Trailer box motion state control method, device and system and transportation device

Abstract

The invention discloses a trailer box motion state control method, device and system and a transportation device.The control method comprises the steps that the motion state of a trailer box is obtained, and the motion state of the trailer box comprises wagon box yaw angle information and running speed information; according to the motion state of the trailer box body, it is determined that the trailer box body enters different control modes, when the trailer box body is in a box body inclination control mode, deviation rectification control is conducted on the trailer box body through the offset distance between a real-time balance point of the trailer box body and a preset initial balance point, and when the trailer box body is in a box body driving speed control mode, deviation rectification control is conducted on the trailer box body. The driving speed of the box body is adjusted according to the difference between the driving speed of the tractor and the preset speed, and when the trailer box body is in the cooperative control mode, cooperative control is conducted on box body inclination and the box body driving speed according to linkage abnormal parameters of the box body inclination control mode and the box body driving speed control mode. Therefore, the risk of rollover caused by lateral inclination of the trailer box body due to increase of the yaw angle of the trailer box body is avoided, and the safety of the trailer is effectively improved.

Description

Technical Field

[0001] The present application relates to the technical field of trailers, and in particular to a method for controlling the motion state of a trailer box, a device for controlling the motion state of a trailer box, a control system for the motion state of a trailer box, and a transport device. Background Art

[0002] A trailer is a non-self-propelled vehicle that has no power system and needs to be towed by a trailer or tractor. Trailers are usually used to transport goods or other items. A trailer is generally provided with a trailer box, which refers to a closed or semi-closed cargo-carrying structure on the trailer. The trailer box is usually used to protect the cargo from weather and other environmental factors. The trailer box can include different shapes and sizes to accommodate different types of cargo and transportation needs.

[0003] When the trailer box is driven by a tractor, the tractor may cause the trailer box to tilt and the box driving speed to change due to factors such as vehicle control, external environment, and road conditions. Abnormalities in the trailer box tilt and box driving speed may cause the trailer box to tilt sideways. If the abnormal movement of the trailer box is not controlled in time, the trailer box may be at risk of overturning. Summary of the invention

[0004] In view of the above-mentioned deficiencies in the prior art, the purpose of the present application is to provide a control method, a control device, a control system and a transportation device for the motion state of a trailer box, aiming to control the motion state of the trailer box and prevent the trailer box from tipping over.

[0005] In order to achieve the above objectives, this application adopts the following technical solutions:

[0006] On the one hand, the present application discloses a method for controlling the motion state of a trailer box, comprising:

[0007] Acquire the motion state of the trailer box, wherein the motion state includes the box yaw angle information and the driving speed information;

[0008] Determining a control mode of the trailer box according to the motion state of the trailer box, wherein the control mode of the trailer box includes a box tilt control mode, a box drive speed control mode and a coordinated control mode;

[0009] When the trailer box is in the box tilt control mode, real-time balance point information of the trailer box is obtained, and the offset distance between the real-time balance point and the preset initial balance point is calculated, and the trailer box is corrected according to the offset distance, and the correction control information of the trailer box is obtained;

[0010] When the trailer box is in the box driving speed control mode, the driving speed of the tractor is obtained, the box driving speed is adjusted according to the difference between the driving speed of the tractor and the preset speed, and the stall control information of the trailer box is obtained;

[0011] When the trailer box is in the collaborative control mode, multiple correction control information and multiple stall control information of the trailer box are respectively obtained, and a comprehensive abnormality value of the trailer box is obtained according to the correction control information and the stall control information. According to the comprehensive abnormality value of the trailer box, linkage abnormal parameters of the box tilt control mode and the box drive speed control mode are obtained, and the box tilt and the box drive speed are collaboratively controlled according to the linkage abnormal parameters.

[0012] In some embodiments of the present application, the obtaining of the motion state of the trailer box specifically includes:

[0013] Obtaining an initial yaw angle of the trailer body under normal operation;

[0014] The lateral inclined edge of the trailer box is monitored in real time to obtain the gravity acceleration of the trailer box at multiple time periods;

[0015] Componentizing the gravitational acceleration of multiple time periods in multiple directions in a coordinate system to obtain multiple gravitational acceleration components;

[0016] The vehicle box yaw angle is calculated according to the multiple gravity acceleration components and the initial yaw angle, wherein the calculation formula is:

[0017]

[0018] Wherein, B(j) represents the yaw angle of the vehicle body, G represents the gravity acceleration component, C(s) represents the initial yaw angle, and n represents the number of the gravity acceleration component, n=1, 2, 3...n.

[0019] In some embodiments of the present application, determining the control mode of the trailer box according to the motion state of the trailer box specifically includes:

[0020] Extracting feature information from the vehicle box yaw angle information to obtain a vehicle box yaw angle feature;

[0021] Extracting feature information from the driving speed information to obtain driving speed features;

[0022] Obtaining the weight of the vehicle box yaw angle feature and the weight of the driving speed;

[0023] The feature fusion value of the motion state of the trailer box is calculated according to the box yaw angle feature, the driving speed feature, the weight of the box yaw angle feature, and the weight of the box yaw angle feature, wherein the calculation formula is:

[0024] T(Z)=B(i)*β++X(i)*δ;

[0025] Where T(Z) is the feature fusion value, B(i) is the vehicle yaw angle feature, is the weight of the vehicle yaw angle feature, X(i) is the driving speed feature, is the weight of the driving speed feature;

[0026] Determine the relationship between the feature fusion value and the preset interval value;

[0027] If the feature fusion value is less than the preset interval value, the trailer box control mode is determined as the box tilt control mode;

[0028] If the feature fusion value is equal to the preset interval value, the trailer box control mode is determined as the collaborative control mode;

[0029] If the feature fusion value is greater than the preset interval value, the trailer box control mode is determined as the box driving speed control mode.

[0030] In some embodiments of the present application, when the trailer box is in the box tilt control mode, obtaining the real-time balance point information of the trailer box, and calculating the offset distance between the real-time balance point and the preset initial balance point specifically include:

[0031] When the trailer box is in the tilt control mode, the tilt angle generated by the side of the trailer box and the preset initial position is obtained, the tilt direction of the trailer box and the box mass change point are obtained according to the tilt angle, and the real-time balance point information of the trailer box is obtained according to the tilt direction of the trailer box and the box mass change point, and the offset distance between the real-time balance point and the preset initial balance point is calculated.

