Box body with mechanical legs and control method thereof

Abstract

The invention relates to a box body with mechanical legs and a control method thereof.The box body comprises a box body used for containing articles, a mechanical leg assembly, a battery module and a control module, the mechanical leg assembly comprises two pairs of mechanical legs arranged front and back, the mechanical legs are connected with the box body and located on the two sides of the box body or below the box body, and the battery module is connected with the control module; the control module is electrically connected with the battery module and the mechanical legs. The box body with the mechanical legs and the control method of the box body have the following advantages that the mechanical legs can effectively improve the ability to span a doorsill and stairs, when the box body is used, the control module controls the mechanical legs to walk like a quadruped animal, then movement of the box body is achieved, and the walking mode is low in requirement for the road surface and convenient to use. The device can adapt to pothole terrains and can span a certain height.

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 luggage case is a daily necessity for people to carry items when traveling. Existing luggage cases all need to be pulled or pushed forward by users. There is also an intelligent luggage case that can walk automatically, which 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, and can walk automatically without manual pushing, which can reduce the burden on users.

[0003] In the prior art, for example, the Chinese invention patent publication No. CN110403321A discloses an electric luggage case, which includes a box body that can be straddled, front wheels and rear wheels installed on the box body, a steering mechanism connected to the front wheels and controlling the steering of the front wheels, a motor connected to the rear wheels and driving the rear wheels to rotate, a battery electrically connected to the motor, and a control switch installed on the steering mechanism and used to control the on-off of the circuit between the battery and the motor. However, this kind of electric luggage case is still limited by the wheels connected to the box body and 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 by the present application is: a box with mechanical legs, which includes a box body for accommodating items, a mechanical leg assembly, a battery module and a control module. The mechanical leg assembly includes two pairs of mechanical legs arranged front and rear. The mechanical legs are connected to the box body and are located on both sides or below the box body. The control module is electrically connected to the battery module and the mechanical legs respectively.

[0006] In some embodiments of the present application, at least one pair of mechanical legs is provided with pulleys.

[0007] Further, at least one pair of pulleys is provided with brakes.

[0008] Further, at least one pair of pulleys is provided with driving members.

[0009] Further, the pulleys are located at the ends, the middle parts or the lower parts of the mechanical legs.

[0010] In some embodiments of the present application, the mechanical legs can be folded; in the unfolded state of the mechanical legs, the mechanical legs form a four-foot support; in the folded state of the mechanical legs, the mechanical legs are folded towards the box body.

[0011] Further, at least one pair of luggage wheels or support blocks are provided on the box body, and the luggage wheels or support blocks are located on one side of the box body adjacent to the mechanical legs; at least one pair of mechanical legs are provided with pulleys, and in the folded state of the mechanical legs with pulleys, the luggage wheels or support blocks and the pulleys form a quadruped support.

[0012] In some embodiments of the present application, the mechanical legs are detachably connected to the box body.

[0013] In some embodiments of the present application, the box body includes a component box and a storage box, the storage box is detachably connected to the component box, the component box is connected to the mechanical legs, and the battery module and / or the control module are arranged in the component box.

[0014] In some embodiments of the present application, a detection module is further included, 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 visual detection device; a posture sensing module is further included, and the posture sensing module is used to detect the posture of the box body.

[0015] In some embodiments of the present application, the battery module includes a detachable battery.

[0016] 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 quadruped animal, thereby realizing the movement of the box body. This walking mode has low requirements for the road surface, can adapt to pitted terrain, and can also cross a certain height; 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.

[0017] 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 to receive satellite signals for positioning; the control module is provided with a pilot mode and / or a following 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 along the route to reach the destination; in the following mode, the detection module identifies the user, and the control module controls to follow the user to move.

[0018] In some embodiments of the present application, after step S0, step S1 is further included. Step S1 is to scan the surrounding environment through a detection module and construct a spatial map. After step S1, step S2 is further included. Step S2 is for the detection module to identify characteristic objects in the surrounding environment and perform positioning.

[0019] In some embodiments of the present application, a voice module is further included. In the follow - up 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.

[0020] 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 will follow the user's movement and re - plan the route to the destination.

[0021] Further, in step S2, when indoors, the detection module performs real - time identification of characteristic objects in the surrounding environment, and combines with an image - processing algorithm to calculate the current accurate position.

