Box body with mechanical legs and control method thereof

Abstract

The invention relates to a box with mechanical legs and a control method thereof.The box comprises a box body used for containing articles, mechanical leg assemblies, a posture sensing module, a battery module and a control module, and the posture sensing module is used for detecting the posture of the box body; the mechanical leg assembly comprises two mechanical legs, the mechanical legs are connected with the box body, the mechanical legs are located below the box body or the two mechanical legs are located on the two sides of the box body respectively, and the posture sensing module, the battery module and the mechanical legs are all electrically connected with the control module. The box body with the mechanical legs and the control method thereof have the following advantages that the mechanical legs can effectively improve the ability to span a doorsill and a stair, during use, the control module controls the mechanical legs to walk like people, the posture sensing module is matched with the control module, and the mechanical legs can be quickly adjusted to keep stable and prevent falling after being collided, so that the safety of the box body is improved. And the safety of luggage in the luggage box body, especially articles which are easy to break, can be ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of boxes, and particularly to a box with mechanical legs and a control method thereof. Background Art

[0002] A suitcase is a daily necessity for people to carry items when traveling. Existing suitcases all need to be pulled or pushed forward by users. There is also an intelligent suitcase that can walk automatically. It uses a steering motor to control the traveling direction of the box body, and uses a traveling motor and a brake servo to control the traveling speed of the box body, so that it can walk automatically without manual pushing, which can reduce the burden on users.

[0003] In the prior art, as disclosed in the Chinese invention patent publication No. CN109303397B, an intelligent electric suitcase includes a box body that can be straddled by a user, two driving wheels installed on the box body, and a control system for respectively controlling the rotation of the two driving wheels; the two driving wheels are arranged side by side on the box body, and the wheelbase of the two driving wheels is 175-245 mm. However, this intelligent electric suitcase is still limited by the connection between the driving wheels and the box body, and it is difficult to pass through obstacles with height such as thresholds or stairs. Summary of the Invention

[0004] One object of the present application is to provide a box with mechanical legs and a control method thereof, which has good passability.

[0005] The technical solution adopted in the present application is: a box with mechanical legs, including a box body, a mechanical leg assembly, an attitude sensing module, a battery module, and a control module. The attitude sensing module is used to detect the attitude of the box body; the mechanical leg assembly includes two mechanical legs, the mechanical legs are connected to the box body, the mechanical legs are located below the box body or the two mechanical legs are respectively located on both sides of the box body, and the attitude sensing module, the battery module, and the mechanical legs are all electrically connected to the control module.

[0006] In some embodiments of the present application, a pulley is provided on the mechanical leg.

[0007] Further, a driving member is provided on the pulley.

[0008] Further, the pulley is located at the end or the middle or the lower part of the mechanical leg.

[0009] In some embodiments of the present application, the mechanical legs are foldable; in the unfolded state of the mechanical legs, the mechanical legs form a two-foot support; in the folded state of the mechanical legs, the mechanical legs are retracted towards the box body.

[0010] Further, at least one pair of rollers or support blocks are provided on the box body; a pulley is provided on the mechanical leg, and in the folded state of the mechanical leg, the rollers or support blocks and the pulley form a four-foot support.

[0011] In some embodiments of the present application, it further includes a detection module, and the detection module is used to detect the forward path and / or the backward path of the box body; the detection module includes a radar and / or a vision detection device.

[0012] In some embodiments of the present application, the battery module includes a detachable battery.

[0013] In some embodiments of the present application, the mechanical legs are detachably connected to the box body.

[0014] A box body with mechanical legs obtained by the present invention has the following advantages: 1. The use of mechanical legs can effectively improve the ability to cross thresholds and stairs. When in use, the control module controls the mechanical legs to walk like a person, thereby realizing the movement of the box body. The attitude sensing module cooperates with the control module to be able to control the movement of the mechanical legs in real time through the sensing of the attitude of the box body, so as to maintain the balance of walking and the stability of standing. Its walking and standing are more intelligent, and it can also quickly adjust to maintain stability after being collided to prevent falling, and thus ensure the safety of the luggage in the box body, especially for easily broken items; 2. Through the detection of the road, it can automatically control the mechanical legs to cross thresholds, stairs, etc., and can avoid obstacles in time; 3. The battery is detachable, which is convenient for replacing the battery to extend the battery life, and the battery can also be removed and taken on the plane.

