Intelligent luggage and operation control method thereof

Abstract

The present invention discloses an intelligent suitcase, comprising a suitcase body, a power source, a self-balancing body arranged at the bottom of the suitcase body and a driving wheel, wherein the self-balancing body comprises a self-balancing control system for maintaining self-balancing relative to the driving wheel after power is supplied. The intelligent suitcase of the present invention is equipped with a self-balancing control system for maintaining self-balancing. The self-balancing control system can realize the self-balancing state of the intelligent suitcase after power is supplied.

Description

Technical Field

[0001] The invention relates to a suitcase, and in particular to an intelligent suitcase with a self-balancing function. Background Art

[0002] In the prior art, there is an electric balancing vehicle that does not fall over after being powered on. This vehicle maintains the balance of the vehicle body in the running direction by detecting the running posture of the balancing vehicle through a self-balancing control system installed inside the vehicle body. The electric luggage on the market moves by means of rollers driven by a motor. During the movement of the electric luggage, the electric luggage may easily fall over due to the influence of the terrain or the high center of gravity. Therefore, it is necessary to provide a smart luggage with a self-balancing function. Summary of the invention

[0003] The technical problem to be solved by the present invention is to provide an intelligent suitcase with a self-balancing function.

[0004] To solve the above technical problems, the present invention provides the following technical solutions: an intelligent suitcase, comprising a case body, a power supply, a self-balancing control system fixed to the case body, and driving wheels arranged at the bottom of the case body.

[0005] Compared with the prior art, the present invention has the following beneficial effects: the intelligent suitcase of the present invention is equipped with a self-balancing control system for maintaining self-balancing. After the self-balancing control system is turned on, the intelligent suitcase is in a self-balancing state.

[0006] Preferably, the intelligent suitcase includes a self-balancing body arranged at the bottom of the suitcase, and the self-balancing control system is arranged in the self-balancing body.

[0007] Preferably, there are two driving wheels, which are respectively connected to the self-balancing body through wheel axles.

[0008] Preferably, the two driving wheels are hub motor wheels.

[0009] Preferably, casters are installed on the front side and / or the rear side of the bottom of the box body, and the size of the casters is smaller than the size of the driving wheel.

[0010] Preferably, a pull rod receiving body is directly or indirectly fixedly connected to the self-balancing body.

[0011] Furthermore, the box is provided with a camera module, and the camera module includes a camera capable of taking pictures through the box and an image processing module connected to the camera.

[0012] The present invention provides an operation control method of an intelligent suitcase, comprising: starting a self-balancing control system; the camera collecting an image of a tracking target; based on the image of the tracking target, obtaining visual tracking information of the target tracking; and the intelligent suitcase tracking the visual tracking information and running.

[0013] Preferably, the tracking target is provided with a signal transmitting module for transmitting wireless signals, and the operation control method of the smart suitcase further includes: detecting the wireless signal transmitted by the signal transmitting module of the tracking target; obtaining the signal tracking information of the tracking target; combining the visual tracking information and the signal tracking information to determine the final tracking information of the tracking target; and the smart suitcase tracks the final tracking information and operates.

[0014] The present invention further provides an operation control method of an intelligent suitcase, wherein a tracking target is provided with a signal transmitting module for transmitting a wireless signal, and the operation control method of the intelligent suitcase comprises: starting a self-balancing control system; detecting a wireless signal transmitted by the signal transmitting module of the tracking target; obtaining signal tracking information of the tracking target; and the intelligent suitcase tracks the signal tracking information and operates. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 is a three-dimensional schematic diagram of the smart suitcase of the present invention;

[0016] Figure 2 This is a schematic diagram of the interior of the smart suitcase;

[0017] Figure 3 It is a flow chart of the visual tracking operation control method of the smart suitcase of the present invention;

[0018] Figure 4 The present invention is a flow chart of the wireless signal tracking operation control method of the smart suitcase. DETAILED DESCRIPTION

[0019] The specific implementation modes of the present invention are described in detail below with reference to the accompanying drawings, but are not intended to limit the protection scope of the present invention.

