# US 10,310,506 B1 · Smart self-driving systems with side follow and obstacle avoidance > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,310,506 B1 - Document ID: US10310506B1 - Status: Granted - Kind: B1 - Application number: 16/046,206 - Filed: 2018-07-26 - Granted: 2019-06-04 - Earliest claimed: 2018-07-20 - Assignees: Lingdong Technology (Beijing) Co. Ltd - Applicants: Lingdong Technology (Beijing) Co. Ltd - Inventors: Ou Qi; Xingyu Lian; Zhaoqiang Chen - Web page: https://patentgrep.com/patent/US10310506B1 ## CPC - G05D 1/24: Arrangements for determining position or orientation - A45C 5/03: Suitcases - A45C 5/14: with built-in rolling means - A45C 13/262: {for wheeled luggage} - A45C 13/28: Combinations of handles with other devices - A45C 15/00: Purses, bags, luggage or other receptacles covered by groups A45C1/00 - A45C11/00, combined with other {objects or} articles (A45C1/08, A45C3/14, {A45C11/321, A45C13/28} take precedence) - G05D 1/00: Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots (drive control systems specially adapted for autonomous road vehicles B60W60/00) - G05D 1/0246: {using a video camera in combination with image processing means} - A45C 2013/267: {the handle being slidable, extractable and lockable in one or more positions} - G05D 1/0242: {using non-visible light signals, e.g. IR or UV signals} - G05D 1/0255: {using acoustic signals, e.g. ultra-sonic singals (sonar systems designed for anti-collision purposes G01S15/93)} - G05D 1/0257: {using a radar (radar systems designed for anti-collision purposes between land vehicles or between land vehicle and fixed obstacles G01S13/931)} - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - A45C: PURSES; LUGGAGE; HAND CARRIED BAGS ## Abstract A smart self-driving system includes a body, such as a piece of luggage, supported by a plurality of wheel assemblies. One or more front proximity sensors are coupled to the body and configured to detect an object moving in a given direction while the body is in a rear follow position behind the object. One or more side proximity sensors are coupled to the body and configured to detect the object moving in the given direction while the body is in a side follow position on the side of the object. ## Claims ### Claim 1 A smart luggage system, comprising: a piece of luggage configured to store items for transport; one or more proximity sensors coupled to the luggage and configured detect an object moving in a given direction while the luggage is in a side follow position next to the object; and a central processing unit coupled to the luggage and configured to receive information from one or more of the proximity sensors to determine the given direction, wherein the central processing unit is configured transition the luggage between a side following mode and a rear following mode, where when in the side following mode the luggage follows along a side of the object in the side follow position while moving in the given direction, and where when in the rear following mode the luggage follows along behind the object in a rear follow position while moving in the given direction, wherein the central processing unit is configured to transition the luggage from the side follow position to the rear follow position based on information received from one or more of the proximity sensors, and wherein the central processing unit is configured to transition the luggage from the rear follow position back to the side follow position after a predetermined amount of time, a predetermined amount of distance, or when instructed by the object moving in the given direction. ### Claim 2 (depends on 1) The system of claim 1, wherein the one or more proximity sensors include side proximity sensors coupled to a right or left side of the luggage. ### Claim 3 (depends on 1) The system of claim 1, further comprising one or more proximity sensors configured detect the object moving in the given direction while the luggage is in the rear follow position behind the object. ### Claim 4 (depends on 3) The system of claim 3, wherein the one or more proximity sensors include front proximity sensors coupled to a front side of the luggage such that the front proximity sensors are facing the object while the luggage is in the rear follow position behind the object. ### Claim 5 (depends on 1) The system of claim 1, wherein the object is a user, wherein the luggage includes a handle to allow the user to push, pull, or lift the luggage, and wherein the one or more proximity sensors include side proximity sensors coupled to a right or left side of the handle such that the side proximity sensors are facing the user while the luggage is in the side follow position next to the user. ### Claim 6 (depends on 5) The system of claim 5, wherein the handle further includes one or more front proximity sensors coupled to a front side of the handle and configured detect the object moving in the given direction while the luggage is in the rear follow position behind the object, wherein the front proximity sensors are facing the object while the luggage is in the rear follow position behind the object. ### Claim 7 (depends on 1) The system of claim 1, wherein the one or more proximity sensors comprises a camera coupled to the luggage. ### Claim 8 (depends on 1) The system of claim 1, further comprising a camera coupled to the luggage and configured to record visual images and detect the presence of nearby objects. ### Claim 9 (depends on 1) The system of claim 1, wherein the central processing unit is configured to maintain the luggage within a side distance of the object when in the side following mode based on information received from one or more of the proximity sensors, and wherein the side distance can be adjusted and set via a mobile phone, a wristband, or a gesture of the object moving in the given direction. ### Claim 10 (depends on 1) The system of claim 1, wherein the central processing unit is configured to speed up or slow down the luggage to maintain the object within a predetermined area based on information received from one or more of the proximity sensors. ### Claim 11 (depends on 1) The system of claim 1, wherein the central processing unit is configured to keep the luggage moving at a recorded speed of the object when another moving object at least partially or fully blocks the side proximity sensors from detecting the object. ### Claim 12 (depends on 1) The system of claim 1, further comprising three or more motorized wheel assemblies coupled to a bottom of the luggage and configured to move the luggage in the given direction, wherein the motorized wheel assemblies are configured to move the luggage along a diagonal direction while maintaining the luggage facing in a straight direction parallel to the given direction. ### Claim 13 (depends on 1) The system of claim 1, wherein the one or more proximity sensors comprise a single proximity sensor configured to detect the object moving in the given direction when the luggage is in the side follow position next to the object and the rear follow position behind the object. ### Claim 14 A smart self-driving system, comprising: a body; one or more proximity sensors coupled to the body and configured detect an object moving