[0015] A navigation control method for a box body with mechanical legs includes a communication module, a detection module, a satellite navigation module and the above-mentioned box body with mechanical legs. The control module is electrically connected to the communication module, the detection module and the satellite navigation module respectively. The communication module is used for data communication with a server and / or an intelligent device. The satellite navigation module is used for receiving satellite signals for positioning; the control module is provided with a pilot mode and / or a follow mode; in the pilot mode, the control method includes: S0. Receiving satellite signals through the satellite navigation module for positioning; S3. Receiving a destination instruction issued by the user and planning a route to reach the user-specified location; S4. Moving according to the route to reach the destination; in the follow mode, the detection module identifies the user, and the control module controls to follow the user to move.

[0016] In some embodiments of the present application, after step S0, there is further step S1, and step S1 is to scan the surrounding environment through the detection module to construct a spatial map; after step S1, there is further step S2, and step S2 is for the detection module to identify the characteristic objects in the surrounding environment and perform positioning.

[0017] In some embodiments of the present application, it further includes a voice module. In the follow mode, after receiving the destination instruction issued by the user and planning the route, if the user yaws, a voice will be played through the voice module for reminder.

[0018] In some embodiments of the present application, in the pilot mode, the box body leads the user. The detection module detects the user's position. If the user yaws, it follows the user's movement and replans the route to the destination.

[0019] Further, in step S2, when indoors, the detection module performs real-time recognition of the features in the surrounding environment, and combines with the image processing algorithm to calculate the current accurate position.

[0020] Further, in step S1, through the real-time detection of the surrounding environment by the detection module, the detection data is converted into a three-dimensional model.

[0021] The navigation control method of a box body with mechanical legs obtained by the present invention has the following advantages: The box body can lead the user to move to the destination; by converting the environmental data into a three-dimensional model for path planning of navigation, these three-dimensional models can not only help understand the spatial structure, but also help the user avoid blocked areas or select a more flat path by analyzing the layout of obstacles.

[0022] A voice interaction control method of a box body with mechanical legs includes a communication module, a voice module, a detection module and the above-mentioned box body with mechanical legs. The control module is electrically connected to the communication module and the detection module respectively. The communication module is used for data communication with the server and / or intelligent devices; the detection module includes a microphone, and the microphone is used to detect the volume of environmental noise; the voice interaction control method includes: detecting environmental noise through the microphone. If the environmental noise is less than the preset volume value, voice is played externally through the voice module for interaction; if the environmental noise is greater than or equal to the preset volume value, a Bluetooth headset is connected through the communication module for voice interaction.

[0023] In some embodiments of the present application, the control module presets multiple sound zones with different volumes; in the state of playing voice externally, the microphone detects the volume of environmental noise and transmits the volume to the control module. The control module performs sound zone matching on the volume of environmental noise and selects the matching sound zone from the preset multiple sound zones, and then controls the volume of the voice played externally by the voice module according to the matching sound zone.

[0024] The voice interaction control method of a box body with mechanical legs obtained by the present invention has the following advantages: In a noisy environment, such as on the street, in the mall, on public transportation, etc., it can automatically switch to the headphone mode, and voice interaction through the Bluetooth headset can avoid the interference of environmental noise. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 is the structural schematic diagram of Embodiment 1 of the present invention Figure 1 ;

[0026] Figure 2Schematic structure of Embodiment 1 of the present invention Figure 2 ;

[0027] Figure 3 Schematic structure diagram of Embodiment 2 of the present invention;

[0028] Figure 4 Schematic structure diagram of Embodiment 2 of the present invention with a support block;

[0029] Figure 5 Schematic structure of the mechanical leg of Embodiment 2 of the present invention Figure 1 ;

[0030] Figure 6 Schematic structure of the mechanical leg of Embodiment 2 of the present invention Figure 2 ;

[0031] Figure 7 Schematic structure diagram of Embodiment 3 of the present invention;

[0032] Figure 8 Schematic structure diagram of Embodiment 3 of the present invention with the box body removed;

[0033] Figure 9 Schematic structure diagram of the box body of Embodiment 3 of the present invention;

[0034] Figure 10 Schematic structure diagram of Embodiment 4 of the present invention;

[0035] Figure 11 Schematic structure diagram of Embodiment 4 of the present invention with the storage box removed.

