechanism can be entered. In the leveling mechanism, when α≤5°, it is not in a large slope state, but corresponds to a small slope state. It is only necessary to adjust two of the adjustment support points, and make the other two adjustment support points inactive. In this way, the angle cylinders corresponding to the two adjustment support points (also known as hinge motors) respond quickly to facilitate rapid adjustment, achieve rapid fine-tuning, and lock after the adjustment is completed. When α>5°, it is in a large slope state. At this time, the two adjustment parts corresponding to two of the adjustment support points (corresponding to telescopic cylinders) are in a free adjustment state, and the two adjustment parts corresponding to the other two adjustment support points are telescoped to achieve height adjustment, and combined with the articulation of the two adjustment support points to achieve a large adjustment of the overall angle.

[0075] In this embodiment, when H>5m, the installation angle can be adjusted according to the specific situation. At this time, the telescopic cylinder is in a pressure relief state, and the hinge motor (which can also be an angle cylinder) is in a free state to achieve energy saving. When 3m<H≤5m, path planning is performed, and pre-punching is performed in the telescopic cylinder. The hinge motor is in a standby state. Specifically, this stage corresponds to the pre-adjustment stage, and the specific response time of the pre-adjustment stage can be ≤500ms. When 1m<H≤3m, the overall linkage adjustment is performed, and the telescopic cylinder and the hinge motor are adjusted as needed. Specifically, this stage corresponds to the emergency adjustment stage, and the specific response time of the pre-adjustment stage can be ≤200ms. In order to save energy at this stage, non-essential sensors can be turned off. When H≤1m, an emergency stop is performed on the triple locking of gas, electricity and machinery. Specifically, this stage corresponds to the emergency stop stage, and the specific response time of the emergency stop stage can be ≤50ms. In order to ensure safety, all non-safety power supplies can be cut off in order to save energy at this stage.

[0076] Specifically, the corresponding dynamic height adjustment trigger condition is: H transmitted to the controller by radar data < optimal height difference range, and the corresponding action strategy is: for low-altitude obstacles: the telescopic cylinder quickly lifts up and the angle cylinder tilts up; for high-altitude obstacles: the height cylinder contracts and descends and the angle cylinder tilts down.

[0077] In the above methods, a delayed trigger mechanism, an amplitude threshold judgment mechanism, and / or a trend verification mechanism can all be employed to ensure that the signal remains stable before making adjustments, thus avoiding occasional false triggering caused by road bumps. Specifically, the delayed trigger mechanism requires that the obstacle signal remain stable for ≥0.5s; the amplitude threshold judgment mechanism requires that a response is required for a height change >10mm or an angle change >1°; and the trend verification mechanism requires that an action is executed only when three consecutive sampling points change in the same direction.

[0078] This method effectively handles obstacles 0.5-1m in height, achieving a true obstacle recognition rate of ≥99.9%. By combining a 0.5s delay with a vibration filtering algorithm to filter out transient interference, it can reduce vibration-induced misadjustments by over 95%. The risk of collision is reduced by 90%, and operational safety is enhanced through a 1m hard emergency stop boundary and triple locking.

[0079] Specifically, the above solution also includes security protection methods, which include:

[0080] Fail-safe mechanism: forces radar horizontal reference in case of tilt sensor failure;

[0081] Cylinder displacement out-of-tolerance adjustment: emergency stop and alarm, starting angle cylinder mechanical lock;

[0082] Current warning adjustment: When the cylinder current is greater than the preset threshold, the cylinder will stop extending and retracting immediately and move back 5% of the stroke.

[0083] Radar failure emergency warning: switch to conservative mode (1.5 times the safety distance);

[0084] Communication interruption emergency mechanism: When the signal is lost for more than 10 seconds, it will slowly recover to the default position;

[0085] Data preprocessing mechanism: Sliding window filtering (window size 0.5s) is used to eliminate instantaneous jitter interference;

[0086] Dynamic priority arbitration mechanism: the priority of obstacle avoidance safety > the priority of leveling requirements > the priority of altitude calibration.

