# US 11,439,215 B2 · Smart self-driving systems with motorized wheels > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,439,215 B2 - Document ID: US11439215B2 - Status: Granted - Kind: B2 - Application number: 16/292,872 - Filed: 2019-03-05 - Published: 2020-01-23 - Granted: 2022-09-13 - Earliest claimed: 2018-07-20 - Assignees: Lingdong Technology (Beijing) Co. Ltd - Applicants: Lingdong Technology (Beijing) Co. Ltd - Inventors: Ou Qi; Zhaoqiang Chen; Xingyu Lian; Guorong Ren; Bin Fan - Web page: https://patentgrep.com/patent/US11439215B2 ## CPC - A45C 5/14: with built-in rolling means - A45C 5/03: Suitcases - A45C 13/262: {for wheeled luggage} - B62B 3/00: Hand carts having more than one axis carrying transport wheels; Steering devices therefor; Equipment therefor {(convertible from one-axled to two-axled vehicle B62B1/002)} - 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 1/028: {using a RF signal} - A45C 2005/148: {Other arrangements of the rolling means} - B62B 3/001: {Steering devices} - B62B 3/003: {Non-transparent side walls} - B62B 3/14: characterised by provisions for nesting or stacking, e.g. shopping trolleys {(collapsible shopping trolleys B62B3/027)} - B62B 5/0043: {One motor drives one wheel} - B62B 5/0063: {guiding, e.g. by a rail} - B62B 5/0069: {Control} - B62B 2205/104: Detachable wheel units, e.g. together with the wheel shaft - B62B 2301/04: comprising a wheel pivotable about a substantially vertical axis, e.g. swivelling castors - A45C: PURSES; LUGGAGE; HAND CARRIED BAGS - B62B: HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES (characterised by animal propulsion B62C; propulsion of sledges by driver or engine B62M) - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES ## Abstract A smart self-driving system includes a body, such as a piece of luggage, supported by a plurality of wheel assemblies. At least one wheel assemblies includes a wheel rotating motor configured to rotate a wheel of the wheel assembly to move the luggage in a given direction. At least one wheel assemblies includes a wheel orientation sensor configured to measure the orientation of the wheel. At least one wheel assembly includes a wheel orientation motor configured to orient the wheel in the given direction. The smart self-driving system is configured to move in forward direction that is different than a head direction of the body. ## Claims ### Claim 1 A luggage system, comprising: a piece of luggage configured to store items for transport; and three or more wheel assemblies coupled to the luggage and configured to rotate and roll in a given direction, wherein two or more of the wheel assemblies include wheel rotating motors configured to rotate each wheel of the two or more wheel assemblies to move the luggage in a given direction, and wherein the two or more wheel assemblies that include the wheel rotating motors each further includes a slip ring configured to transmit electrical signals between components within the luggage that are stationary and components within the wheel assembly that are rolling or rotating. ### Claim 2 (depends on 1) The system of claim 1, wherein one or more of the wheel assemblies further includes a wheel steering motor configured to orient a wheel in a given direction, wherein the wheel steering motor is disposed in a housing with the slip ring, and wherein a number of one or more wheel assemblies having the wheel steering motor is less than a number of two or more wheel assemblies having the wheel rotating motors. ### Claim 3 (depends on 1) The system of claim 1, wherein an axis about which the two or more wheel assemblies roll is offset from an axis about which the two or more wheel assemblies rotate. ### Claim 4 (depends on 1) The system of claim 1, wherein an axis about which the two or more wheel assemblies roll is mutually orthogonal and coincides with an axis about which the two or more wheel assemblies rotate. ### Claim 5 (depends on 1) The system of claim 1, wherein the wheel assemblies that include the two or more wheel rotating motors each further includes a wheel orientation sensor configured to measure an orientation of the wheel. ### Claim 6 (depends on 5) The system of claim 5, wherein the wheel orientation sensor includes a magnetic rotary encoder and a magnet. ### Claim 7 (depends on 1) The system of claim 1, further comprising a central processing unit configured to instruct a wheel control module to increase, decrease, or stop input current to the wheel rotating motors when the wheel applies a force to the luggage that is in a direction different than the given direction. ### Claim 8 (depends on 1) The system of claim 1, further comprising a camera, a proximity sensor, and a central processing unit coupled to the luggage, wherein the central processing unit is configured to receive information from at least one of the camera and the proximity sensor to determine the given direction. ### Claim 9 (depends on 1) The system of claim 1, further comprising a central processing unit coupled to the luggage, and a remote control configured to instruct the central processing unit to move the luggage in the given direction. ### Claim 10 (depends on 1) The system of claim 1, wherein the luggage includes a handle to allow a user to push, pull, or lift the luggage, and wherein the handle includes one or more touch sensors configured to switch a system to a manual control mode for manual operation by the user when touched by the user. ### Claim 11 (depends on 1) The system of claim 1, wherein the three or more wheel assemblies are configured to move the luggage along a forward direction that is different than a head direction of the luggage. ### Claim 12 A self-driving system, comprising: a body; and three or more wheel assemblies coupled to the body and configured to rotate and roll in a given direction, wherein two or more of the wheel assemblies include wheel rotating motors configured to rotate each wheel of the two or more wheel assembly to move the body in a given direction, and wherein the two or more wheel assemblies that include the wheel rotating motors each further includes a slip ring configured to transmit