[0036] In the figure: 1. Box body; 2. Mechanical leg assembly; 3. Mechanical leg; 4. Pulley; 6. Driving member; 7. Roller; 8. Battery; 9. Radar; 10. Visual detection device; 11. Support block; 12. Storage groove; 13. Connection unit; 14. First driving device; 15. Second driving device; 16. Thigh unit; 17. Calf unit; 18. Turntable; 19. Connecting rod; 20. Connecting member; 21. Embedding groove; 22. Embedding plate; 23. First magnetic attracting member; 24. Second magnetic attracting member; 25. Component box; 26. Storage box; 27. Installation groove. Detailed implementation manners

[0037] To further elaborate on the technical means and effects adopted by the present invention to achieve the predetermined invention purpose, the following, in conjunction with the accompanying drawings and preferred embodiments, details the specific implementation manners, structures, features and their effects of the present invention as follows.

[0038] Embodiment 1:

[0039] A box with mechanical legs provided in this embodiment, such as Figure 1 、Figure 2 As shown in the figure, it includes a box body 1 for accommodating items, a mechanical leg assembly 2, an attitude sensing module, a battery module, and a control module. The attitude sensing module is used to detect the attitude of the box body 1; the mechanical leg assembly 2 includes two mechanical legs 3, the mechanical legs 3 are connected to the box body 1, the mechanical legs 3 are located below the box body 1 or the two mechanical legs 3 are respectively located on both sides of the box body 1. The attitude sensing module, the battery module, and the mechanical legs 3 are all electrically connected to the control module. The control module is used to control the actions of each mechanical leg 3, and the battery module is used for power supply.

[0040] The use of mechanical legs 3 can effectively improve the ability to cross thresholds and stairs. When in use, the control module controls the mechanical legs 3 to walk like a human, thereby realizing the movement of the box body 1; the attitude sensing module cooperates with the control module, and can control the movement of the mechanical legs 3 in real time by sensing the attitude of the box body 1, so as to maintain the balance of walking and the stability of standing. Its walking and standing are more intelligent, and it can also quickly adjust to maintain stability after being collided, preventing falling, and thus ensuring the safety of the luggage in the box body 1, especially for easily broken items.

[0041] In order to reduce the storage volume, the mechanical legs 3 can be folded; in the unfolded state of the mechanical legs 3, the mechanical legs 3 form a two-foot support; in the folded state of the mechanical legs 3, the mechanical legs 3 are retracted towards the box body 1. In this embodiment, the unfolding direction of the mechanical legs 3 is one side with the smallest surface area away from the box body 1, which can make the center of gravity of the box body 1 concentrate above the mechanical legs 3 after the mechanical legs 3 are unfolded, making the whole more stable and facilitating the adjustment of the center of gravity position by the mechanical legs 3.

[0042] On one side of the box body 1 facing the mechanical legs 3, there is a recessed storage groove 12. In the folded state of the mechanical legs 3, the mechanical legs 3 are located in the storage groove 12, that is, the mechanical legs 3 will not exceed the box body 1 in the folded state. The box body 1 is a luggage case, which can ensure the size of the box body, facilitate storage at the luggage storage point, and at the same time reduce the risk of the mechanical legs 3 colliding with the outside world and improve the service life of the mechanical legs 3.

[0043] In order to make the movement of the box body intelligent, it further includes a detection module. The detection module is used to detect the forward path and / or the backward path of the box body 1; the detection module includes a radar 9 and / or a visual detection device 10. The radar 9 can be a lidar, an ultrasonic radar, etc.; in this embodiment, the radar 9 is a lidar, and the visual detection device 10 is a binocular vision. The radar 9 is arranged on the forward side of the box body 1, and the visual detection device 10 is arranged on the backward side of the box body 1. By detecting the road, the control module can better control the actions of the mechanical legs 3, especially the crossing of thresholds, stairs, etc., and can avoid obstacles in time.

