Electromagnet-based rolling robot

摘要

A rolling device configured to adhere to and roll over a ferrous surface comprising: a structure, a controller, an inertial measurement unit (IMU), and a plurality of electromagnets. The structure has inner and outer surfaces and a closed-shape cross section. The electromagnets are mounted to the inner surface and distributed over a periphery of the structure. The controller is operatively coupled to each of the electromagnets. The IMU is mounted within the structure and operatively coupled to provide inertial measurements to the controller. The controller is configured to cause the structure to roll over the ferrous surface in a desired direction by selectively energizing individual electromagnets while de-energizing other electromagnets.

主权项

1. A rolling device comprising:
a substantially spherical structure having spherical inner and outer surfaces and a closed-shape cross section; a plurality of electromagnets mounted to the inner surface and distributed over a periphery of the structure; a controller, mounted within the structure, operatively coupled to each of the electromagnets; and an inertial measurement unit (IMU) mounted within the structure and configured to provide inertial measurements to the controller wherein the structure contains no moving parts and the controller is configured to cause the structure to adhere to and roll over a ferrous surface in a desired direction by selectively energizing individual electromagnets while de-energizing other electromagnets.