A walking control method based on gravity compensation of intelligent luggage

Abstract

The present invention discloses a travel control method for a smart suitcase based on gravity compensation. This method can dynamically and in real time detect the center of gravity of the smart suitcase during use, thereby adjusting the power of the drive wheels accordingly. This method allows for real-time and dynamic travel control of the smart suitcase, preventing center-of-gravity shifts caused by luggage placement, bumps, and tipping during use, thereby improving the stability and safety of the smart suitcase during travel. Based on the actual use of the smart suitcase, the pressure sensor group is put into hibernation during normal travel, thereby reducing sensor monitoring overhead and corresponding computing costs, achieving energy conservation.

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 luggage is becoming increasingly obvious. Smart luggage can achieve functions such as autonomous movement and automatic following. However, since it is independent of the user's manual control, the movement control of smart luggage needs to meet higher requirements.

[0003] The center of gravity is a key factor in controlling the movement of a smart suitcase. Most existing suitcases use the suitcase's geometric center of gravity as their center of gravity, and thus design corresponding movement control methods. However, due to the varying amount, weight, and placement of luggage within a smart suitcase, the actual center of gravity of the suitcase will vary with each use, and in most cases will not be the same as the geometric center of gravity. Furthermore, since a smart suitcase may experience bumps during use, the position of the luggage within the suitcase may shift, causing the actual center of gravity of the suitcase to change accordingly. A slight shift in the center of gravity of a smart suitcase can affect the stability of its autonomous movement, and in severe cases, it may even cause the suitcase to tip over, compromising safety.

[0004] In the prior art, there are methods of providing additional or movable wheels to expand the bottom area of ​​the suitcase and improve the stability of the suitcase when it is in motion. However, this solution requires an additional mechanical structure to move the wheels, and it also cannot dynamically and in real time compensate for the center of gravity changes during the use of the smart suitcase.

[0005] On the other hand, as smart luggage expands its functionality, the number of sensors it uses increases, but the monitoring and computational overhead of these sensors also increases. How to minimize these costs while still ensuring proper control of movement is another challenge currently facing smart luggage.

[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, characterized by comprising the following steps:

[0009] Step S1: Detect the posture of the smart suitcase through the posture sensor. If it is in a horizontal posture, execute step S2.1; if it is in a tilted posture, execute step S2.2;

[0010] Step S2.1: Wake up the pressure sensor group and obtain the pressure value of the pressure sensor group in a horizontal position; update the offset value of the center of gravity of the smart suitcase on the horizontal plane according to the pressure value of the pressure sensor group in a horizontal position; jump to step S3;

[0011] Step S2.2: Obtain the tilt angle of the smart suitcase through the posture sensor ; Wake up the pressure sensor group and obtain the pressure value of the pressure sensor group in the tilt posture; according to and the pressure values ​​of the pressure sensor group in the horizontal posture and the tilted posture to update the offset value of the center of gravity of the smart suitcase on the vertical plane; jump to step S3;

[0012] Step S3: adjusting the power of the driving wheels according to the offset value of the center of gravity of the smart suitcase; and putting the pressure sensor group into hibernation;

[0013] Step S4: Determine whether the offset value of the center of gravity of the smart suitcase on the horizontal plane has been updated during this adjustment cycle. If so, proceed to step S5; if not, wait until the posture sensor detects that the smart suitcase is in a horizontal posture, and then jump to step S2.1;

[0014] Step S5: Determine whether the offset value of the center of gravity of the smart suitcase on the vertical plane has been updated during this adjustment cycle. If so, proceed to step S6; if not, wait until the attitude sensor detects that the smart suitcase is in a tilted attitude, and then jump to step S2.2;

[0015] Step S6: End this round of adjustment cycle;

[0016] The bottom surface of the luggage body of the smart suitcase is provided with a driving wheel set, and a pressure sensor group is provided between the driving wheel set and the luggage body. The pressure sensor group is used to detect the pressure between the luggage body and the driving wheel set.

[0017] Furthermore, in step S3, the power of the driving wheels is adjusted according to the offset value of the center of gravity of the smart suitcase. Specifically, if the center of gravity of the smart suitcase is offset backward, the power of the driving wheels is adjusted so that the power of the rear wheels is greater than the power of the front wheels; if the center of gravity of the smart suitcase is offset forward, the power of the driving wheels is adjusted so that the power of the front wheels is greater than the power of the rear wheels.

