Multi-dimensional force sensor for trailer traction control

Abstract

The invention relates to the field of force sensors, in particular to a multi-dimensional force sensor for trailer traction control. A square column of the shear beam structure serves as an elastic sensitive element in the Y-axis direction and the Z-axis direction, and sensitive deformation of vertical force and lateral force is achieved. The cross beam structure serves as an elastic sensitive element in the X-axis direction, and sensitive deformation to axial tension and axial pressure is achieved; the X-axis sensing assembly collects the axial force in the X-axis direction. The Y-axis sensing assembly collects vertical force in the Y-axis direction; the Z-axis sensing assembly collects lateral force in the Z-axis direction; the circuit board is used for carrying out coupling calculation on component forces in the X-axis direction, the Y-axis direction and the Z-axis direction, and CAN digital signal output is achieved through a signal line. The problems that an existing trailer control system cannot accurately sense multi-dimensional stress information between a main vehicle and a trailer in real time, cooperative control lags behind, and precision is insufficient are solved.

Description

Technical Field

[0001] This invention relates to the field of three-dimensional force sensor technology, and in particular to a multi-dimensional force sensor for trailer traction control. Background Technology

[0002] With the development of the logistics and transportation industry and the expansion of new energy technology applications in the field of special vehicles, the demand for intelligent control of the tractor-trailer (MTT) transportation mode in complex road conditions such as mountainous and hilly areas is becoming increasingly prominent. Frequent changes in gradient place higher demands on vehicle traction, braking safety, and energy consumption management. Currently, traditional trailer control systems are mostly passive response modes, relying mainly on the tractor's power output and driver experience, and cannot directly obtain dynamic mechanical information at the connection point between the tractor and trailer.

[0003] During uphill driving, the main vehicle needs to bear additional traction load. If the trailer is heavily loaded, it can easily lead to insufficient power in the main vehicle, accelerated clutch wear, or even the risk of slipping off the slope. Because the towing force applied by the trailer cannot be sensed in real time, the trailer control system cannot provide timely assistance commands to the trailer's new energy power unit.

[0004] During downhill driving, frequent and prolonged braking can lead to thermal fade in the main vehicle's braking system, posing a serious safety hazard. Although some high-end trailers are equipped with auxiliary braking systems or energy recovery systems, their intervention timing and intensity are mostly based on fixed logic or wheel speed differences, making it impossible to accurately sense the impact force (i.e., pressure) of the trailer on the main vehicle, resulting in delayed braking intervention or low energy recovery efficiency.

[0005] To address the aforementioned issues, some existing technologies attempt to indirectly calculate the force state using acceleration or slope sensors. However, such solutions are significantly affected by road surface bumps, vehicle vibrations, and load changes, resulting in low measurement accuracy and delayed response, which fails to meet the requirements for refined collaborative control. Summary of the Invention

[0006] To address the problem that existing trailer control systems cannot accurately perceive multi-dimensional force information between the tractor and trailer in real time, resulting in lagging and insufficient precision in coordinated control.

[0007] This invention provides a multi-dimensional force sensor for trailer traction control, comprising an elastic body, an X-axis sensing component, a Y-axis sensing component, a Z-axis sensing component, signal lines, and a circuit board. The elastic body is an integral structure, including a square column, and a force-bearing flange seat and a fixed flange seat respectively connected to both ends of the square column. The square column is a shear beam structure. The force-bearing flange seat has a mounting groove on the side away from the square column, and a cross beam structure is provided at the bottom of the mounting groove. The X-axis sensing component is located on the cross beam structure and is used to collect the axial force received by the multi-dimensional force sensor along the X-axis direction. The Y-axis sensing components are located on opposite sides of the square column along the Y-axis direction. The Y-axis sensing component is used to collect the vertical force received by the multi-dimensional force sensor along the Y-axis direction; the Z-axis sensing component is located on both sides of the square column along the Z-axis direction, and is used to collect the lateral force received by the multi-dimensional force sensor along the Z-axis direction; the signal line is located on the fixed flange seat and is used to connect with the trailer control system; the circuit board is located in the mounting slot, and the circuit board is electrically connected to the X-axis sensing component, Y-axis sensing component, Z-axis sensing component and signal line respectively. The circuit board has a built-in processing chip, and is used to couple and calculate the component forces in the X-axis, Y-axis and Z-axis directions, and realize CAN digital signal output through the signal line.