[0087] like Figures 3 to 6 As shown, embodiment 2 of the present invention provides an adjustment device, which is applicable to the adjustment method provided above, and the adjustment device includes: an acquisition module and an adjustment module, the acquisition module is configured to: obtain the vibration condition of the vehicle body and the relative position relationship between the vehicle-mounted radar and the obstacle during the operation of the vehicle body; the adjustment module is configured to: adjust the installation height and / or installation angle of the installation bottom surface of the vehicle-mounted radar according to the vibration condition of the vehicle body and / or the relative position relationship between the vehicle-mounted radar and the obstacle.

[0088] The adjustment device provided in this embodiment works in tandem with the acquisition and adjustment modules. The acquisition module monitors vehicle vibrations and the relative positions of the radar and obstacles in real time, while the adjustment module automatically adjusts the radar's mounting height and angle based on this data. This design ensures the radar maintains optimal operating conditions under various conditions, improving the AGV's obstacle avoidance capabilities and operational efficiency.

[0089] The adjustment device in this embodiment has a wide range of applications, from indoor warehouses to unmanned outdoor delivery. It can play a key role in any environment where AGVs operate. During use, after the AGV is started, the adjustment device begins to work, continuously monitoring and adjusting the radar position to ensure that the radar can accurately detect the environment ahead, making timely obstacle avoidance decisions and ensuring the safe operation of the AGV.

[0090] In this embodiment, the adjustment device further includes a mounting base 10 and a support plate 20. The mounting base 10 is fixedly mounted on the vehicle body; the mounting bottom surface of the vehicle-mounted radar is supported on the support plate 20, and the support plate 20 is provided with n or n+1 adjustment support points 22 that are adjustably positioned relative to the mounting base 10. The adjustment module includes n adjustment members 30, each of which has adjustment ends spaced apart and connected to the support plate 20, so that the support plate 20 can be adjusted via the adjustment ends of the n adjustment members 30; where n is 2 or 3.

[0091] The adjustment device of this embodiment realizes the flexible adjustment of the bottom surface of the vehicle-mounted radar installation through the combination of the mounting base 10, the support plate 20 and the adjustment member 30. The mounting base 10 is firmly fixed to the vehicle body, the support plate 20 carries the radar, and the adjustment member 30 can accurately adjust the height and angle of the support plate 20 according to the vibration of the vehicle body and the relative position of the radar and the obstacle. This method not only improves the detection accuracy of the radar, but also enhances the adaptability of the AGV in complex environments. Application scenarios include AGVs operating in different terrains and obstacle-dense environments, requiring the radar to be able to adjust quickly to adapt to changes. During use, when the AGV encounters different road conditions or obstacles, the adjustment device can respond quickly, and by adjusting the position of the support plate 20, it ensures that the radar can detect at the most suitable angle and height, thereby improving the obstacle avoidance efficiency and safety of the AGV.

[0092] Specifically, the adjustment support point on the mounting bottom surface is fixedly connected and in contact with the adjustment support point on the support plate, and there will be no positional deviation between the two. In fact, the adjustment support point on the mounting bottom surface can be equivalent to the adjustment support point on the support plate.

[0093] Specifically, the mounting base 10 includes a mounting base plate 11 and a mounting side plate 12 that are connected to each other. The support plate 20 is adjustably arranged on the mounting side plate 12. The support plate 20 is arranged opposite to the mounting base plate 11. The mounting base plate 11, the mounting side plate 12 and the support plate 20 form a protective cavity, and n adjustment parts 30 are all installed in the protective cavity.

[0094] The adjustment device of this embodiment adopts a special structural design. The mounting base 10 is composed of a mounting bottom plate 11 and a mounting side plate 12, forming a protective cavity to protect the radar and the adjustment component. The support plate 20 is arranged on the mounting side plate 12 and can be adjusted in position, while the n adjustment parts 30 are installed in the protective cavity, which not only ensures the flexibility of the adjustment, but also provides additional protection to avoid damage to the adjustment parts 30 by external factors. This method not only improves the durability of the adjustment device, but also ensures the stability and safety of the adjustment process. Application scenarios include AGVs operating in bad weather or complex terrain, and it is necessary to protect the radar and adjustment components from external damage. During use, when the AGV is running, the adjustment device can automatically adjust the position of the radar. At the same time, the design of the protective cavity protects the radar and the adjustment components, ensuring that the AGV can operate stably in various environments and improving the continuity and efficiency of the operation.

