Box body with mechanical legs

Abstract

The utility model relates to a box body with mechanical legs, which comprises a box body used for accommodating articles. The mechanical leg assembly comprises two pairs of mechanical legs which are arranged front and back, and the mechanical legs are connected with the box body; a battery module; the control module is electrically connected with the battery module and the mechanical legs; the mechanical legs are located on the two sides of the box body or below the box body. The box body with the mechanical legs has the following advantages that the mechanical legs can be controlled by the control module to walk like a quadruped animal, movement of the box body is achieved, the walking mode has low requirements for the road surface, and the box body can adapt to pothole terrains and can span a certain height; and the capability of crossing a threshold and a stair can be effectively improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to box technology field especially a box with mechanical leg. BACKGROUND

[0002] The luggage is a daily necessity for people to carry articles when going out, and the existing luggage includes a box body, a pull rod and a roller. The user drags or pushes the luggage to move through the pull rod. However, if a large amount of articles are placed in the luggage or the user drags the luggage for a long time during use, a lot of physical strength of the user is consumed.

[0003] In the prior art, the electric luggage includes a box body, a steering device installed on the front side of the box body, a steering wheel installed on the steering device, a battery, a power wheel, a controller for controlling the rotation of the power wheel, and a control device installed on the steering device and connected with the controller. The user rides on the box body and rides the electric luggage by operating the control device, which can save the physical strength of the user. However, such electric luggage is still limited by the wheel body connected with the box body, and it is difficult to pass through the threshold or the stairs which have a height. SUMMARY

[0004] An object of the present application is to provide a box with mechanical legs, which has good passing performance.

[0005] The technical scheme adopted by the present application is as follows: a box with mechanical legs, comprising a box body for containing articles, a mechanical leg assembly, a battery module and a control module, the mechanical leg assembly comprising two pairs of front and rear arranged mechanical legs, the mechanical legs being connected with the box body, the mechanical legs being located on both sides of the box body or below the box body, and the control module being electrically connected with the battery module and the mechanical legs respectively.

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

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

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

[0009] Further, the pulley is located at the end of the mechanical leg, the middle of the mechanical leg or the lower part of the mechanical leg.

[0010] In some embodiments of the present application, the mechanical leg is foldable; in the unfolded state of the mechanical leg, the mechanical leg forms a four-legged support; in the folded state of the mechanical leg, the mechanical leg is folded towards the box body.

[0011] Further, at least one pair of suitcase rollers or supporting blocks is arranged on the box body and located on the side adjacent to the mechanical legs; at least one pair of pulleys is arranged on the mechanical legs, and the suitcase rollers or supporting blocks and the pulleys form a four-legged support in the folded state of the mechanical legs with the pulleys.

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

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

[0014] In some embodiments of the present application, a detection module is further included, the detection module is used for detecting the forward path and / or the backward path of the box body; the detection module comprises a radar and / or a visual detection device; a posture sensing module is further included, the posture sensing module is used for detecting the posture of the box body.

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

[0016] The box body with mechanical legs obtained by the present application has the following advantages: 1. The mechanical legs can effectively improve the crossing ability of the door sill and the stairs, in use, the control module controls the mechanical legs to walk like a quadruped, thereby realizing the movement of the box body, this walking mode has low requirements for the road surface and can adapt to the uneven terrain and cross a certain height; 2. Through the detection of the road, the crossing of the mechanical legs to the door sill, the stairs and the like can be automatically controlled, and the obstacles can be timely avoided; 3. The battery is detachable, which is convenient for replacing the battery to prolong the endurance, and the battery can also be taken off and taken on the airplane.

