Following type luggage case and use method thereof

Abstract

The invention discloses a following type luggage case and a using method thereof, the following type luggage case comprises a case body, a middle sensor and corner sensors are arranged on the front side of the case body, the middle sensor is fixedly arranged in the middle of the end face of the front end of the case body, and the corner sensors are fixedly arranged on the edges of the two sides of the front end of the case body. The using method comprises the following steps that S1, the walking wheels at the bottom end of the box body are placed on the ground; s2, tracking and positioning the human body of the user by a middle sensor and a corner sensor; s3, the control chip controls the driving wheels to walk; s4, in the walking following process of the box body, a middle sensor carries out distance detection on the advancing direction of the box body; s5, the corner sensor expands the walking visual angle detection range of the box body; s6, the ground detection sensor detects the step or the pothole area; and S7, when the driving motor stops working, the control chip gives an alarm.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of luggage, in particular to a following type of luggage and a method for using the same. BACKGROUND

[0002] At present, the luggage market is nearly saturated, and most people cannot travel without luggage. However, the current luggage products have single functions, although they can bring convenience to travel, but in some scenarios, the trolley luggage also brings great inconvenience to the user. Patent No. ZL202121709383.1 discloses a luggage automatic following system and luggage, which can realize automatic following operation of the luggage, liberate the hands of people, and improve the carrying convenience of the luggage. However, it is found that in the use process, the luggage often collides with obstacles during following, affecting the smooth progress of the normal following action of the luggage. At the same time, the luggage cannot timely find the pothole area or the stair area, and when encountering the pothole area or the stair area, the luggage often overturns, which seriously affects the automatic following effect of the luggage, and it is necessary to improve it. SUMMARY

[0003] The purpose of the present application is to solve the above problems, and to provide a following type of luggage with simple structure and convenient use and a method for using the same.

[0004] In order to achieve the above purpose, the technical scheme of the present application is as follows: A following type of luggage, comprising a box body, the box body is provided with walking wheels at the bottom end, the walking wheels comprise two driving wheels symmetrically arranged at the bottom of the front end of the box body and two unpowered wheels symmetrically arranged at the bottom of the rear end of the box body, two driving motors are fixedly connected to the bottom end of the box body, the two driving motors are correspondingly arranged with the two driving wheels, and the driving motor is in transmission connection with the corresponding driving wheel; the two unpowered wheels are rotatably connected with the bottom end of the box body; the front side of the box body is provided with a middle sensor and an angle sensor, the middle sensor is fixedly arranged in the middle of the end face of the front end of the box body, and the angle sensor is provided with at least two, and the two angle sensors are respectively fixedly arranged on the edges on both sides of the front end of the box body; a control circuit is arranged in the box body, the signal input end of the control circuit is connected with the middle sensor and the angle sensor, and the signal output end of the control circuit is respectively connected with the two driving motors.