[0095] Specifically, the mounting base 10 further includes a connecting support plate 13 , which is disposed at the bottom of the mounting base plate 11 for support.

[0096] In one embodiment, n is 2, and the support plate 20 has two hinge points 21 for articulating with the mounting base 10. The support plate 20 also has two adjustable support points 22 whose positions are adjustable relative to the mounting base 10. There are two adjusting members 30, and the line connecting the adjusting ends of the two adjusting members 30 is arranged parallel to the line connecting the two hinge points 21. The adjusting end of each adjusting member 30 is used to adjust the corresponding adjustment support point 22 on the on-board radar. This scheme corresponds to a hinge structure, which not only realizes the angle adjustment function of the support plate 20, but also enhances the adaptability to different ground conditions. In this embodiment, the position and angle of the on-board radar are adjusted by a hinge mechanism in conjunction with the extension and contraction of the cylinder. To prevent damage to the equipment due to excessive rotation, the physical limit is achieved by cooperating with the limit groove and the adjustment support point 22 to achieve the electronic control (cylinder) limit, ensuring that the support plate 20 swings within a controllable range. The limit hinge mechanism causes the adjustment device to float up and down, thereby driving and adjusting the angle of the radar. In order to improve the stability of movement, a first connecting column 51 and a second connecting column 52 can be provided in this scheme. The first connecting column 51 is used to connect with the two hinge points 21 and extend along the direction of the line connecting the two hinge points 21. The second connecting column 52 is used to connect with the adjustment support point 22 and extend along the direction of the line connecting the two adjustment support points 22.

[0097] In another embodiment, n is 3, the support plate 20 has a hinge point 21 for being hinged to the mounting base 10, and the support plate 20 also has three adjustment support points 22 whose positions are adjustable relative to the mounting base 10; there are three adjustment members 30, and the adjustment end of each adjustment member 30 is used to adjust the adjustment support point 22 on the corresponding vehicle-mounted radar.

[0098] In another embodiment, n is 3, the support plate 20 has four adjustable support points 22 whose positions are adjustable relative to the mounting base 10, there are three adjusting members 30, and the adjusting end of each adjusting member 30 is used to adjust the adjustment support point 22 on the corresponding vehicle-mounted radar.

[0099] In another embodiment, n is 4, the support plate 20 has four adjustable support points 22 whose positions are adjustable relative to the mounting base 10, and there are four adjusting members 30. The adjusting end of each adjusting member 30 is used to adjust the adjusting support point 22 on the corresponding vehicle-mounted radar. Specifically, the adjusting end of each adjusting member 30 is spaced apart from the four adjusting support points 22, the mounting base 10 is provided with four adjustment channels, the four adjustment channels are provided in a one-to-one correspondence with the four adjustment support points 22, and each adjustment support point 22 can be movably provided in the corresponding adjustment channel; or, the adjusting end of each adjusting member 30 is drivingly connected to the corresponding adjustment support point 22, the mounting base 10 is provided with four adjustment channels, each adjustment limit portion is spaced apart from the adjustment support point 22, the support plate 20 has four adjustment limit portions, the four adjustment channels are provided in a one-to-one correspondence with the four adjustment limit portions, and each adjustment limit portion can be movably provided in the corresponding adjustment channel.

[0100] like Figure 7 and 8 As shown, in another embodiment, n is 4, and the support plate 20 has four adjustable support points 22 whose positions are adjustable relative to the mounting base 10; wherein the adjustment ends of two adjustment members 30 are respectively hingedly connected to two of the adjustment support points 22, and the adjustment ends of the other two adjustment members 30 are respectively fixedly connected to the other two adjustment support points 22, wherein the line connecting the two adjustment support points 22 is arranged parallel to the line connecting the other two adjustment support points 22, and the adjustment end of each adjustment member 30 is used to adjust the corresponding adjustment support point 22. In this way, it is convenient to flexibly adjust the height and / or angle of the mounting bottom surface. Specifically, two of the adjustment members 30 can adjust the height and / or angle of two of the adjustment support points 22, and the other two adjustment members 30 can adjust the height of the other two adjustment support points 22. Four adjustment channels are provided on the mounting base 10, and the support plate 20 has four adjustment limit parts. Each adjustment limit part is spaced apart from the adjustment support point 22. The four adjustment channels are provided in one-to-one correspondence with the four adjustment limit parts, and each adjustment limit part can be movably provided in the corresponding adjustment channel.

