Walking control method based on intelligent luggage case gravity compensation

Abstract

The invention discloses a walking control method based on gravity compensation of an intelligent luggage case, which can dynamically detect the gravity center of the intelligent luggage case in real time in the use process of the intelligent luggage case so as to correspondingly adjust the power of a driving wheel, so that the walking of the intelligent luggage case can be dynamically controlled in real time. The gravity center shift caused by luggage movement due to luggage placement, bumping and toppling in the use process of the intelligent luggage case is avoided, and the stability and safety of the intelligent luggage case in the walking process are improved. According to the actual use condition of the intelligent luggage case, the pressure sensor group is dormant in the normal walking process, so that the monitoring overhead and the corresponding calculation overhead of the sensors are saved, and the purpose of saving energy is achieved.

Description

Technical Field

[0001] The present invention relates to the field of luggage, and in particular to a walking control method based on gravity compensation of an intelligent luggage. Background Art

[0002] With the improvement of people's living standards and the increasing demand for travel, the use of smart suitcases is becoming more and more obvious. Smart suitcases can realize functions such as autonomous walking and automatic following, but because they are separated from the manual control of users, the walking control of smart suitcases needs to meet higher requirements.

[0003] In the walking control of smart suitcases, the center of gravity position is one of the important influencing factors, and most of the existing suitcases use the geometric center of the smart suitcase as its center of gravity to design the corresponding walking control method. However, due to the different number, weight, and placement of luggage in the smart suitcase, the actual center of gravity position of the smart suitcase will be different each time it is used, and in most cases the center of gravity position will not be the same as the geometric center position. At the same time, since the smart suitcase may be bumpy during use, the position of the luggage in the smart suitcase will also change, causing the actual center of gravity position of the smart suitcase to change accordingly. The center of gravity offset of the smart suitcase will affect the stability of the autonomous walking of the smart suitcase, and in severe cases it may even cause the smart suitcase to tip over, affecting safety.

[0004] In the prior art, there is a method of setting up additional or movable wheels to expand the bottom area of the suitcase to improve the stability of the suitcase when it is moving. However, this solution brings an additional mechanical structure to move the wheels, and it is also impossible to perform dynamic and real-time compensation according to the real-time center of gravity changes during the use of the smart suitcase.

[0005] On the other hand, as the functions of smart luggage expand, the number of sensors used is increasing, but the monitoring overhead and corresponding computing overhead of the sensors are also increasing. How to save monitoring overhead and computing overhead as much as possible while meeting walking control is also one of the problems that smart luggage needs to solve.

[0006] Therefore, there is an urgent need for a walking control method that can compensate for the gravity effect caused by the center of gravity offset of the smart suitcase and achieve stable, safe and energy-saving. Summary of the invention

[0007] The purpose of the present invention is to provide a walking control method based on gravity compensation of an intelligent suitcase and solve the problems in the prior art.

[0008] Specifically, the present invention provides a walking control method based on gravity compensation of an intelligent suitcase, which is characterized by including the following steps: Step S1: Detect the attitude of the intelligent suitcase through an attitude sensor. If it is in a horizontal attitude, execute step S2.1; if it is in an inclined attitude, execute step S2.2; Step S2.1: Wake up the pressure sensor group and obtain the pressure values of the pressure sensor group in the horizontal attitude; update the offset value of the center of gravity of the intelligent suitcase on the horizontal plane according to the pressure values of the pressure sensor group in the horizontal attitude; jump to execute step S3; Step S2.2: Obtain the inclination angle of the intelligent suitcase through the attitude sensor ; wake up the pressure sensor group and obtain the pressure values of the pressure sensor group in the inclined attitude; according to and the pressure values of the pressure sensor group in the horizontal and inclined attitudes, update the offset value of the center of gravity of the intelligent suitcase on the vertical plane; jump to execute step S3; Step S3: Adjust the power of the drive wheels according to the offset value of the center of gravity of the intelligent suitcase; put the pressure sensor group into sleep; Step S4: Determine whether the offset value of the center of gravity of the intelligent suitcase on the horizontal plane is updated in this adjustment cycle. If so, continue to execute step S5; if not, wait until the attitude sensor detects that the intelligent suitcase is in a horizontal attitude, and then jump to execute step S2.1; Step S5: Determine whether the offset value of the center of gravity of the intelligent suitcase on the vertical plane is updated in this adjustment cycle. If so, continue to execute step S6; if not, wait until the attitude sensor detects that the intelligent suitcase is in an inclined attitude, and then jump to execute step S2.2; Step S6: End this adjustment cycle; Among them, the bottom surface of the suitcase body of the intelligent suitcase is provided with a drive wheel group, and a pressure sensor group is arranged between the drive wheel group and the suitcase body. The pressure sensor group is used to detect the pressure between the suitcase body and the drive wheel group.