[0032] In some embodiments of the present application, the performing deviation correction control on the trailer box according to the offset distance and obtaining deviation correction control information of the trailer box specifically includes:

[0033] Obtaining an offset balance point of the trailer box according to the real-time balance point of the trailer box and the initial balance point of the trailer box;

[0034] Obtaining the inclination angle of the trailer box corresponding to the offset balance point, and obtaining the inclination information of the trailer box according to the inclination angle of the trailer box and the offset balance point of the trailer box, wherein the inclination information of the trailer box includes the inclination angle, inclination direction and box mass offset of the trailer box;

[0035] The tilt angle of the trailer box is adjusted according to the tilt angle, tilt direction and box mass deviation of the trailer box, and deviation correction control information of the trailer box is generated.

[0036] In some embodiments of the present application, when the trailer box is in the box driving speed control mode, the driving speed of the tractor is obtained, the driving speed of the trailer box is adjusted according to the difference between the driving speed of the tractor and the preset speed, and the stall control information of the trailer box is obtained, which specifically includes:

[0037] When the trailer box is in the box driving speed control mode, the driving speed of the tractor within a preset time is obtained, the driving speed of the tractor within the preset time is separated and extracted to obtain a plurality of instantaneous speeds, and an instantaneous speed node curve is established according to the plurality of instantaneous speeds, the instantaneous speed node curve is compared with a preset speed node curve established based on the preset speed to obtain a plurality of difference speeds, an adjustment speed is generated according to the plurality of difference speeds, the driving speed of the trailer box is adjusted according to the adjustment speed, and a plurality of stall control information of the trailer box is respectively obtained.

[0038] In some embodiments of the present application, obtaining the trailer box abnormality comprehensive value according to the deviation correction control information and the stall control information specifically includes:

[0039] Obtaining a comprehensive error coefficient of the trailer box;

[0040] Input multiple deviation correction control information and multiple stall control information of the trailer box into the prediction analysis model to obtain the abnormal comprehensive value of the trailer box, wherein the function of the prediction analysis model is:

[0041]

[0042] Among them, is the abnormal comprehensive value of the trailer box, is the correction control information of the trailer box, is the stall control information of the trailer box, is the error coefficient, and n represents the number of the correction control information and the stall control information of the trailer box, n=1, 2, 3...n.

[0043] In some embodiments of the present application, the coordinated control of the box tilt and the driving speed of the trailer box according to the linkage abnormal parameters specifically includes:

[0044] Acquire abnormal position information of the corresponding trailer box according to the linkage abnormal parameters;

[0045] The trailer box is adjusted according to the abnormal position information, and after the adjustment is completed, first box drive adjustment information of the trailer box is obtained;

[0046] The driving speed of the trailer box is adjusted according to the first box driving adjustment information.

[0047] Another aspect of the present application also provides a control device for the motion state of a trailer box, the control device including a braking system, a hydraulic controller and a PID controller (Proportion Integration Differentiation), the braking system being arranged on the trailer box; the hydraulic controller being arranged at the bottom of the trailer box, capable of adjusting the inclination angle of the trailer box, and being electrically connected to the braking system; the PID controller being arranged on the trailer box, and being electrically connected to the hydraulic controller.

[0048] Another aspect of the present application also provides a control system for the motion state of a trailer box, the control system comprising a first acquisition module, a first determination module, a first box tilt control module, a first drive speed control module, a first comparison module, a first collaborative control module, a first training module, a second acquisition module and a first control module.

[0049] The first acquisition module can acquire the motion state of the trailer body, wherein the motion state includes body yaw angle information and driving speed information.

[0050] The first determination module can determine the control mode of the trailer box according to the motion state.

[0051] The first box tilt control module, when the trailer box is in the box tilt control mode, the first box tilt control module can obtain the real-time balance point of the trailer box, and calculate the offset distance between the real-time balance point and the preset initial balance point, perform multiple correction controls on the trailer box according to the offset distance, and obtain multiple correction control information of the trailer box respectively.

[0052] When the trailer box is in the box driving speed control mode, the first driving speed control module can obtain the driving speed of the tractor within a preset time, and can separate and extract the driving speed of the tractor within the preset time to obtain multiple instantaneous speeds, and establish an instantaneous speed node curve based on the multiple instantaneous speeds.

[0053] The first comparison module can compare the instantaneous speed node curve with a preset speed node curve established based on a preset speed to obtain a plurality of differential speeds, and generate an adjustment speed according to the plurality of differential speeds, control the trailer box driving speed according to the adjustment speed, and obtain a plurality of stall control information of the trailer box respectively.

[0054] When the trailer box is in the cooperative control mode, the first cooperative control module can obtain the deviation correction control information and stall control information of the trailer box.

[0055] The first training module can input the deviation correction control information and stall control information of the trailer body into the prediction analysis model for training to obtain the comprehensive abnormal value of the trailer body.

[0056] The second acquisition module can acquire linkage abnormal parameters of the box tilt control mode and the box drive speed control mode according to the trailer box value.

[0057] The first control module can coordinately control the box tilt and the box driving speed of the trailer box according to the linkage abnormality parameter.

[0058] In some embodiments of the present application, the first acquisition module includes a first acquisition unit, a first detection unit and a first calculation unit.

[0059] The first acquisition unit can acquire an initial yaw angle of the trailer body under normal motion.

[0060] The first detection unit can monitor the lateral inclined edge of the trailer box in real time to obtain gravity acceleration in multiple time periods, and divide the gravity acceleration in multiple time periods in multiple directions in the coordinate system to obtain multiple gravity acceleration components.

[0061] The first calculation unit can calculate the vehicle box yaw angle according to the plurality of gravity acceleration components and the initial yaw angle.

[0062] In some embodiments of the present application, the first determination module includes a first extraction unit, a second extraction unit, a third acquisition unit, a second training unit and a first judgment unit.

[0063] The first extraction unit can extract feature information from the vehicle box roll angle information to obtain the vehicle box roll angle feature.

[0064] The second extraction unit can extract feature information from the driving speed information of the trailer box to obtain a driving speed feature.

[0065] The third acquisition unit can acquire the weight of the vehicle box yaw angle feature and the weight of the driving speed feature.

[0066] The second training unit can calculate the feature fusion value of the motion state of the trailer box according to the vehicle box yaw angle feature, the driving speed feature, the weight of the vehicle box yaw angle feature and the weight of the driving speed feature.

[0067] The first judgment unit can judge the relationship between the feature fusion value and the preset interval value so that the trailer box enters different control modes.

[0068] In some embodiments of the present application, the first box tilt control module includes a fourth acquisition unit, a fifth acquisition unit and a first deviation correction unit.

[0069] The fourth acquisition unit can acquire the offset balance point of the trailer box according to the real-time balance point of the trailer box and the initial balance point of the trailer box.