[0022] Further, in step S1, the detection module performs real - time detection of the surrounding environment and converts the detection data into a three - dimensional model.

[0023] A navigation control method for 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 environmental data into a three - dimensional model for path planning in navigation, these three - dimensional 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.

[0024] A voice interaction control method for 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 a 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 a preset volume value, voice interaction is performed by playing a voice through the voice module; 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.

[0025] In some embodiments of the present application, the control module presets multiple sound zones with different volumes; in the state of playing a 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 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.

[0026] The voice interaction control method of a box with mechanical legs obtained by the present invention has the following advantages: in a noisy environment, such as on the street, in a shopping mall, on a public transportation vehicle, etc., it can automatically switch to the headphone mode, and voice interaction through a Bluetooth headset can avoid interference from environmental noise. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 is the structural schematic diagram of Embodiment 1 of the present invention Figure 1 ;

[0028] Figure 2 is the structural schematic diagram of Embodiment 1 of the present invention Figure 2 ;

[0029] Figure 3 is the structural schematic diagram of Embodiment 1 of the present invention Figure 3 ;

[0030] Figure 4 is the structural schematic diagram of the mechanical leg of Embodiment 1 of the present invention;

[0031] Figure 5 is the structural schematic diagram of Embodiment 2 of the present invention;

[0032] Figure 6 is the structural schematic diagram of Embodiment 3 of the present invention Figure 1 ;

[0033] Figure 7 is the structural schematic diagram of Embodiment 3 of the present invention Figure 2 ;

[0034] Figure 8 is the structural schematic diagram of Embodiment 3 of the present invention Figure 3 ;

[0035] Figure 9 is the structural schematic diagram of Embodiment 4 of the present invention;

[0036] Figure 10 is the structural schematic diagram of Embodiment 4 of the present invention with the box body removed;

[0037] Figure 11 is the structural schematic diagram of the box body of Embodiment 4 of the present invention;

[0038] Figure 12 is the structural schematic diagram of Embodiment 5 of the present invention;

[0039] Figure 13 is the structural schematic diagram of Embodiment 5 of the present invention with the storage box removed.

[0040] In the figure: 1. Box body; 2. Mechanical leg assembly; 3. Mechanical leg; 4. Pulley; 5. Brake; 6. Driving member; 7. Luggage wheel; 8. Connecting frame; 9. Radar; 10. Visual detection device; 11. Support block; 12. Component box; 13. Storage box; 14. First driving device; 15. Second driving device; 16. Thigh unit; 17. Calf unit; 18. Third driving device; 19. Embedding groove; 20. Embedding plate; 21. First magnetic attraction member; 22. Second magnetic attraction member; 23. Installation groove; 24. Battery; 25. Storage groove; 26. Rotating unit. Detailed implementation manner

[0041] To further elaborate on the technical means and effects adopted by the present invention to achieve the predetermined invention purpose, the following combines the drawings and preferred embodiments to detail the specific implementation manner, structure, features and their effects of the present invention as follows.

[0042] Embodiment 1:

[0043] A box with mechanical legs provided in this embodiment, as Figure 1 , Figure 2 shown, includes a box body 1 for accommodating items, a mechanical leg assembly 2, a battery module and a control module. The mechanical leg assembly 2 includes two pairs of mechanical legs 3 arranged front and back. The mechanical legs 3 are connected to the box body 1 and are located on both sides of the box body 1. The control module is electrically connected to the battery module and the mechanical legs 3 respectively. The control module is used to control the actions of each mechanical leg 3, and the battery module is used for power supply.

[0044] 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 quadruped animal, thereby realizing the movement of the box body 1. This walking mode has low requirements for the road surface, can adapt to potholed terrain, and can also cross a certain height.

[0045] For small storage volume, the mechanical legs 3 can be folded; in the unfolded state of the mechanical legs 3, the mechanical legs 3 form a quadruped 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 a side surface with the largest surface area away from the box body 1, which can make the mechanical legs 3 distributed at the four corners of the box body 1 after unfolding, and the area of this side surface is the largest, so that the distribution distance between the four mechanical legs 3 is large, the overall balance is good, and the anti-tipping ability is strong.

[0046] As Figure 4 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.