[0017] A navigation control method of a box body with mechanical legs, comprising a communication module, a detection module, a satellite navigation module and the above-mentioned box body with mechanical legs, a control module is electrically connected with the communication module, the detection module and the satellite navigation module, the communication module is used for data communication with a server and / or a smart device, and the satellite navigation module is used for positioning by receiving satellite signals; the control module is provided with a leading mode and / or a following mode; in the leading mode, the control method comprises the following steps: S0, positioning by receiving satellite signals through the satellite navigation module; S3, receiving a destination instruction issued by a user and planning a route to the specified position of the user; S4, moving according to the route to the destination; in the following mode, the detection module identifies the user, and the control module controls the movement following the user.

[0018] In some embodiments of the present application, after step S0, step S1 is further included, which is scanning the surrounding environment by the detection module to construct a spatial map; after step S1, step S2 is further included, which is that the detection module identifies the characteristic objects in the surrounding environment and locates them.

[0019] In some embodiments of the present application, a voice module is further included, in the following mode, after receiving the destination instruction issued by the user and planning the route, if the user deviates, the voice module is used to play voice to remind.

[0020] In some embodiments of the present application, in the navigation mode, the box leads the user, the detection module detects the position of the user, if the user deviates, the box follows the user and re-plans the route to the destination.

[0021] Further, in step S2, when in the indoor environment, the detection module identifies the characteristic objects in the surrounding environment in real time, and calculates the current accurate position by combining the image processing algorithm.

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

[0023] The navigation control method of the box with mechanical legs has the following advantages: the box can lead the user to move to the destination; by converting the environmental data into a three-dimensional model, the three-dimensional model can not only help understand the spatial structure, but also help the user avoid the blocked area or select a more flat path by analyzing the layout of the obstacles.

[0024] A voice interactive control method of a box with mechanical legs, comprising a communication module, a voice module, a detection module and the box with mechanical legs described above, the control module is electrically connected with the communication module and the detection module, the communication module is used for data communication with the server and / or intelligent device; the detection module comprises a microphone, which is used for detecting the volume of environmental noise; the voice interactive control method comprises the following steps: detecting the environmental noise by the microphone, if the environmental noise is less than a preset volume value, playing voice by the voice module for interaction; if the environmental noise is greater than or equal to the preset volume value, connecting the Bluetooth earphone for voice interaction through the communication module.

[0025] In some embodiments of the present application, the control module presets a plurality of different volume zones; in the state of playing voice, the microphone detects the volume of the environmental noise and transmits the volume to the control module, the control module matches the volume of the environmental noise with the volume zones and selects the matching volume zone from the plurality of preset volume zones, and then controls the volume of the voice played by the voice module according to the matching volume zone.

[0026] The voice interaction control method of the box body with the mechanical leg has the following advantages: in a noisy environment, such as a street, a shopping mall, a public transportation tool and the like, the voice interaction control method can automatically switch to an earphone mode, and voice interaction through a Bluetooth earphone can avoid interference of environmental noise. BRIEF DESCRIPTION OF DRAWINGS

[0027] Figure 1 is a structure schematic diagram of the embodiment 1 of the utility model Figure 1 ;

[0028] Figure 2 is a structure schematic diagram of the embodiment 1 of the utility model Figure 2 ;

[0029] Figure 3 is a structure schematic diagram of the mechanical leg of the embodiment 1 of the utility model

[0030] Figure 4 is a structure schematic diagram of the embodiment 1 of the utility model Figure 3 ;

[0031] Figure 5 is a structure schematic diagram of the embodiment 2 of the utility model

[0032] Figure 6 is a structure schematic diagram of the embodiment 3 of the utility model Figure 1 ;

[0033] Figure 7 is a structure schematic diagram of the embodiment 3 of the utility model Figure 2 ;

[0034] Figure 8 is a structure schematic diagram of the embodiment 3 of the utility model Figure 3 ;

[0035] Figure 9 is a structure schematic diagram of the embodiment 4 of the utility model

[0036] Figure 10 is a structure schematic diagram of the box body of the embodiment 4 of the utility model

[0037] Figure 11 is a structure schematic diagram of the embodiment 4 of the utility model

[0038] Figure 12 is a structure schematic diagram of the embodiment 5 of the utility model