[0070] The fifth acquisition unit can acquire the inclination angle of the trailer box corresponding to the offset balance point, and acquire the inclination information of the trailer box according to the inclination angle of the trailer box and the offset balance point of the trailer box.

[0071] The first correction unit can output a tilt control signal according to the tilt information of the trailer box, and can input the tilt control signal into the hydraulic controller to adjust the tilt angle of the trailer box and generate trailer box correction control information.

[0072] Another aspect of the present application provides a transport device, which includes a trailer and a main vehicle.

[0073] The trailer is provided with a trailer box, and the trailer box is provided with a motion state control device as described in any one of the above items; the main vehicle is transmission-connected to the trailer and can tow the trailer.

[0074] Beneficial effects:

[0075] The control method of the motion state of a trailer box provided in the present application obtains the motion state of the trailer box, wherein the motion state of the trailer box includes the box yaw angle information and the driving speed information, and determines whether the trailer box enters different control modes according to the motion state of the trailer box; when the trailer box is in the box tilt control mode, the trailer box is corrected and controlled by the offset distance between the real-time balance point of the trailer box and the preset initial balance point; when the trailer box is in the box drive speed control mode, the box drive speed is adjusted by the difference between the driving speed of the tractor and the preset speed; when the trailer box is in the collaborative control mode, the box tilt and the box drive speed are collaboratively controlled according to the linkage abnormal parameters of the box tilt control mode and the box drive speed control mode, so as to avoid the risk of the trailer box tilting due to the increase of the yaw angle, thereby effectively improving the safety of the trailer.

[0076] The control device for the motion state of the trailer box provided in the present application can control the motion state of the trailer box through the above-mentioned control method, thereby effectively avoiding the possibility of the trailer box tilting or even rolling over.

[0077] The control system for the motion state of the trailer box provided in the present application can run the above-mentioned control method to control the motion state of the trailer box, effectively avoiding the possibility of the trailer box tilting or even rolling over.

[0078] The transport device provided in the present application includes the above-mentioned control device for the movement state of the trailer box, which can adjust the movement state of the trailer box during use to avoid the trailer box from tipping over and improve the safety of use. BRIEF DESCRIPTION OF THE DRAWINGS

[0079] Figure 1 A schematic diagram of the structure of a control device for the motion state of a trailer box provided in one embodiment of the present application.

[0080] Figure 2 A schematic structural diagram of a control system for the motion state of a trailer box provided in one embodiment of the present application.

[0081] Figure 3 A flowchart of a method for controlling the motion state of a trailer box provided in one embodiment of the present application.

[0082] Figure 4 A flow chart of a method for obtaining the yaw angle of a trailer box provided in one embodiment of the present application.

[0083] Figure 5 A flow chart of a method for determining a control mode of a trailer box provided in one embodiment of the present application.

[0084] Figure 6 A control flow chart of a trailer box in a box tilt control mode provided in one embodiment of the present application.

[0085] Figure 7 The control process of the trailer box in the collaborative control mode provided in one embodiment of the present application Figure 1 .

[0086] Figure 8 The control process of the trailer box in the collaborative control mode provided in one embodiment of the present application Figure 2 .

[0087] Description of main component symbols:

[0088] 100. Control system; 1. First acquisition module; 2. First determination module; 3. First box tilt control module; 4. First drive speed control module; 5. First comparison module; 6. First collaborative control module; 7. First training module; 8. Second acquisition module; 9. First control module; 10. Hydraulic controller; 20. Braking system; 30. PID controller. DETAILED DESCRIPTION

[0089] The present application provides a method, device, system and transport device for controlling the motion state of a trailer box. In order to make the purpose, technical solution and effect of the present application clearer and more specific, the present application is further described in detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0090] In the description of the present application, it should be understood that the terms "upper", "lower", "left", "right", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, and a specific orientation structure and operation, and therefore, cannot be understood as a limitation on the present application. In addition, "first" and "second" are only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present application, unless otherwise specified, "multiple" means two or more.

[0091] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or mutual communication; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0092] On one hand, the present application provides a transport device, which includes a main vehicle and a trailer.

[0093] The main vehicle can be a tractor or a trailer. The main vehicle is connected to the trailer by transmission and can provide driving force to pull the trailer to move.

[0094] The trailer is provided with a trailer box, which is a closed or semi-closed cargo-carrying structure and can be used to protect the cargo from the influence of weather and other environmental factors.

[0095] When the trailer body is driven by the main vehicle, the yaw angle of the trailer body may increase when turning at high speed. The increase in yaw angle will cause the trailer body to tilt, making the trailer body at risk of overturning.

[0096] The trailer box is provided with a motion state control device, which can adjust the motion state of the trailer box to prevent the trailer box from tipping over.

[0097] In one embodiment of the present application, the motion state control device of the trailer box includes a braking system 20, a hydraulic controller 10 and a PID controller 30.

[0098] The brake system 20 is provided on the trailer body and can adjust the driving speed of the trailer body. The hydraulic controller 10 is provided at the bottom of the trailer body and can adjust the tilt angle of the trailer body, and is electrically connected to the brake system 20 and can transmit the adjustment information of the tilt angle to the brake system 20. The PID controller 30 is provided on the trailer body and is electrically connected to the hydraulic controller 10 and can transmit the abnormal position information of the trailer body to the hydraulic controller 10.

[0099] On the other hand, the present application also provides a trailer box motion state control system 100, which includes a first acquisition module 1, a first determination module 2, a first box tilt control module 3, a first drive speed control module 4, a first comparison module 5, a first collaborative control module 6, a first training module 7, a second acquisition module 8 and a first control module 9.

[0100] The first acquisition module 1 can acquire the motion state of the trailer body, wherein the motion state of the trailer body includes the body yaw angle information and the driving speed information.

[0101] The yaw angle of the trailer box refers to the deflection angle of the trailer box relative to the lateral direction of the vehicle body during driving overshoot. The change in the yaw angle is usually affected by multiple factors such as vehicle control, external environment, road conditions, etc. By analyzing the yaw angle information and driving speed information of the trailer box, the abnormal movement state of the trailer box can be subdivided and processed, which is conducive to controlling and solving the abnormality of the trailer box.

[0102] Furthermore, the first acquisition module 1 includes a first acquisition unit, a first detection unit and a first calculation unit.

[0103] The first acquisition unit can acquire the initial yaw angle of the trailer box under normal motion.

[0104] The first detection unit can monitor the lateral inclined edge of the trailer box in real time, obtain the gravity acceleration of multiple time periods, and divide the gravity acceleration of multiple time periods in multiple directions in the coordinate system to obtain multiple gravity acceleration components.