[0009] Further, in step S3, adjusting the power of the drive wheels according to the offset value of the center of gravity of the intelligent suitcase specifically includes: if the center of gravity of the intelligent suitcase moves backward, adjust the power of the drive wheels so that the power of the rear wheels is greater than that of the front wheels; if the center of gravity of the intelligent suitcase moves forward, adjust the power of the drive wheels so that the power of the front wheels is greater than that of the rear wheels.

[0010] Further, in step S3, according to the offset value of the center of gravity of the intelligent suitcase, the power of the driving wheels is adjusted. Specifically, it further includes: if the center of gravity of the intelligent suitcase shifts to the right, the power of the driving wheels is adjusted so that the power of the right wheels is greater than that of the left wheels; if the center of gravity of the intelligent suitcase shifts to the left, the power of the driving wheels is adjusted so that the power of the left wheels is greater than that of the right wheels.

[0011] Further, in step S3, according to the offset value of the center of gravity of the intelligent suitcase, the power of the driving wheels is adjusted. Specifically, it further includes: if the center of gravity of the intelligent suitcase shifts upward, the maximum power of the driving wheel set is reduced; or, if the magnitude of the offset value of the center of gravity of the intelligent suitcase is larger, the maximum power of the driving wheel set is reduced.

[0012] Further, the following steps are also included: Step P1: In the initial state, steps S1 - S6 are executed once. Step P2: After the attitude sensor detects that the intelligent suitcase is in a tipping attitude or a bumpy state, and after the tipping attitude or the bumpy state ends, a new adjustment cycle is triggered, and steps S1 - S6 are executed once.

[0013] Further, the driving wheel set includes four driving wheels, which are respectively arranged at the four corners of the bottom surface of the suitcase body.

[0014] Further, the pressure sensor group includes four pressure sensors, which are respectively arranged between the four driving wheels and the suitcase body.

[0015] Further, the attitude sensor is a three - axis acceleration sensor.

[0016] Further, the attitude sensor is a gyroscope sensor.

[0017] And an intelligent suitcase, characterized in that it further includes a processor, and the processor is configured to execute the walking control method as described above.

[0018] The beneficial effects of the present invention are as follows: 1. During the use of the intelligent suitcase, it can detect the center of gravity of the intelligent suitcase in real - time and dynamically, so as to correspondingly adjust the power of the driving wheels, and thus can control the walking of the intelligent suitcase in real - time and dynamically, avoiding the center - of - gravity offset caused by reasons such as luggage placement, bumping and tipping during the use of the intelligent suitcase, and improving the stability and safety of the walking process of the intelligent suitcase.

[0019] 2. According to the actual usage of the intelligent suitcase, during normal walking, the pressure sensor group is put into sleep mode, thus saving the monitoring overhead of the sensors and the corresponding computing overhead, achieving the purpose of energy conservation. Also, according to the situation of jolting and tipping, the pressure sensor group can be woken up in time to update the center of gravity of the intelligent suitcase in time and perform corresponding walking control. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of a walking control method based on gravity compensation of an intelligent suitcase. DETAILED IMPLEMENTATION MANNER

[0021] As Figure 1 shown, the present invention provides a walking control method based on gravity compensation of an intelligent suitcase.

[0022] The bottom surface of the suitcase body of the intelligent suitcase is provided with a driving wheel group. The driving wheel group includes four driving wheels, which are respectively arranged at the four corners of the bottom surface of the suitcase body. Along the traveling direction of the intelligent suitcase (defining the traveling direction of the intelligent suitcase as the front), the left front wheel is the first driving wheel, the right front wheel is the second driving wheel, the left rear wheel is the third driving wheel, and the right rear wheel is the fourth driving wheel.