[0008] Preferably, the bottom of the mounting groove is provided with four first strain beams, which together form a cross beam structure; the square column includes a central column and four second strain beams arranged in a circular array at equal intervals outside the central column, which together form a shear beam structure.

[0009] Preferably, the square column has Y-axis shearing grooves on both sides opposite to each other along the Y-axis direction, and Z-axis shearing grooves on both sides opposite to each other along the Z-axis direction. The Y-axis sensor assembly is installed in the Y-axis shearing groove, and the Z-axis sensor assembly is installed in the Z-axis shearing groove.

[0010] Preferably, the square column is provided with a wiring groove that communicates with the mounting groove. The side wall of the wiring groove is provided with multiple wiring holes, which are used to connect the wiring groove and the Y-axis shearing groove, and to connect the wiring groove and the Z-axis shearing groove, respectively.

[0011] Preferably, the X-axis sensing assembly includes X-axis strain gauges electrically connected to the circuit board, and the X-axis strain gauges are provided in 4 pairs and are respectively disposed above the first strain beam.

[0012] Preferably, the Y-axis sensing assembly includes a Y-axis strain gauge electrically connected to the circuit board, and the Y-axis strain gauge has two pairs and is respectively located in the Y-axis shear groove.

[0013] Preferably, the Z-axis sensing assembly includes Z-axis strain gauges electrically connected to the circuit board, and the Z-axis strain gauges are provided in two pairs and are respectively located in the Z-axis shear groove.

[0014] Preferably, four pairs of X-axis strain gauges form two independent Wheatstone full-bridge circuits, two pairs of Y-axis strain gauges form one Wheatstone full-bridge circuit, and two pairs of Z-axis strain gauges form one Wheatstone full-bridge circuit.

[0015] Preferably, a sealing cover is provided at the opening of the mounting groove.

[0016] Preferably, the multidimensional force sensor further includes two encapsulation shells with a "[" shaped structure, the encapsulation shells being disposed between the force-bearing flange seat and the fixed flange seat and surrounding the encapsulation column.

[0017] The beneficial effects of this invention are as follows: By setting a force-bearing flange seat and a fixed flange seat for mounting a multi-dimensional force sensor at the connection between the main vehicle and the trailer, direct force transmission and structural support are achieved, ensuring that the multi-dimensional sensor can withstand and sense the dynamic load at the connection in real time; by setting the square column as a shear beam structure to serve as an elastic sensing element in the Y and Z axes, sensitive deformation for vertical and lateral forces is achieved, providing a foundation for accurate measurement; by setting a cross beam structure at the bottom of the mounting groove to serve as an elastic sensing element in the X-axis direction, sensitive deformation for axial tension and axial pressure is achieved, making axial force measurement highly sensitive; by setting the X-axis sensing component on the cross beam structure to collect the axial force in the X-axis direction, the uphill tension (traction force) and downhill pressure between the main vehicle and the trailer are measured. Real-time and accurate perception of (impact force); by setting Y-axis sensing components on opposite sides of the square column along the Y-axis, the vertical force in the Y-axis direction is collected, realizing real-time monitoring of vertical load transfer caused by changes in trailer pitch attitude; by setting Z-axis sensing components on opposite sides of the square column along the Z-axis, the lateral force in the Z-axis direction is collected, realizing real-time perception of lateral force caused by trailer lateral swaying or road tilt; by setting a circuit board for electrical connection with each sensing component and performing three-dimensional force coupling calculation, the function of eliminating inter-directional interference and outputting accurate three-dimensional force data is realized, ensuring measurement accuracy; by setting a signal line to the fixed flange seat, the CAN digital signal processed by the circuit board is output to the trailer control system, realizing high-speed, interference-resistant data transmission and meeting real-time control requirements. This solves the problem that existing trailer control systems cannot accurately perceive multi-dimensional force information between the master vehicle and the trailer in real time, resulting in lagging and insufficient accuracy in coordinated control. Attached Figure Description

[0018] Figure 1 This is a perspective view of a multi-dimensional force sensor for trailer traction control provided by the present invention.

[0019] Figure 2 This is an exploded view of a multi-dimensional force sensor for trailer traction control provided by the present invention.

[0020] Figure 3This is one of the cross-sectional views of a multi-dimensional force sensor for trailer traction control provided by the present invention.

[0021] Figure 4 This is a second cross-sectional view of a multi-dimensional force sensor for trailer traction control provided by the present invention.

[0022] Figure 5 This is a schematic block diagram of the circuit connection of a multi-dimensional force sensor for trailer traction control provided by the present invention.