[0105] The first calculation unit can calculate the vehicle box yaw angle according to a plurality of gravity acceleration components and an initial yaw angle.

[0106] The calculation formula of the vehicle box yaw angle is:

[0107]

[0108] Wherein, B(j) represents the yaw angle of the vehicle body, G represents the gravity acceleration component, C(s) represents the initial yaw angle, and n represents the number of the gravity acceleration component, n=1, 2, 3...n.

[0109] The first determination module 2 can determine the control mode of the trailer box according to the motion state of the trailer box. In this embodiment, the control mode of the trailer box includes a box tilt control mode, a box drive speed control mode and a coordinated control mode.

[0110] Furthermore, the first determination module 2 includes a first extraction unit, a second extraction unit, a third acquisition unit, a second training unit and a first judgment unit.

[0111] The first extraction unit can extract feature information from the vehicle box roll angle information to obtain the vehicle box roll angle feature.

[0112] The second extraction unit can extract feature information from the driving speed information of the trailer box to obtain driving speed features.

[0113] The third acquisition unit can acquire the weight of the vehicle box yaw angle feature and the weight of the driving speed feature.

[0114] The second training unit can calculate the feature fusion value of the motion state of the trailer box according to the box yaw angle feature, the driving speed feature, the weight of the box yaw angle feature and the weight of the driving speed feature. The feature fusion value can be calculated by the following formula:

[0115] T(Z)=B(i)*β++X(i)*δ;

[0116] Where T(Z) is the feature fusion value, B(i) is the vehicle yaw angle feature, β is the weight of the vehicle yaw angle feature, X(i) is the driving speed feature, and δ is the weight of the driving speed feature.

[0117] The first judgment unit can judge the relationship between the feature fusion value of the motion state of the trailer box and the preset interval value, so that the trailer box enters different control modes.

[0118] Exemplarily, if the feature fusion value is less than the preset interval value, the motion state of the trailer box is in the box tilt control mode. If the feature fusion value is equal to the preset interval value, the motion state of the trailer box is in the cooperative control mode. If the feature fusion value is greater than the preset interval value, the motion state of the trailer box is in the driving speed control mode.

[0119] When the trailer box is in the box tilt control mode, the first box tilt control module 3 can obtain the tilt angle information generated by the side of the trailer box and the preset initial position, obtain the tilt direction and mass change point information of the box according to the tilt angle information, and obtain the real-time balance point of the trailer box according to the tilt direction and mass change point information of the box, calculate the offset distance between the real-time balance point and the preset initial balance point, and the PID controller 30 on the trailer box can perform multiple correction controls on the trailer box according to the offset distance, and obtain multiple correction control information of the trailer box respectively.

[0120] Furthermore, the first box tilt control module 3 includes a fourth acquisition unit, a fifth acquisition unit and a first deviation correction unit.

[0121] The fourth acquisition unit can acquire the offset balance point of the trailer box according to the real-time balance point of the trailer box and the initial balance point of the trailer box.

[0122] The fifth acquisition unit can acquire the inclination angle of the trailer box corresponding to the offset balance point, and acquire the inclination information of the trailer box according to the inclination angle of the trailer box and the offset balance point of the trailer box.

[0123] Specifically, the tilt information of the trailer box includes the tilt angle, tilt direction and mass offset of the trailer box.

[0124] The trailer box may be provided with a PID controller 30. One or more PID controllers 30 may be provided. The trailer box may be connected with a hydraulic controller 10. The hydraulic controller 10 may be provided on the lower surface of the trailer box.

[0125] The first correction unit can output a tilt control signal according to the tilt information of the trailer box based on the PID controller 30. That is, the first correction unit can output a tilt control signal according to the tilt angle, tilt direction and box mass deviation of the trailer box, and input the tilt control signal into the hydraulic controller 10. The hydraulic controller 10 can control and adjust the tilt angle of the trailer box multiple times according to the tilt control signal, and generate the correction control information of the trailer box.

[0126] When the trailer box is in the box driving speed control mode, the first driving speed control module 4 can obtain the driving speed of the tractor within a preset time, and can separate and extract the driving speed of the tractor within the preset time to obtain multiple instantaneous speeds, and establish an instantaneous speed node curve based on the multiple instantaneous speeds.

[0127] The first comparison module 5 can compare the instantaneous speed node curve with the preset speed node curve established based on the preset speed to obtain multiple differential speeds, and generate an adjustment speed based on the multiple differential speeds, control the driving speed of the trailer box based on the adjustment speed, and obtain multiple stall control information of the trailer box respectively.

[0128] When the motion state of the trailer body is in the cooperative control mode, the first cooperative control module 6 can obtain the deviation correction control information and the stall control information of the trailer body.

[0129] The first training module 7 can input the deviation correction control information and stall control information of the trailer body into the prediction analysis model for training, and obtain the comprehensive abnormal value of the trailer body.

[0130] Specifically, the function of the prediction analysis model is:

[0131]

[0132] Among them, Z(h) is the comprehensive abnormal value of the trailer box, Q(Y)i is the correction control information of the trailer box, S(s)i is the stall control information of the trailer box, ε(z) is the error coefficient, and n represents the number of the correction control information and stall control information of the trailer box, n=1, 2, 3...n.

[0133] The second acquisition module 8 can acquire linkage abnormality parameters of the box tilt control mode and the box drive speed control mode according to the trailer box abnormality comprehensive value.

[0134] The first control module 9 can coordinately control the box tilt and the box driving speed of the trailer box according to the linkage abnormality parameter.

[0135] Another aspect of the present application also provides a method for controlling the motion state of a trailer box. The control method comprises the following steps:

[0136] S100. Obtain the motion state of the trailer body, wherein the motion state includes the yaw angle and driving speed information of the trailer body.

[0137] The yaw angle of the trailer box refers to the deflection angle of the trailer box relative to the lateral direction of the vehicle body during driving. The change of the yaw angle is usually affected by multiple factors such as vehicle control, external environment, road conditions, etc. By analyzing the yaw angle information and driving speed information of the trailer box, the abnormal movement state of the trailer box can be subdivided, which is conducive to controlling and solving the abnormal loading of the trailer box.

