# US 8,788,130 B1 · Electromagnet-based rolling robot > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 8,788,130 B1 - Document ID: US8788130B1 - Status: Granted - Kind: B1 - Application number: 13/482,770 - Filed: 2012-05-29 - Granted: 2014-07-22 - Earliest claimed: 2012-05-29 - Assignees: The United States of America as represented by the Secretary of the Navy - Applicants: Nghia X. Tran; James Eric Anderson - Inventors: Nghia X. Tran; James Eric Anderson - Web page: https://patentgrep.com/patent/US8788130B1 ## CPC - 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) - 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)} - G05D 1/0259: {using magnetic or electromagnetic means} - B62D: MOTOR VEHICLES; TRAILERS (steering, or guiding on a desired track, of agricultural machines or implements A01B69/00; wheels, castors, axles, increasing wheel adhesion B60B; vehicle tyres, tyre inflation or tyre changing B60C; connections between vehicles of a train or the like B60D; vehicles for use on rail and road, amphibious or convertible vehicles B60F; suspension arrangements B60G; heating, cooling, ventilating or other air treating devices B60H; windows, windscreens, non-fixed roofs, doors or similar devices, protective coverings for vehicles not in use B60J; propulsion plant arrangements, auxiliary drives, transmissions, controls, instrumentation or dashboards B60K; electric equipment or propulsion of electrically-propelled vehicles B60L; power supply for electrically-propelled vehicles B60M; passenger accommodation not otherwise provided for B60N; adaptations for load transportation or to carry special loads or objects B60P; arrangement of signalling or lighting devices, the mounting or supporting thereof or circuits therefor, for vehicles in general B60Q; vehicles, vehicle fittings or vehicle parts not otherwise provided for B60R; servicing, cleaning, repairing, supporting, lifting, or manoeuvring, not otherwise provided for, B60S; brake arrangements, brake control systems or parts thereof B60T; air-cushion vehicles B60V; motor-cycles, accessories therefor B62J, B62K; testing of vehicles G01M) - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES ## 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 ### Claim 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. ### Claim 2 (depends on 1) 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. ### Claim 3 (depends on 2) The rolling device of claim 2, wherein the sensor is a video camera. ### Claim 4 (depends on 1) 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. ### Claim 5 (depends on 4) The rolling device of claim 4, wherein the ferrous surface is the hull of a vessel. ### Claim 6 (depends on 1) The rolling device of claim 1, further comprising a strobe light mounted within the structure and operatively coupled to the controller. ### Claim 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. ### Claim 8 (depends on 7) 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. ### Claim 9 (depends on 7) 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.