[0005] Further, the control circuit includes a control chip and a motor drive chip, the seventh pin of the control chip is connected with the TRIG pin of the first connector U2, the sixth pin of the control chip is connected with the ECHO pin of the first connector U2; the fifth pin of the control chip is connected with the TRIG pin of the second connector U1, the fourth pin of the control chip is connected with the ECHO pin of the second connector U1; the third pin of the control chip is connected with the TRIG pin of the third connector U0, the second pin of the control chip is connected with the ECHO pin of the third connector U0; the twenty-first pin of the control chip is connected with the TRIG pin of the fourth connector U3, the twentieth pin of the control chip is connected with the ECHO pin of the fourth connector U3; the nineteenth pin of the control chip is connected with the TRIG pin of the fifth connector U4, the eighteenth pin of the control chip is connected with the ECHO pin of the fifth connector U4; the seventeenth pin of the control chip is connected with the TRIG pin of the sixth connector U5, the sixteenth pin of the control chip is connected with the ECHO pin of the sixth connector U5; the VCC pins of the first connector U2, the second connector U1, the third connector U0, the fourth connector U3, the fifth connector U4 and the sixth connector U5 are connected with the positive pole of the power supply arranged in the box body, the GND pins of the first connector U2, the second connector U1, the third connector U0, the fourth connector U3, the fifth connector U4 and the sixth connector U5 are connected with the negative pole of the power supply; the +5V pin of the control chip is connected with the positive pole of the power supply, the GND pin of the control chip is connected with the negative pole of the power supply; the VM1 pin of the motor drive chip is connected with the twenty-seventh pin of the control chip; the PWMA pin of the motor drive chip is connected with the eighth pin of the control chip; the AIN2 pin of the motor drive chip is connected with the twenty-ninth pin of the control chip, the AIN1 pin of the motor drive chip is connected with the thirty-first pin of the control chip; the VCC pin of the motor drive chip is connected with the positive pole of the power supply; the STBY pin of the motor drive chip is connected with the thirty-third pin of the control chip; the GND pin of the motor drive chip is connected with the negative pole of the power supply; the BIN1 pin of the motor drive chip is connected with the thirty-fifth pin of the control chip; the BIN2 pin of the motor drive chip is connected with the thirty-seventh pin of the control chip; the PWMB pin of the motor drive chip is connected with the tenth pin of the control chip; the two AO1 pins of the motor drive chip are respectively connected with two ends of one of the driving motors at the bottom end of the box body; the two BO1 pins of the motor drive chip are respectively connected with two ends of the other driving motor at the bottom end of the box body.

[0006] Further, the control circuit further comprises a two-way switch, a first pin of the two-way switch is connected with the twenty-fifth pin of the control chip, a third pin of the two-way switch is connected with the twenty-third pin of the control chip, and a second pin of the two-way switch is connected with the negative pole of the power supply.

[0007] Further, the corner sensor is arranged in an inclined manner, and an included angle between an axis of the corner sensor and a perpendicular line of the front end surface of the box body is 30°-45°.

[0008] Further, the front end surface of the box body is fixedly connected with a mounting plate at the bottom, and the mounting plate is fixedly connected with a ground detection sensor at the bottom end, the ground detection sensor is arranged towards the ground to detect the height of the ground in front of the box body.

[0009] Further, the middle sensor, the corner sensor and the ground detection sensor are all arranged in two, and the two middle sensors, the two corner sensors and the two ground detection sensors are connected with the first connector U2, the second connector U1, the third connector U0, the fourth connector U3, the fifth connector U4 and the sixth connector U5 respectively.

[0010] Further, the middle sensor, the corner sensor and the ground detection sensor are all ultrasonic sensors.

[0011] Further, the front end surface of the box body and the rear end surface of the box body are both provided with the middle sensor, the corner sensor and the ground detection sensor, and the middle sensor, the corner sensor and the ground detection sensor are started according to the walking direction of the box body.

[0012] Further, the control chip is connected with a Bluetooth module, a GPS module and an alarm module, and the GPS module and the alarm module are wirelessly connected with a mobile phone through the Bluetooth module.

[0013] A use method of a following type luggage, comprising the following steps: S1, placing the walking wheels at the bottom end of the box body on the ground; S2, the middle sensor and the corner sensor realize tracking and positioning of the human body of a user by using a triangular echo positioning technology and transmit the position data of the user to the control chip; S3, the control chip analyzes the walking and turning actions of the box body according to the position data of the user, and sends a driving instruction to the motor driving chip according to the judgment result, the motor driving chip controls the two driving motors to work according to the driving instruction, the driving motors drive the driving wheels to walk, and the walking following effect of the box body is realized; S4, in the process of walking following of the box body, the middle sensor in the middle of the box body detects the distance of the direction of the box body, so as to avoid collision with obstacles in the process of the box body walking; when the middle sensor detects that the distance between the front obstacle and the box body is less than the preset safety distance, the driving motor is controlled to stop working through the control chip and the motor driving chip; S5, in the process of walking following of the box body, the corner sensor on the two side edges of the box body expands the walking visual angle detection range of the box body by using the cross recognition technology, so as to avoid collision with obstacles when the box body turns; when the corner sensor detects that the distance between the obstacle at the turning position of the box body and the box body is less than the preset safety distance, the driving motor is controlled to stop working through the control chip and the motor driving chip; S6, in the process of walking following of the box body, the ground detection sensor on the box body detects the ground height of the direction of the box body, so as to avoid the phenomenon of falling when the box body encounters steps or pothole areas in the process of walking; when the ground detection sensor detects that the ground height of the direction of the box body is greater than the preset safety height, the driving motor is controlled to stop working through the control chip and the motor driving chip; S7, when the driving motor stops working, the control chip positions the position of the box body through the GPS module; and alarms the user's mobile phone and sends the positioning information of the box body through the alarm module and the Bluetooth module.