[0044] For the convenience of battery replacement, the battery module includes a detachable battery 8. The detachable design between the battery 8 and the box body 1 facilitates the replacement of the battery 8, and the operation time of the box can be extended by replacing the battery 8. In this embodiment, the battery 8 is a lithium battery with a capacity of 26,000 mAh, which has a large capacity, a fast charging speed, and can be carried onto an airplane normally. Two batteries 8 are provided.

[0045] Embodiment 2:

[0046] For a box with mechanical legs provided in this embodiment, in order to move faster, as Figure 3 shown, in addition to the features described in Embodiment 1, a pulley 4 is provided on the mechanical leg 3. The design of the pulley 4 can reduce the control accuracy requirement of the control module for the mechanical leg 3, with a fast moving speed and a more stable overall standing.

[0047] For reliable movement, a driving member 6 is provided on the pulley 4, that is, the pulley 4 is a driving wheel. The design of the driving member 6 can drive the pulley 4 to rotate, thereby driving the box to move. The moving speed of the box is faster. The driving member 6 is directly connected to the pulley 4, that is, the driving member 6 can directly control the rotation speed of the pulley 4 to achieve acceleration, deceleration, and braking.

[0048] For convenient installation, the pulley 4 is located at the end of the mechanical leg 3, that is, the pulley 4 is located at the end of the calf unit 17, which is convenient for installation, and the control module only needs to calculate the end position of the mechanical leg 3 to control the position of the pulley 4, with a low control difficulty.

[0049] Of course, the pulley 4 can also be located in the middle or lower part of the mechanical leg 3. That is, it can either use the end of the mechanical leg 3 to walk like a person or use the pulley 4 to achieve fast movement. When using the pulley 4, only the included angle between the mechanical leg 3 and the ground needs to be controlled to prevent the two ends of the mechanical leg 3 from contacting and rubbing against the ground. At the same time, the contact between the mechanical leg 3 and the ground can also be used as an emergency brake. In the two-foot standing state, the end of the mechanical leg 3 is in contact with the ground, which can play an auxiliary supporting role and make the standing more stable.

[0050] To facilitate the user in dragging the box body, a pair of rollers 7 are provided on the box body 1. The rollers 7 are rotatably connected to the box body 1 and are located on the same side of the box body 1 as the extending direction of the mechanical legs 3. The design of the rollers 7 can facilitate the user in moving the box body. When the user moves the box body manually, the box body 1 can be tilted so that only the rollers 7 or the pulleys 4 are in contact with the ground, making it easier for the user to push or pull the box body. When there is only a pair of rollers 7, in the folded state of the mechanical legs 3, the rollers 7 and the pulleys 4 form a four-foot support, enabling the box body 1 to maintain stability in the upright state. When manually pushing, both the pulleys 4 and the rollers 7 can roll relative to the ground, facilitating the user to directly push the box body without tilting the box body 1. The driving member 6 can drive the pulleys 4 to make the dragging of the box body more labor-saving, or when both the rollers 7 and the pulleys 4 are in contact with the ground, allow the user to ride on the box body 1 for movement, forming a riding state.

[0051] As Figure 4 shown, at least a pair of support blocks 11 can also be provided on the box body 1. The support blocks 11 are located on the same side of the box body 1 as the extending direction of the mechanical legs 3. In the folded state of the mechanical legs 3, the support blocks 11 and the pulleys 4 form a four-foot support. The design of the support blocks 11 enables the box body 1 to maintain stability in the upright state. When the user moves the box body manually, the box body 1 can be tilted so that only the pulleys 4 are in contact with the ground, making it easier for the user to push or pull the box body.

[0052] In this embodiment, two pairs of rollers 7 are provided on the box body 1. The rollers 7 are rotatably connected to the box body 1. In the folded state of the mechanical legs 3, the two pairs of rollers 7 can make the movement of the box body smoother. In the riding state, the rollers 7 are in contact with the ground. The driving member 6 can drive the pulleys 4 to make the dragging of the box body more labor-saving, or can move together with the user riding on the box body 1 and the box body 1.