[0020] See also Figure 1 and Figure 2The smart luggage of the present invention comprises: a box body 1, a power source, a self-balancing body 2 arranged at the bottom of the box body 1, and a camera module 3 arranged on the box body 1. The camera module 3 comprises a camera capable of taking pictures through the box body and an image processing module connected to the camera. Two driving wheels 4 and two casters 5 are arranged at the bottom of the box body. The two driving wheels 4 are respectively connected to the self-balancing body 2 through axles, and the two driving wheels 4 are hub motor wheels. A self-balancing control system is arranged in the self-balancing body 2 to maintain self-balancing relative to the two driving wheels 4 after power is turned on. A pull rod receiving body 6 is directly fixedly connected to the self-balancing body 2, and of course the self-balancing body 2 can also be indirectly fixedly connected to the pull rod receiving body 6 through other connecting bodies. Of course, in other embodiments, the self-balancing body may not be arranged, and the self-balancing control system may be directly arranged on the box body.

[0021] The two casters 5 are respectively mounted on the front and rear sides of the bottom of the case, and the casters 5 can be driven by the two driving wheels 4. The casters 5 are preferably universal wheels. The size of the casters is set to be smaller than the size of the wheel of the hub motor, so that when the smart suitcase is running in the balancing mode, the two casters 5 leave the ground to avoid interfering with the self-balancing control. The two casters 5 are also conducive to the smart suitcase to cooperate with the two driving wheels 4 to support the smart suitcase in a static state. Of course, in other embodiments, the casters 5 can be installed only on the front or rear side of the bottom of the case.

[0022] The self-balancing control system includes a gyroscope for detecting the running posture of the smart suitcase. When the smart suitcase is moving, the self-balancing control system can calculate appropriate instructions based on the rotational angular velocity of the deflection and tilt detected by the gyroscope after analysis and processing, and transmit them to the two wheel hub motor wheels to control the rotation of the two wheel hub motors to achieve a balanced state of the smart suitcase.

[0023] The user can also open the smart suitcase through the voice interaction system installed on the smart suitcase. In other embodiments, the voice interaction system can also be connected to the two wheel hub motors. If the self-balancing control system is turned off, the user can control the movement of the smart suitcase through voice. The casters 5 on the front or rear side of the smart suitcase rotate together with the driving wheel 4.

[0024] Of course, the user can also open the smart suitcase through the APP program installed on the mobile phone; when the self-balancing control system is turned off, the user can also control the movement and steering of the smart suitcase through the APP program.

[0025] In this embodiment, the smart suitcase can follow the movement of the tracking target by visual tracking and / or wireless signal tracking. The tracking target is the user of the smart suitcase.

[0026] When the smart suitcase is tracked by wireless signals, the tracking target is attached with a signal transmitting module for transmitting wireless signals. The first signal receiver and the second signal receiver are respectively installed at different positions of the box body. Specifically, the first signal receiver and the second signal receiver are respectively installed on the left and right sides of the smart suitcase, and the signal processing module connected to the first signal receiver and the second signal receiver. Of course, in other embodiments, the number of signal receivers can also be increased to improve the calculation accuracy of the signal processing module.

[0027] See also Figure 3 The operation control method of the smart suitcase of this embodiment includes the following steps:

[0028] Step S1, start the self-balancing control system;

[0029] Step S2, the camera collects an image of the tracking target;

[0030] Step S3, obtaining visual tracking information of the target based on the image of the tracking target;

[0031] Step S4, the smart suitcase tracks the visual tracking information.

[0032] Specifically, in step S1, the user manually opens the smart suitcase, so that the power supply can provide power to the self-balancing control system and the two wheel hub motors. The self-balancing control system controls the two wheel hub motors to rotate and keeps the smart suitcase in a balanced state. The two casters on the front and rear sides of the smart suitcase are separated from the ground accordingly.

[0033] In other embodiments, the user can open the smart suitcase through a voice interaction system installed on the smart suitcase; of course, the user can also open the smart suitcase through an APP program installed on a mobile phone.

[0034] In step S2, the camera installed on the box continuously captures the moving image of the user, and the moving image is transmitted to the image processing module connected to the camera. The moving image can be transmitted to the image processing module frame by frame continuously, or it can be transmitted to the image processing module at periodic intervals. The periodic interval time means that the interval time between any two adjacent time ranges is equal. This is conducive to the image processing module to analyze the periodic image features.

[0035] The image features include the user's contour features, color features, pattern features, and the distance features and angle features of the smart suitcase relative to the user.

[0036] The user is the tracking target of the camera, the smart suitcase follows the user, the camera tracks the user and transmits the captured current frame image to the image processing module.