[0047] It further includes a third driving device 18 and a rotating unit 26. The third driving device 18 is used to drive the rotating unit 26 to rotate, and the rotation plane of the rotating unit 26 is perpendicular to the rotation plane of the thigh unit 16.

[0048] Specifically, the thigh unit 16 and the calf unit 17 are rotatably connected. The second driving device 15 is connected to the calf unit 17 through a first transmission device. The second driving device 15 can be a motor, and the first transmission device can be a belt drive, a gear drive, etc. The second driving device 15 is arranged on the thigh unit 16. The root end of the thigh unit 16 is rotatably connected to the rotating unit 26. The first driving device 14 is connected to the thigh unit 16 through a second transmission device. The first driving device 14 can be a motor, and the second transmission device can be a belt drive, a gear drive, etc. The first driving device 14 is arranged on the rotating unit 26. The root end of the rotating unit 26 is provided with a connecting unit 27. The connecting unit 27 is fixedly connected to the box body 1. The rotating unit 26 is rotatably connected to the connecting unit 27. The third driving device 18 is connected to the rotating unit 26 through a third transmission device. The third driving device 18 can be a motor, and the third transmission device can be a belt drive, a gear drive, etc. The third driving device 18 is arranged on the connecting unit 27.

[0049] In this embodiment, the robotic leg 3 can adopt a domestic open-source structure, such as the domestic GhostRobotics Spirit40 robot, and the open-source website: https: / / gitee.com / tinymal / tinymal-spirit40-t. The above-mentioned robotic leg 3 is only one option, and other existing robotic legs can also be adopted, such as the robotic leg of Boston Dynamics' Spot, or a robotic integrated joint unit in the Chinese invention patent No. 201910172037.5 of Hangzhou Unitree Technology Co., Ltd., which will not be elaborated herein.

[0050] On one side of the box body 1 facing the robotic leg 3, there is a recessed storage groove 25. In the folded state of the robotic leg 3, the robotic leg 3 is located in the storage groove 25, that is, in the folded state, the robotic leg 3 will not protrude beyond the box body 1. 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 collision between the robotic leg 3 and the outside world, and improve the service life of the robotic leg 3.

[0051] To enable the intelligent movement of the box body, a detection module is further included. The detection module is used to detect the forward and backward paths of the box body 1. The detection module includes a radar 9 and a vision 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 vision detection device 10 is a binocular vision. The radar 9 and the vision detection device 10 are respectively arranged on the forward side and the backward side of the box body 1. Through the detection of the path, the control module can better control the actions of the mechanical legs 3, especially the crossing of thresholds, stairs, etc., and can timely avoid obstacles.

[0052] A posture sensing module is further included. The posture sensing module is used to detect the posture of the box body 1. The posture sensing module is electrically connected to the control module. Through the sensing of the posture of the box body 1, the control module can control the movement of the mechanical legs 3 in real time 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, thus ensuring the safety of the luggage in the box body 1, especially for easily broken items.

[0053] For the convenience of battery replacement, as Figure 3 shown, the battery module includes a detachable battery 24. The battery 24 is detachably designed from the box body 1, which facilitates the replacement of the battery 24 and can extend the operation time of the box body by replacing the battery 24. In this embodiment, the battery 24 is a lithium battery with a capacity of 26000 mAh, which has a large capacity, a fast charging speed, and can be carried on the plane normally. Two batteries 24 are provided.

[0054] Embodiment 2:

[0055] For a box body with mechanical legs provided in this embodiment, to move faster, as Figure 5 shown, in addition to the features described in Embodiment 1, at least one pair of mechanical legs 3 is provided with pulleys 4. In this embodiment, both pairs of mechanical legs 3 are provided with pulleys 4. The design of the pulleys 4 can reduce the control precision requirement of the control module for the mechanical legs 3, with a fast moving speed and a more stable overall standing.

[0056] During use, the control module controls the rear mechanical legs 3 to kick backward to provide forward power, similar to a person stepping on a skateboard and kicking backward to make the skateboard move forward. Only by restricting the friction force received by the rear pulleys 4 to be greater than the friction force received by the front pulleys 4 can this forward movement mode be achieved.

[0057] Of course, it is also possible that only one pair of mechanical legs 3 is provided with pulleys 4, and the control module controls the other pair of mechanical legs 3 to kick backward, similar to a person stepping on a skateboard and kicking backward to make the skateboard move forward.