[0053] As Figure 5 、 Figure 6 shown, the mechanical leg 3 includes a first driving device 14, a second driving device 15, a thigh unit 16 and a calf unit 17. Both ends of the thigh unit 16 are respectively connected to the calf unit 17 and the box body 1. The first driving device 14 is used to drive the thigh unit 16 to rotate, and the second driving device 15 is used to drive the calf unit 17 to rotate.

[0054] Specifically, the thigh unit 16 and the calf unit 17 are rotatably connected, and the second driving device 15 is connected to the calf unit 17; the second driving device 15 adopts a telescopic rod, one end of the telescopic rod is hinged to the thigh unit 16, and the other end of the telescopic rod is hinged to the calf unit 17. The telescopic movement of the telescopic rod can drive the relative rotation of the thigh unit 16 and the calf unit 17; a connecting unit 13 is provided at the root end of the thigh unit 16, the connecting unit 13 is fixedly connected to the box body 1, the connecting unit 13 is rotatably connected to the thigh unit 16, and the first driving device 14 is connected to the thigh unit 16 through a transmission device; the first driving device 14 adopts a motor, and the transmission device adopts a turntable 18 and a connecting rod 19. The turntable 18 is connected to the output end of the motor, and the two ends of the connecting rod 19 are respectively hinged to the turntable 18 and the thigh unit 16. The connecting rod 19 is eccentrically arranged with the turntable 18. The rotation of the motor drives the turntable 18 to rotate, the turntable 18 drives the connecting rod 19 to move, and the connecting rod 19 then drives the thigh unit 16 to rotate relative to the connecting unit 13.

[0055] In this embodiment, the mechanical leg 3, the pulley 4, and the driving member 6 are already disclosed structures. For example, the Chinese Utility Model Patent Publication No. CN220483450U discloses a wheel-foot structure and a robot, the Chinese Invention Patent Publication No. CN118753400A discloses the leg structure of a wheel-foot robot, a wheel-foot robot, and a four-wheel-foot robot, the Chinese Utility Model Patent Publication No. CN209700376U discloses a driving wheel, and the Chinese Invention Patent Publication No. CN116512894A discloses a driving wheel. The above are only one option, and other existing mechanical legs can also be used, which will not be elaborated herein.

[0056] Embodiment 3:

[0057] A box body with mechanical legs provided in this embodiment, as Figure 7 、 Figure 8 and Figure 9 shown. Except for the features described in Embodiment 1 or Embodiment 2, the mechanical leg 3 is detachably connected to the box body 1. The mechanical leg 3 is located below the box body 1. In this embodiment, a connecting member 20 is provided between the mechanical leg 3 and the box body 1. The mechanical leg 3 is connected to the connecting member 20, and the connecting member 20 is detachably connected to the box body 1; the battery module and the control module are arranged inside the connecting member 20, and the detection module is arranged outside the connecting member 20. The connecting member 20 connects the mechanical legs 3 on both sides into a whole, and only by separating the connecting member 20 from the box body 1 can the separation of the mechanical leg 3 relative to the box body 1 be realized, and the disassembly is convenient. In this embodiment, the radar 9 adopts a lidar, the vision detection device 10 adopts binocular vision, the radar 9 is arranged on the forward side of the connecting member 20, and the vision detection device 10 is arranged on the backward side of the connecting member 20.

[0058] On one side of the box body 1 facing the mechanical leg 3, there is an embedding groove 21, and on the connecting piece 20, there is an embedding plate 22 that cooperates with the embedding groove 21. The cooperation between the embedding groove 21 and the embedding plate 22 makes the connection between the connecting piece 20 and the box body 1 reliable and facilitates the accurate positioning and installation of the two.

[0059] The embedding plate 22 and the box body 1 are magnetically connected, making the disassembly of the two more convenient. Specifically, a first magnetic part 23 is provided in the embedding groove 21, and a second magnetic part 24 is provided on the embedding plate 22, and the first magnetic part 23 cooperates with the second magnetic part 24. Both the first magnetic part 23 and the second magnetic part 24 are provided with four.

[0060] Embodiment 4:

[0061] A box body with mechanical legs provided in this embodiment, as Figure 10 、 Figure 11 shown, in addition to the features described in Embodiment 1 or Embodiment 2, the mechanical leg 3 is detachably connected to the box body 1.