in a given direction while the body is in a side follow position next to the object; and a central processing unit coupled to the body and configured to receive information from one or more of the proximity sensors to determine the given direction, wherein the central processing unit is configured transition the body between a side following mode and a rear following mode, where when in the side following mode the body follows along a side of the object in the side follow position while moving in the given direction, and where when in the rear following mode the body follows along behind the object in a rear follow position while moving in the given direction, wherein the central processing unit is configured to transition the body from the side follow position to the rear follow position based on information received from one or more of the proximity sensors, and wherein the central processing unit is configured to transition the body from the rear follow position back to the side follow position after a predetermined amount of time, a predetermined amount of distance, or when instructed by the object moving in the given direction. ### Claim 15 (depends on 14) The system of claim 14, wherein the one or more proximity sensors include side proximity sensors coupled to a right or left side of the body. ### Claim 16 (depends on 14) The system of claim 14, further comprising one or more proximity sensors configured detect the object moving in the given direction while the body is in the rear follow position behind the object, wherein the one or more proximity sensors include front proximity sensors coupled to a front side of the body such that the front proximity sensors are facing the object while the body is in the rear follow position behind the object. ### Claim 17 (depends on 14) The system of claim 14, wherein the object is a user, wherein the body includes a handle to allow the user to push, pull, or lift the body, wherein the one or more proximity sensors include side proximity sensors coupled to a right or left side of the handle such that the side proximity sensors are facing the user while the body is in the side follow position next to the user, and wherein the handle further includes one or more front proximity sensors coupled to a front side of the handle and configured detect the user moving in the given direction while the body is in the rear follow position behind the user, wherein the front proximity sensors are facing the user while the body is in the rear follow position behind the user. ### Claim 18 (depends on 14) The system of claim 14, wherein the one or more proximity sensors comprises a camera coupled to the body. ### Claim 19 (depends on 14) The system of claim 14, further comprising a camera coupled to the body and configured to record visual images and detect the presence of nearby objects. ### Claim 20 (depends on 14) The system of claim 14, wherein the central processing unit is configured to maintain the body within a side distance of the object when in the side following mode based on information received from one or more of the proximity sensors, and wherein the side distance can be adjusted and set via a mobile phone, a wristband, or a gesture of the object moving in the given direction. ### Claim 21 (depends on 14) The system of claim 14, wherein the central processing unit is configured to speed up or slow down the body to maintain the object within a predetermined area based on information received from one or more of the proximity sensors. ### Claim 22 (depends on 14) The system of claim 14, wherein the central processing unit is configured to keep the body moving at a recorded speed of the object when another moving object at least partially or fully blocks the side proximity sensors from detecting the object. ### Claim 23 (depends on 14) The system of claim 14, further comprising three or more motorized wheel assemblies coupled to a bottom of the body and configured to move the body in the given direction, wherein the motorized wheel assemblies are configured to move the body along a diagonal direction while maintaining the body facing in a straight direction parallel to the given direction. ### Claim 24 (depends on 14) The system of claim 14, wherein the one or more proximity sensors comprise a single proximity sensor configured to detect the object moving in the given direction when the body is in the side follow position next to the object and the rear follow position behind the object. ### Claim 25 A smart self-driving system, comprising: a body; one or more proximity sensors coupled to the body and configured detect an object moving in a given direction while the body is in a side follow position next to the object; and a central processing unit coupled to the body and configured to receive information from one or more of the proximity sensors to determine the given direction and to determine a predetermined area having a front boundary and a rear boundary within which the object moves, wherein the central processing unit is configured to maintain the object within the predetermined area while moving the body in the given direction and recording a speed at which the object moves based on information from one or more of the proximity sensors, and wherein when a third object moves between the object and the body either from the front boundary or the rear boundary and at least partially or fully blocks the one or more proximity sensors from detecting the object, the central processing unit is configured to store the recorded speed of the object and keep the body moving at the recorded speed instead of a speed of the third object until the one or more proximity sensors are able to detect the object moving at the recorded speed again. ### Claim 26 (depends on 25) The system of claim 25, wherein the body is a piece of luggage configured to store items for transport. ### Claim 27 (depends on 25) The system of claim 25, further comprising three or more motorized wheel assemblies coupled to a bottom of the body and configured to move the body in the given direction. ### Claim 28 (depends on 25) The system of claim 25, wherein the central processing unit is configured to maintain the body within a side distance of the object based on information received from one or more of the proximity sensors, and wherein the side distance can be adjusted and set via a mobile phone, a wristband, or a gesture of the object moving in the given direction. ### Claim 29 (depends on 25) The system of claim 25, wherein the central processing unit is configured to speed up or slow down the body to maintain the object within the predetermined area based on information received from one or more of the proximity sensors. ### Claim 30 (depends on 25) The system of claim 25, wherein the central processing unit is configured to transition the body from the side follow position to a rear follow position based on information received from one or more of the proximity sensors, and wherein the central processing unit is configured to transition the body from the rear follow position back to the side follow position after a predetermined amount of time, a predetermined amount of distance, or when instructed by the object moving in the given direction.