[0023] A pressure sensor group is arranged between the driving wheel group and the suitcase body. The pressure sensor group is used to detect the pressure between the suitcase body and the driving wheel group. The pressure sensor group includes four pressure sensors, which are respectively arranged between the four driving wheels and the suitcase body. For example, the first, second, third, and fourth pressure sensors can be respectively arranged between the first, second, third, and fourth driving wheels and the bottom surface of the suitcase body. The first pressure sensor, the second pressure sensor, the third pressure sensor, and the fourth pressure sensor respectively detect the pressure between the suitcase body and the first driving wheel, the second driving wheel, the third driving wheel, and the fourth driving wheel, and their pressure values are f1, f2, f3, and f4 respectively.

[0024] Furthermore, the intelligent suitcase also has an attitude sensor for detecting the attitude of the intelligent suitcase. For example, it detects whether the intelligent suitcase is in a horizontal attitude (i.e., on a horizontal plane), and whether the intelligent suitcase is in a tilted attitude (i.e., on a slope). The attitude sensor can adopt commonly used sensors on the market, such as a three-axis acceleration sensor with the advantage of low cost, or a gyroscope sensor with the advantage of high precision, etc.

[0025] The intelligent suitcase also has a processor, and the processor is configured to execute the walking control method. The walking control method includes the following steps: Step S1: Detect the attitude of the intelligent suitcase through the attitude sensor. If it is in a horizontal attitude, execute step S2.1; if it is in a tilted attitude, execute step S2.2; Step S2.1: Wake up the pressure sensor group and obtain the pressure values of the pressure sensor group in the horizontal attitude; update the offset value of the center of gravity of the intelligent suitcase on the horizontal plane according to the pressure values of the pressure sensor group in the horizontal attitude; jump to execute Step S3; Step S2.2: Obtain the tilt angle of the attitude sensor through the attitude sensor ; Wake up the pressure sensor group and obtain the pressure values of the pressure sensor group in the tilted attitude; according to and the pressure values of the pressure sensor group in the horizontal and tilted attitudes, update the offset value of the center of gravity of the intelligent suitcase on the vertical plane; jump to execute Step S3; Step S3: Adjust the power of the drive wheels according to the offset value of the center of gravity of the intelligent suitcase; put the pressure sensor group into sleep; Step S4: Judge whether the offset value of the center of gravity of the intelligent suitcase on the horizontal plane is updated in this adjustment cycle. If so, jump to execute Step S5; if not, wait until the attitude sensor detects that the intelligent suitcase is in the horizontal attitude, and then jump to execute Step S2.1; Step S5: Judge whether the offset value of the center of gravity of the intelligent suitcase on the vertical plane is updated in this adjustment cycle. If so, jump to execute Step S6; if not, wait until the attitude sensor detects that the intelligent suitcase is in the tilted attitude, and then jump to execute Step S2.2; Step S6: End this adjustment cycle; Specifically, in Step S1, the attitude of the intelligent suitcase is detected by the attitude sensor, and the tilt angle of the intelligent suitcase can be obtained through the attitude sensor to judge whether the intelligent suitcase is in the horizontal attitude or the tilted attitude. When the intelligent suitcase is on the horizontal plane, its tilt angle θ is 0. When the intelligent suitcase is on the tilted plane (such as on a slope), the tilt angle is the same as the slope angle of the slope. The conventional method of obtaining the tilt angle by the attitude sensor in the existing technology can be used . A horizontal threshold can be set. When the tilt angle (or its absolute value) is less than the horizontal threshold, it is judged that the intelligent suitcase is in the horizontal attitude; and / or, a tilt threshold can be set. When the tilt angle (or its absolute value) is greater than the tilt threshold, it is judged that the intelligent suitcase is in the tilted attitude.

[0026] In step S2.1, wake up the pressure sensor group and obtain the pressure values of the pressure sensor group in the horizontal posture; update the offset value of the center of gravity of the intelligent suitcase on the horizontal plane according to the pressure values of the pressure sensor group in the horizontal posture. Specifically, wake up the first pressure sensor, the second pressure sensor, the third pressure sensor, and the fourth pressure sensor, and obtain the pressure value f1 of the first pressure sensor, the pressure value f2 of the second pressure sensor, the pressure value f3 of the third pressure sensor, and the pressure value f4 of the fourth pressure sensor in the horizontal posture; update the offset value of the center of gravity of the intelligent suitcase on the horizontal plane according to f1, f2, f3, and f4.