[0023] In the diagram: 1-Elastic body; 11-Square column; 111-Central column; 112-Second strain beam; 113-Y-axis shear groove; 114-Z-axis shear groove; 115-Wire routing groove; 116-Wire routing hole; 12-Force-bearing flange seat; 121-Mounting groove; 122-First strain beam; 123-First threaded hole; 13-Fixed flange seat; 131-Second threaded hole; 14-First mounting hole; 2-X-axis sensing assembly; 3-Y-axis sensing assembly; 4-Z-axis sensing assembly; 5-Signal line; 6-Circuit board; 7-Sealing cover; 8-Encapsulation shell; 81-Second mounting hole. Detailed Implementation

[0024] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0025] Reference Figures 1-5A multi-dimensional force sensor for trailer traction control includes an elastic body 1, an X-axis sensing component 2, a Y-axis sensing component 3, a Z-axis sensing component 4, a signal line 5, and a circuit board 6. The elastic body 1 is an integral structure, including a square column 11, and a force-bearing flange seat 12 and a fixed flange seat 13 respectively connected to both ends of the square column 11. The square column 11 is a shear beam structure. The force-bearing flange seat 12 has a mounting groove 121 on the side away from the square column 11, and a cross beam structure at the bottom of the mounting groove 121. The X-axis sensing component 2 is located on the cross beam structure and is used to collect the axial force received by the multi-dimensional force sensor along the X-axis direction. The Y-axis sensing component 3 is located on the square column 11 along the Y-axis direction. On both sides of the column 11, the Y-axis sensing component 3 is used to collect the vertical force received by the multi-dimensional force sensor along the Y-axis direction; the Z-axis sensing component 4 is located on both sides of the column 11 along the Z-axis direction, and is used to collect the lateral force received by the multi-dimensional force sensor along the Z-axis direction; the signal line 5 is located on the fixed flange seat 13 and is used to connect with the trailer control system; the circuit board 6 is located in the mounting slot 121, and the circuit board 6 is electrically connected to the X-axis sensing component 2, the Y-axis sensing component 3, the Z-axis sensing component 4 and the signal line 5 respectively. The circuit board 6 has a built-in processing chip, and the circuit board 6 is used to couple and calculate the component forces in the three directions of X-axis, Y-axis and Z-axis, and realize the CAN digital signal output through the signal line 5.

[0026] Reference Figure 1 , Figure 1 The coordinate axes in the diagram indicate the directions of the X-axis, Y-axis, and Z-axis. The Y-axis and Z-axis are both perpendicular to the X-axis, and the Y-axis and Z-axis are perpendicular to each other.

[0027] Reference Figure 3 By setting up a force-bearing flange seat 12 and a fixed flange seat 13, a multi-dimensional force sensor is installed at the connection between the main vehicle and the trailer, realizing direct force transmission and structural support, ensuring that the multi-dimensional sensor can withstand and sense the dynamic load at the connection in real time; (Refer to...) Figure 4By setting the square column 11 as a shear beam structure, it serves as an elastic sensing element in the Y and Z axes, achieving sensitive deformation for vertical and lateral forces, providing a foundation for accurate measurement. By setting a cross beam structure at the bottom of the mounting groove 121, it serves as an elastic sensing element in the X-axis direction, achieving sensitive deformation for axial tension and axial pressure, resulting in high sensitivity for axial force measurement. By setting the X-axis sensing component 2 on the cross beam structure, it collects the axial force in the X-axis direction, enabling real-time and accurate sensing of the uphill tension (traction force) and downhill pressure (impact force) between the tractor and trailer. By setting the Y-axis sensing component 3 on opposite sides of the square column 11 along the Y-axis direction, it collects the Y-axis force... The system monitors the vertical force, enabling real-time monitoring of vertical load transfer caused by changes in the trailer's pitch attitude. By placing Z-axis sensing components 4 on opposite sides of the square post 11 along the Z-axis, it collects lateral forces in the Z-axis direction, achieving real-time sensing of lateral forces caused by lateral swaying of the trailer or road tilt. Circuit board 6, electrically connected to each sensing component and performing three-dimensional force coupling calculations, eliminates inter-directional interference and outputs accurate three-dimensional force data, ensuring measurement accuracy. Signal line 5, connected to the fixed flange seat 13, outputs the CAN digital signal processed by circuit board 6 to the trailer control system, achieving high-speed, interference-resistant data transmission and meeting real-time control requirements. This system solves the problem of existing trailer control systems being unable to accurately sense multi-dimensional force information between the master vehicle and trailer in real time, leading to lagging and insufficient accuracy in coordinated control.

