| 主权项 |
1. A method for moving and orienting an object in an enclosed area comprising the steps of:
1) providing an object comprising a magnetic dipole, and first and second support points, wherein the support points comprise high friction substances, positioned at ends of the object, and do not wrap around a perimeter of the object; and wherein magnetization directions of the magnetic dipole are parallel to a length of the object; 2) providing an external magnet configured for generating an all-direction rotatable and movable magnetic field in proximity to the magnetic dipole, generating an external magnetic field for the object, and manipulating the external magnetic field to interact with the magnetic dipole, wherein the external magnet is disposed in a system comprising vertically and horizontally adjustable mechanisms and an adjustable base, adapted to control the vertical and horizontal positions of the external magnet; and vertical and horizontal rotation servo motors to impart rotation of the external magnet, and each rotation servo motor is equipped with a respective sensor to provide guidance for controlling the movement of the rotation servo motor thereof; 3) using the vertically and horizontally adjustable mechanisms and controlling the adjustable base to place the object comprising a magnetic dipole in the enclosed area, wherein the object adopts a first orientation according to a direction of the magnetic field; 4) adjusting the vertical servo motor to impart a first rotation of the external magnet to orient the object to adopt a first orientation in response to a rotation of the external magnet, wherein the object is in contact with a first part of a surface of the enclosed area through the first support point; adjusting the horizontal rotation servo motor to control the external magnetic to change a movement direction of the object while being supported by the first support point; 5) adjusting the vertical servo motor to impart a second rotation of the external magnet to flip the object to adopt a second orientation by applying a rotational magnetic field through the external magnet, wherein the object is in contact with a second part of the surface of the enclosed area through the second support point; adjusting the horizontal rotation servo motor to control the external magnetic to change another movement direction of the object while being supported by the second support point; 6) adjusting the vertical servo motor to impart a third rotation of the external magnet to flip the object to adopt a third orientation, wherein the object is in contact with a third part of the surface of the enclosed area through the first support point again, wherein the third orientation is a translation of the first orientation; and 7) steps 3)-6) are repeated to precisely place the object to a target location at a target orientation. |