[0058] Embodiment 3:

[0059] A box with mechanical legs provided in this embodiment is provided with brakes 5 on at least one pair of pulleys 4 for the convenience of stopping, as Figure 6 shown. Except for the features described in Embodiment 2, brakes 5 are provided on at least one pair of pulleys 4. In this embodiment, the brakes 5 are provided on a pair of front-side pulleys 4. The design of the brakes 5 can prevent the pulleys 4 from rolling, thereby controlling the movement speed of the box. At the same time, emergency braking can be achieved to avoid collisions.

[0060] In this embodiment, the provision of brakes 5 on the pulleys 4 is a prior art. For example, the electric brake structure of casters is disclosed in Chinese Patent Publication No. CN105980166B, which will not be elaborated herein.

[0061] For more convenient movement, a driving member 6 is provided on at least one pair of pulleys 4. In this embodiment, the driving member 6 is provided on a pair of rear-side pulleys 4. The design of the driving member 6 can drive the pulleys 4 to rotate, thereby driving the box to move, and the moving speed of the box is faster.

[0062] In this embodiment, the provision of the driving member 6 on the pulleys 4 is a prior art. For example, the driving wheel is disclosed in Chinese Utility Model Patent Publication No. CN209700376U, a driving wheel is disclosed in Chinese Patent Publication No. CN116512894A, a wheel leg structure, a quadruped robot and a robot are disclosed in Chinese Utility Model Patent Publication No. CN221188828U, etc., which will not be elaborated herein.

[0063] For convenient installation, the pulleys 4 are located at the ends of the mechanical legs 3, that is, the pulleys 4 are located at the ends of the calf units 17. The installation is convenient, and the control module only needs to calculate the end positions of the mechanical legs 3 to control the positions of the pulleys 4, and the control difficulty is small.

[0064] Of course, the pulleys 4 can also be located in the middle or lower part of the mechanical legs 3, that is, both the ends of the mechanical legs 3 can be used to walk like a quadruped animal, and the pulleys 4 can be used to achieve rapid movement. When using the pulleys 4, only the angle between the mechanical legs 3 and the ground needs to be controlled to prevent the two ends of the mechanical legs 3 from contacting and rubbing against the ground. At the same time, the contact between the mechanical legs 3 and the ground can also be used as an emergency brake. In the quadruped standing state, the ends of the mechanical legs 3 are in contact with the ground, which can play an auxiliary supporting role and make the quadruped standing more stable.

[0065] For the convenience of the user to drag the box, as Figure 7As shown, a pair of luggage wheels 7 are provided on the box body 1. The luggage wheels 7 are located on one side of the box body 1 adjacent to the mechanical legs 3. In the folded state of the mechanical legs 3 with pulleys 4, the luggage wheels 7 and the pulleys 4 form a four-foot support. The design of the luggage wheels 7 can facilitate the user to move the box body. When the user moves the box body manually, the box body 1 can be tilted so that only the luggage wheels 7 or the pulleys 4 are in contact with the ground, making it easier for the user to push or pull the box body. And the luggage wheels 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 luggage wheels 7 can roll relative to the ground, facilitating the user to directly push the box body without tilting the box body 1.

[0066] In the state where the user drags the box body and the pulley 4 is in contact with the ground, the driving member 6 can drive the pulley 4 to make it easier to drag the box body.

[0067] Of course, two pairs of luggage wheels 7 can also be provided for better support.

[0068] As Figure 8 shown, at least one pair of support blocks 11 can also be provided on the box body 1. The support blocks 11 are located on one side of the box body 1 adjacent to the mechanical legs 3. In the folded state of the mechanical legs 3 with pulleys 4, 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 pulley 4 is in contact with the ground, making it easier for the user to push or pull the box body.

[0069] Embodiment 4:

[0070] A box body with mechanical legs provided in this embodiment, as Figure 9 、 Figure 10 、 Figure 11 shown, in addition to the features described in Embodiment 1 or Embodiment 2 or Embodiment 3, the mechanical legs 3 are detachably connected to the box body 1. The mechanical legs 3 are located below the box body 1. In this embodiment, a connection frame 8 is provided between the mechanical legs 3 and the box body 1. The mechanical legs 3 are connected to the connection frame 8, and the connection frame 8 is detachably connected to the box body 1. The battery module and the control module are arranged inside the connection frame 8, and the detection module is arranged outside the connection frame 8. The connection frame 8 connects the two pairs of mechanical legs 3 into a whole. Only by separating the connection frame 8 from the box body 1 can the two pairs of mechanical legs 3 be separated relative to the box body 1, and the disassembly is convenient.