[0014] Compared with the prior art, the luggage case has the advantages and positive effects that: When the luggage case in the application is used, the middle sensor arranged in the middle of the front end of the box body detects the distance of the front obstacle, the corner sensor on the two side edges of the front end of the box body detects the distance of the obstacle at the turning position, so as to avoid the condition that the luggage case collides with obstacles in the following process, and ensure that the following action of the luggage case is stable; and the ground detection sensor arranged on the front end of the box body detects the ground height, and immediately stops the following action when the detected height is too high, so as to avoid the condition that the luggage case falls down when encountering pothole areas or stair areas in the following process, effectively improve the automatic following effect of the luggage case, and make a certain contribution to the future development of the following luggage case. BRIEF DESCRIPTION OF DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description only some embodiments of the application, and for those skilled in the art, other drawings can also be obtained without creative labor.

[0016] Figure 1 Structure of the applicationFigure 1 Figure 2 Structure diagram of the present application Figure 2 Figure 3 Circuit structure diagram of the control circuit Figure 4 Principle diagram of the triangular echo positioning Figure 5 Principle diagram of the middle sensor detection Figure 6 Principle diagram of the corner sensor detection Figure 7 Principle diagram of the ground detection sensor detection Figure 8 Logic diagram of the detection signal of the ultrasonic sensor DETAILED DESCRIPTION

[0017] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, any modification, equivalent replacement, improvement, etc. of all other embodiments obtained by those skilled in the art without creative labor should be included in the protection scope of the present application.

[0018] As shown in Figure 1 , Figure 2 The present embodiment discloses a following type luggage, which comprises a box body 1, the bottom end of the box body is provided with walking wheels, the walking wheels comprise two driving wheels 6 symmetrically arranged at the bottom of the front end of the box body and two unpowered wheels 7 symmetrically arranged at the bottom of the rear end of the box body, the bottom end of the box body 1 is fixedly connected with two driving motors 8, the two driving motors 8 are correspondingly arranged with the two driving wheels 6, and the driving motor 8 is in transmission connection with the corresponding driving wheel 6; the two unpowered wheels 7 are rotatably connected with the bottom end of the box body 1; the front side of the box body 1 is provided with a middle sensor 2 and a corner sensor 3, the middle sensor 2 is fixedly connected in the middle of the front end face of the box body 1, the corner sensor 3 is arranged at least in two, and the two corner sensors 3 are fixedly connected on the edges on the two sides of the front end of the box body 1, the corner sensor 3 is arranged in an inclined manner, and the included angle between the axis of the corner sensor 3 and the perpendicular line of the front end face of the box body 1 is 30°. The bottom of the front end face of the box body 1 is fixedly connected with a mounting plate 4, the bottom end of the mounting plate 4 is fixedly connected with a ground detection sensor 5, and the ground detection sensor 5 is arranged towards the ground to detect the height of the ground in front of the box body 1.

[0019] ​​A control circuit is provided in the box 1 , a signal input end of the control circuit is connected to the center sensor 2 , the rotation angle sensor 3 , and the ground detection sensor 5 , and a signal output end of the control circuit is connected to two drive motors 8 respectively.

