An article movement system includes an article and at least one ball wheel. The article has first and second article surfaces meeting at a first article edge. The ball wheel is located along the first article edge and includes a ball, a bearing arrangement and a shell. The ball engages a surface underlying the article, the bearing arrangement supports the ball for omni-directional rotational movement, and the shell is located along the first article edge and contains the ball and the bearing arrangement. The shell defines a non-circular ball opening through which a portion of the ball extends to contact the underlying surface. The article, the bearing arrangement and the shell are configured such that the ball wheel is able to support the article for omni-directional rolling motion over the underlying surface with either of the first and article surfaces parallel thereto, and at any orientation therebetween.

A caster apparatus is provided. In one embodiment, there is provided a caster apparatus including a caster wheel and a first driving wheel disposed on a first side of the caster wheel. The first driving wheel is configured to be driven by a first motor. A second driving wheel is disposed on a second side opposite to the first side of the caster wheel. The second driving wheel is configured to be driven by a second motor different from the first motor. A first actuator is configured to move the first driving wheel in a vertical direction to a ground according to a curvature of the ground. A second actuator is configured to move the second driving wheel in a vertical direction to the ground according to a curvature of the ground, wherein the first and second driving wheels are configured to steer the caster wheel.

An all-terrain load transport system including a cylindrical first base member and at least three pairs of arms is provided. A handle is removably attached to an attachment member disposed on the cylindrical first base member. The cylindrical first base member defines a space for receiving at least one piece of accessory equipment. Each pair of the three pairs of arms defines a wheel support assembly at an end of each pair distal from an outer periphery of the cylindrical first base member. The three pairs of arms are detachably attached to the outer periphery of the cylindrical first base member. The wheel support assembly includes a cylindrical second base member defining a space for receiving a spherical wheel. The spherical wheel moves omnidirectionally within the defined space. Roller bearings positioned along an inner periphery of the cylindrical second base member facilitate the omnidirectional movement of the spherical wheel.

A spherical body drive type movement device 10 includes rotary bodies 14, 15, and 16 rotating n number of driving spherical bodies 11, 12, and 13 by being rotationally driven in a state of being in contact from two different directions with each of the driving spherical bodies 11, 12, and 13, and moves on a traveling surface G. The rotary bodies 14, 15, and 16 come into contact with the driving spherical bodies 11, 12, and 13 at positions higher than centers P1, P2, and P3 of the driving spherical bodies 11, 12, and 13 in contact and inside a virtual inverted n-gonal pyramid H or, at positions higher than the centers P1, P2, and P3 of the driving spherical bodies 11, 12, and 13 in contact and on lateral faces α, β, and γ of the virtual inverted n-gonal pyramid H.

A spherical body drive type movement device 10 includes rotary bodies 14, 15, and 16 rotating n number of driving spherical bodies 11, 12, and 13 by being rotationally driven in a state of being in contact from two different directions with each of the driving spherical bodies 11, 12, and 13, and moves on a traveling surface G. The rotary bodies 14, 15, and 16 come into contact with the driving spherical bodies 11, 12, and 13 at positions higher than centers P1, P2, and P3 of the driving spherical bodies 11, 12, and 13 in contact and inside a virtual inverted n-gonal pyramid H or, at positions higher than the centers P1, P2, and P3 of the driving spherical bodies 11, 12, and 13 in contact and on lateral faces α, β, and γ of the virtual inverted n-gonal pyramid H.

A vehicle includes a frame, a front ground-engaging sphere, a rear ground-engaging sphere, and gripping portions for a rider to hold. The front sphere is rotatable about a first axis which is transverse and fixed relative to the frame and the rear sphere is rotatable about a plurality of axes. The vehicle also includes a support, which is connected pivotally to a rear portion of the frame. The rear sphere is connected to the support for rotation about a second axis which is transverse and fixed relative to the support. The support is pivotal with respect to the frame about a third axis which extends downwardly and longitudinally of the vehicle, such that the support is pivotable through a range of positions including a neutral position wherein the first and second axes are parallel. The vehicle further includes a resilient biasing mechanism configured to resiliently bias the support towards the neutral position.

A vehicle includes a frame, a front ground-engaging sphere, a rear ground-engaging sphere, and gripping portions for a rider to hold. The front sphere is rotatable about a first axis which is transverse and fixed relative to the frame and the rear sphere is rotatable about a plurality of axes. The vehicle also includes a support, which is connected pivotally to a rear portion of the frame. The rear sphere is connected to the support for rotation about a second axis which is transverse and fixed relative to the support. The support is pivotal with respect to the frame about a third axis which extends downwardly and longitudinally of the vehicle, such that the support is pivotable through a range of positions including a neutral position wherein the first and second axes are parallel. The vehicle further includes a resilient biasing mechanism configured to resiliently bias the support towards the neutral position.

A spinner wheel assembly for a luggage case is provided. The wheel assembly may include a housing, a support strut rotatably coupled to the housing about a spinner axis, and a plurality of wheels each rotatably coupled to the support strut about a wheel axis. Each wheel may rotate in a plane positioned at an angle to at least one other wheel. Each wheel may be coupled to the support strut in a spaced relationship thereto.

A spinner wheel assembly for a luggage case is provided. The wheel assembly may include a housing, a support strut rotatably coupled to the housing about a spinner axis, and a plurality of wheels each rotatably coupled to the support strut about a wheel axis. Each wheel may rotate in a plane positioned at an angle to at least one other wheel. Each wheel may be coupled to the support strut in a spaced relationship thereto.

An autonomous mobile device has a main body and an extensible mast to raise and lower a payload, such as a camera, relative to the main body. The mast may comprise a set of telescoping sections, with each section comprising two or more pieces that are joined during assembly. A motor moves a flexible rack between a first spool and the mast to raise or lower the mast. For example, during extension a motor-driven pinion engages teeth on the flexible rack, pulling the rack from the first spool and pushing up the mast. A cable stored on a second spool may be extended and retracted with the flexible rack. The cable transfers one or more of data or power between the main body and the payload. A sensor may be used to detect features on the flexible rack to provide data about how far the flexible rack has been extended.