[0028] Reference Figure 2 Specifically, the force-bearing flange seat 12 has a first threaded hole 123 on the side away from the square column 11, and the fixed flange seat 13 has a second threaded hole 131 on the side away from the square column 11. During installation, the main vehicle towing rod is locked into the first threaded hole 123 of the force-bearing flange seat 12 using bolts, and the trailer towing pin or saddle interface is locked into the second threaded hole 131 of the fixed flange seat 13 using bolts, thus completing the bidirectional rigid fixation of both ends of the multi-dimensional force sensor.

[0029] By using multi-dimensional force sensors, the three-dimensional dynamic force at the connection between the main vehicle and the trailer is converted into precise digital signals, enabling the trailer control system to obtain accurate force status in real time. This allows for precise judgment of uphill assist or downhill braking needs based on tension or pressure, and optimization of control strategies based on vertical and lateral forces.

[0030] The trailer control system is existing technology and is used for explanation rather than limitation. In this invention, the control method of the trailer control system is as follows: When a vehicle is on an uphill section, the trailer exerts a backward pulling force on the lead vehicle due to the component of gravity. Multi-dimensional force sensors detect this pulling force signal in real time. When the pulling force exceeds a preset threshold, the trailer control system determines that an uphill assist requirement is needed. It then controls the in-wheel motors and other new energy power units inside the trailer to output positive torque, providing auxiliary traction to the lead vehicle, thereby reducing the load on the lead vehicle and improving climbing ability and fuel economy.

[0031] When a vehicle is on a downhill slope, the trailer exerts forward pressure on the main vehicle due to inertia. Multi-dimensional force sensors detect this pressure signal in real time. When the pressure value exceeds a preset threshold, the trailer control system determines that a downhill braking requirement is in place and then controls the trailer's new energy power unit to generate reverse torque to achieve auxiliary braking, reducing the load on the main vehicle's braking system.

[0032] The introduction of multi-dimensional force sensors enables the trailer control system to have mechanical sensing capabilities, transforming the traditional passive traction relationship into active collaborative control, which significantly improves the power and safety performance of the tractor and trailer in complex sloping road conditions.

[0033] Reference Figures 2-4 In some embodiments, the bottom of the mounting groove 121 is provided with four first strain beams 122, which together form a cross beam structure; the square column 11 includes a central column 111 and four second strain beams 112 arranged in a ring array at equal intervals outside the central column 111, which together form a shear beam structure.

[0034] By setting up a cross-beam structure with four first strain beams 122, the axial force is converted into the bending deformation of the beam by utilizing the mechanical properties of the cross intersection. This achieves high-sensitivity and low-interference acquisition of traction and impact forces between the main vehicle and the trailer, effectively avoiding the coupling effect of vertical or lateral forces on axial measurement. By setting up a shear beam structure composed of a central column 111 and second strain beams 112, it serves as the load-bearing skeleton of the multi-dimensional force sensor and responds to forces in the vertical direction (Y-axis) and the lateral direction (Z-axis). By utilizing the mechanism of the central column 111 transmitting the load and the surrounding second strain beams 112 undergoing shear deformation, it is possible to accurately decouple and measure the vertical force generated by the up-and-down bumps of the vehicle and the lateral force generated by turning or swaying while bearing axial load. This solves the problem of signal crosstalk that is prone to occur in traditional single-beam structures under multi-directional forces. By integrating the cross beam and shear beam into a single unit, the connection gaps and cumulative errors caused by separate assembly are eliminated, resulting in a compact structure, high rigidity, and fast response speed. This provides a structural foundation for achieving 300% overload protection and effectively prevents damage to the multi-dimensional force sensor caused by the force exceeding its full load range during on-site installation and use.

[0035] Reference Figure 4 In some embodiments, the square column 11 has Y-axis shear grooves 113 on opposite sides along the Y-axis direction and Z-axis shear grooves 114 on opposite sides along the Z-axis direction. The Y-axis sensor assembly is installed in the Y-axis shear groove 113 and the Z-axis sensor assembly 4 is installed in the Z-axis shear groove 114.

[0036] By setting a Y-axis shear groove 113, a local stress concentration region in the Y-axis direction is formed on the square column 11; the Y-axis sensor assembly is used to directly sense the shear deformation in the Y-axis shear groove 113 region, realizing accurate acquisition of the force signal in the vertical direction (i.e., the Y-axis direction). By setting a Z-axis shear groove 114, a local stress concentration region in the Z-axis direction is formed on the square column 11; the Z-axis sensor assembly is used to directly sense the shear deformation in the Z-axis shear groove 114 region, realizing accurate acquisition of the force signal in the lateral direction (i.e., the Z-axis direction).