[0027] It can be understood that when the intelligent suitcase is on a horizontal plane, the intelligent suitcase can be approximated as a regular cuboid (the influence brought by the driving wheel group can be ignored here). If the mass distribution of the intelligent suitcase is uniform, the center of gravity of the intelligent suitcase coincides with its geometric center, and the values of f1, f2, f3, and f4 will be equal at this time. However, due to the different numbers, weights, and placement methods of the luggage in the intelligent suitcase, it will affect the center of gravity of the intelligent suitcase and cause it to shift. And the shift of the center of gravity of the intelligent suitcase will affect the values of f1, f2, f3, and f4, and the values of f1, f2, f3, and f4 will not all be equal at this time. Therefore, the offset value of the center of gravity of the intelligent suitcase on the horizontal plane can be calculated by modeling according to the values of f1, f2, f3, and f4. The offset value of the center of gravity of the intelligent suitcase represents the deviation D in space between the center of gravity of the intelligent suitcase and the geometric center of the intelligent suitcase, and the projection of this deviation D on the horizontal plane is the offset value of the center of gravity of the intelligent suitcase on the horizontal plane.

[0028] Exemplarily, taking the left front wheel as the origin, the ray from the left front wheel to the left rear wheel as the x-axis, the ray from the left front wheel to the right front wheel as the y-axis, and the vertical direction as the z-axis to establish a coordinate system. The coordinates of the left front wheel can be obtained as (0, 0), the coordinates of the right front wheel as (0, b), the coordinates of the left rear wheel as (a, 0), and the coordinates of the right rear wheel as (a, b). Among them, a represents the distance between the left front wheel and the left rear wheel, b represents the distance between the left front wheel and the right front wheel, and c is the height of the intelligent suitcase.

[0029] Therefore, the geometric center coordinates of the intelligent suitcase are (a / 2, b / 2, c / 2). If the center of gravity coordinates of the intelligent suitcase are (Gx, Gy, Gz), the offset value of the center of gravity of the intelligent suitcase is (Dx, Dy, Dz), where Dx = Gx - a / 2, Dy = Gx - b / 2, Dz = Gz - c / 2. The offset value of the center of gravity of the intelligent suitcase on the horizontal plane is (Dx, Dy).

[0030] Considering the moment balance of the x-axis and the y-axis respectively, the following can be derived respectively:

[0031] and

[0032] The offset value of the center of gravity of the smart suitcase on the horizontal plane can be calculated.

[0033] In step S2.3, the tilt angle of the attitude sensor is obtained by the attitude sensor Specifically, in most cases, when the smart suitcase is in an inclined posture, the smart suitcase is tilted around the y-axis. The following uses this situation to calculate the offset value of the center of gravity of the smart suitcase on the vertical plane. It can be understood that in other cases, the offset value calculation formula is slightly different in form, but its essence is to use the moment balance in the horizontal and inclined postures to perform a joint calculation, which will not be repeated in this application.

[0034] Wake up the pressure sensor group and obtain the pressure value of the pressure sensor group in the tilted posture. In the tilted posture, the pressure value of the first pressure sensor is f1', the pressure value of the second pressure sensor is f2', the pressure value of the third pressure sensor is f3', and the pressure value of the fourth pressure sensor is f4'. The offset value of the center of gravity of the smart suitcase on the vertical plane is Dz. According to The pressure values of the pressure sensor group in the horizontal posture and the tilted posture are used to update the offset value of the center of gravity of the smart suitcase on the vertical plane, and then:

[0035] The offset value of the center of gravity of the smart suitcase on the vertical plane can be calculated.