[0037] The user mainly refers to a human being. Of course, in other embodiments, the smart suitcase can also move with other living animals, such as dogs, cats, etc.; of course, the smart suitcase can also move with other mobile devices, and the other mobile device can be another smart suitcase, so that multiple smart suitcases move with the user together.

[0038] In step S3, the image processing module analyzes and processes the received moving image to obtain visual tracking information, which includes relative position information such as the distance and / or angle of the smart suitcase relative to the user and / or the proportion of the contour area.

[0039] The image processing module analyzes the current frame image data such as the user's imaging position, imaging angle, imaging area, etc. in the current frame image according to the current frame image, and compares the current frame image data with the reference image data in combination with the imaging position, imaging angle, imaging area, etc. analyzed by the image processing module before. The similarity comparison can be performed based on contour features, angle features, pattern features, etc. The feature with the greatest similarity is selected from the current frame image as the user's position in the current frame image, and that feature is the contour feature or angle feature or pattern feature and a combination thereof, and that feature is also the tracking target of the smart suitcase during subsequent tracking. This is beneficial for the smart suitcase to follow the user's movement. The above-mentioned reference image data is the image data of the previous frame image analyzed by the image processing module, and can also be the image data of the image captured in the previous cycle, or all the image data analyzed by the image processing module relative to the current frame image.

[0040] The image processing module saves the current frame image data and uses it as the reference image data for the next frame of captured image or the next cycle of captured image; at the same time, the image processing module performs online learning on each image data and updates the reference image data according to the current mobile environment. When the image processing module performs similarity comparison, it is preferred to use the updated reference image data to perform similarity comparison with the image data of the next frame of captured image or the next cycle of captured image; when the mobile environment changes instantly, for example, the user enters an area with strong light, it may be impossible to compare the features with the highest similarity based on the updated reference image data, which may easily lead to the image processing module being unable to obtain the user's position. At this time, the image processing module can perform similarity comparison on the image data of the next frame of captured image or the next cycle of captured image with all previous image data. This is to improve the success rate of the image processing module in obtaining the user's position.

[0041] The image processing module combines multiple features such as contour features, angle features, and pattern features, and determines the confidence of each feature value according to the weight ratio of each feature value in the updated reference image data when using it for similarity comparison. The confidence of each feature value is weighted to determine the similarity between the current frame image data and the updated reference image data, further improving the success rate of the image processing module in obtaining the user's position.

[0042] In other embodiments, the smart suitcase is equipped with an alarm device. When the image processing module cannot obtain the user's location, the image processing module sends a signal to the alarm device to sound an alarm to remind the user that the smart suitcase cannot move with the user.

[0043] In step S4, the image processing module analyzes the relative distance and / or angle of the smart suitcase relative to the user based on the similarity comparison result. The image processing module transmits the analysis data of the relative distance and / or angle to the self-balancing control system. A preset distance and a preset angle are set between the smart suitcase and the user. For example, the preset distance is between 1.5 meters and 2 meters; the preset angle is 0 degrees.

[0044] When the smart suitcase follows the user, the self-balancing control system compares and calculates the relative distance and the preset distance, and the relative angle and the preset angle respectively; at the same time, the self-balancing control system combines the deflection and tilt angular velocity detected by the gyroscope to calculate appropriate instructions and transmit them to the two wheel hub motor wheels. When the relative distance is greater than the preset distance, the speed of the two wheel hub motors is increased; otherwise, the speed of the two wheel hub motors is reduced. When the relative angle deviates from the preset angle, different speed instructions are calculated and transmitted to the two wheel hub motor wheels respectively, so that the speeds of the two wheel hub motors are different to change the steering angle of the smart suitcase, and then adjust the angle of the smart suitcase relative to the user to meet the preset angle. The smart suitcase controls the rotation of the two wheel hub motors through the self-balancing control system to achieve tracking of the user, and can also maintain the balance of the operation of the smart suitcase.

[0045] This embodiment can not only control the operation of the smart suitcase by visual tracking, but also control the operation of the smart suitcase by wireless signal tracking. Figure 4 , including the following steps:

[0046] Step S10, start the self-balancing control system;

[0047] Step S20, detecting a wireless signal transmitted by a signal transmitting module of the tracking target;

[0048] Step S30, obtaining signal tracking information for target tracking;

[0049] Step S40, the smart suitcase tracking signal tracking information runs.