[0062] In this embodiment, the box body 1 includes a component box 25 and a storage box 26. The storage box 26 is detachably connected to the component box 25. The component box 25 is connected to the mechanical leg 3. The storage box 26 is used to place luggage. Specifically, an installation groove 27 is provided on the component box 25, and the storage box 26 is arranged on the installation groove 27.

[0063] The battery module and the control module are arranged in the component box 25, providing good protection for the battery module and the control module. The detection module is arranged outside the component box 25. The mechanical leg 3 realizes detachable connection with the storage box 26 through the component box 25. In this embodiment, the radar 9 uses a lidar, and the visual detection device 10 uses binocular vision. The radar 9 is arranged on the forward side of the component box 25, and the visual detection device 10 is arranged on the backward side of the component box 25.

[0064] Embodiment 5:

[0065] A navigation control method for a box body with mechanical legs provided in this embodiment includes a communication module, a detection module, a satellite navigation module, and a box body with mechanical legs as described in any one of Embodiments 1-2. The control module is electrically connected to the communication module, the detection module, and the satellite navigation module respectively. The communication module is used for data communication with the server and intelligent devices. The satellite navigation module is used to receive satellite signals for positioning. The detection module includes a lidar and a camera. It also includes intelligent devices such as mobile phones, tablet computers, or smart glasses. The control module is provided with a pilot mode and a follow mode;

[0066] In the pilot mode, the control method includes:

[0067] S0. Receive satellite signals through the satellite navigation module for positioning;

[0068] S1. Use the detection module to scan the surrounding environment and construct a spatial map.

[0069] Specifically, through the real-time detection of the surrounding environment by the detection module and the conversion of the detection data into a three-dimensional model. In this embodiment, the LiDAR (Light Detection and Ranging) technology is used to perform real-time and accurate scanning of the environment to generate high-precision point cloud data of the environment. These point cloud data are converted into a 3D model of the indoor environment through post-processing algorithms (such as SLAM - Simultaneous Localization and Mapping). Laser scanning is also applicable to indoor environments for high-precision indoor modeling, and can generate detailed spatial information such as walls, doors, windows, and furniture.

[0070] At the same time, the camera detects and identifies features such as objects, signs, exits, and stairs in the environment.

[0071] S2. The detection module identifies the feature objects in the surrounding environment and locates them.

[0072] Specifically, the feature objects include positioning feature objects and interest feature objects. The positioning feature objects are used for positioning, and the positioning feature objects include signs, landmark buildings, etc. The interest feature objects are used for augmented reality use, and the interest feature objects are transmitted to the smart device through the communication module for AR display. The interest feature objects include toilets, entrances and exits, stores, etc.

[0073] When indoors, the detection module performs real-time identification of the positioning feature objects in the surrounding environment and, in combination with image processing algorithms, calculates the current accurate position.

[0074] S3. Receive the destination instruction issued by the user and plan a route to reach the user-specified location.

[0075] Specifically, obtain the image of the surrounding environment through the camera, and then combine it with the map and positioning data to generate virtual navigation information. In this embodiment, the camera performs real-time identification of the landmarks in the surrounding environment, such as the names of different stores and streets, and in combination with image processing algorithms, can calculate the current accurate position in real time and accurately, and can also calibrate the planned navigation route in real time.

[0076] Of course, the camera can also perform real-time identification of specific landmarks in the environment, such as real-time identification of two-dimensional codes, barcodes, or special tags, and in combination with image processing algorithms, can calculate the current accurate position in real time. This is more suitable for indoor positioning and requires artificial pre-arrangement of specific landmarks.

[0077] S4. Move along the route to reach the destination.

[0078] In the pilot mode, the box leads the user to guide the way. The detection module detects the user's position. If the user yaws, it will follow the user's movement and re-plan the route to the destination.

[0079] In the state of no user accompaniment, the box can be used to convey documents, goods, etc. from point to point according to the planned route.

[0080] In the follow mode, the detection module identifies the user, and the control module controls the box to follow the user's movement. In this embodiment, the visual detection device 10 or the camera identifies the user, and identifies the user through the face, clothing, body posture, etc.

[0081] It also includes a voice module. In the follow mode, after receiving the destination instruction issued by the user and planning the route, if the user yaws, it will give a voice reminder through the voice module.