[0039] Figure 13 is a structure schematic diagram of the embodiment 5 of the utility model

[0040] In the figure: 1, box body; 2, mechanical leg assembly; 3, mechanical leg; 4, pulley; 5, brake; 6, driving piece; 7, luggage roller; 8, connecting frame; 9, radar; 10, visual detection device; 11, support block; 12, component box; 13, storage box; 14, first driving device; 15, second driving device; 16, thigh unit; 17, calf unit; 18, third driving device; 19, embedding groove; 20, embedding plate; 21, first magnetic attraction piece; 22, second magnetic attraction piece; 23, mounting groove; 24, battery; 25, storage groove; 26, rotating unit. DETAILED DESCRIPTION

[0041] In order to further illustrate the technical means and effects adopted by the utility model to achieve the predetermined utility model purposes, the specific embodiments, structures, features and effects according to the utility model are described in detail as follows in combination with the drawings and preferred embodiments.

[0042] Embodiment 1

[0043] The box body with mechanical legs provided in the embodiment comprises a box body 1 for containing articles, a mechanical leg assembly 2, a battery module and a control module, the mechanical leg assembly 2 comprises two pairs of mechanical legs 3 arranged in front and back, the mechanical legs 3 are connected with the box body 1, the mechanical legs 3 are located on both sides of the box body 1, and the control module is electrically connected with the battery module and the mechanical legs 3 respectively. Figure 1 Figure 2 The mechanical legs 3 can effectively improve the crossing ability of the door sill and the stairs, when in use, the control module controls the mechanical legs 3 to walk like a quadruped, thereby realizing the movement of the box body 1, and this walking mode has low requirements on the road surface and can adapt to the uneven terrain and cross a certain height.

[0044] In order to accommodate a small volume, the mechanical legs 3 can be folded; in the unfolded state of the mechanical legs 3, the mechanical legs 3 form quadruped support; in the folded state of the mechanical legs 3, the mechanical legs 3 are folded towards the box body 1. In the embodiment, the unfolding direction of the mechanical legs 3 is away from the side surface of the box body 1 with the largest area, so that the mechanical legs 3 are distributed at the four corners of the box body 1 after unfolding, and the area of the side surface is the largest, so that the distribution distance between the four mechanical legs 3 is large, the overall balance is good, and the anti-toppling ability is strong.

[0045] As shown in

[0046] As shown in Figure 3 ​As shown, the mechanical leg 3 comprises a first driving device 14, a second driving device 15, a thigh unit 16 and a shank unit 17, two ends of the thigh unit 16 are connected with the shank unit 17 and the box body 1 respectively, the first driving device 14 is used for driving the thigh unit 16 to rotate, and the second driving device 15 is used for driving the shank unit 17 to rotate.

[0047] Further comprising a third driving device 18 and a rotating unit 26, the third driving device 18 is used for driving the rotating unit 26 to rotate, and the rotating plane of the rotating unit 26 is perpendicular to the rotating plane of the thigh unit 16.

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

[0049] In this embodiment, the mechanical leg 3 can adopt a domestic open source structure, such as the domestic GhostRobotics Spirit40 robot. The above-mentioned mechanical leg 3 is only a selection, and other existing mechanical legs can also be adopted, such as the mechanical leg of the Boston Dynamics robot dog, the robot integrated joint unit in the Chinese utility model patent No. 201910172037.5 of Hangzhou Yushu Technology Co., Ltd., which will not be described herein.

[0050] The side of the box body 1 facing the mechanical leg 3 is provided with a receiving groove 25 recessed inwardly, and in the folded state of the mechanical leg 3, the mechanical leg 3 is located in the receiving groove 25, that is, in the folded state, the mechanical leg 3 will not exceed the box body 1, the box body 1 is a luggage case, which can ensure the size of the box body, facilitate storage in the luggage storage point, and at the same time, reduce the risk of collision between the mechanical leg 3 and the outside world, and improve the service life of the mechanical leg 3.