[0138] Furthermore, in step S100, the motion state of the trailer box is obtained, which specifically includes:

[0139] S110. Obtaining the initial yaw angle of the trailer body under normal operation;

[0140] S120. Based on the tilt sensor, the lateral tilt side of the trailer body is monitored in real time to obtain the gravity acceleration of the trailer body in multiple time periods;

[0141] S130. Component the gravitational acceleration of multiple time periods in multiple directions in the coordinate system to obtain multiple gravitational acceleration components;

[0142] S140. Calculate the vehicle box yaw angle according to the multiple gravity acceleration components and the initial yaw angle, wherein the calculation formula is:

[0143]

[0144] Wherein, B(j) represents the yaw angle of the vehicle body, G represents the gravity acceleration component, C(s) represents the initial yaw angle, and n represents the number of the gravity acceleration component, n=1, 2, 3...n.

[0145] The abnormal movement of the trailer box will cause the trailer box to roll over, and the main factor causing the trailer box to roll over is the box yaw angle information. The box yaw angle refers to the deflection angle of the trailer box relative to the lateral direction of the vehicle body during driving, so it is necessary to obtain the motion state of the trailer box. In this application, gravity is generated in spatial motion, and gravity can affect the inclination of an object. The inclination speed determines the inclination of the object, and the inclination speed is determined by the gravity acceleration of multiple time periods. Using a spatial Cartesian coordinate system, the gravity vector can be decomposed into components on the X-axis, Y-axis and Z-axis in the coordinate system, and then the lateral tilted edge of the trailer box is monitored in real time based on the tilt sensor, and the gravity acceleration of multiple time periods is obtained. Components in multiple directions in the coordinate system are divided to obtain multiple gravity acceleration components. In this way, the gravity acceleration of each time period can be subdivided and split, and after the subdivided split, the box yaw angle can be calculated according to multiple gravity acceleration components and the initial yaw angle.

[0146] The transverse inclined side of the trailer box is usually the transverse side of the box, specifically the side length of the box. Exemplarily, the cross section of the trailer box is a rectangle, then the transverse inclined side is the length of the rectangle.

[0147] The tilt sensor is a sensor that can measure the tilt angle of an object relative to the direction of gravity. The tilt sensor includes an accelerometer, a gyroscope, and a tilt sensor. By using the gravity acceleration in multiple directions and multiple angles as calculation parameters, the calculated roll angle of the vehicle can be made more accurate. Here, multiple directions refer to the X-axis, Y-axis, and Z-axis. Multiple angles refer to the displacement angles measured by the tilt sensor that deviate from the X-axis, Y-axis, and Z-axis.

[0148] According to the multiple gravity acceleration components, the trailer body can be corrected at each time point, and then it can be judged whether the trailer body is tilting according to the yaw angle of the body. Therefore, the tilt of the trailer body can be intervened in advance, thereby preventing the trailer body from rolling over.

[0149] S200. Determine a control mode of the trailer box according to the motion state of the trailer box, wherein the control mode of the trailer box includes a box tilt control mode, a box drive speed control mode and a coordinated control mode.

[0150] After the control mode of the trailer box is determined according to the movement state of the trailer box, the abnormalities occurring in the trailer box can be processed respectively.

[0151] The control mode of the trailer box is determined according to the motion state of the trailer box, specifically including:

[0152] S210. Extracting feature information of the vehicle box yaw angle information to obtain a vehicle box yaw angle feature;

[0153] S220. Extract feature information from the driving speed information to obtain driving speed features;

[0154] S230. Obtaining the weight of the vehicle box yaw angle feature and the weight of the driving speed;

[0155] S240. Calculate the feature fusion value of the motion state of the trailer box according to the box yaw angle feature, the driving speed feature, the weight of the box yaw angle feature, and the weight of the box yaw angle feature, wherein the calculation formula is:

[0156] T(Z)=B(i)*β++X(i)*δ;

[0157] In the formula, T(Z) is the feature fusion value, B(i) is the vehicle yaw angle feature, β is the weight of the vehicle yaw angle feature, X(i) is the driving speed feature, and δ is the weight of the driving speed feature;

[0158] S250. Determine the relationship between the feature fusion value and the preset interval value;

[0159] If the feature fusion value is less than the preset interval value, the trailer box control mode is determined as the box tilt control mode;

[0160] If the feature fusion value is equal to the preset interval value, the trailer box control mode is determined as the collaborative control mode;

[0161] If the feature fusion value is greater than the preset interval value, the trailer box control mode is determined as the box driving speed control mode.

[0162] In the above, the obtained feature fusion value can be used as an important reference according to the weight of the vehicle box yaw angle feature and the driving speed feature in the actual working situation. Therefore, the relationship between the judgment feature fusion value and the preset interval value can be defined in advance, wherein the preset interval value can be 1-4 for less than the preset interval value, 5 for equal to the preset interval value, and 6-10 for greater than the preset interval value. In this application, the trailer box control mode less than the preset interval value is confirmed as the box tilt control mode, so that the tilt of the trailer box can be controlled by the box tilt control mode; the trailer box control mode greater than the preset interval value is confirmed as the box drive speed control mode, so that the trailer box rollover caused by stalling can be intervened and controlled by the box drive speed control mode; the trailer box control mode equal to the preset interval value is confirmed as the cooperative control mode, so that the trailer box can be cooperatively controlled when the box drive speed and the box tilt appear at the same time, thereby solving the linkage abnormality problem. The numbers in this paragraph description are only for example and are not unique.

[0163] S300. When the trailer box is in the box tilt control mode, the real-time balance point information of the trailer box is obtained, and the offset distance between the real-time balance point and the preset initial balance point is calculated, the trailer box is corrected according to the offset distance, and the correction control information of the trailer box is obtained.

[0164] Specifically, when the trailer box is in the tilt control mode, the tilt angle generated by the side of the trailer box and the preset initial position is obtained, the tilt direction of the trailer box and the point of change in the box mass are obtained based on the tilt angle, and the real-time balance point of the trailer box is obtained based on the tilt direction of the trailer box and the point of change in the box mass, and the offset distance between the real-time balance point and the preset initial balance point is calculated.

[0165] Since the inclination angle of the trailer box edge determines the overall inclination angle of the trailer box, when obtaining the overall inclination angle of the trailer box, it is necessary to use the inclination angle information at the edge of the trailer box as a basis, and obtain the box inclination direction and box mass change point information based on the inclination angle information at the edge of the trailer box. When the trailer box tilts, the box will show roll and box mass change point information in the inclination direction. The box mass change point information is the box mass center transfer information. Therefore, when the trailer box tilts, the initial balance point will be displaced, generating the real-time balance point of the trailer box.

[0166] The balance point information includes the balance point height, direction and mass distribution of the trailer body.

[0167] After obtaining the real-time balance point information of the trailer box through the tilt direction of the box and the box mass change point information, it is possible to determine whether the box is tilted based on the real-time balance point information of the trailer box.