[0101] The adjustment device of this embodiment adopts a combination of a hinge structure and multiple adjustment support points 22 to achieve height and angle adjustment of the bottom surface of the vehicle-mounted radar installation. When n is 2, the support plate 20 is connected to the mounting base 10 through two hinge points 21 to form a stable double-point structure. The connection line of the adjustment ends of the two adjustment members 30 is parallel to the connection line of the hinge points 21, which can accurately adjust the position of the radar. When n is 3, the support plate 20 is combined with three adjustment support points 22 through a hinge point 21 to form a triangular stable structure. The three adjustment members 30 respectively control the three support points, which can achieve more complex adjustment actions and adapt to more diverse terrain and obstacle distributions. This method not only improves the adjustment accuracy of the adjustment device, but also enhances its adaptability in complex environments. Application scenarios include AGVs that require radars to adjust their positions quickly and accurately when performing high-precision positioning tasks. During use, when the AGV is running, the adjustment device can adjust the position of the support point 22 according to the real-time monitoring data to ensure that the radar can detect at the most suitable angle and height, thereby improving the positioning accuracy and obstacle avoidance capability of the AGV and ensuring the efficient operation of the AGV in various environments.

[0102] Specifically, the adjustable support point 22 can be understood as having an adjustable distance relative to the mounting base 10. Specifically, a limit slot can be provided on the mounting base 10, and the adjustable support point 22 can be movably disposed within the limit slot. The upper and lower ends of the limit slot are respectively used to limit the adjustable position of the adjustable support point 22.

[0103] Specifically, the adjustment device also includes n detection parts 40, which are arranged in a one-to-one correspondence with the n adjustment parts 30, and each detection part 40 is arranged on the corresponding adjustment part 30 to detect the vibration conditions at the position where the corresponding adjustment part 30 is located. The adjustment device of this embodiment integrates n detection parts 40, which correspond to the adjustment parts 30 one-to-one, and can monitor the vibration conditions of the position where the adjustment part 30 is located in real time. This design ensures the intelligence and refinement of the adjustment process. When the detection part 40 detects vibration, it can immediately feedback to the adjustment module, which adjusts the action of the adjustment part 30 according to the vibration data to offset the impact of vibration and maintain stable detection of the radar. This method improves the operating stability and safety of the AGV in complex environments, reduces radar false alarms caused by vibration, and enhances the obstacle avoidance ability and operating efficiency of the AGV. Application scenarios include when the AGV is running at high speed or passing through uneven roads, and requires the radar to work stably. During use, when the AGV is running, the detection part 40 continuously monitors the vibration of the adjustment part 30. Once an abnormality is detected, the adjustment module immediately takes measures to adjust the radar position to ensure that the radar can stably detect the environment ahead and make obstacle avoidance decisions in time, thereby ensuring the safe operation of the AGV and improving the continuity and efficiency of operations.

[0104] Specifically, the detection part 40 can be an environmental sensing module, and the control of the cylinder is integrated with the main control system of the AGV. The environmental sensing module monitors the vibration of the vehicle body and the working status of the radar in real time, and automatically adjusts the extension and contraction amount of the cylinder to ensure that the radar is always at the optimal working height.

[0105] like Figure 7 and 8 As shown, the adjustment device also includes a vibration reduction structure 60, which includes a guide rod 61 and a vibration reduction airbag 62. The guide rod 61 is fixedly connected to the mounting base 10 and passes through the support plate 20. The vibration reduction airbag 62 is arranged between the support plate 20 and the mounting base 10. This structural arrangement can effectively achieve vibration reduction and buffering of the support plate 20, thereby improving the vibration reduction effect.