[0020] like Figure 3 As shown, the control circuit includes a control chip, a motor drive chip, and a two-way switch. The seventh pin of the control chip is connected to the TRIG pin of the first connector U2, and the sixth pin of the control chip is connected to the ECHO pin of the first connector U2; the fifth pin of the control chip is connected to the TRIG pin of the second connector U1, and the fourth pin of the control chip is connected to the ECHO pin of the second connector U1; the third pin of the control chip is connected to the TRIG pin of the third connector U0, and the second pin of the control chip is connected to the ECHO pin of the third connector U0; the twenty-first pin of the control chip is connected to the TRIG pin of the fourth connector U3, and the twentieth pin of the control chip is connected to the ECHO pin of the fourth connector U3; the nineteenth pin of the control chip is connected to the TRIG pin of the fifth connector U4, and the control chip The eighteenth pin is connected to the ECHO pin of the fifth connector U4; the seventeenth pin of the control chip is connected to the TRIG pin of the sixth connector U5, and the sixteenth pin of the control chip is connected to the ECHO pin of the sixth connector U5; the VCC pins of the first connector U2, the second connector U1, the third connector U0, the fourth connector U3, the fifth connector U4, and the sixth connector U5 are all connected to the positive pole of the power supply provided in the box, and the GND pins of the first connector U2, the second connector U1, the third connector U0, the fourth connector U3, the fifth connector U4, and the sixth connector U5 are all connected to the negative pole of the power supply; the +5V pin of the control chip is connected to the positive pole of the power supply, and the GND pin of the control chip is connected to the negative pole of the power supply; the VM1 pin of the motor drive chip is connected to the twenty-seventh pin of the control chip; The PWMA pin of the motor drive chip is connected with the eighth pin of the control chip; the AIN2 pin of the motor drive chip is connected with the twenty-ninth pin of the control chip, and the AIN1 pin of the motor drive chip is connected with the thirty-first pin of the control chip; the VCC pin of the motor drive chip is connected with the positive pole of the power supply; the STBY pin of the motor drive chip is connected with the thirty-third pin of the control chip; the GND pin of the motor drive chip is connected with the negative pole of the power supply; the BIN1 pin of the motor drive chip is connected with the thirty-fifth pin of the control chip; the BIN2 pin of the motor drive chip is connected with the thirty-seventh pin of the control chip; the PWMB pin of the motor drive chip is connected with the tenth pin of the control chip; the two AO1 pins of the motor drive chip are respectively connected with two ends of one driving motor at the bottom end of the box body; the two BO1 pins of the motor drive chip are respectively connected with two ends of the other driving motor at the bottom end of the box body. The first pin of the double-way switch is connected with the twenty-fifth pin of the control chip, the third pin of the double-way switch is connected with the twenty-third pin of the control chip, and the second pin of the double-way switch is connected with the negative pole of the power supply.

[0021] The middle sensor, the corner sensor and the ground detection sensor are all ultrasonic sensors; the middle sensor, the corner sensor and the ground detection sensor are all provided with two, and the two middle sensors, the two corner sensors and the two ground detection sensors are respectively connected with the first connector U2, the second connector U1, the third connector U0, the fourth connector U3, the fifth connector U4 and the sixth connector U5.

[0022] The two corner sensors and the one middle sensor can form a triangular echo positioning structure, which can effectively realize the obstacle detection of the advancing direction of the luggage box; a principle diagram of the triangular echo positioning is as shown in Figure 4 The middle sensor is mainly used for detecting the obstacle distance in front of the luggage box, and it performs high-frequency scanning through ultrasonic waves, real-time positioning of the target, and adds a safety distance to ensure that the external obstacles affect the sensor; a detection principle diagram thereof is as shown in Figure 5 The corner sensor is mainly used for detecting the obstacle distance on both sides of the advancing direction of the luggage box, and it is used as a bidirectional compensation sensor, the corner sensor uses a longitudinal ultrasonic echo module and adds a weight system, and it can monitor the target turning without being affected by the obstacles; a detection principle diagram thereof is as shown in Figure 6 The ground detection sensor also uses an ultrasonic sensor, which detects the distance to the ground at all times to deal with sudden situations; a detection principle diagram thereof is as shown in Figure 7 ​​​​The working logic of the ultrasonic sensor is as shown in Figure 8 The ultrasonic sensor detects the distance by echo positioning. By transmitting a 10ns TTL level signal at the signal transmitting end Trig, the internal single-chip microcomputer automatically sends 8 40MHz ultrasonic signals and automatically starts detecting the echo. The detection distance is calculated by the echo level bandwidth, and is sent to the central single-chip microcomputer for logic combination.