[0168] In some embodiments, the box mass change point information refers to the change in the box's balance point caused by the transfer of objects in the box. For example, four objects are placed in the box, and the four objects can keep the box balanced in their initial positions. When the four objects shift to one side of the box at the same time, the box's balance point will shift.

[0169] Furthermore, the PID controller 30 performs multiple deviation correction controls on the trailer box according to the offset distance, and obtains deviation correction control information of multiple trailer boxes, specifically including:

[0170] S310. Obtaining the offset balance point of the trailer box according to the real-time balance point information of the trailer box and the initial balance point of the trailer box;

[0171] S320. Obtain the tilt angle of the trailer box corresponding to the offset balance point, and obtain the tilt information of the trailer box according to the tilt angle of the trailer box and the offset balance point of the trailer box, wherein the tilt information of the trailer box includes the tilt angle, tilt direction and mass offset of the trailer box;

[0172] S330. Adjust the tilt angle of the trailer box according to the tilt angle, tilt direction and box mass deviation of the trailer box, and generate deviation correction control information of the trailer box.

[0173] The PID controller 30 outputs a tilt control signal according to the tilt angle, tilt direction and mass offset of the trailer box, and inputs the tilt control signal into the hydraulic controller 10; the hydraulic controller 10 adjusts the tilt angle of the trailer box according to the tilt control signal, and generates correction control information for the trailer box.

[0174] In the above, since the rollover of the trailer box is mainly caused by the offset of the balance point of the trailer box, the offset balance point of the trailer box can be obtained according to the real-time balance point information and the initial balance point of the trailer box. The initial balance point is the initial position of the trailer box in the normal state as the balance point. According to the initial balance point and the real-time balance point of the trailer box, the offset balance point of the trailer box can be easily obtained, and then the tilt angle of the trailer box corresponding to the offset balance point is obtained. According to the tilt angle of the trailer box and the offset balance point of the trailer box, the tilt information of the box can be obtained, and then based on the PID controller 30, the tilt control signal is output according to the tilt angle, tilt direction and box mass offset of the trailer box, and the tilt control signal is input to the hydraulic controller 10, and the hydraulic controller 10 is used to control and adjust the tilt angle of the trailer box multiple times according to the tilt control signal to obtain the trailer box deviation correction control information. In this way, the auxiliary support of the trailer box is restored under the action of the hydraulic controller 10. The hydraulic controller 10 can be a hydraulic cylinder, etc. After the auxiliary support of the trailer box is restored, rollover due to the offset of the balance point can be avoided.

[0175] S400. When the trailer box is in the box driving speed control mode, the driving speed of the tractor is obtained, the box driving speed is adjusted according to the difference between the driving speed of the tractor and the preset speed, and the stall control information of the trailer box is obtained.

[0176] Specifically, when the trailer box is in the box driving speed control mode, the driving speed of the tractor within a preset time is obtained, the driving speed of the tractor within the preset time is separated and extracted to obtain multiple instantaneous speeds, and an instantaneous speed node curve is established according to the multiple instantaneous speeds, and the instantaneous speed node curve is compared with a preset speed node curve established based on the preset speed to obtain multiple difference speeds, and an adjustment speed is generated according to the multiple difference speeds. The driving speed of the trailer box is adjusted according to the adjustment speed, and multiple stall control information of the trailer box is obtained respectively.

[0177] In addition to the increase in the inclination angle of the trailer box, the excessive driving speed of the trailer box is also likely to cause the displacement of the items in the trailer box, thereby causing the inclination angle of the trailer box to increase to one side, increasing the probability of the box turning over. Based on this, in order to reduce the impact of the excessive driving speed on the trailer box, the present application detects the driving speed of the trailer box from time to time. If the driving speed monitored at a certain time exceeds the preset value, the motion state of the trailer box is set to the box driving speed control mode. At this time, the driving speed of the tractor within the preset time can be obtained. When obtaining the driving speed of the tractor, a separated extraction method is adopted. For example, the driving speed is extracted every 5 minutes to obtain multiple instantaneous speeds, so that an instantaneous speed node curve can be established according to multiple instantaneous speeds, and the instantaneous speed node curve is compared with the preset speed node curve established based on the preset speed to obtain multiple difference speeds. The obtained multiple difference speeds can reflect the overspeed of the driving speed of the tractor, and the actual driving speed of the trailer box is controlled according to the multiple driving speeds exceeding the preset value, and the control information of the actual driving speed of the multiple trailer boxes is obtained.

[0178] S500. When the trailer box is in the collaborative control mode, multiple correction control information and multiple stall control information of the trailer box are obtained respectively, and the comprehensive abnormality value of the trailer box is obtained according to the correction control information and the stall control information. According to the comprehensive abnormality value of the trailer box, the linkage abnormality parameters of the box tilt control mode and the box drive speed control mode are obtained, and the box tilt and the box drive speed are collaboratively controlled according to the linkage abnormality parameters to avoid the risk of the trailer box rolling over due to the increase of the tilt angle of the trailer box.

[0179] Specifically, the trailer box abnormality comprehensive value is obtained according to the deviation correction control information and the stall control information, including:

[0180] S510. Obtain the comprehensive error coefficient of the trailer box;

[0181] S520. Input multiple deviation correction control information and multiple stall control information of the trailer box into the prediction analysis model to obtain the abnormal comprehensive value of the trailer box, wherein the function of the prediction analysis model is:

[0182]

[0183] Among them, Z(h) is the comprehensive abnormal value of the trailer box, Q(Y)i is the correction control information of the trailer box, S(s)i is the stall control information of the trailer box, ε(z) is the error coefficient, and n represents the number of the correction control information and stall control information of the trailer box, n=1, 2, 3...n.

[0184] After obtaining multiple trailer box deviation correction control information through the box tilt control mode and multiple trailer box stall control information through the box drive speed control mode, the multiple trailer box deviation correction control information and multiple trailer box stall control information can be respectively extracted to obtain multiple box deviation correction control parameters and multiple box stall control parameters, and then the multiple box deviation correction control parameter information and multiple box stall control parameter information are input into the prediction analysis model to obtain the trailer box abnormal comprehensive value. According to the trailer box abnormal comprehensive value, the linkage abnormal parameters of the box tilt control mode and the box drive speed control mode are obtained.

[0185] The corresponding relationship between the comprehensive abnormal value of the trailer box and the linkage abnormal parameters is obtained through multiple generation of test data. The linkage abnormal parameters obtained in this way can comprehensively reflect the linkage abnormal parameters generated by the trailer box outside the box tilt control mode and the box drive speed control mode, thereby facilitating the coordinated control of the trailer box based on the linkage abnormal parameters.