[0036] It is worth noting that if step S2.2 is executed first after step S1, the offset value of the center of gravity of the smart suitcase on the vertical plane cannot be updated at this time, because the pressure value data in the horizontal posture is missing, and step S3 cannot adjust the power of the driving wheel. However, this does not affect the execution of the walking control method, because after continuing to execute step S4, it will jump to step S2.1 to obtain the pressure value data in the horizontal posture, so that step S3 can be executed to adjust the power of the driving wheel (that is, in step S3, it is only necessary to obtain the offset value of the center of gravity of the smart suitcase on the horizontal plane to make adjustments); then wait for the next tilt state, and jump to step S2.2 through step S5 to update the offset value of the center of gravity of the smart suitcase on the vertical plane.

[0037] It is understandable that whether to consider the offset of the center of gravity of the smart suitcase in the vertical plane can be selected according to actual needs. If not considered, steps S2.2 and S5 can be omitted, and Dz is determined to be 0.

[0038] At this time, the walking control method includes the following steps: Step T1: Detect the attitude of the intelligent suitcase through the attitude sensor. If it is in a horizontal attitude, execute Step T2; otherwise, repeat Step T1. Step T2: Wake up the pressure sensor group and obtain the pressure values of the pressure sensor group; update the offset value of the center of gravity of the intelligent suitcase on the horizontal plane according to the pressure values of the pressure sensor group; jump to execute Step T3. Step T3: Adjust the power of the drive wheels according to the offset value of the center of gravity of the intelligent suitcase; put the pressure sensor group into sleep. Step T4: End this round of adjustment cycle.

[0039] It can be understood that the principles and corresponding contents of Steps T1 - T4 are the same as those of Steps S1 - S6 above, and will not be elaborated here.

[0040] In Step S3, the power of the drive wheels is adjusted according to the offset value of the center of gravity of the intelligent suitcase. Specifically, the following several ways of adjusting the power of the drive wheels are included: Method A: If the center of gravity of the intelligent suitcase shifts backward, adjust the power of the drive wheels so that the power of the rear wheels is greater than that of the front wheels.

[0041] And / or Method B: If the center of gravity of the intelligent suitcase shifts forward, adjust the power of the drive wheels so that the power of the front wheels is greater than that of the rear wheels.

[0042] Specifically, according to Step S2.1, the offset value of the center of gravity of the intelligent suitcase on the horizontal plane, namely (Dx, Dy), has been obtained. The larger Dx is, the more backward the center of gravity of the intelligent suitcase is. The rear wheels bear more load, and since the load on the front wheels becomes smaller, the driving force is likely to exceed the friction limit, resulting in slipping or insensitive steering. Therefore, in this case, it is necessary to increase the driving force of the rear wheels (and / or reduce the driving force of the front wheels) to compensate for the influence of the gravity offset caused by the center of gravity shift, making the walking of the intelligent suitcase more stable.

[0043] The specific proportion of the increase in the driving force of the rear wheels (and / or the proportion of the decrease in the driving force of the front wheels) can be adjusted accordingly according to the ratio of Dx to a. The specific adjustment method can be flexibly selected according to actual needs (such as linear adjustment, PID adjustment, etc.), and this application does not make a limitation here.

[0044] In Step S3, the power of the drive wheels is adjusted according to the offset value of the center of gravity of the intelligent suitcase. Specifically, the following several ways of adjusting the power of the drive wheels are also included: And / or Method C: If the center of gravity of the intelligent suitcase shifts to the right, adjust the power of the drive wheels so that the power of the right wheels is greater than that of the left wheels.

[0045] And / or Method D: If the center of gravity of the intelligent suitcase shifts to the left, adjust the power of the drive wheels so that the power of the left wheels is greater than that of the right wheels.

[0046] Specifically, according to Step S2.1, the offset values of the center of gravity of the intelligent suitcase on the horizontal plane, namely (Dx, Dy), have been obtained. The larger Dy is, the more the center of gravity of the intelligent suitcase shifts to the right. Under the same driving force, the right wheels will have a reduced wheel speed due to the increased load, which may cause the intelligent suitcase to skew to the right during walking. Therefore, when all four drive wheels can be driven independently, increase the driving force of the right wheels (and / or reduce the driving force of the left wheels) to compensate for the influence of the gravity offset caused by the center of gravity shift, making the walking of the intelligent suitcase more stable.

[0047] Specifically, the increase ratio of the driving force of the right wheels (and / or the reduction ratio of the driving force of the right wheels) can be adjusted accordingly according to the ratio of Dy to b. The specific adjustment method can be flexibly selected according to actual needs (such as linear adjustment, PID adjustment, etc.), and the present application does not make a limitation here.