[0023] Performance indicators of the ultrasonic sensor: Following speed range: 0.1~5m / s (error <0.3m / s) Response delay <112ms (industry average 200ms) Priority recognition logic of multiple ultrasonic sensors in the luggage case: (1) Middle sensor: It has the highest priority in the following system. This sensor will lock the logic control of the remaining sensors when it is working, and control the driving motor to move straight. In addition, this sensor also has high-frequency scanning and safety distance. The former will constantly scan the distance from the target and react in the first time, and the latter is to prevent the target from leaving the detection area to avoid losing the target.

[0024] (2) Corner sensor: This sensor array is used to detect target turning, and adds priority operation and nearest distance detection based on basic ranging to deal with unnecessary impact caused by too fast speed.

[0025] The device realizes efficient sensing and precise control of the environment around the luggage case through intelligent sensor cooperative control algorithm. Compared with traditional solutions, this technology not only improves the sampling accuracy, but also reduces the power consumption, thereby prolonging the service life of the product. In addition, the intelligent sensor cooperative control algorithm can process sensor data in real time, ensuring that the luggage case can operate stably in various complex environments.

[0026] The device adopts a unique three-section sensing architecture, including front, middle and rear sensors. This architecture can realize linear sampling, that is, continuous and accurate detection of obstacles on the travel path of the luggage case. At the same time, the three-section sensing architecture can also measure the moving speed of the host, ensuring that the luggage case can automatically adjust the following speed according to the travel speed of the host, improving the convenience and safety of use.

[0027] ​In order to overcome the limitations of traditional dual sensors in following identification accuracy, the device uses multiple ultrasonic sensors to form a matrix, building a comprehensive and multi-dimensional perception network. This design can perform three-dimensional scanning on target objects, greatly increasing the identification accuracy. In terms of obstacle avoidance, the system can intelligently judge and avoid obstacles according to the type and action of the obstacle, such as the swing of a walking pedestrian, low obstacles, etc., ensuring that the luggage can follow stably in complex environments.

[0028] Considering the diversification of usage scenarios, the device adds an ultrasonic road condition recognition function. The system can automatically identify special scenarios such as stairs and steep slopes, avoiding false following of the device. This function not only improves safety, but also enhances the adaptability of the product, allowing users to enjoy a convenient travel experience in different road conditions.

[0029] The power system of the device uses a boost and stabilization circuit, which can provide a significant power boost to the motor during climbing and high load stages. The boost circuit can increase the motor's explosive power, while the stabilization circuit can stabilize the voltage output, ensuring that the drive motor can still output power at full power even when the battery voltage decays. In addition, the product is equipped with a 120Wh high-density lithium battery, providing strong endurance.

[0030] In order to meet the needs of users who travel for a long time, the device adds a fast charging function, with a full charge endurance of up to 5 hours and a depletion to full charge of only one hour. In addition, the device can also introduce kinetic energy recovery technology, that is, when the battery is depleted, the user can pull the luggage to charge the battery. This technology not only improves the endurance of the product, but also reduces the user's dependence on charging equipment. In addition, a separate power supply port is also introduced to the battery end, which can charge the entire machine through a power bank, further expanding the endurance mileage.

[0031] In order to facilitate users to charge their electronic devices at any time, the device can also add many practical additional functions, such as wireless charging and wired flash charging functions. Users can charge their phones, earphones and other devices that support wireless charging through the wireless charging area of the luggage, or provide fast charging for other devices through the wired interface. This function not only improves the practicality of the luggage, but also enhances the convenience of users' travel.