[0018] Furthermore, in step S3, the power of the driving wheels is adjusted according to the offset value of the center of gravity of the smart suitcase. Specifically, if the center of gravity of the smart suitcase is offset to the right, the power of the driving wheels is adjusted so that the power of the right wheel is greater than the power of the left wheel; if the center of gravity of the smart suitcase is offset to the left, the power of the driving wheels is adjusted so that the power of the left wheel is greater than the power of the right wheel.

[0019] Furthermore, in step S3, the power of the driving wheels is adjusted according to the offset value of the center of gravity of the smart suitcase. Specifically, if the center of gravity of the smart suitcase is offset upward, the maximum power of the driving wheel group is reduced; or if the offset value of the center of gravity of the smart suitcase is larger, the maximum power of the driving wheel group is reduced.

[0020] Furthermore, the method further includes the following steps:

[0021] Step P1: In the initial state, execute steps S1-S6 once;

[0022] Step P2: After the posture sensor detects that the smart suitcase is in a tipping posture or a bumping state and ends the tipping posture or the bumping state, a new round of adjustment cycle is triggered and steps S1-S6 are executed once.

[0023] Furthermore, the driving wheel assembly includes four driving wheels, which are respectively arranged at the four corners of the bottom surface of the suitcase body.

[0024] Furthermore, the pressure sensor group includes four pressure sensors, which are respectively arranged between the four driving wheels and the luggage case body.

[0025] Furthermore, the attitude sensor is a three-axis acceleration sensor.

[0026] Furthermore, the attitude sensor is a gyroscope sensor.

[0027] And a smart suitcase, characterized in that:

[0028] The device further includes a processor configured to execute the walking control method as described above.

[0029] The beneficial effects of the present invention are:

[0030] 1. The system can dynamically detect the center of gravity of the smart suitcase in real time during use, thereby adjusting the power of the drive wheels accordingly. This allows for real-time and dynamic control of the smart suitcase's movement, preventing center of gravity shifts caused by luggage placement, bumps, and tipping during use, thereby improving the stability and safety of the smart suitcase during movement.

[0031] 2. Based on the actual use of the smart suitcase, the pressure sensor group is put into hibernation during normal travel, thereby reducing sensor monitoring overhead and corresponding computing costs, achieving energy conservation. The pressure sensor group can also be awakened in response to bumps and tipping to promptly update the smart suitcase's center of gravity and implement corresponding travel control. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 Schematic diagram of the walking control method based on gravity compensation of the smart suitcase. DETAILED DESCRIPTION

[0033] like Figure 1 As shown, the present invention provides a walking control method based on gravity compensation of an intelligent suitcase.

[0034] The smart luggage has a drive wheel assembly on the bottom of the luggage body. This wheel assembly includes four drive wheels, located at the four corners of the bottom of the luggage body. In the direction of travel of the smart luggage (defined as the forward direction), the left front wheel is the first drive wheel, the right front wheel is the second drive wheel, the left rear wheel is the third drive wheel, and the right rear wheel is the fourth drive wheel.

[0035] A pressure sensor group is disposed between the drive wheel assembly and the luggage body. The pressure sensor group is used to detect the pressure between the luggage body and the drive wheel assembly. The pressure sensor group includes four pressure sensors, one each disposed between the four drive wheels and the luggage body. For example, the first, second, third, and fourth pressure sensors may be disposed between the first, second, third, and fourth drive wheels and the bottom surface of the luggage body, respectively. The first, second, third, and fourth pressure sensors respectively detect the pressure between the luggage body and the first, second, third, and fourth drive wheels, with their respective pressure values ​​being f1, f2, f3, and f4.

[0036] Furthermore, the smart suitcase also includes a posture sensor for detecting its posture. For example, it can detect whether the smart suitcase is horizontal (i.e., on a level surface) or tilted (i.e., on a slope). The posture sensor can be a commonly used sensor on the market, such as a low-cost three-axis accelerometer or a high-precision gyroscope.

