Spherical wheel motor and control system thereof

A spherical wheel motor comprising:

• a spherical rotor;
• and
• a stator surrounding an upper surface of the rotor,
• wherein the rotor comprises a spherical outer shell part, a first axial magnet extending in a horizontal direction in the outer shell part, a second axial magnet extending in the horizontal direction and facing the first axial magnet, and a rotary magnet belt provided in a form of a belt with the first axial magnet and the second axial magnet as a central axis,
• wherein the rotary magnet belt comprises a plurality of first rotary magnets and a plurality of second rotary magnets arranged alternately,
• wherein the stator comprises a base surrounding the upper surface of the rotor and coil belts provided in plurality on the base to intersect with each other on an uppermost part of the base,
• wherein the coil belts comprise a plurality of coils.