[0032] In order to ensure the safety of the luggage, the device adds a Bluetooth alarm and positioning function. When in use, Bluetooth will automatically search and connect the mobile phone, when the luggage is out of the Bluetooth connection range, the mobile phone app and the luggage buzzer will alarm at the same time, reminding the owner; at the same time, the system will automatically locate and upload to the app, so as to query the lost position. In addition, the app side also adds a lost record function, the user can check the lost record at any time. This function effectively solves the problem of easy confusion and easy loss of the luggage, and improves the user experience.

[0033] Considering the use habit of the user, the middle sensor, the corner sensor and the ground detection sensor can be arranged on the front end face of the box body and the rear end face of the box body, and the front and rear direction following sensors are arranged on the front and rear end faces of the luggage, so that the user can adjust the following direction at will according to the use habit.

[0034] In addition, the product is controlled by ultrasonic wave to provide following command and realize following by logical control. The product can realize basic functions in the use process, but the single ultrasonic type sensor cannot avoid strong noise interference, and the infrared sensor or laser radar can be additionally arranged to assist, so that better effect can be achieved.

[0035] The product collects information by ultrasonic wave, and can complete real-time following at night or even in lightless environment, so that the use scene is greatly expanded. The ultrasonic sensor is an obstacle scanning realized by using sound wave signal as sensing medium and detecting echo. In actual use, in a low temperature environment, there can be an error of 3-5 cm. The sound wave can be affected by the environmental temperature in the natural environment. The temperature sensing sensor can be arranged in the hardware circuit to detect the temperature, and the information read by the software layer is corrected according to the influence of the environmental temperature on the sound speed, and the average value function is added to increase the precision.

[0036] The application further discloses a use method of the following luggage, which comprises the following steps: S1, placing the walking wheels at the bottom end of the box body on the ground; S2, the middle sensor and the corner sensor realize tracking and positioning of the user's body by using the triangular echo positioning technology and transmit the position data of the user to the control chip; S3, the control chip analyzes the walking and turning actions of the box body according to the position data of the user, and sends a driving instruction to the motor driving chip according to the judgment result, the motor driving chip controls the two driving motors to work according to the driving instruction, the driving motor drives the driving wheels to walk, and the walking following effect of the box body is realized; S4. During the process of following the box, the middle sensor in the middle of the box detects the distance in the direction of the box's travel to avoid collision with obstacles. When the middle sensor detects that the distance between the obstacle in front of the box and the box is less than the preset safety distance, the control chip and the motor drive chip control the drive motor to stop working. S5. During the process of following the box, the corner sensors on the edges of the box's sides use cross recognition technology to expand the detection range of the box's walking angle of view to avoid collision with obstacles when the box is turning. When the corner sensor detects that the distance between the obstacle at the turning position of the box and the box is less than the preset safety distance, the control chip and the motor drive chip control the drive motor to stop working. S6. During the process of following the box, the ground detection sensor on the box detects the ground height in the direction of the box's travel to avoid the box from falling when encountering steps or pothole areas. When the ground detection sensor detects that the ground height in the direction of the box's travel is greater than the preset safety height, the control chip and the motor drive chip control the drive motor to stop working. S7. When the drive motor stops working, the control chip locates the position of the box through the GPS module, and sends an alarm to the user's phone through the alarm module and Bluetooth module and sends the positioning information of the box.

[0037] To verify the performance of the product, we conducted a series of actual tests. The test results show that compared with traditional following luggage, the product has significantly improved in recognition accuracy, obstacle avoidance ability, endurance, safety, etc. Some test data is as follows: Recognition accuracy: In complex environments, the recognition accuracy of the product is above 95%, much higher than the 80% of traditional products.

[0038] Obstacle avoidance ability: In various obstacle scenarios, the product can stably avoid obstacles, with a mis-following rate of less than 5%.

[0039] Endurance: In full power state, the product can run continuously for 5 hours, and the fast charging function can fully charge in 1 hour.

[0040] Safety: The Bluetooth alarm and positioning function performed well in actual tests, and can timely remind users and accurately locate when the luggage is lost.

[0041] Portability: The addition of bidirectional sensors ensures that users can use it according to their habits, and the product is extremely easy to use, making it convenient for users to use.