[0037] Reference Figures 3-4 Preferably, the square column 11 is provided with a wiring groove 115 that communicates with the mounting groove 121. The side wall of the wiring groove 115 is provided with a plurality of wiring holes 116. The wiring holes 116 are respectively used to connect the wiring groove 115 and the Y-axis shearing groove 113, and to connect the wiring groove 115 and the Z-axis shearing groove 114.

[0038] By setting up the wiring groove 115 and wiring hole 116, a channel is provided for the connecting wires of the Y-axis sensor assembly and the connecting wires of the Z-axis sensor assembly to converge from the Y-axis shear groove 113 and the Z-axis shear groove 114 to the mounting groove 121 area. All the connecting wires that might have been exposed or messy are contained inside the multi-dimensional force sensor, which solves the problem that exposed connecting wires are easily damaged and can interfere with the measurement results, and achieves neatness and protection of the internal wiring of the multi-dimensional force sensor.

[0039] Reference Figure 5 Preferably, the X-axis sensing component 2 includes X-axis strain gauges electrically connected to the circuit board 6, and the X-axis strain gauges are provided in 4 pairs and are respectively disposed above the first strain beam 122.

[0040] X-axis strain gauges are used to sense the deformation of each first strain beam 122 when subjected to force in the X-axis direction, realizing the measurement of force in the horizontal direction, solving the problem that single-point measurement is easily affected by uneven local stress, and improving the sensitivity and accuracy of force detection in the X-axis direction.

[0041] More preferably, the Y-axis sensing component 3 includes a Y-axis strain gauge electrically connected to the circuit board 6, and the Y-axis strain gauge is provided in two pairs and is respectively disposed in the Y-axis shear groove 113.

[0042] Y-axis strain gauges are used to sense the shear deformation in the Y-axis shear groove 113 region when subjected to force in the vertical direction, thus achieving accurate acquisition of force signals in the Y-axis direction.

[0043] More preferably, the Z-axis sensing component 4 includes a Z-axis strain gauge electrically connected to the circuit board 6, and the Z-axis strain gauge is provided in two pairs and is located in the Z-axis shear groove 114 respectively.

[0044] Z-axis strain gauges are used to sense the shear deformation of the Z-axis shear groove 114 region when subjected to lateral force, thus achieving accurate acquisition of force signals in the Z-axis direction.

[0045] More specifically, four pairs of X-axis strain gauges form two independent Wheatstone full-bridge circuits, two pairs of Y-axis strain gauges form one Wheatstone full-bridge circuit, and two pairs of Z-axis strain gauges form one Wheatstone full-bridge circuit.

[0046] Two independent Wheatstone full-bridge circuits composed of four pairs of X-axis strain gauges solve the problem of complete measurement failure caused by the failure of a single full-bridge circuit, thus improving the reliability of the multi-dimensional force sensor. The Wheatstone full-bridge circuits composed of Y-axis and Z-axis strain gauges, connected to circuit board 6, are used to convert shear deformation in the Y-axis and Z-axis directions into electrical signal outputs, respectively. Due to the symmetrical structure and differential output characteristics of the Wheatstone full-bridge circuit, it can effectively compensate for resistance drift caused by changes in ambient temperature, while improving the detection sensitivity of minute deformation signals, thereby achieving accurate measurement and temperature compensation of force signals in the X, Y, and Z axes.

[0047] In some embodiments, a sealing cover plate 7 is provided at the opening of the mounting groove 121.

[0048] Reference Figure 1-3 The sealing cover 7 is used to seal the mounting groove 121 that accommodates the circuit board 6, preventing external moisture, dust, oil and corrosive media from entering the internal circuit area of ​​the multi-dimensional force sensor. Specifically, the sealing cover 7 can be fixed to the mounting groove 121 by means of threaded connection, snap connection or welding.

[0049] Reference Figure 2-3 In some embodiments, the multidimensional force sensor also includes two encapsulation shells 8 in a "[" shape, which are disposed between the force-bearing flange seat 12 and the fixed flange seat 13 and surround the encapsulation column 11.