[0037] The smart suitcase further includes a processor configured to execute a walking control method, the walking control method comprising the following steps:

[0038] Step S1: Detect the posture of the smart suitcase through the posture sensor. If it is in a horizontal posture, execute step S2.1; if it is in a tilted posture, execute step S2.2;

[0039] Step S2.1: Wake up the pressure sensor group and obtain the pressure value of the pressure sensor group in a horizontal position; update the offset value of the center of gravity of the smart suitcase on the horizontal plane according to the pressure value of the pressure sensor group in a horizontal position; jump to step S3;

[0040] 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 value of the pressure sensor group in the tilt posture; according to and the pressure values ​​of the pressure sensor group in the horizontal posture and the tilted posture to update the offset value of the center of gravity of the smart suitcase on the vertical plane; jump to step S3;

[0041] Step S3: adjusting the power of the driving wheels according to the offset value of the center of gravity of the smart suitcase; and putting the pressure sensor group into hibernation;

[0042] Step S4: Determine whether the offset value of the center of gravity of the smart suitcase on the horizontal plane has been updated during this adjustment cycle. If so, jump to step S5; if not, wait until the posture sensor detects that the smart suitcase is in a horizontal posture, and then jump to step S2.1;

[0043] Step S5: Determine whether the offset value of the center of gravity of the smart suitcase on the vertical plane has been updated during this adjustment cycle. If so, jump to step S6; if not, wait until the attitude sensor detects that the smart suitcase is in a tilted attitude, and then jump to step S2.2;

[0044] Step S6: End this round of adjustment cycle;

[0045] Specifically, in step S1, the posture of the smart suitcase is detected by the posture sensor, and the tilt angle of the smart suitcase can be obtained by the posture sensor. To determine whether the smart suitcase is in a horizontal or tilted position. When the smart suitcase is on a horizontal surface, its tilt angle θ is 0. When the smart suitcase is on an inclined surface (such as a slope), the tilt angle The same as the slope angle of the slope. The conventional attitude sensor in the prior art can be used to obtain the inclination angle. The horizontal threshold can be set. (or its absolute value) is less than the horizontal threshold, the smart suitcase is judged to be in a horizontal posture; and / or a tilt threshold can be set, when the tilt angle When the tilt threshold is exceeded, the smart suitcase is judged to be in a tilted state.

[0046] In step S2.1, the pressure sensor group is awakened and the pressure values ​​of the pressure sensor group in a horizontal position are obtained. The offset value of the center of gravity of the smart suitcase in the horizontal plane is updated based on the pressure values ​​of the pressure sensor group in a horizontal position. Specifically, the first, second, third, and fourth pressure sensors are awakened, and the pressure values ​​f1, f2, f3, and f4 of the first, second, third, and fourth pressure sensors in a horizontal position are obtained. The offset value of the center of gravity of the smart suitcase in the horizontal plane is updated based on f1, f2, f3, and f4.

[0047] It's understandable that when the smart suitcase is on a horizontal surface, it can be approximated as a regular rectangular parallelepiped (the influence of the drive wheels can be ignored). If the smart suitcase's mass is evenly distributed, the smart suitcase's center of gravity coincides with its geometric center, and the values ​​of f1, f2, f3, and f4 are equal. However, due to the varying number, weight, and placement of luggage within the smart suitcase, the center of gravity of the smart suitcase can be affected, causing it to shift. This shift in the smart suitcase's center of gravity affects the values ​​of f1, f2, f3, and f4, so they won't all be equal. Therefore, through modeling, the offset of the smart suitcase's center of gravity in the horizontal plane can be calculated based on the values ​​of f1, f2, f3, and f4. The offset of the smart suitcase's center of gravity represents the spatial deviation D between the smart suitcase's center of gravity and its geometric center. The projection of this deviation D on the horizontal plane is the offset of the smart suitcase's center of gravity in the horizontal plane.

[0048] For example, a coordinate system is established with 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. The coordinates of the left front wheel are (0, 0), the right front wheel are (0, b), the left rear wheel are (a, 0), and the right rear wheel are (a, b). Here, 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 represents the height of the smart suitcase.