[0048] In Step S3, adjust the power of the drive wheels according to the offset value of the center of gravity of the intelligent suitcase. Specifically, it further includes the following methods for adjusting the power of the drive wheels: And / or Method E: If the center of gravity of the intelligent suitcase shifts upward, reduce the maximum power of the drive wheel set.

[0049] Specifically, according to Step S2.2, the offset value of the center of gravity of the intelligent suitcase on the vertical plane, namely Dz, has been obtained. The larger Dz is, the more the center of gravity of the intelligent suitcase shifts upward, and the greater the risk of the intelligent suitcase tipping over. Therefore, it is necessary to increase the limit on the maximum power of the drive wheel set, that is, reduce the maximum power of the drive wheel set and reduce the maximum walking speed of the intelligent suitcase to reduce the tipping risk.

[0050] And / or Method F: If the magnitude of the offset value of the center of gravity of the intelligent suitcase is larger, reduce the maximum power of the drive wheel set.

[0051] Specifically, the magnitude of the offset value of the center of gravity of the intelligent suitcase refers to the spatial distance between the center of gravity of the intelligent suitcase and the geometric center of the intelligent suitcase, that is . Although the power of the drive wheels is adjusted according to Methods A - D described above, the intelligent suitcase as a whole still has an unstable state prone to tipping. At this time, increase the limit on the maximum power of the drive wheel set, that is, reduce the maximum power of the drive wheel set and reduce the maximum walking speed of the intelligent suitcase.

[0052] In modes E and F, the proportion of the maximum power reduction of the specific drive wheel set can be adjusted accordingly according to the magnitude of the offset value of the center of gravity of the intelligent suitcase. The specific adjustment method can be flexibly selected according to actual needs (such as linear adjustment, PID adjustment, etc.), and this application does not limit it here.

[0053] In step S3, it also includes putting the first pressure sensor, the second pressure sensor, the third pressure sensor, and the fourth pressure sensor into sleep mode. Since the center of gravity of the intelligent suitcase generally does not change during normal travel (corresponding to the situation of triggering the adjustment cycle below), the first pressure sensor, the second pressure sensor, the third pressure sensor, and the fourth pressure sensor can be put into sleep mode, thereby saving the monitoring overhead of the sensors and the corresponding calculation overhead, achieving the purpose of energy saving. After step S3 is executed, step S4 is continued.

[0054] Optionally, the walking control method further includes the following steps: Step P1: In the initial state, steps S1 - S6 are executed once.

[0055] Step P2: After the attitude sensor detects that the intelligent suitcase is in a tipping attitude or a bumpy state and the tipping attitude or bumpy state ends, a new round of adjustment cycle is triggered, and steps S1 - S6 are executed once.

[0056] Specifically, the initial state in step P1 refers to the situation where the user activates the autonomous walking function of the intelligent suitcase. At this time, all the steps of steps S1 - S6 described above are executed once.

[0057] In step P2, the tipping attitude means that the intelligent suitcase is overturned due to external forces, uneven road surfaces, etc., or is overturned by the user to pass through security checks, etc. The bumpy state is the bump caused by the uneven road surface of the intelligent suitcase. The parameters obtained by the attitude sensor can be processed according to the actual situation to obtain that the intelligent suitcase is in a tipping attitude or a bumpy state. Ending the tipping attitude or bumpy state means that the intelligent suitcase returns to the normal walking state, which can also be obtained by processing the parameters obtained by the attitude sensor. When the intelligent suitcase is in a tipping attitude or a bumpy state, the luggage in the intelligent suitcase is likely to move, causing a change in the center of gravity of the intelligent suitcase. At this time, a new round of adjustment cycle is triggered, and all the steps of steps S1 - S6 described above are executed once, so that during the use of the intelligent suitcase, the center of gravity of the intelligent suitcase can be detected in real time and dynamically. Thus, through the adjustment of the power of the drive wheels in step S3, the walking of the intelligent suitcase can be controlled in real time and dynamically. If the previous round of adjustment cycle has not been completed at this time, a new round of adjustment cycle is forcibly started from step S1.