[0186] Furthermore, the PID controller 30 performs coordinated control on the box tilt and the driving speed of the trailer box according to the linkage abnormality parameter, specifically including:

[0187] S530. Obtain abnormal position information of the corresponding trailer box according to the linkage abnormal parameters.

[0188] S540. Adjust the trailer box according to the abnormal position information, and after the adjustment is completed, obtain the first box drive adjustment information of the trailer box.

[0189] The PID controller 30 inputs the abnormal position to the hydraulic controller 10 , and the hydraulic controller 10 hydraulically adjusts the box tilt of the trailer box according to the abnormal position information, and obtains the first box drive adjustment information of the trailer box after the hydraulic adjustment.

[0190] S550. Adjust the driving speed of the trailer box according to the first box driving adjustment information.

[0191] The trailer box may include a braking system 20, and the first box drive adjustment information is transmitted to the braking system 20. The braking system 20 is used to control the box drive speed of the trailer box and adjust the box drive speed according to the first box drive adjustment information.

[0192] In the process of towing the trailer box by the tractor, there will be linkage abnormalities between the box tilt and the box driving speed. Based on this, the abnormal position information of the corresponding trailer box is first obtained according to the linkage abnormality parameter, and then the abnormal position information is input into the hydraulic controller 10 through the PID controller 30. The hydraulic controller 10 adjusts the box tilt of the trailer box to a preset target value according to the feedback information data, and obtains the first box driving adjustment information after adjusting to the preset target value, and then the PID controller 30 transmits the first box driving adjustment information to the braking system 20. The braking system 20 can control the box driving speed of the trailer box and adjust the box driving speed to a normal speed according to the first initial adjustment information. In this way, the abnormality of the trailer box can be controlled and processed through the hydraulic controller 10 and the braking system 20, so as to avoid the linkage between the box tilt and the box driving speed causing the trailer box to roll over.

[0193] Those of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media provided in this application and used in the embodiments may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (SSRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0194] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, device, article or method including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, device, article or method. In the absence of further restrictions, an element defined by the sentence "includes a ..." does not exclude the presence of other identical elements in the process, device, article or method including the element.

[0195] It is understandable that those skilled in the art can make equivalent substitutions or changes based on the technical solution and application concept of the present application, and all these changes or substitutions should fall within the protection scope of the claims attached to the present application.

Claims

1. A method for controlling the motion state of a trailer box, characterized in that: include: Acquire the motion state of the trailer box, wherein the motion state includes the box yaw angle information and the driving speed information; Determining a control mode of the trailer box according to the motion state of the trailer box, wherein the control mode of the trailer box includes a box tilt control mode, a box drive speed control mode and a coordinated control mode; When the trailer box is in the box tilt control mode, real-time balance point information of the trailer box is obtained, and the offset distance between the real-time balance point and the preset initial balance point is calculated, and the trailer box is corrected according to the offset distance, and the correction control information of the trailer box is obtained; When the trailer box is in the box driving speed control mode, the driving speed of the tractor is obtained, the box driving speed is adjusted according to the difference between the driving speed of the tractor and the preset speed, and the stall control information of the trailer box is obtained; When the trailer box is in the collaborative control mode, multiple correction control information and multiple stall control information of the trailer box are respectively obtained, and a comprehensive abnormality value of the trailer box is obtained according to the correction control information and the stall control information. According to the comprehensive abnormality value of the trailer box, linkage abnormal parameters of the box tilt control mode and the box drive speed control mode are obtained, and the box tilt and the box drive speed are collaboratively controlled according to the linkage abnormal parameters.

2. The method for controlling the motion state of a trailer box according to claim 1, characterized in that: The obtaining of the motion state of the trailer box specifically includes: Obtaining an initial yaw angle of the trailer body under normal operation; The lateral inclined edge of the trailer box is monitored in real time to obtain the gravity acceleration of the trailer box at multiple time periods; Componentizing the gravitational acceleration of multiple time periods in multiple directions in a coordinate system to obtain multiple gravitational acceleration components; The vehicle box yaw angle is calculated according to the multiple gravity acceleration components and the initial yaw angle, wherein the calculation formula is: Wherein, B(j) represents the yaw angle of the vehicle body, G represents the gravity acceleration component, C(s) represents the initial yaw angle, and n represents the number of the gravity acceleration component, n=1, 2, 3...n.

3. The method for controlling the motion state of a trailer box according to claim 1, characterized in that: Determining the control mode of the trailer box according to the motion state of the trailer box specifically includes: Extracting feature information from the vehicle box yaw angle information to obtain a vehicle box yaw angle feature; Extracting feature information from the driving speed information to obtain driving speed features; Obtaining the weight of the vehicle box yaw angle feature and the weight of the driving speed; The feature fusion value of the motion state of the trailer box is calculated according to the box yaw angle feature, the driving speed feature, the weight of the box yaw angle feature, and the weight of the box yaw angle feature, wherein the calculation formula is: T(Z)=B(i)*β++X(i)*δ; In the formula, T(Z) is the feature fusion value, B(i) is the vehicle yaw angle feature, β is the weight of the vehicle yaw angle feature, X(i) is the driving speed feature, and δ is the weight of the driving speed feature; Determine the relationship between the feature fusion value and the preset interval value; If the feature fusion value is less than the preset interval value, the trailer box control mode is determined as the box tilt control mode; If the feature fusion value is equal to the preset interval value, the trailer box control mode is determined as the collaborative control mode; If the feature fusion value is greater than the preset interval value, the trailer box control mode is determined as the box driving speed control mode.

4. The method for controlling the motion state of a trailer box according to claim 1, characterized in that: When the trailer box is in the box tilt control mode, obtaining the real-time balance point information of the trailer box, and calculating the offset distance between the real-time balance point and the preset initial balance point, specifically includes: When the trailer box is in the tilt control mode, the tilt angle generated by the side of the trailer box and the preset initial position is obtained, the tilt direction of the trailer box and the box mass change point are obtained according to the tilt angle, and the real-time balance point information of the trailer box is obtained according to the tilt direction of the trailer box and the box mass change point, and the offset distance between the real-time balance point and the preset initial balance point is calculated.

5. The method for controlling the motion state of a trailer box according to claim 4, characterized in that: The performing deviation correction control on the trailer box according to the offset distance and obtaining deviation correction control information of the trailer box specifically includes: Acquire the offset balance point of the trailer box according to the real-time balance point information of the trailer box and the initial balance point of the trailer box; Obtaining the inclination angle of the trailer box corresponding to the offset balance point, and obtaining the inclination information of the trailer box according to the inclination angle of the trailer box and the offset balance point of the trailer box, wherein the inclination information of the trailer box includes the inclination angle, inclination direction and box mass offset of the trailer box; The tilt angle of the trailer box is adjusted according to the tilt angle, tilt direction and box mass deviation of the trailer box, and deviation correction control information of the trailer box is generated.