[0051] In order to the box body movement can be intelligent, also includes detection module, detection module is used for detecting the forward road and the backward road of the box body 1; the detection module includes radar 9 and visual detection device 10.Radar 9 can adopt laser radar, ultrasonic radar etc.; in the embodiment, radar 9 adopts laser radar, and visual detection device 10 adopts binocular vision.Radar 9 and visual detection device 10 are arranged at the forward side and the backward side of the box body 1 respectively.Through the detection of road, the control module can better control the action of mechanical leg 3, especially the crossing of threshold, stairs and the like, and can avoid obstacles in time.

[0052] Also includes attitude sensing module, attitude sensing module is used for detecting the attitude of the box body 1.Attitude sensing module is electrically connected with the control module.Through the sensing of the attitude of the box body 1, the control module can control the movement of the mechanical leg 3 in real time to maintain the balance of walking and the stability of standing, and the walking and standing are more intelligent, and after being collided, it can also be quickly adjusted to maintain stability, prevent falling, and also can guarantee the safety of the luggage in the box body 1, especially for fragile goods.

[0053] In order to facilitate battery replacement, as shown in Figure 4 The battery module includes a detachable battery 24, and the detachable design between the battery 24 and the box body 1 facilitates the replacement of the battery 24, and the action time of the box body can be prolonged by replacing the battery 24.In the embodiment, the battery 24 adopts a 26000-mA lithium battery, which has large capacity, fast charging speed and can be normally carried on the airplane;the battery 24 is provided with two pieces.

[0054] Embodiment 2:

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

[0056] In use, the control module controls the mechanical leg 3 at the rear side to step back to provide the driving force for forward movement, which is similar to stepping back on the skateboard to make the skateboard move forward, and only needs to limit the friction force received by the pulley 4 at the rear side to be greater than that received by the pulley 4 at the front side, so that this forward movement can be realized.

[0057] Of course, only one pair of mechanical legs 3 can be provided with a pulley 4, and the control module controls the other pair of mechanical legs 3 to step back, which is similar to stepping back on the skateboard to make the skateboard move forward.

[0058] Embodiment 3:

[0059] The box with mechanical legs provided by the embodiment is convenient to stop, as shown in Figure 7 In addition to the features described in embodiment 2, at least one pair of pulleys 4 is provided with a brake 5. In this embodiment, the brake 5 is arranged on the pulley 4 on the front side. The design of the brake 5 can prevent the pulley 4 from rolling, thereby controlling the speed of the box movement, and at the same time, it can realize emergency braking and avoid collision.

[0060] In this embodiment, the pulley 4 is provided with a brake 5, which is a prior art. For example, the Chinese utility model patent No. CN105980166B discloses an electric brake structure of a caster wheel, which will not be described herein.

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

[0062] In this embodiment, the pulley 4 is provided with a driving member 6, which is a prior art. For example, the Chinese utility model patent No. CN209700376U discloses a driving wheel, the Chinese utility model patent No. CN116512894A discloses a driving wheel, the Chinese utility model patent No. CN221188828U discloses a wheel leg structure, a four-wheel robot and a robot, etc., which will not be described herein.

[0063] In order to facilitate installation, the pulley 4 is located at the end of the mechanical leg 3, that is, the pulley 4 is located at the end of the calf unit 17, which is convenient to install, and the control module only needs to calculate the position of the end of the mechanical leg 3 to control the position of the pulley 4, which has a small control difficulty.

[0064] Of course, the pulley 4 can also be located at the middle or lower part of the mechanical leg 3, that is, it can be used to walk like a quadruped animal by using the end of the mechanical leg 3, and it can also be used to move quickly by using the pulley 4. When using the pulley 4, only the angle between the mechanical leg 3 and the ground needs to be controlled to prevent the two ends of the mechanical leg 3 from contacting and rubbing with the ground. At the same time, the contact between the mechanical leg 3 and the ground can also be used as an emergency brake. In the quadruped standing state, the end of the mechanical leg 3 is in contact with the ground, which can play a role in auxiliary support, and the quadruped standing is more stable.