[0042] The luggage in the application realizes the significant improvement in the aspects of identification accuracy, obstacle avoidance ability, endurance, safety and the like by adopting the innovative adaptive sampling technology, intelligent sensor cooperative control algorithm, three-stage sensing architecture, omni-directional ultrasonic sensor matrix, ultrasonic road condition identification function, double ultrasonic identification function, boost voltage stabilizing circuit, high-density lithium battery, kinetic energy recovery technology, logic algorithm, software compensation function, Bluetooth alarm and positioning function, and wireless charging and wired flash charging function. Actual test data shows that the product can meet the high requirement of scene identification following demand, and provides convenient, safe and intelligent travel experience for users.

[0043] The elements adopted by the product can be purchased on the market, and the element cost is relatively low. The product assembly is very simple, and can meet the real-time following of the luggage in most scenes. And through continuous scanning and high-frequency scanning, external interference is greatly avoided, effectively solving the problem of easy loss of signal at night in the current luggage pure visual scheme, further improving the use effect of the luggage.

Claims

1. A follow-on luggage case, comprising a case body, the bottom of which is provided with running wheels, characterized in that: The walking wheels include two driving wheels symmetrically arranged at the bottom of the front end of the box and two unpowered wheels symmetrically arranged at the bottom of the rear end of the box. Two driving motors are fixedly connected to the bottom end of the box. The two driving motors are arranged corresponding to the two driving wheels, and the driving motors are transmission-connected to the corresponding driving wheels; the two unpowered wheels are rotatably connected to the bottom end of the box; a center sensor and an angle sensor are provided on the front side of the box, and the center sensor is fixedly arranged in the middle of the front end face of the box. There are at least two angle sensors, and the two angle sensors are respectively fixed on the edges on both sides of the front end of the box; a control circuit is provided in the box, and the signal input end of the control circuit is connected to the center sensor and the angle sensor, and the signal output end of the control circuit is respectively connected to the two driving motors.

2. The follow-on luggage as claimed in claim 1, characterized in that: The control circuit includes a control chip and a motor drive chip. The seventh pin of the control chip is connected to the TRIG pin of the first connector U2, and the sixth pin of the control chip is connected to the ECHO pin of the first connector U2; the fifth pin of the control chip is connected to the TRIG pin of the second connector U1, and the fourth pin of the control chip is connected to the ECHO pin of the second connector U1; the third pin of the control chip is connected to the TRIG pin of the third connector U0, and the second pin of the control chip is connected to the ECHO pin of the third connector U0; the twenty-first pin of the control chip is connected to the TRIG pin of the fourth connector U3, and the second pin of the control chip is connected to the ECHO pin of the third connector U0; The tenth pin of the control chip is connected to the ECHO pin of the fourth connector U3; the nineteenth pin of the control chip is connected to the TRIG pin of the fifth connector U4, and the eighteenth pin of the control chip is connected to the ECHO pin of the fifth connector U4; the seventeenth pin of the control chip is connected to the TRIG pin of the sixth connector U5, and the sixteenth pin of the control chip is connected to the ECHO pin of the sixth connector U5; the VCC pins of the first connector U2, the second connector U1, the third connector U0, the fourth connector U3, the fifth connector U4, and the sixth connector U5 are all connected to the positive pole of the power supply set in the box, and the first connector U2, the second connector U1 The GND pins of the third connector U0, the fourth connector U3, the fifth connector U4, and the sixth connector U5 are all connected to the negative pole of the power supply; the +5V pin of the control chip is connected to the positive pole of the power supply, and the GND pin of the control chip is connected to the negative pole of the power supply; the VM1 pin of the motor drive chip is connected to the twenty-seventh pin of the control chip; the PWMA pin of the motor drive chip is connected to the eighth pin of the control chip; the AIN2 pin of the motor drive chip is connected to the twenty-ninth pin of the control chip, and the AIN1 pin of the motor drive chip is connected to the thirty-first pin of the control chip; the VCC pin of the motor drive chip is connected to the power supply. The positive pole of the power source is connected; the STBY pin of the motor driver chip is connected to the thirty-third pin of the control chip; the GND pin of the motor driver chip is connected to the negative pole of the power supply; the BIN1 pin of the motor driver chip is connected to the thirty-fifth pin of the control chip; the BIN2 pin of the motor driver chip is connected to the thirty-seventh pin of the control chip; the PWMB pin of the motor driver chip is connected to the tenth pin of the control chip; the two AO1 pins of the motor driver chip are respectively connected to the two ends of one of the drive motors at the bottom of the box; the two BO1 pins of the motor driver chip are respectively connected to the two ends of the other drive motor at the bottom of the box.