6. The method for controlling the motion state of a trailer box according to claim 5, characterized in that: When the trailer box is in the box driving speed control mode, the driving speed of the tractor is obtained, the driving speed of the trailer box is adjusted according to the difference between the driving speed of the tractor and the preset speed, and the stall control information of the trailer box is obtained, which specifically includes: When the trailer box is in the box driving speed control mode, the driving speed of the tractor within a preset time is obtained, the driving speed of the tractor within the preset time is separated and extracted to obtain a plurality of instantaneous speeds, and an instantaneous speed node curve is established according to the plurality of instantaneous speeds, the instantaneous speed node curve is compared with a preset speed node curve established based on the preset speed to obtain a plurality of difference speeds, an adjustment speed is generated according to the plurality of difference speeds, the driving speed of the trailer box is adjusted according to the adjustment speed, and a plurality of stall control information of the trailer box is respectively obtained.

7. The method for controlling the motion of a trailer box according to claim 6, characterized in that: The obtaining of the trailer box abnormality comprehensive value according to the deviation correction control information and the stall control information specifically includes: Obtaining a comprehensive error coefficient of the trailer box; Input multiple deviation correction control information and multiple stall control information of the trailer box into the prediction analysis model to obtain the abnormal comprehensive value of the trailer box, wherein the function of the prediction analysis model is: Among them, Z(h) is the comprehensive abnormal value of the trailer box, Q(Y)i is the correction control information of the trailer box, S(s)i is the stall control information of the trailer box, ε(z) is the error coefficient, and n represents the number of the correction control information and stall control information of the trailer box, n=1, 2, 3...n.

8. The method for controlling the motion state of a trailer box according to claim 7, characterized in that: The method of collaboratively controlling the box tilt and the driving speed of the trailer box according to the linkage abnormal parameters specifically includes: Acquire abnormal position information of the corresponding trailer box according to the linkage abnormal parameters; The trailer box is adjusted according to the abnormal position information, and after the adjustment is completed, first box drive adjustment information of the trailer box is obtained; The driving speed of the trailer box is adjusted according to the first box driving adjustment information.

9. A control device for the motion state of a trailer box, characterized in that: include: A braking system, arranged on the trailer body; A hydraulic controller, which is arranged at the bottom of the trailer box, can adjust the tilt angle of the trailer box, and is electrically connected to the brake system; The PID controller is arranged on the trailer body and is electrically connected to the hydraulic controller.

10. A control system for the motion state of a trailer box, characterized in that: include: A first acquisition module is capable of acquiring the motion state of the trailer box, wherein the motion state includes box yaw angle information and driving speed information; A first determination module, capable of determining a control mode of the trailer box according to the motion state; a first box tilt control module, when the trailer box is in a box tilt control mode, the first box tilt control module can obtain a real-time balance point of the trailer box, calculate an offset distance between the real-time balance point and a preset initial balance point, perform multiple deviation correction controls on the trailer box according to the offset distance, and obtain multiple deviation correction control information of the trailer box respectively; a first driving speed control module, when the trailer box is in the box driving speed control mode, the first driving speed control module can obtain the driving speed of the tractor within a preset time, and can separate and extract the driving speed of the tractor within the preset time to obtain a plurality of instantaneous speeds, and establish an instantaneous speed node curve according to the plurality of instantaneous speeds; a first comparison module, capable of comparing the instantaneous speed node curve with a preset speed node curve established based on a preset speed to obtain a plurality of differential speeds, and generating an adjustment speed according to the plurality of differential speeds, controlling the trailer box driving speed according to the adjustment speed, and respectively obtaining a plurality of stall control information of the trailer box; A first collaborative control module, when the trailer box is in a collaborative control mode, the first collaborative control module can obtain the deviation correction control information and the stall control information of the trailer box; The first training module is capable of inputting the deviation correction control information and the stall control information of the trailer box into the prediction analysis model for training to obtain the abnormal comprehensive value of the trailer box; A second acquisition module is capable of acquiring linkage abnormality parameters of a box tilt control mode and a box drive speed control mode according to the trailer box abnormality comprehensive value; The first control module can coordinately control the box tilt and the box driving speed of the trailer box according to the linkage abnormality parameter.

11. The trailer box motion state control system according to claim 10, characterized in that: The first acquisition module includes: The first acquisition unit is capable of acquiring the initial yaw angle of the trailer body under normal motion; The first detection unit can monitor the lateral tilted side of the trailer box in real time, obtain the gravity acceleration of multiple time periods, and divide the gravity acceleration of multiple time periods in multiple directions in the coordinate system to obtain multiple gravity acceleration components; The first calculation unit is capable of calculating a vehicle box yaw angle according to the plurality of gravity acceleration components and the initial yaw angle.

12. The control system for the motion state of the trailer box according to claim 10, characterized in that: The first determining module comprises: The first extraction unit is capable of extracting feature information of the vehicle box yaw angle information to obtain the vehicle box yaw angle feature; The second extraction unit is capable of extracting feature information from the driving speed information of the trailer box to obtain a driving speed feature; a third acquisition unit, capable of acquiring the weight of the vehicle box yaw angle feature and the weight of the driving speed feature; A second training unit is capable of calculating a feature fusion value of the motion state of the trailer box according to the box yaw angle feature, the driving speed feature, the weight of the box yaw angle feature and the weight of the driving speed feature; The first judgment unit can judge the relationship between the feature fusion value and the preset interval value so that the trailer box enters different control modes.

13. The trailer box motion state control system according to claim 10, characterized in that: The first box tilt control module includes: a fourth acquisition unit, capable of acquiring an offset balance point of the trailer box according to the real-time balance point of the trailer box and the initial balance point of the trailer box; a fifth acquisition unit, capable of acquiring an inclination angle of the trailer box corresponding to an offset balance point, and acquiring inclination information of the trailer box according to the inclination angle of the trailer box and the offset balance point of the trailer box; The first correction unit can output a tilt control signal according to the tilt information of the trailer box, and can input the tilt control signal into the hydraulic controller to adjust the tilt angle of the trailer box and generate trailer box correction control information.

14. A transport device, characterized in that: include: A trailer, wherein the trailer is provided with a trailer box, and the movement state of the trailer box can be controlled by the control method according to any one of claims 1 to 8; The main vehicle is transmission-connected with the trailer and is capable of towing the trailer.

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