[0049] Therefore, the geometric center coordinates of the smart suitcase are (a / 2, b / 2, c / 2). If the coordinates of the smart suitcase's center of gravity are (Gx, Gy, Gz), the offset values ​​of the smart suitcase's center of gravity are (Dx, Dy, Dz), where Dx = Gx-a / 2, Dy = Gx-b / 2, and Dz = Gz-c / 2. The offset value of the smart suitcase's center of gravity on the horizontal plane is (Dx, Dy).

[0050] Considering the moment balance of the x-axis and y-axis respectively, we can deduce:

[0051]

[0052] and

[0053]

[0054] The offset value of the center of gravity of the smart suitcase on the horizontal plane can be calculated.

[0055] In step S2.3, the tilt angle of the attitude sensor is obtained through the attitude sensor Specifically, in most cases, when the smart suitcase is tilted, it tilts around the y-axis. This scenario will be used below to calculate the offset of the smart suitcase's center of gravity in the vertical plane. It is understood that in other cases, the offset calculation formula may differ slightly in form, but the essence of all is to utilize the simultaneous balance of torques in horizontal and tilted positions, and this application will not elaborate further here.

[0056] 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 in the vertical plane is Dz. The offset value of the center of gravity of the smart suitcase on the vertical plane is updated by the pressure values ​​of the pressure sensor group in the horizontal posture and the tilted posture, and the following can be obtained:

[0057]

[0058] The offset value of the center of gravity of the smart suitcase on the vertical plane can be calculated.

[0059] It's worth noting that if step S2.2 is executed before step S1, the vertical offset of the smart suitcase's center of gravity cannot be updated because the horizontal pressure data is missing. Similarly, step S3 cannot adjust the drive wheel power. However, this does not affect the execution of the walking control method, as step S4 is followed by a jump to step S2.1 to obtain the horizontal pressure data, enabling step S3 to adjust the drive wheel power (i.e., step S3 only requires obtaining the horizontal offset of the smart suitcase's center of gravity to make adjustments). The method then waits for the next tilt state, jumps to step S2.2 through step S5, and updates the vertical offset of the smart suitcase's center of gravity.

[0060] 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.

[0061] At this time, the walking control method includes the following steps:

[0062] Step T1: Detect the posture of the smart suitcase through the posture sensor. If it is in a horizontal posture, execute step T2; otherwise, repeat step T1;

[0063] Step T2: Wake up the pressure sensor group and obtain the pressure value of the pressure sensor group; update the offset value of the center of gravity of the smart suitcase on the horizontal plane according to the pressure value of the pressure sensor group; jump to step T3;

[0064] Step T3: adjusting the power of the driving wheels according to the offset value of the center of gravity of the smart suitcase; and putting the pressure sensor group into hibernation;

[0065] Step T4: End this round of adjustment cycle.

[0066] It is understandable that the principles and corresponding contents of steps T1-T4 are the same as those of steps S1-S6 above, and will not be repeated here.

[0067] In step S3, the power of the driving wheels is adjusted according to the offset value of the center of gravity of the smart suitcase. Specifically, the following methods are included to adjust the power of the driving wheels:

[0068] Method A: If the center of gravity of the smart suitcase shifts backward, the power of the driving wheels is adjusted so that the power of the rear wheels is greater than the power of the front wheels.

[0069] And / or method B: if the center of gravity of the smart suitcase shifts forward, the power of the driving wheels is adjusted so that the power of the front wheels is greater than the power of the rear wheels.

[0070] Specifically, the horizontal offset of the smart suitcase's center of gravity, i.e., (Dx, Dy), has been obtained in step S2.1. A larger Dx indicates a more rearward shift in the smart suitcase's center of gravity. This results in the rear wheels bearing a greater load, while the front wheels, with their load reduced, are more likely to exceed the friction limit, causing slippage or inflexible steering. Therefore, in this case, it is necessary to increase the driving force of the rear wheels (and / or decrease the driving force of the front wheels) to compensate for the gravity shift caused by the center of gravity shift, ensuring smoother travel.

[0071] The specific increase ratio of the driving force of the rear wheels (and / or the decrease ratio of 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 limit it here.

[0072] In step S3, the power of the driving wheels is adjusted according to the offset value of the center of gravity of the smart suitcase. Specifically, the following methods are included to adjust the power of the driving wheels:

[0073] And / or method C: If the center of gravity of the smart suitcase shifts to the right, the power of the driving wheels is adjusted so that the power of the right wheel is greater than the power of the left wheel.