Claims

1. A walking control method based on gravity compensation of an intelligent suitcase, characterized in that, It includes the following steps: Step S1: Detect the attitude of the intelligent suitcase through an attitude sensor. If it is in a horizontal attitude, execute step S2.1; if it is in an inclined attitude, execute step S2.2; Step S2.1: Wake up the pressure sensor group and obtain the pressure values of the pressure sensor group in the horizontal attitude; update the offset value of the center of gravity of the intelligent suitcase on the horizontal plane according to the pressure values of the pressure sensor group in the horizontal attitude; Jump to execute step S3; Step S2.2: Obtain the tilt angle of the intelligent suitcase through the attitude sensor ; Wake up the pressure sensor group and obtain the pressure values of the pressure sensor group in the tilted posture; According to and the pressure values of the pressure sensor group in the horizontal and tilted postures, update the offset value of the center of gravity of the intelligent suitcase on the vertical plane; Jump to execute step S3; Step S3: Adjust the power of the drive wheels according to the offset value of the center of gravity of the intelligent suitcase; put the pressure sensor group into sleep; Step S4: Judge whether the offset value of the center of gravity of the intelligent suitcase on the horizontal plane has been updated in this round of adjustment cycle. If so, continue to execute step S5; if not, wait until the attitude sensor detects that the intelligent suitcase is in a horizontal attitude, and then jump to execute step S2.1; Step S5: Judge whether the offset value of the center of gravity of the intelligent suitcase on the vertical plane has been updated in this round of adjustment cycle. If so, continue to execute step S6; if not, wait until the attitude sensor detects that the intelligent suitcase is in an inclined attitude, and then jump to execute step S2.2; Step S6: End this round of adjustment cycle; Among them, the bottom surface of the suitcase body of the intelligent suitcase is provided with a drive wheel group, and a pressure sensor group is arranged between the drive wheel group and the suitcase body. The pressure sensor group is used to detect the pressure between the suitcase body and the drive wheel group.

2. The walking control method according to claim 1, wherein In step S3, adjusting the power of the drive wheel group according to the offset value of the center of gravity of the intelligent suitcase specifically includes: if the center of gravity of the intelligent suitcase moves backward, adjust the power of the drive wheel group so that the power of the rear wheels is greater than that of the front wheels; if the center of gravity of the intelligent suitcase moves forward, adjust the power of the drive wheel group so that the power of the front wheels is greater than that of the rear wheels.

3. The walking control method according to claim 2, wherein In step S3, adjusting the power of the drive wheel group according to the offset value of the center of gravity of the intelligent suitcase specifically further includes: if the center of gravity of the intelligent suitcase moves to the right, adjust the power of the drive wheel group so that the power of the right wheels is greater than that of the left wheels; if the center of gravity of the intelligent suitcase moves to the left, adjust the power of the drive wheel group so that the power of the left wheels is greater than that of the right wheels.

4. The walking control method according to claim 3, wherein In step S3, adjusting the power of the drive wheel group according to the offset value of the center of gravity of the intelligent suitcase specifically further includes: if the center of gravity of the intelligent suitcase moves upward, reduce the maximum power of the drive wheel group; or, if the magnitude of the offset value of the center of gravity of the intelligent suitcase is larger, reduce the maximum power of the drive wheel group.

5. The walking control method according to claim 1, wherein It further includes the following steps: Step P1: In the initial state, execute steps S1 - S6 once; Step P2: After the attitude sensor detects that the intelligent suitcase is in a toppling attitude or a bumpy state and ends the toppling attitude or the bumpy state, trigger a new round of adjustment cycle and execute steps S1 - S6 once.

6. The walking control method according to claim 1, characterized in that The drive wheel set includes four drive wheels, which are respectively arranged at the four corners of the bottom surface of the luggage body.

7. The walking control method according to claim 1, characterized in that The pressure sensor set includes four pressure sensors, which are respectively arranged between the four drive wheels and the luggage body.

8. The walking control method according to claim 1, characterized in that The attitude sensor is a three-axis acceleration sensor.

9. The walking control method according to claim 1, characterized in that The attitude sensor is a gyroscope sensor.

10. An intelligent luggage, characterized in that It further includes a processor, and the processor is configured to execute the walking control method according to any one of claims 1-9.

Images