electrical signals between components within the body that are stationary and components within the wheel assembly that are rolling or rotating. ### Claim 13 (depends on 12) The system of claim 12, wherein one or more of the wheel assemblies further include a wheel steering motor configured to orient a wheel in a given direction, wherein the wheel steering motor is disposed in a housing with the slip ring, and wherein a number of two or more wheel assemblies having the wheel steering motor is less than a number of two or more wheel assemblies having the wheel rotating motors. ### Claim 14 (depends on 12) The system of claim 12, wherein an axis about which the two or more wheel assemblies roll is offset from an axis about which the one or more wheel assemblies rotate. ### Claim 15 (depends on 12) The system of claim 12, wherein an axis about which the two or more wheel assemblies roll is mutually orthogonal and coincides with an axis about which the two or more wheel assemblies rotate. ### Claim 16 (depends on 12) The system of claim 12, wherein the two or more wheel assemblies that include the wheel rotating motors each further includes a wheel orientation sensor configured to measure an orientation of the wheel, and wherein the wheel orientation sensor includes a magnetic rotary encoder and a magnet. ### Claim 17 (depends on 12) The system of claim 12, further comprising a central processing unit configured to instruct a wheel control module to increase, decrease, or stop input current to the wheel rotating motors when the wheel applies a force to the body that is in a direction different than the given direction. ### Claim 18 (depends on 12) The system of claim 12, wherein the the three or more wheel assemblies further include four wheel assemblies coupled to a base of the body, and each of the four wheel assemblies includes a wheel rotating motor. ### Claim 19 (depends on 12) The system of claim 12, further comprising a camera, a proximity sensor, and a central processing unit coupled to the body, wherein the central processing unit is configured to receive information from at least one of the camera and the proximity sensor to determine the given direction. ### Claim 20 (depends on 12) The system of claim 12, further comprising a central processing unit coupled to the body, and a remote control configured to instruct the central processing unit to move the body in the given direction. ### Claim 21 (depends on 12) The system of claim 12, wherein the two or more wheel assemblies are configured to move the body along a forward direction that is different than a head direction of the body. ### Claim 22 (depends on 12) The system of claim 12, wherein the body is in a form of a luggage or a shopping cart. ### Claim 23 A luggage system, comprising: a piece of luggage configured to store items for transport; three or more wheel assemblies coupled to the luggage and configured to rotate and roll in a given direction, wherein two or more of the wheel assemblies include a wheel rotating motors configured to rotate each wheel of the two or more wheel assemblies to move the luggage in the given direction, and wherein each wheel rotating motor includes a rotator coupled to a stator that disposed in a housing of the wheel; a central processing unit coupled to the luggage; and a remote control configured to instruct the central processing unit to move the luggage in the given direction. ### Claim 24 (depends on 23) The system of claim 23, wherein the two or more wheel assemblies that include the wheel rotating motors each further includes a rotary speed sensor disposed in the housing of the wheel and configured to measure a rotary speed of the wheel. ### Claim 25 (depends on 23) The system of claim 23, wherein the two or more wheel assemblies that include the wheel rotating motors each further includes a pair of outer covers coupled to opposite sides of the housing, and a pair of bearings disposed in the housing. ### Claim 26 (depends on 25) The system of claim 25, wherein the two or more wheel assemblies that include the wheel rotating motors each further includes an axle that extends through the housing, the bearings, the wheel rotating motor, and the outer covers to connect the wheel assembly to a yoke of a wheel mount to couple the wheel assembly to the luggage. ### Claim 27 (depends on 23) The system of claim 23, wherein the housing and the rotor are rotationally coupled together through a pin and groove engagement. ### Claim 28 (depends on 23) The system of claim 23, wherein the rotor includes a plurality of magnets that interact with a plurality of windings of the stator configured to rotate the wheel when powered. ### Claim 29 (depends on 23) The system of claim 23, further comprising a wheel control module configured to control a rotary speed of each of the two or more wheel assemblies having the wheel rotating motors. ### Claim 30 (depends on 29) The system of claim 29, wherein the wheel control module is configured to control an amount of power supplied to the stator to control a speed of rotation of the rotor and the housing about an axle of the wheel. ### Claim 31 (depends on 29) The system of claim 29, further comprising a rotary speed sensor configured to transmit a signal to the wheel control module corresponding to the rotary speed of the wheel. ### Claim 32 (depends on 29) The system of claim 29, wherein the wheel control module is located within the housing of each of the two or more wheel assemblies having the wheel rotating motors. ### Claim 33 (depends on 29) The system of claim 29, wherein the wheel control module is integrated into the central processing unit as a single processing unit. ### Claim 34 (depends on 29) The system of claim 29, wherein each of the two or more wheel assemblies having the wheel rotating motor and one wheel control module. ### Claim 35 (depends on 29) The system of claim 29, wherein the central processing unit is in communication with the wheel control module and configured to instruct the wheel control module to increase, decrease, or stop power supplied to one or more of the wheel rotating motors to move the luggage in the given direction.