[0074] And / or method D: If the center of gravity of the smart suitcase shifts to the left, the power of the driving wheels is adjusted so that the power of the left wheel is greater than the power of the right wheel.

[0075] Specifically, the horizontal offset value of the smart suitcase's center of gravity, i.e., (Dx, Dy), has been obtained according to step S2.1. A larger Dy indicates a more rightward offset of the smart suitcase's center of gravity. This results in a decrease in wheel speed due to the increased load on the right wheel under the same driving force, potentially causing the smart suitcase to tilt to the right during travel. Therefore, if all four drive wheels are independently drivable, the driving force on the right wheel is increased (and / or the driving force on the left wheel is reduced) to compensate for the gravity shift caused by the center of gravity shift, ensuring smoother travel.

[0076] The specific increase ratio of the driving force of the right wheel (and / or the decrease ratio of the driving force of the right wheel) 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 this application does not limit it here.

[0077] In step S3, the power of the driving wheels is adjusted according to the offset value of the center of gravity of the smart suitcase. Specifically, the following methods are included to adjust the power of the driving wheels:

[0078] And / or method E: If the center of gravity of the smart suitcase is shifted upward, the maximum power of the driving wheel set is reduced.

[0079] Specifically, the vertical offset value of the smart suitcase's center of gravity, Dz, has been obtained in step S2.2. A larger Dz indicates a greater upward offset of the smart suitcase's center of gravity, and thus a greater risk of tipping. Therefore, it is necessary to increase the limit on the maximum power of the drive wheel assembly, that is, to reduce the maximum power of the drive wheel assembly and the maximum speed of the smart suitcase, in order to reduce the risk of tipping.

[0080] And / or method F: if the offset value of the center of gravity of the smart suitcase is larger, the maximum power of the driving wheel set is reduced.

[0081] Specifically, the offset value of the center of gravity of the smart suitcase refers to the distance between the center of gravity of the smart suitcase and the geometric center of the smart suitcase in space, that is, Although the power of the driving wheels is adjusted according to the above-described methods AD, the smart suitcase as a whole is still in an unstable state and prone to tipping. In this case, the limit on the maximum power of the driving wheel group is increased, that is, the maximum power of the driving wheel group is reduced, thereby reducing the maximum traveling speed of the smart suitcase.

[0082] In methods E and F, the specific ratio of the maximum power reduction of the driving wheel group can be adjusted accordingly according to the offset value of the center of gravity of the smart 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.

[0083] Step S3 also involves putting the first, second, third, and fourth pressure sensors into hibernation. Since the center of gravity of the smart suitcase generally does not change during normal travel (corresponding to the trigger adjustment period described below), the first, second, third, and fourth pressure sensors can be put into hibernation, thereby reducing sensor monitoring overhead and corresponding computing costs, achieving energy conservation. After step S3 is completed, step S4 is executed.

[0084] Optionally, the walking control method further includes the following steps:

[0085] Step P1: In the initial state, execute steps S1-S6 once.

[0086] Step P2: After the posture sensor detects that the smart suitcase is in a tipping posture or a bumping state and ends the tipping posture or the bumping state, a new round of adjustment cycle is triggered and steps S1-S6 are executed once.

[0087] Specifically, the initial state in step P1 refers to the situation where the user activates the autonomous walking function of the smart suitcase, and at this time all the steps S1 to S6 described above are first executed.

[0088] In step P2, the tipping posture refers to the smart suitcase tipping over due to external force, uneven road conditions, or being tipped over by the user to pass security checks. A bumpy state refers to the bumping caused by uneven road conditions. The parameters acquired by the posture sensor can be processed based on actual conditions to determine whether the smart suitcase is in a tipping posture or bumpy state. Ending the tipping posture or bumpy state refers to the smart suitcase returning to a normal travel state, which can also be determined by processing the parameters acquired by the posture sensor. When the smart suitcase is in a tipping posture or bumpy state, the luggage inside is likely to shift, causing a change in the smart suitcase's center of gravity. At this point, a new adjustment cycle is triggered, and all steps S1-S6 described above are repeated. This allows the smart suitcase's center of gravity to be detected in real time and dynamically during use. By adjusting the power to the drive wheels in step S3, the smart suitcase's travel can be controlled in real time and dynamically. If the previous adjustment cycle has not yet completed, a new adjustment cycle is forcibly initiated starting at step S1.