3. The follow-on luggage as claimed in claim 2, characterized in that: The control circuit also includes a two-way switch, a first pin of the two-way switch is connected to the twenty-fifth pin of the control chip, a third pin of the two-way switch is connected to the twenty-third pin of the control chip, and a second pin of the two-way switch is connected to the negative pole of the power supply.

4. The follow-on luggage as claimed in claim 3, characterized in that: The rotation angle sensor is arranged in an inclined shape, and the angle between the axis of the rotation angle sensor and the vertical line of the front end surface of the box body is 30°~45°.

5. The follow-on luggage as claimed in claim 4, characterized in that: The bottom of the front end surface of the box body is fixedly connected with a mounting plate, and the bottom end of the mounting plate is fixedly connected with a ground detection sensor. The ground detection sensor is arranged toward the ground to detect the height of the ground at the front end of the box body.

6. The follow-on luggage as claimed in claim 5, characterized in that: There are two central sensors, two angle sensors, and two ground detection sensors, which are respectively connected to the first connector U2, the second connector U1, the third connector U0, the fourth connector U3, the fifth connector U4, and the sixth connector U5.

7. The follow-on luggage as claimed in claim 6, characterized in that: The center sensor, the rotation angle sensor, and the ground detection sensor are all ultrasonic sensors.

8. The follow-on luggage as claimed in claim 7, characterized in that: The front end face and the rear end face of the box are both provided with a center sensor, an angle sensor, and a ground detection sensor, which are activated according to the walking direction of the box.

9. The follow-on luggage as claimed in claim 8, characterized in that: The control chip is connected to a Bluetooth module, a GPS module, and an alarm module. The GPS module and the alarm module are both wirelessly connected to the mobile phone via the Bluetooth module.

10. A method for using the follow-on luggage as claimed in claim 9, characterized in that: The following steps are involved: S1. Place the running wheels at the bottom of the box on the ground; S2, the center sensor, and the corner sensor use triangular echolocation technology to track and locate the user's body and transmit the user's position data to the control chip; S3. The control chip analyzes the walking and turning movements of the box according to the user's position data, and sends a driving instruction to the motor driver chip based on the judgment result. The motor driver chip controls the two drive motors to work according to the drive instruction. The drive motor drives the drive wheel to move, realizing the walking and following effect of the box; S4. During the box's movement and following, the central sensor in the middle of the box detects the distance in the box's direction of travel to prevent the box from colliding with obstacles. When the central sensor detects that the distance between the obstacle in front and the box is less than the preset safety distance, the control chip and the motor driver chip control the drive motor to stop working. S5. During the box's movement and following, the angle sensors on both sides of the box use cross-recognition technology to expand the box's walking angle detection range to prevent collisions with obstacles when the box is turning. When the angle sensor detects that the distance between the obstacle at the box's turning position and the box is less than the preset safety distance, the control chip and the motor driver chip control the drive motor to stop working. S6. When the box is moving and following, the ground detection sensor on the box detects the ground height in the direction of the box's movement to prevent the box from tipping over when it encounters steps or potholes. When the ground detection sensor detects that the ground height in the direction of the box's movement is greater than the preset safety height, the control chip and the motor driver chip control the drive motor to stop working; S7. When the driving motor stops working, the control chip locates the position of the box through the GPS module; and sends an alarm to the user's mobile phone through the alarm module and Bluetooth module and sends the location information of the box.

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