[0065] In order to facilitate the user to drag the box, as shown in Figure 8As shown, a pair of suitcase rollers 7 is arranged on the box body 1, and the suitcase rollers 7 are located on the side of the box body 1 adjacent to the mechanical legs 3. In the folded state of the mechanical legs 3 with pulleys 4, the suitcase rollers 7 form a four-legged support with the pulleys 4. The design of the suitcase rollers 7 can facilitate the user to move the box body. When the user moves the box body by using manpower, the box body 1 can be tilted so that only the suitcase rollers 7 or the pulleys 4 are in contact with the ground. The user can push or pull the box body to save labor. The four-legged support formed by the suitcase rollers 7 and the pulleys 4 can keep the box body 1 stable in the upright state. When the user pushes the box body by using manpower, the pulleys 4 and the suitcase rollers 7 can roll relative to the ground, which facilitates the user to directly push the box body without tilting the box body 1.

[0066] In the state that the user drags the box body and the pulleys 4 are in contact with the ground, the driving member 6 can drive the pulleys 4 to make the dragging of the box body more labor-saving.

[0067] Of course, two pairs of suitcase rollers 7 can also be arranged to provide better support.

[0068] As shown in Figure 6 , at least one pair of support blocks 11 can also be arranged on the box body 1, and the support blocks 11 are located on the side of the box body 1 adjacent to the mechanical legs 3. In the folded state of the mechanical legs 3 with pulleys 4, the support blocks 11 form a four-legged support with the pulleys 4. The design of the support blocks 11 can keep the box body 1 stable in the upright state. When the user moves the box body by using manpower, the box body 1 can be tilted so that only the pulleys 4 are in contact with the ground. The user can push or pull the box body to save labor.

[0069] Embodiment 4:

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

[0071] The side of the box body 1 facing the mechanical legs 3 is provided with an embedded groove 19, and the connecting frame 8 is provided with an embedded plate 20 matched with the embedded groove 19. The embedded groove 19 and the embedded plate 20 cooperate to make the connection between the connecting frame 8 and the box body 1 reliable and facilitate precise positioning and installation of the two.

[0072] The embedded plate 20 is connected with the box body 1 through magnetic attraction, and the two are more convenient to disassemble, specifically, the first magnetic attraction piece 21 is arranged in the embedded groove 19, the second magnetic attraction piece 22 is arranged on the embedded plate 20, and the first magnetic attraction piece 21 cooperates with the second magnetic attraction piece 22. The first magnetic attraction piece 21 and the second magnetic attraction piece 22 are provided with four.

[0073] Embodiment 5:

[0074] The embodiment provides a box body with a mechanical leg, as shown in Figure 12 、 Figure 13 In addition to the features described in embodiment 1 or embodiment 2 or embodiment 3, the mechanical leg 3 is detachably connected with the box body 1.

[0075] In the embodiment, the box body 1 includes a component box 12 and a storage box 13, the storage box 13 is detachably connected with the component box 12, the component box 12 is connected with the mechanical leg 3, and the storage box 13 is used for placing luggage, specifically, the component box 12 is provided with a mounting groove 23, and the storage box 13 is arranged on the mounting groove 23.

[0076] The battery module and the control module are arranged in the component box 12, the protection of the battery module and the control module is good, and the detection module is arranged outside the component box 12. The mechanical leg 3 is detachably connected with the storage box 13 through the component box 12.