Claims

1. A walking control method based on gravity compensation of an intelligent suitcase, characterized in that: The following steps are involved: Step P1: In the initial state, execute steps S1-S6 once; Step P2: The posture sensor detects that the smart suitcase is in a bumpy state. After the bumpy state ends, a new round of adjustment cycle is triggered and steps S1-S6 are executed once; The parameters obtained by the posture sensor are processed to determine that the smart suitcase is in a bumpy state; Steps S1-S6 are specifically as follows: Step S1: Detect the posture of the smart suitcase through the posture sensor. If it is in a horizontal posture, execute step S2.1; if it is in a tilted posture, execute step S2.2; Step S2.1: Wake up the pressure sensor group and obtain the pressure value of the pressure sensor group in a horizontal position; update the offset value of the center of gravity of the smart suitcase on the horizontal plane according to the pressure value of the pressure sensor group in a horizontal position; jump to step S3; Step S2.2: Obtain the tilt angle of the smart suitcase through the posture sensor ; Wake up the pressure sensor group and obtain the pressure value of the pressure sensor group in the tilt posture; according to and the pressure values ​​of the pressure sensor group in the horizontal posture and the tilted posture to update the offset value of the center of gravity of the smart suitcase on the vertical plane; jump to step S3; Step S3: adjusting the power of the driving wheels according to the offset value of the center of gravity of the smart suitcase; and putting the pressure sensor group into hibernation; Step S4: Determine whether the offset value of the center of gravity of the smart suitcase on the horizontal plane has been updated during this adjustment cycle. If so, proceed to step S5; if not, wait until the posture sensor detects that the smart suitcase is in a horizontal posture, and then jump to step S2.1; Step S5: Determine whether the offset value of the center of gravity of the smart suitcase on the vertical plane has been updated during this adjustment cycle. If so, proceed to step S6; if not, wait until the attitude sensor detects that the smart suitcase is in a tilted attitude, and then jump to step S2.2; Step S6: End this round of adjustment cycle; The bottom surface of the luggage body of the smart suitcase is provided with a driving wheel set, and a pressure sensor group is provided between the driving wheel set and the luggage body. The pressure sensor group is used to detect the pressure between the luggage body and the driving wheel set.

2. The walking control method according to claim 1, characterized in that: In step S3, the power of the driving wheel set is adjusted according to the offset value of the center of gravity of the smart suitcase. Specifically, if the center of gravity of the smart suitcase is offset backward, the power of the driving wheel set is adjusted so that the power of the rear wheels is greater than the power of the front wheels; if the center of gravity of the smart suitcase is offset forward, the power of the driving wheel set is adjusted so that the power of the front wheels is greater than the power of the rear wheels.

3. The walking control method according to claim 2, characterized in that: In step S3, the power of the driving wheel set is adjusted according to the offset value of the center of gravity of the smart suitcase. Specifically, the power of the driving wheel set is adjusted so that the power of the right wheel is greater than the power of the left wheel if the center of gravity of the smart suitcase is offset to the right; and the power of the driving wheel set is adjusted so that the power of the left wheel is greater than the power of the right wheel if the center of gravity of the smart suitcase is offset to the left.

4. The walking control method according to claim 3, characterized in that: In step S3, the power of the drive wheel set is adjusted according to the offset value of the center of gravity of the smart suitcase. Specifically, the power of the drive wheel set is adjusted: if the center of gravity of the smart suitcase is offset upward, the maximum power of the drive wheel set is reduced; or if the offset value of the center of gravity of the smart suitcase is larger, the maximum power of the drive wheel set is reduced.

5. The walking control method according to claim 1, characterized in that: The driving wheel assembly includes four driving wheels, which are respectively arranged at the four corners of the bottom surface of the luggage case body.

6. The walking control method according to claim 1, characterized in that: The pressure sensor group includes four pressure sensors, which are respectively arranged between the four driving wheels and the luggage box body.

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

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

9. A smart suitcase, characterized in that: The device further comprises a processor configured to execute the walking control method according to any one of claims 1 to 8.

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