[0050] Specifically, in step S10, the user manually opens the smart suitcase, so that the power supply can provide power to the self-balancing control system and the two wheel hub motors. The self-balancing control system controls the two wheel hub motors to rotate and keeps the smart suitcase in a balanced state. The two casters on the front and rear sides of the smart suitcase are separated from the ground accordingly.

[0051] In other embodiments, the user can open the smart suitcase through a voice interaction system installed on the smart suitcase; of course, the user can also open the smart suitcase through an APP program installed on a mobile phone.

[0052] In step S20, the signal transmitting module installed on the tracking target continuously sends out wireless signals, and the first signal receiver and the second signal receiver at different positions simultaneously detect and receive the wireless signals transmitted by the signal transmitting module, and two wireless signals with different information are transmitted to the signal processing module.

[0053] The tracking target is a human using the smart suitcase. Of course, in other embodiments, the smart suitcase can also follow other living animals, such as dogs, cats, etc.; of course, the smart suitcase can also follow other mobile devices, which can be another smart suitcase, so that multiple smart suitcases can follow the user together.

[0054] In step S30, the signal processing module can obtain signal tracking information according to the two wireless signals with different information. The signal tracking information includes the relative position information of the distance and / or receiving direction of the smart suitcase relative to the user, and the duration information of the received signal.

[0055] The signal processing module can calculate the distance and / or angle of the smart suitcase relative to the user based on the two wireless signals with different information, combined with the signal strength and / or receiving power of the received wireless signal, and then combined with the transmission strength and / or transmission power of the signal transmission module.

[0056] In this embodiment, the wireless signal is a UWB signal. UWB (Ultra Wideband) is a carrier-free communication technology that uses nanosecond to picosecond non-sinusoidal narrow pulses to transmit data. Its sub-nanosecond ultra-narrow pulses can be used for close-range precise indoor positioning or target tracking. It has the characteristics of strong anti-interference performance, no carrier, low device transmission power and high tracking accuracy. Of course, in other embodiments, the wireless signal can also be other wireless signals, such as infrared signals, radio frequency signals, etc.

[0057] In other embodiments, the smart suitcase is equipped with an alarm device. When the signal processing module cannot receive the wireless signal sent by the signal transmitting module, the signal processing module sends a signal to the alarm device to sound an alarm to remind the user that the current smart suitcase cannot move with the user.

[0058] In step S40, the signal processing module transmits the analysis data of the distance and / or angle of the smart suitcase relative to the user to the self-balancing control system. A preset distance and a preset angle are set between the smart suitcase and the user. For example, the preset distance is between 1.5 meters and 2 meters; the preset angle is 0 degrees. A preset signal reception strength is set between the smart suitcase and the user within the preset distance; when the smart suitcase is facing the user, the relative angle is equal to the preset angle, and the preset signal reception strength, as well as the duration of the two signal receivers receiving the wireless signal are consistent.

[0059] When the smart suitcase follows the user, if the signal strength currently received by the two signal receivers is lower than the preset signal receiving strength, it means that the distance between the smart suitcase and the user exceeds the preset distance of 2 meters, and the smart suitcase is moving away from the user; if the signal strength currently received by the two signal receivers is higher than the preset signal receiving strength, it means that the distance between the smart suitcase and the user is lower than the preset distance of 1.5 meters, and the smart suitcase is approaching the user.

[0060] In addition, if the smart suitcase is tilted towards the user, the durations of the wireless signals currently received by the two signal receivers are inconsistent, and the relative angle is not equal to the preset angle.

[0061] In this embodiment, the first signal receiver and the second signal receiver are installed on the left and right sides of the smart suitcase, respectively. In an ideal state, when the smart suitcase moves with the user, the smart suitcase faces the user, so that the duration and signal strength of the wireless signal received by the first signal receiver and the second signal receiver are consistent. That is, the relative distance of the smart suitcase to the user is within the preset distance, and the relative angle is equal to the preset angle.

[0062] When the smart suitcase follows the user, the self-balancing control system compares and calculates the current signal reception strength and the preset signal reception strength, as well as the duration of the two signal receivers receiving the wireless signal; at the same time, the self-balancing control system combines the deflection and tilt rotational angular velocity detected by the gyroscope to calculate appropriate instructions and transmit them to the two wheel hub motor wheels. When the current signal reception strength is greater than the preset signal reception strength, the speed of the two wheel hub motors is increased; otherwise, the speed of the two wheel hub motors is reduced. When the duration of the two signal receivers currently receiving the wireless signal is inconsistent, different speed instructions are calculated and transmitted to the two wheel hub motor wheels respectively, so that the speeds of the two wheel hub motors are different to change the steering angle of the smart suitcase, and then adjust the angle of the smart suitcase relative to the user to meet the preset angle. The smart suitcase controls the rotation of the two wheel hub motors through the self-balancing control system to achieve tracking of the user, and can also maintain the balance of the operation of the smart suitcase.