[0071] An embedding groove 19 is provided on one side of the box body 1 facing the mechanical legs 3, and an embedding plate 20 is provided on the connection frame 8 that cooperates with the embedding groove 19. The cooperation between the embedding groove 19 and the embedding plate 20 makes the connection between the connection frame 8 and the box body 1 reliable and facilitates the accurate positioning and installation of the two.

[0072] The embedded board 20 and the box body 1 are magnetically connected, which makes it more convenient to disassemble the two. Specifically, a first magnetic member 21 is provided in the embedding groove 19, and a second magnetic member 22 is provided on the embedded board 20. The first magnetic member 21 and the second magnetic member 22 cooperate with each other. Both the first magnetic member 21 and the second magnetic member 22 are provided with four.

[0073] Embodiment 5:

[0074] A box body with mechanical legs provided in this embodiment, as Figure 12 , Figure 13 shown, in addition to the features described in Embodiment 1 or Embodiment 2 or Embodiment 3, the mechanical leg 3 is detachably connected to the box body 1.

[0075] In this embodiment, the box body 1 includes a component box 12 and a storage box 13. The storage box 13 is detachably connected to the component box 12. The component box 12 is connected to the mechanical leg 3. The storage box 13 is used to place luggage. Specifically, an installation groove 23 is provided on the component box 12, and the storage box 13 is arranged on the installation groove 23.

[0076] The battery module and the control module are arranged in the component box 12, which provides good protection for the battery module and the control module. The detection module is arranged outside the component box 12. The mechanical leg 3 realizes detachable connection with the storage box 13 through the component box 12.

[0077] Embodiment 6:

[0078] 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 1-5. 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, tablets, or smart glasses. The control module is provided with a pilot mode and a follow mode;

[0079] In the pilot mode, the control method includes:

[0080] S0. Receive satellite signals through the satellite navigation module for positioning;

[0081] S1. Scan the surrounding environment through the detection module to construct a space map;

[0082] Specifically, the detection module performs real-time detection of the surrounding environment and converts the detection data into a 3D model. In this embodiment, the LiDAR (Light Detection and Ranging) technology is used to perform real-time precise scanning of the environment, generating high-precision point cloud data of the environment. These point cloud data are converted into a 3D model of the indoor environment through a post-processing algorithm (such as SLAM - Simultaneous Localization and Mapping). Laser scanning is also applicable to indoor environments, enabling high-precision modeling of indoor spaces and generating detailed spatial information such as walls, doors, windows, and furniture.

[0083] Meanwhile, the camera detects and identifies features such as objects, signs, exits, and stairs in the environment.

[0084] S2. The detection module identifies the feature objects in the surrounding environment and locates them.

[0085] Specifically, the feature objects include positioning feature objects and interest feature objects. The positioning feature objects are used for positioning and include signs, landmark buildings, etc. The interest feature objects are used for augmented reality and are transmitted to the smart device through the communication module for AR display. The interest feature objects include toilets, entrances and exits, stores, etc.

[0086] When indoors, the detection module performs real-time identification of the positioning feature objects in the surrounding environment and, in combination with the image processing algorithm, calculates the current accurate position.

[0087] S3. Receive the destination instruction issued by the user and plan a route to the user-specified location.

[0088] Specifically, the camera captures images of the surrounding environment and, in combination with the map and positioning data, generates 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 the image processing algorithm, can calculate the current accurate position in real time and thus calibrate the planned navigation route in real time.

[0089] Of course, the camera can also perform real-time identification of specific landmarks in the environment, such as real-time identification of QR codes, barcodes, or special tags, and, in combination with the image processing algorithm, can calculate the current accurate position in real time. This is more suitable for indoor positioning and requires artificial pre-arrangement of specific landmarks.

[0090] S4. Move along the route to the destination.

[0091] In the pilot mode, the box leads the user to guide the way. The detection module detects the user's position. If the user deviates from the course, it follows the user and re-plans the route to the destination.

[0092] In the state without user accompaniment, the box body can be used to convey documents, goods, etc. from point to point according to the planned route.

