Electromagnet-based rolling robot

• US 8,788,130 B1
• Filed: 05/29/2012
• Issued: 07/22/2014
• Est. Priority Date: 05/29/2012
• Status: Active Grant

• Current Assignee: the united states of america as represented by the secretary of the navy
• Original Assignee: the united states of america as represented by the secretary of the navy
• Inventors: Tran, Nghia X., Anderson, James Eric
• Primary Examiner(s): Nguyen, John Q
• Assistant Examiner(s): ODEH, NADEEM N
• Application Number:
  US13/482,770
• Time in Patent Office: 784 Days
• Field of Search: 701/22, 180/167, 104/138.2, 901/40
• US Class Current: 701/22
• CPC Class Codes: B62D 57/024 specially adapted for moving on inclined or vertical surfaces endless-track vehicles for ascending or descending stairs B62D55/075; hand-carts with provision for travelling up or down stairs B62B5/02
• CPC Class Codes: G05D 1/0259 using magnetic or electromagnetic means
• CPC Class Codes: G05D 1/027 comprising intertial navigation means, e.g. azimuth detector inertial navigation G01C21/16; inertial navigation combined with non-inertial navigation instruments G01C21/165

Abstract

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.

Claims

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.

2. The rolling device of claim 1, further comprising a sensor mounted within the structure and operatively coupled to the controller, wherein the sensor is configured to generate an output signal representative of an environmental characteristic outside the structure.

3. The rolling device of claim 2, wherein the sensor is a video camera.

4. The rolling device of claim 1, further comprising a radio frequency (RF) transceiver and an antenna, both operatively coupled to the controller and mounted within the structure.

5. The rolling device of claim 4, wherein the ferrous surface is the hull of a vessel.

6. The rolling device of claim 1, further comprising a strobe light mounted within the structure and operatively coupled to the controller.

7. A substantially spherical rolling device comprising:

a transparent substantially spherical shell;

a plurality of electromagnets distributed over, and mounted to, the inside surface of the spherical shell;

a controller mounted to the inside of the spherical shell and operatively coupled to each of the electromagnets;

an inertial measurement unit mounted to the inside of the spherical shell and operatively coupled to the controller;

at least one sensor configured to sense a characteristic of an atmosphere outside of the spherical shell; and

wherein the structure contains no moving parts and the controller is configured to selectively energize and de-energize individual electromagnets in order to cause the spherical shell to adhere to and roll over a ferrous surface in a desired direction such that propulsion and adhesion are performed solely via the electromagnets.

8. The rolling device of claim 7, further comprising a global positioning system (GPS) sensor mounted within the spherical shell and operatively coupled to the controller and wherein the at least one sensor is a depth sensor and the ferrous surface is a hull of a vessel.

9. The rolling device of claim 7, wherein the at least one sensor is selected from the group consisting of:

a microphone, a pressure sensor, a chemical sensor, a temperature sensor, a still camera, a video camera, and a radioactivity sensor.