[0063] In this embodiment, the operation control method of visual tracking uses a camera to capture the user's moving image information and the visual tracking information obtained through image analysis, so that the smart suitcase follows the user. The operation control method of wireless signal tracking uses two signal receivers to receive the wireless signal emitted by the signal transmitting module installed on the user, as well as the wireless signal tracking information obtained through signal analysis, so that the smart suitcase follows the user. The above two operation control methods of smart suitcases can control the operation of the smart suitcase separately; they can also control the operation of the smart suitcase together. Through the respective tracking strengths and advantages of visual tracking and wireless signal tracking, visual tracking and wireless signal tracking can complement each other, increase the application tracking scenarios of smart suitcases, and the probability of visual tracking and wireless signal tracking failing at the same time is very low, reducing the phenomenon of the tracking target being lost, and can also improve the tracking success rate of smart suitcases.

[0064] Specifically, in this embodiment, the operation control method of the smart suitcase with visual tracking further includes:

[0065] Step S5, detecting the wireless signal transmitted by the signal transmitting module of the tracking target;

[0066] Step S6, obtaining signal tracking information for target tracking;

[0067] Step S7, combining the visual tracking information and the signal tracking information to determine the final tracking information of the tracking target;

[0068] Step S8, the smart suitcase tracks the final tracking information.

[0069] There is no specific order between step S2 and step S5. Step S2 may precede step S5, or step S5 may precede step S2. Of course, step S2 and step S5 may also be executed at the same time.

[0070] Preferably, the execution time interval from step S2 to step S3 is equal to the execution time interval from step S5 to step S6, that is, the visual tracking information and the wireless signal tracking information are obtained synchronously.

[0071] Step S7 determines final tracking information of the tracking target according to the visual tracking information and the signal tracking information. The final tracking information is one of the visual tracking information and the wireless signal tracking information.

[0072] In this embodiment, the operation control method of the smart suitcase with wireless signal tracking may further include:

[0073] Step S50, the camera collects an image of the tracking target;

[0074] Step S60, obtaining visual tracking information for tracking the target based on the image of the tracking target;

[0075] Step S70, combining the visual tracking information and the signal tracking information to determine the final tracking information of the tracking target;

[0076] Step S80, the smart suitcase tracks the final tracking information.

[0077] There is no specific order between step S20 and step S50. Step S20 may precede step S50, or step S50 may precede step S20. Of course, step S20 and step S50 may also be executed at the same time.

[0078] Preferably, the execution time interval from step S20 to step S30 is equal to the execution time interval from step S50 to step S60, that is, the visual tracking information and the wireless signal tracking information are obtained synchronously.

[0079] Step S70 determines final tracking information of the tracking target according to the visual tracking information and the signal tracking information. The final tracking information is one of the visual tracking information and the wireless signal tracking information.

[0080] The method of jointly operating and controlling the two modes is adopted. When one tracking mode loses the tracking of the target object, the other tracking mode can still provide tracking information. Compared with the smart suitcase, the probability of two tracking modes failing at the same time is lower than the probability of one tracking mode failing. Therefore, compared with the smart suitcase, the probability of tracking failure is reduced and the tracking success rate is improved.

[0081] The two tracking methods used in this embodiment are visual tracking and wireless signal tracking. These two tracking methods have their own advantages and can be applied to different tracking scenarios. When visual tracking is prone to fail, the wireless signal tracking has a strong tracking capability. When wireless signal tracking is prone to fail, the visual tracking has a strong tracking capability. Therefore, the problem of simultaneous failure of the two tracking methods is further reduced, thereby further improving the success rate of target tracking.

[0082] In addition, in this embodiment, when one of the tracking methods fails and the other tracking method is effective, the failed tracking method can adjust the acquisition direction of the tracking image or the signal detection direction of the wireless signal according to the effective tracking method, so that the tracking recovery is effective, thereby ensuring the subsequent tracking accuracy.