[0093] In the follow - up mode, the detection module identifies the user, and the control module controls the box body to follow the user. In this embodiment, the vision detection device 10 or the camera identifies the user, and identifies the user through the face, clothing, body posture, etc.

[0094] It also includes a voice module. In the follow - up mode, after receiving the destination instruction issued by the user and planning the route, if the user deviates from the course, a voice reminder is played through the voice module.

[0095] 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 users avoid blocked areas or select a flatter path by analyzing the layout of obstacles.

[0096] Through the intelligent device combined with augmented reality (AR) technology, the real - time visual information of the environment and the navigation information are superimposed and displayed. 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.

[0097] Through the communication module for data communication with the server and the intelligent device, the positioning of the box body 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 by 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 - mentioned positioning methods are all existing technologies and will not be elaborated in this article.

[0098] Embodiment 7:

[0099] A voice interaction control method for a box body with mechanical legs provided in this embodiment includes a communication module, a voice module, a detection module, and a box body with mechanical legs as described in any one of Embodiments 1 - 5. The control module is electrically connected to the communication module, the detection module, and the voice module respectively. The communication module is used for data communication with the server and the intelligent device; 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 60 dB, voice interaction is carried out through the voice module to play the voice; if the environmental 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 the function of playing voice, etc.

[0100] In a noisy environment, such as on the street, in a shopping mall, on public transportation, etc., it can automatically switch to the headphone mode, and voice interaction through a Bluetooth headset can avoid interference from environmental noise.

[0101] To facilitate the control of an appropriate volume, the control module presets multiple sound zones with different volumes; in the state of external voice playback, 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 a matching sound zone from the preset multiple sound zones, and then controls the volume of the voice module for external voice playback according to the matching sound zone, which can effectively control the size of the playback volume, enabling the voice to be heard by the user in environmental noise without being too loud to affect the surroundings.

[0102] 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 an algorithm. Through a noise detection algorithm (such as spectral analysis based on an audio signal), the size and characteristics of the current environmental noise can be monitored in real time to judge whether the environment is quiet, noisy, or has strong background noise.

[0103] The above are only preferred embodiments of the present invention and do not impose any form of limitation on the present invention. Although the present invention has been disclosed as above with preferred embodiments, 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 battery module and a control module, wherein the mechanical leg assembly (2) comprises two pairs of mechanical legs (3) arranged front and back, the mechanical legs (3) are connected to the box body (1), the mechanical legs (3) are located on both sides of the box body (1) or below the box body (1), and the control module is electrically connected to the battery module and the mechanical legs (3) respectively; the mechanical legs (3) are foldable; and a detection module is also included, the detection module being 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: At least one pair of mechanical legs (3) is provided with a pulley (4).

3. A box with mechanical legs according to claim 2, characterized in that: At least one pair of pulleys (4) is provided with a brake (5).

4. The box with mechanical legs according to claim 2, characterized in that: At least one pair of pulleys (4) is provided with a driving member (6).

5. 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).

6. 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 four-legged support; when the mechanical legs (3) are in a folded state, the mechanical legs (3) are retracted toward the box body (1).

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

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

9. The box with mechanical legs according to claim 1, characterized in that: The box body (1) comprises a component box (12) and a storage box (13); the storage box (13) is detachably connected to the component box (12); the component box (12) is connected to the mechanical leg (3); and a battery module and / or a control module are arranged in the component box (12).

10. 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); and further comprises a posture sensing module, the posture sensing module being used to detect the posture of the box body (1).

11. The box with mechanical legs according to claim 1, characterized in that: The battery module includes a removable battery (24).

12. A navigation control method for a box with mechanical legs, characterized in that: The invention 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 11, 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.

13. The navigation control method of a box with mechanical legs according to claim 12, 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.

14. The navigation control method of a box with mechanical legs according to claim 12, 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.

15. The navigation control method of a box with mechanical legs according to claim 12, 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.

16. The navigation control method of a box with mechanical legs according to claim 13, 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.

17. The navigation control method of a box with mechanical legs according to claim 13, 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.

18. 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 11, 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 to detect the volume of ambient noise; The voice interaction control method comprises: detecting the ambient noise through a microphone, and if the decibel of the ambient 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.

19. The voice interactive control method for a box with mechanical legs according to claim 18, 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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