[0106] Specifically, there may be a plurality of vibration-damping airbags 62 , and the plurality of vibration-damping airbags 62 are sequentially arranged along the extending direction of the guide rod 61 .

[0107] The vibration-damping airbag 62 can be a silica gel vibration-damping ball, and its vibration-damping efficiency can reach more than 75%.

[0108] Specifically, in this embodiment, a bidirectional hydraulic buffer may be provided on the adjusting member 30 to perform vibration reduction and buffering.

[0109] Specifically, the adjusting member 30 may be a cylinder piston rod, which uses a bidirectional hydraulic buffer for vibration reduction and buffering to absorb impacts within a range of 2 mm.

[0110] Specifically, the support plate 20 is made of a honeycomb aluminum-based composite material to further reduce vibration and buffer the vibration. Specifically, the above arrangement can increase the resonance frequency to 200 Hz.

[0111] The specific working process corresponding to the above embodiment is as follows: when the AGV trolley is started and initialized, the cylinder will also be initialized synchronously, and the adjustment device will be adjusted to the appropriate angle height through algorithm control so that the radar can always maintain a horizontal state. When the AGV trolley is running, if a collision occurs or encounters a bumpy ground, the control system will automatically identify and adjust the height of the adjustment device to make it flush with the ground, thereby reducing the occurrence of misjudgment and obstacle avoidance, and ensuring the stability and safety of the AGV during operation. The adjustment device of the present invention also has excellent adaptive capabilities. When facing logistics and warehousing environments of different complexities, whether it is a narrow passage or a wide storage area, the adjustment device can be intelligently adjusted according to actual needs. The environmental sensing module equipped in the cylinder is integrated into the AGV main control system. This adjustment device can analyze the surrounding environment data in real time, including the location, shape and dynamic changes of obstacles, so as to automatically optimize the detection range and angle of the radar.

[0112] The adjustment device can also automatically adjust its height according to the distance, position and movement trend of the obstacle detected by the laser radar. When the sensor detects an obstacle in front, the system will transmit the data to the controller and trigger an emergency braking signal. The present invention has added a function to send data to the controller when the distance between the AGV and the obstacle reaches a preset value. The cylinder system accurately controls the cylinder stroke through the solenoid valve according to the instructions of the controller, driving the height change of the bracket, effectively avoiding the possibility of excessive impact force during collision causing damage to the radar or even direct collision. At the same time, the optimal detection angle is always maintained, thereby improving the accuracy of obstacle avoidance. This dynamic adjustment function significantly improves the adaptability and safety of AGV in complex environments.

[0113] Specifically, the adjustment member 30 in this embodiment can be a pneumatic cylinder. The cylinder controls the lift and lowering of the radar. When changes in radar height or angle are detected, the cylinder retracts and retracts to adjust the radar to the appropriate position. This solves the problem of traditional adjustment devices being unable to adjust the radar to the actual operating environment or when crossing slopes or angles. This not only improves work efficiency but also reduces maintenance costs caused by frequent manual adjustments.

[0114] From the above description, it can be seen that the above embodiments of the present invention achieve the following technical effects: the adjustment method and device provided by the present invention not only improve the support stability and accuracy of the vehicle-mounted radar, but also significantly improve the adaptability and operating efficiency of the AGV in complex environments, and have important application value for improving the safety and efficiency of operations in the logistics and warehousing fields. The situation of misjudging obstacles during the operation of the AGV is greatly reduced; the reset function ensures that even after being subjected to external impact or vibration, the adjustment device can still automatically return to the initial position to ensure the normal working state of the radar; the shock-absorbing design effectively reduces the impact of vibration during driving on the radar accuracy, and improves the stability and accuracy of the radar operation; the overall structure is simple and easy to install and maintain, and it also improves the reliability and service life of the adjustment device.

[0115] 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, they indicate the presence of features, steps, operations, devices, components and / or combinations thereof.