[0077] Embodiment 6:

[0078] The embodiment provides a navigation control method of a box body with a mechanical leg, which comprises a communication module, a detection module, a satellite navigation module and the box body with the mechanical leg in any one of embodiments 1-5, a control module is electrically connected with the communication module, the detection module and the satellite navigation module, the communication module is used for data communication with a server and a smart device, and the satellite navigation module is used for positioning by receiving a satellite signal; the detection module comprises a laser radar and a camera; further comprising a smart device, such as a mobile phone, a tablet computer or smart glasses; the control module is provided with a navigation mode and a following mode;

[0079] In the navigation mode, the control method comprises the following steps:

[0080] S0, positioning is performed by receiving a satellite signal through the satellite navigation module;

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

[0082] Specifically, the detection module detects the surrounding environment in real time, and converts the detection data into a three-dimensional model; in this embodiment, a laser radar (LiDAR) technology is used to accurately scan the environment in real time, and generate high-precision point cloud data of the environment. These point cloud data are converted into a 3D model of the indoor environment through a post-processing algorithm (such as SLAM - Simultaneous Localization and Mapping), and laser scanning is also suitable for indoor environments, which can generate fine wall, door, window, furniture and other spatial information for indoor high-precision modeling.

[0083] At the same time, the camera detects and identifies objects, signs, exits, stairs and other features in the environment.

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

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

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

[0087] S3, receiving the destination instruction issued by the user, and planning a route to the specified position of the user;

[0088] Specifically, the camera obtains the image of the surrounding environment, and then generates virtual navigation information in combination with the map and positioning data; in this embodiment, the camera identifies the markers in the surrounding environment in real time, such as different stores and street names, and in combination with the image processing algorithm, the current accurate position can be calculated in real time and accurately, so that the planned navigation route can be calibrated in real time.

[0089] Of course, the camera can also identify specific markers in the environment in real time, such as real-time identification of two-dimensional codes, bar codes or special labels, and in combination with the image processing algorithm, the current accurate position can be calculated in real time and accurately, which is more suitable for indoor positioning and requires artificial arrangement of specific markers in advance.

[0090] S4, moving according to the route to the destination.

[0091] In the navigation mode, the box leads the user and is used to guide the user, the detection module detects the position of the user, and if the user deviates, the box moves with the user and plans a new route to the destination.

[0092] In the state of no user accompanying, the box can be used for point-to-point transportation of files, goods, etc. according to the planned route.

[0093] In the following mode, the detection module identifies the user, and the control module controls the box to follow the user's movement. In this embodiment, the visual detection device 10 or the camera identifies the user through face, clothes, body posture, etc.

[0094] It also includes a voice module. In the following mode, after receiving the destination instruction issued by the user and planning the route, if the user deviates, the voice module will remind through voice.

[0095] By converting environmental data into three-dimensional models for path planning in navigation, these three-dimensional models not only help understand the structure of the space, but also help users avoid blocked areas or choose a more flat path by analyzing the layout of obstacles.

[0096] Through the combination of intelligent devices and augmented reality (AR) technology, real-time visual information and navigation information of the environment are superimposed and displayed, which not only displays the path during navigation, but also marks the nearby points of interest, enhancing the immersive experience of users. The intelligent device obtains environmental images through the camera, and then combines them with map and positioning system data to generate virtual navigation information.

[0097] Through communication with the server and intelligent devices, the positioning of the box can use GSM / GPRS network positioning, or cellular base station positioning. Using the signal strength (RSSI) of the GSM base station and the positioning algorithm, the position can be estimated through the signal difference between multiple base stations. It can also use GPRS network assisted positioning, WiFi positioning technology, and Bluetooth low power (BLE) positioning. The above positioning methods are all prior art and will not be described here.

[0098] Embodiment 7:

[0099] The voice interaction control method of the box with mechanical legs provided in this embodiment includes a communication module, a voice module, a detection module, and any one of the boxes with mechanical legs in embodiments 1-5. The control module is electrically connected with the communication module, the detection module, and the voice module. The communication module is used for data communication with the server and intelligent devices. The detection module includes a microphone for detecting the volume of environmental noise. The voice interaction control method includes: detecting environmental noise through the microphone, if the environmental noise is less than 60dB, then the voice module is used for voice interaction; if the environmental noise is greater than or equal to 60dB, then the communication module is connected with the Bluetooth earphone for voice interaction. In this embodiment, the intelligent device is a Bluetooth earphone; it can also be glasses with voice playing function, etc.