[0083] For example, when visual tracking fails and wireless signal tracking is valid, the current acquisition direction of the tracking image is determined based on the signal detection direction of the wireless signal tracking and the acquisition direction of the tracking image by visual tracking, so that the visual tracking acquires the tracking image including the target object.

[0084] For example, when visual tracking is effective and wireless signal tracking is ineffective, the signal detection direction of the wireless signal tracking is determined based on the signal detection direction of the wireless signal tracking and the acquisition direction of the tracking image acquired by the visual tracking.

[0085] In the above embodiments of the present application, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, please refer to the relevant description of other embodiments.

[0086] The above embodiments are only used to illustrate the present invention and are not intended to limit the technical solutions described in the present invention; therefore, although the present invention has been described in detail in this specification with reference to the above embodiments, it should be understood by those skilled in the art that the present invention can still be modified or replaced by equivalents; and all technical solutions and improvements thereof that do not depart from the spirit and scope of the present invention should be included in the scope of the claims of the present invention.

Claims

1. A smart suitcase, characterized in that: It includes a box, a power supply, a self-balancing control system fixed to the box, and a driving wheel arranged at the bottom of the box; The box is provided with a camera module, which includes a camera capable of shooting through the box and an image processing module connected to the camera; The operation control method of the smart suitcase includes: Turn on the self-balancing control system; The camera collects an image of the tracking target; Based on the image of the tracking target, visual tracking information for target tracking is obtained, wherein the image processing module parses the current frame image data of the user in the current captured image according to the current frame captured image, the image data includes imaging position, imaging angle, and imaging area, and combines the reference image data previously parsed by the image processing module to compare the feature similarity between the current frame image data and the reference image data, the feature includes contour feature, angle feature, and pattern feature, and the feature with the greatest similarity is selected from the current frame image as the position of the user in the current frame image, the feature with the greatest similarity is the contour feature and / or angle feature and / or pattern feature, and the feature with the greatest similarity is also the tracking target of the smart suitcase during subsequent tracking, and the reference image data is the image data of the previous frame captured image parsed by the image processing module, or the image data of the previous cycle captured image, or all image data parsed by the image processing module relative to the current frame image; The image processing module saves the current frame image data and uses it as the reference image data for the next frame of captured image or the next cycle of captured image; at the same time, the image processing module performs online learning on each image data and updates the reference image data according to the current mobile environment; when performing similarity comparison, the image processing module uses the updated reference image data to perform similarity comparison with the image data of the next frame of captured image or the next cycle of captured image; when the mobile environment changes instantly and the most similar feature cannot be compared according to the updated reference image data, and the image processing module cannot obtain the user's position, the image processing module performs similarity comparison between the image data of the next frame of captured image or the next cycle of captured image and all previous image data; The image processing module combines the contour features, angle features, and pattern features, and when used for similarity comparison, determines the confidence of each feature value according to the weight ratio of each feature value in the updated reference image data, and weights the confidence of each feature value to determine the similarity between the current frame image data and the updated reference image data; Smart luggage tracking visual tracking information operation; The tracking target is provided with a signal transmitting module for transmitting a wireless signal, and the operation control method of the smart suitcase further comprises: Detecting a wireless signal transmitted by a signal transmitting module of the tracking target; Obtain signal tracking information of the tracking target; Determine final tracking information of the tracking target by combining the visual tracking information and the signal tracking information; Smart luggage tracking final tracking information running.

2. The smart luggage according to claim 1, characterized in that: The intelligent luggage case comprises a self-balancing body arranged at the bottom of the case, and the self-balancing control system is arranged in the self-balancing body.

3. The smart luggage according to claim 2, characterized in that: There are two driving wheels, which are respectively connected to the self-balancing body through wheel axles.

4. The smart suitcase according to claim 3, characterized in that: The two driving wheels are hub motor wheels.

5. The smart luggage according to claim 3, characterized in that: Casters are installed on the front side and / or the rear side of the bottom of the box body, and the size of the casters is smaller than the size of the driving wheel.

6. The smart luggage according to claim 2, characterized in that: The self-balancing body is directly or indirectly fixedly connected with a pull rod receiving body.

7. The operation control method of the smart suitcase according to any one of claims 1 to 6, characterized in that: The tracking target is provided with a signal transmitting module for transmitting a wireless signal. The operation control method of the smart suitcase includes: Turn on the self-balancing control system; Detecting a wireless signal transmitted by a signal transmitting module of the tracking target; Obtain signal tracking information of the tracking target; Smart luggage tracking signal tracking information operation.

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