[0082] By converting environmental data into a 3D model for path planning of navigation, these 3D models can not only help understand the spatial structure, but also help the user avoid blocked areas or select a flatter path by analyzing the layout of obstacles.

[0083] Through the intelligent device combined with the augmented reality (AR) technology, the real-time visual information of the environment is superimposed and displayed with the navigation information. This can not only display the path during navigation, but also mark the nearby points of interest, enhancing the user's immersive experience. The intelligent device obtains the environmental image through the camera, and then combines it with the data of the map and the positioning system to generate virtual navigation information.

[0084] Through the communication module for data communication with the server and the intelligent device, the positioning of the box can use GSM / GPRS network positioning, or can use cellular base station positioning. Using the signal strength (RSSI) of the GSM base station and the positioning algorithm, the position is estimated through the signal difference between multiple base stations. It can also use GPRS network assisted positioning, WiFi positioning technology, Bluetooth low energy (BLE) positioning. The above positioning methods are all existing technologies and will not be elaborated in this article.

[0085] Embodiment 6:

[0086] A voice interaction control method for a box with mechanical legs provided in this embodiment includes a communication module, a voice module, a detection module, and a box with mechanical legs described in any one of Embodiments 1-5. The control module is electrically connected to the communication module and the detection module respectively. The communication module is used for data communication with a server and intelligent devices. The detection module includes a microphone, and the microphone is used to detect the volume of ambient noise. The voice interaction control method includes: detecting ambient noise through the microphone. If the ambient noise is less than 60 dB, voice is played through the voice module for interaction. If the ambient noise is greater than or equal to 60 dB, a Bluetooth headset is connected through the communication module for voice interaction. In this embodiment, the intelligent device is a Bluetooth headset; it can also be glasses with a voice playback function, etc.

[0087] In a noisy environment, such as on the street, in a shopping mall, on public transportation, etc., it can automatically switch to the headset mode, and voice interaction through a Bluetooth headset can avoid the interference of ambient noise.

[0088] To facilitate controlling the appropriate volume, the control module presets multiple sound zones with different volumes. In the state of playing voice externally, the microphone detects the volume of ambient noise and transmits the volume to the control module. The control module performs sound zone matching on the volume of ambient noise and selects a matching sound zone from the preset multiple sound zones, and then controls the volume of the voice played by the voice module according to the matching sound zone, which can effectively control the size of the playback volume, so that the voice can be heard by the user in the ambient noise and will not be too loud to affect the surroundings.

[0089] In this embodiment, the microphone is equipped with multiple components to form a microphone array, and the differential acoustic signal processing is used to judge the noise level of the surrounding environment. The microphone array can capture more accurate environmental sound characteristics and analyze the noise frequency in the environment through algorithms. Through a noise detection algorithm (such as spectral analysis based on audio signals), the size and characteristics of the current ambient noise can be monitored in real time to judge whether the environment is quiet, noisy, or has strong background noise.

[0090] The above is only a preferred embodiment of the present invention and does not impose any form of limitation on the present invention. Although the present invention has been disclosed above with a preferred embodiment, it is not intended to limit the present invention. Any person skilled in the art can make some changes or modifications to the above-disclosed technical content to form equivalent embodiments with equivalent changes, but as long as the technical content of the present invention is not departed from, any brief modifications, equivalent changes, and modifications made to the above embodiments based on the technical essence of the present invention still fall within the scope of the technical solution of the present invention.

Claims

1. A box with mechanical legs, characterized in that: The invention comprises a box body (1) for accommodating articles, a mechanical leg assembly (2), a posture sensing module, a battery module and a control module, wherein the posture sensing module is used to detect the posture of the box body (1); the mechanical leg assembly (2) comprises two mechanical legs (3), the mechanical legs (3) are connected to the box body (1), the mechanical legs (3) are located below the box body (1) or the two mechanical legs (3) are respectively located on both sides of the box body (1), the posture sensing module, the battery module and the mechanical legs (3) are all electrically connected to the control module; the mechanical legs (3) are foldable; and the invention also comprises a detection module, which is used to detect the forward path and / or backward path of the box body (1).

2. A box with mechanical legs according to claim 1, characterized in that: The mechanical leg (3) is provided with a pulley (4).