[0050] The encapsulation shell 8 is used to construct a fully enclosed mechanical protective cover around the square column 11, physically isolating the second strain beam 112, Y-axis shear groove 113, Z-axis shear groove 114, Y-axis sensing component 3 and Z-axis sensing component 4 from the external environment. This achieves anti-collision, anti-scratching and anti-foreign object jamming protection for the force-bearing components of the multi-dimensional force sensor, ensuring that the deformation of the elastic body 1 under harsh working conditions is caused only by the expected mechanical load, rather than external mechanical interference.

[0051] Reference Figure 2 Specifically, at least one of the load-bearing flange seat 12 or the fixed flange seat 13 is provided with a first mounting hole 14, and the encapsulation shell 8 is provided with a second mounting hole 81 that corresponds to the first mounting hole 14 in position and is equal in number. This allows the fastening bolts to simultaneously penetrate the encapsulation shell 8 and lock onto the load-bearing flange seat 12 or the fixed flange seat 13.

[0052] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this invention. It will be clearly understood by those skilled in the art that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0053] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A multi-dimensional force sensor for trailer pull control, characterized by: include: The elastic body is an integral structure, including a square column, and a load-bearing flange seat and a fixed flange seat respectively connected to both ends of the square column. The square column is a shear beam structure. The load-bearing flange seat has an installation groove on the side away from the square column, and a cross beam structure is provided at the bottom of the installation groove. The X-axis sensing component, located on the crossbeam structure, is used to collect the axial force experienced by the multi-dimensional force sensor along the X-axis direction. The Y-axis sensing component is located on both sides of the square column along the Y-axis direction and is used to collect the vertical force received by the multi-dimensional force sensor along the Y-axis direction. The Z-axis sensing component is located on both sides of the square column along the Z-axis direction and is used to collect the lateral force received by the multi-dimensional force sensor along the Z-axis direction. The signal line, located on the fixed flange seat, is used to connect to the trailer control system. The circuit board, located in the mounting slot, is electrically connected to the X-axis sensing component, Y-axis sensing component, Z-axis sensing component, and signal lines respectively. It has a built-in processing chip for coupling and calculating the force components in the three directions of X, Y and Z axes, and realizing CAN digital signal output through the signal lines.

2. A multi-dimensional force sensor for trailer pull control according to claim 1, characterized in that: The bottom of the mounting groove is provided with four first strain beams, which together form a cross beam structure; the square column includes a central column and four second strain beams arranged in a circular array at equal intervals outside the central column, which together form a shear beam structure.

3. A multi-dimensional force sensor for trailer pull control according to claim 2, characterized in that: The square column has Y-axis shear grooves on both sides opposite to each other along the Y-axis direction, and Z-axis shear grooves on both sides opposite to each other along the Z-axis direction. The Y-axis sensor assembly is installed in the Y-axis shear groove, and the Z-axis sensor assembly is installed in the Z-axis shear groove.

4. A multi-dimensional force sensor for trailer pull control according to claim 3, characterized in that: The square column is provided with a wiring groove that communicates with the mounting groove. The side wall of the wiring groove is provided with multiple wiring holes, which are used to connect the wiring groove and the Y-axis shearing groove, and to connect the wiring groove and the Z-axis shearing groove.

5. A multi-dimensional force sensor for trailer pull control according to claim 3, characterized in that: The X-axis sensing component includes X-axis strain gauges electrically connected to the circuit board. There are four pairs of X-axis strain gauges, each positioned above the first strain beam.

6. A multi-dimensional force sensor for trailer pull control according to claim 5, characterized in that: The Y-axis sensing component includes two pairs of Y-axis strain gauges electrically connected to the circuit board, each located in a Y-axis shear groove.

7. A multi-dimensional force sensor for trailer pull control according to claim 6, characterized in that: The Z-axis sensing component includes Z-axis strain gauges electrically connected to the circuit board, and the Z-axis strain gauges are provided in two pairs and are respectively located in the Z-axis shear groove.

8. A multi-dimensional force sensor for trailer pull control according to claim 7, characterized in that: The four pairs of X-axis strain gauges form two independent Wheatstone full-bridge circuits, the two pairs of Y-axis strain gauges form one Wheatstone full-bridge circuit, and the two pairs of Z-axis strain gauges form one Wheatstone full-bridge circuit.

9. The multi-dimensional force sensor for trailer pull control of claim 1, wherein: A sealing cover is provided at the opening of the mounting slot.

10. The multi-dimensional force sensor for trailer pull control of claim 1, wherein: It also includes two encapsulation shells in the shape of "[", which are located between the load-bearing flange seat and the fixed flange seat and surround the encapsulation of the square column.

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