[0116] Unless otherwise specified, the relative arrangement of the parts and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present 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. 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 can have different values. It should be noted that similar numbers and letters represent similar items in the following drawings, and therefore, once an item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0117] In the description of this application, it should be understood that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "horizontal, vertical, vertical, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing this 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. Therefore, they cannot be understood as limiting the scope of protection of this application; the directional words "inside and outside" refer to the inside and outside relative to the outline of each component itself.

[0118] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used herein to describe the spatial positional relationship of a device or feature to other devices or features as shown in the figures. 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 figures. For example, if the device in the 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.

[0119] 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.

[0120] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention are intended to be within the scope of protection of the present invention.

Claims

1. A method of regulation, characterized in that: The adjustment method is used to adjust the position of the vehicle-mounted radar relative to the vehicle body, and the adjustment method includes: During the operation of the vehicle body, obtaining the vibration of the vehicle body and the relative position relationship between the vehicle-mounted radar and the obstacle; The installation height and / or installation angle of the installation bottom surface of the vehicle-mounted radar are adjusted according to the vibration of the vehicle body and / or the relative position relationship between the vehicle-mounted radar and the obstacle.

2. The adjustment method according to claim 1, characterized in that: The adjusting the installation height and / or installation angle of the installation bottom surface of the vehicle-mounted radar according to the vibration of the vehicle body and the relative positional relationship between the vehicle-mounted radar and the obstacle includes: Obtaining a distance L between the vehicle-mounted radar and the obstacle, and comparing the distance L between the vehicle-mounted radar and the obstacle with a preset obstacle critical distance L0; When L<L0, adjusting the installation height and / or installation angle of the installation bottom surface of the vehicle-mounted radar so that the vehicle-mounted radar moves in a direction away from the obstacle; When L≥L0, obtain the distance H between the vehicle-mounted radar and the obstacle in a direction perpendicular to the installation bottom surface, and determine whether to adjust the installation height and / or installation angle of the installation bottom surface of the vehicle-mounted radar based on the H.

3. The adjustment method according to claim 2, characterized in that: The determining, based on H, whether to adjust the installation height and / or installation angle of the installation bottom surface of the vehicle-mounted radar includes: Comparing H with an optimal height difference range; When H is within the optimal height difference range, obtaining a vibration condition of the vehicle body, and adjusting the installation angle of the installation bottom surface according to the vibration condition of the vehicle body; When the H is less than or equal to the optimal height difference range, the installation height of the installation bottom surface, or the installation height and the installation angle are adjusted, and the response time is adjusted according to the size of the H to adjust the H to the optimal height difference range.

4. The adjustment method according to claim 3, characterized in that: The adjusting the installation angle of the installation bottom surface according to the vibration of the vehicle body includes: Obtaining a vibration direction and a vibration offset distance of a preset detection position of the installation bottom surface in a direction perpendicular to the installation bottom surface; The position of the preset detection part of the installation bottom surface is adjusted according to the vibration direction and the vibration offset distance.

5. The adjustment method according to claim 4, characterized in that: The preset detection part includes n points to be detected that are arranged at intervals, where n is 2, 3, or 4, and the mounting bottom surface has n or n+1 adjustment support points that can be used to adjust the position, and the adjustment support points are arranged at intervals from the points to be detected; The adjusting the position of the preset detection portion of the installation bottom surface according to the vibration direction and the vibration offset distance includes: The constant vibration direction A0 and the constant vibration offset distance B0 of each of the points to be detected within a preset time period are obtained, and the position of each of the points to be detected is adjusted according to the constant vibration direction A0 and the constant vibration offset distance B0.

6. The adjustment method according to claim 3, characterized in that: The mounting bottom surface has four adjustable support points that can be used to adjust the position, two of which are adjustable in angle and height, and the other two are adjustable in height; Before adjusting the installation angle of the installation bottom surface according to the vibration of the vehicle body, the adjustment method includes: Obtaining an angle α between the installation bottom surface and the road surface on which the vehicle body is traveling, and determining whether the installation bottom surface is in a steep slope state based on the angle α; When the installation bottom surface is in the steep slope state, the heights of the other two adjustment support points are controlled to be adjusted, and two of the adjustment support points are controlled to be in an angle-adjustable state; When the installation bottom surface is not in the large slope state, two of the adjustment support points are controlled to adjust the height and / or angle, so that the other two adjustment support points are not moved, and are locked after the adjustment of two of the adjustment support points is completed.