3. A box with mechanical legs according to claim 2, characterized in that: The pulley (4) is provided with a driving member (6).

4. The box with mechanical legs according to claim 2, characterized in that: The pulley (4) is located at the end of the mechanical leg (3), the middle of the mechanical leg (3), or the lower part of the mechanical leg (3).

5. The box with mechanical legs according to claim 1, characterized in that: When the mechanical legs (3) are in an unfolded state, the mechanical legs (3) form a double-foot support; when the mechanical legs (3) are in a folded state, the mechanical legs (3) are retracted toward the box body (1).

6. A box with mechanical legs according to claim 5, characterized in that: The box body (1) is provided with at least one pair of rollers (7) or support blocks (11); the mechanical legs (3) are provided with pulleys (4); when the mechanical legs (3) are folded, the rollers (7) or support blocks (11) and the pulleys (4) form a four-legged support.

7. The box with mechanical legs according to claim 1, characterized in that: The detection module comprises a radar (9) and / or a visual detection device (10).

8. The box with mechanical legs according to claim 1, characterized in that: The battery module comprises a detachable battery (8).

9. The box with mechanical legs according to claim 1, characterized in that: The mechanical legs (3) are detachably connected to the box body (1).

10. A navigation control method for a box with mechanical legs, characterized in that: It comprises a communication module, a detection module, a satellite navigation module and a box with mechanical legs as claimed in any one of claims 1 to 9, wherein the control module is electrically connected to the communication module, the detection module and the satellite navigation module respectively, the communication module is used for data communication with a server and / or an intelligent device, and the satellite navigation module is used for receiving satellite signals for positioning; the control module is provided with a pilot mode and / or a follower mode; In the pilot mode, the control method includes: S0, receiving satellite signals through the satellite navigation module for positioning; S3, receiving a destination instruction issued by the user, and planning a route to the user's designated location; S4, move along the route to the destination; in the following mode, the detection module identifies the user, and the control module controls the movement of following the user.

11. The navigation control method of a box with mechanical legs according to claim 10, characterized in that: Step S0 also includes step S1, in which the surrounding environment is scanned by a detection module to construct a space map; step S1 also includes step S2, in which the detection module identifies characteristic objects in the surrounding environment and locates them.

12. The navigation control method of a box with mechanical legs according to claim 10, characterized in that: It also includes a voice module. In follow mode, after receiving the destination command issued by the user and planning the route, if the user deviates from the course, the voice module will play a voice reminder.

13. The navigation control method of a box with mechanical legs according to claim 10, characterized in that: In pilot mode, the box is ahead of the user, and the detection module detects the user's position. If the user deviates, it follows the user's movement and replans the route to the destination.

14. The navigation control method of a box with mechanical legs according to claim 11, characterized in that: In step S2, when indoors, the detection module recognizes the characteristic objects in the surrounding environment in real time, and combines the image processing algorithm to calculate the current accurate position.

15. The navigation control method of a box with mechanical legs according to claim 11, characterized in that: In the step S1, the surrounding environment is detected in real time by the detection module, and the detection data is converted into a three-dimensional model.

16. A voice interactive control method for a box with mechanical legs, characterized in that: It comprises a communication module, a voice module, a detection module and a box with mechanical legs as described in any one of claims 1 to 9, wherein the control module is electrically connected to the communication module and the detection module respectively, the communication module is used for data communication with a server and / or an intelligent device; the detection module comprises a microphone, and the microphone is used for detecting the volume of ambient noise; The voice interaction control method comprises: detecting environmental noise through a microphone, and if the environmental noise is less than a preset volume value, playing the voice through a voice module for interaction; If the ambient noise is greater than or equal to the preset volume value, the Bluetooth headset is connected through the communication module for voice interaction.

17. The voice interactive control method of a box with mechanical legs according to claim 16, characterized in that: The control module presets multiple sound zones with different volumes; when the voice is played outwardly, the microphone detects the volume of the ambient noise and transmits the volume to the control module, the control module matches the volume of the ambient noise to the sound zone and selects a matching sound zone from the preset multiple sound zones, and then controls the volume of the voice played outwardly by the voice module according to the matching sound zone.

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