[0100] In a noisy environment, such as streets, shopping malls, public transportation, etc., it can automatically switch to earphone mode, and through Bluetooth earphone voice interaction can avoid environmental noise interference.

[0101] In order to facilitate the control of the appropriate volume, the control module is preset with multiple different volume sound zones; in the state of external voice, the microphone detects the volume of the environmental noise and transmits the volume to the control module, the control module matches the volume of the environmental noise with the sound zone and selects the matching sound zone from the multiple preset sound zones, and then controls the volume of the external voice of the voice module according to the matching sound zone, which can effectively control the size of the playing volume, so that the voice can be heard by the user in the environmental noise, and the surrounding environment will not be affected.

[0102] In the embodiment, the microphone is equipped with multiple component microphone arrays, and the noise level of the surrounding environment is determined through differential acoustic signal processing. The microphone array can capture more accurate environmental sound characteristics, and analyze the noise frequency in the environment through an algorithm. Through a noise detection algorithm (such as a spectrum analysis based on an audio signal), the size and characteristics of the current environmental noise can be monitored in real time, and it can be determined whether the environment is quiet, noisy or has strong background noise.

[0103] The above is only a preferred embodiment of the present application, and does not limit the present application in any form. Although the present application has been disclosed as a preferred embodiment, it is not intended to limit the present application. Any person skilled in the art can make some changes or modifications to the above disclosed technical content without departing from the scope of the present application, and any equivalent embodiments with equivalent changes are equivalent to the above embodiments. Any modification, equivalent change and modification of the above embodiments, which does not deviate from the technical solution of the present application, is still within the scope of the present application.

Claims

1. A case with mechanical legs, characterized by, The box body (1) for containing articles, a mechanical leg assembly (2), a battery module and a control module, the mechanical leg assembly (2) includes two pairs of front and rear mechanical legs (3), the mechanical legs (3) are connected with the box body (1), the mechanical legs (3) are located on both sides of the box body (1) or below the box body (1), and the control module is electrically connected with the battery module and the mechanical legs (3) respectively.

2. A case with mechanical legs according to claim 1, characterized in that: The mechanical legs (3) are foldable; in the unfolded state of the mechanical legs (3), the mechanical legs (3) form quadruped support; in the folded state of the mechanical legs (3), the mechanical legs (3) are folded towards the box body (1).

3. A case with mechanical legs according to claim 2, characterized in that: At least one pair of suitcase rollers (7) or support blocks (11) are arranged on the box body (1), and the suitcase rollers (7) or the support blocks (11) are located on the side of the box body (1) adjacent to the mechanical legs (3); at least one pair of the mechanical legs (3) are provided with pulleys (4), and in the folded state of the mechanical legs (3) with the pulleys (4), the suitcase rollers (7) or the support blocks (11) and the pulleys (4) form quadruped support.

4. The case with mechanical legs according to claim 1, characterized in that: Further comprising a detection module for detecting the forward path and / or the backward path of the box body (1); the detection module comprises a radar (9) and / or a visual detection device (10); further comprising a posture sensing module for detecting the posture of the box body (1).

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

6. The case with mechanical legs according to claim 1, characterized in that: The battery module comprises a detachable battery (24).

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

8. The case with mechanical legs according to claim 1, characterized in that: At least one pair of the mechanical legs (3) are provided with pulleys (4).

9. A case with mechanical legs according to claim 8, characterized in that: The pulleys (4) are located at the ends of the mechanical legs (3), the middle parts of the mechanical legs (3) or the lower parts of the mechanical legs (3).

10. The case with mechanical legs according to claim 8, characterized in that: At least one pair of the pulleys (4) are provided with brakes (5).

11. The case with mechanical legs according to claim 8, characterized in that: At least one pair of the pulleys (4) are provided with driving members (6).

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