7. A regulating device, characterized in that: The adjustment method according to any one of claims 1 to 6, wherein the adjustment device comprises: an acquisition module configured to: acquire, during the operation of the vehicle body, a vibration condition of the vehicle body and a relative position relationship between the vehicle-mounted radar and an obstacle; The adjustment module is configured to adjust the installation height and / or installation angle of the installation bottom surface of the vehicle-mounted radar according to the vibration of the vehicle body and / or the relative position relationship between the vehicle-mounted radar and the obstacle.

8. The adjustment device according to claim 7, characterized in that The regulating device further comprises: An installation base (10) is fixedly installed on the vehicle body; A support plate (20), the mounting bottom surface of the vehicle-mounted radar being supported on the support plate (20), and n or n+1 adjustable support points being adjustable relative to the mounting base (10) being provided on the support plate (20); The adjustment module comprises n adjustment members (30), the adjustment ends of the n adjustment members (30) being arranged at intervals and connected to the support plate (20), so as to adjust the support plate (20) through the adjustment ends of the n adjustment members (30); Wherein, n is 2 or 3 or 4.

9. The adjustment device according to claim 8, characterized in that The mounting base (10) comprises a mounting base plate (11) and a mounting side plate (12) connected to each other, the support plate (20) is adjustably arranged on the mounting side plate (12), the support plate (20) is arranged opposite to the mounting base plate (11), the mounting base plate (11), the mounting side plate (12) and the support plate (20) form a protective cavity, and the n adjustment members (30) are all installed in the protective cavity; and / or, The regulating device further comprises n detecting members (40), wherein the n detecting members (40) are arranged in a one-to-one correspondence with the n regulating members (30), and each detecting member (40) is arranged on a corresponding regulating member (30) to detect a vibration condition at a position where the corresponding regulating member (30) is located.

10. The adjustment device according to claim 8, characterized in that n is 2, the support plate (20) has two hinge points (21) for being hinged to the mounting base (10), and the support plate (20) further has two adjustable support points (22) whose positions are adjustable relative to the mounting base (10); a line connecting the adjustment ends of the two adjustment members (30) is arranged parallel to a line connecting the two hinge points (21), and the adjustment end of each adjustment member (30) is used to adjust the corresponding adjustment support point on the vehicle-mounted radar; or, n is 3, the support plate (20) has a hinge point (21) for being hinged to the mounting base (10), and the support plate (20) further has three adjustable support points (22) whose positions are adjustable relative to the mounting base (10); the adjustment end of each adjustment member (30) is used to adjust the corresponding adjustment support point (22) on the vehicle-mounted radar; or, n is 3, the support plate (20) has four adjustable support points (22) whose positions are adjustable relative to the mounting base (10), there are three adjusting members (30), and the adjusting end of each adjusting member (30) is used to adjust the corresponding adjusting support point (22) on the vehicle-mounted radar; or, n is 4, and the support plate (20) has four adjustable support points (22) whose positions are adjustable relative to the mounting base (10); wherein the adjustment ends of two of the adjustment members (30) are respectively hingedly connected to two of the adjustment support points (22), and the adjustment ends of the other two adjustment members (30) are respectively fixedly connected to the other two adjustment support points (22), wherein the line connecting the two adjustment support points (22) is arranged in parallel with the line connecting the other two adjustment support points (22), and the adjustment end of each of the adjustment members (30) is used to adjust the corresponding adjustment support point (22).

11. The adjustment device according to claim 8, characterized in that The adjusting device further comprises a vibration-damping structure (60), the vibration-damping structure (60) comprising a guide rod (61) and a vibration-damping airbag (62), the guide rod (61) being fixedly connected to the mounting base (10), the guide rod (61) being passed through the support plate (20), and the vibration-damping airbag (62) being arranged between the support plate (20) and the mounting base (10); and / or, The support plate (20) is made of a honeycomb aluminum-based composite material; and / or, The adjusting member (30) is provided with a bidirectional hydraulic buffer.

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