CN113825664B

CN113825664B - Apparatus and method for spherical components

Info

Publication number: CN113825664B
Application number: CN202080036118.3A
Authority: CN
Inventors: 埃萨姆·阿卜杜勒拉赫曼·阿马尔
Original assignee: Ai SamuAbodulelahemanAmaer
Current assignee: Ai SamuAbodulelahemanAmaer
Priority date: 2019-05-15
Filing date: 2020-05-13
Publication date: 2024-04-12
Anticipated expiration: 2040-05-13
Also published as: EP3969310A1; CN113825664A; WO2020232066A1; EP3969310A4

Abstract

A propulsion apparatus and corresponding method are provided. The apparatus employs a weight within the spherical assembly that is rotatable within the spherical assembly. Gravity acting on the weight causes a moment of gravity to be applied to the spherical assembly, which may result in propulsion of the spherical assembly. The ball assembly may also include one or more motors for rotating the weights within the ball assembly. In some embodiments, the weight includes a magnetic core and a conductor. The apparatus may include a magnetic winding that provides a magnetic flux through which the weight may rotate. The device may also provide current to the conductors. The apparatus applies an electrical current to the conductor as the weight with the magnetic core rotates through the magnetic flux. Thus, a magnetic force is applied to the weight, which can advance the spherical assembly.

Description

Apparatus and method for spherical components

FIELD

The present disclosure relates generally to propulsion, and more particularly to a vehicle drive system and corresponding propulsion method.

Background

Today's transportation vehicles include vehicle drive systems that are typically driven by internal combustion engines, electric motors, or in some cases, a mixture of both, which provide the motive force for vehicle propulsion. These vehicles are also equipped with steering mechanisms and manually or automatically controlled gearboxes. These steering mechanisms allow control of the direction of travel of the vehicle, while the gearbox facilitates vehicle torque and speed. However, in order to change the direction of travel, the vehicle requires a circular area to perform a turn therein, also referred to as a turning radius.

For propulsion in a given direction, today's vehicles rely on horizontal reactive friction between the tires of the vehicle and the running surface (e.g., road surface). The friction force is a vertical force at a contact point between a tire of the vehicle and a running surface based on a coefficient of friction and a weight of the vehicle. Thus, the tire provides a horizontal force that is a reaction force to an equal horizontal force in the opposite direction due to friction. If the friction is small, slip will occur between the tire and the running surface, which may occur on icy or muddy surfaces, where the coefficient of friction between the tire of the vehicle and the icy or muddy surface may be smaller than the coefficient of friction between the tire of the vehicle on the dry surface. When slip occurs, the vehicle cannot not only propel as intended, but the vehicle loses control of its direction of travel and loses energy due to the slip rather than using it to propel. There is therefore an opportunity to improve current vehicle drive systems.

SUMMARY

Briefly, the apparatus uses a weight within a spherical assembly whereby the spherical assembly rotates the weight to propel the spherical assembly with gravity and centrifugal force generated by the rotating weight. For example, the apparatus may employ a suitably shaped weight within the spherical assembly whereby the spherical assembly rotates the weight so that the center of gravity of the weight is continuously maintained in the front half of the spherical assembly regardless of its rotation, while the spherical assembly is propelled with a moment due to gravity acting on the weight and centrifugal force generated by the rotating weight.

In some embodiments, the spherical assembly includes a spherical housing, two motors (such as electric motors), two weights, and a controller (such as a processor). The first motor is connected to the first weight and the spherical housing, and the second motor is connected to the second weight and the spherical housing. For example, the motors may be connected to the spherical shell at positions opposite each other along the center line of the spherical shell. In some examples, the two weights are equally heavy.

The controller is operably coupled to the first motor and to the second motor such that the controller can control each of the motors (e.g., control the direction and speed of motor rotation). The controller is configured to cause the first motor to rotate the first weight in a particular direction at a rotational speed (e.g., a rotational rate), which may be based on a rotational (e.g., rolling) speed of the spherical assembly. For example, assuming that the ball assembly rotates at a given rotational speed, the controller activates the first motor such that the first motor rotates the first weight at the same rotational speed as the rotational speed of the ball assembly. As another example, the controller may cause the first motor to rotate the first weight at a rotational speed that is slower or greater than the rotational speed of the spherical assembly. Similarly, the controller is configured to cause the second motor to rotate the second weight in a particular direction at a rotational speed that may also be based on the rotational speed of the spherical assembly. For example, the controller may be configured to make the rotational speed of the first motor and the rotational speed of the second motor be the rotational speeds of the spherical components. In this way, the controller may maintain the centers of gravity of the first and second weights in the half of the spherical assembly (e.g., in the front half of the spherical assembly, or in the half closest to the direction of travel of the spherical assembly) as the spherical assembly rotates.

In some examples, the controller causes the first motor to rotate the first weight in one direction and the second motor to rotate the second weight in the same or another direction. For example, the controller may cause the first motor to rotate the first weight in a clockwise direction and the second motor to rotate the second weight in a counter-clockwise direction.

In some examples, the controller is configured to cause the first motor to change the rotational speed of the first weight from the current rotational speed to the current rotational speed of the spherical assembly. The processor may also cause the second motor to change the rotational speed of the second weight from the current rotational speed to the rotational speed of the spherical assembly. For example, the processor may cause the first motor and the second motor to cause the centers of gravity of the two counter-rotating weights to coincide in one half of the spherical assembly, which may be the front half of the rotation of the spherical assembly in the 360 degree horizontal plane of the spherical assembly. The first motor and the second motor may rotate in opposite directions.

In some examples, the controller is configured to cause the first motor to change the rotational speed of the first weight in relation to the rotational speed of the second weight to change the direction of travel of the spherical assembly. For example, the controller may be configured to cause the first motor to instantaneously change the rotational speed of the first weight in association with the opposite rotational speed of the second weight to horizontally shift the position where the centers of gravity of the two weights coincide. This can result in a change in the direction of travel of the spherical element. As another example, assuming that the first motor and the second motor rotate the first weight and the second weight, respectively, at the same rotational speed (e.g., the controller rotates the first motor and the second motor at the same rotational speed), the controller may slow down or speed up the first motor such that the rotational speed of the first weight is different from the rotational speed of the second weight. Similarly, the controller may slow or speed up the second motor such that the rotational speed of the second weight is different than the rotational speed of the first weight.

In some embodiments, the controller is configured to cause the first motor to rotate the first weight such that the first weight provides a maximum gravitational moment that is a gravitational moment about a point along a central axis (i.e., a vertical radial centerline) of the spherical assembly. For example, assuming the spherical assembly is not rotating (e.g., is at rest), the center of gravity of the spherical assembly is along the central axis of the spherical assembly. The controller may rotate the first weight such that the center of gravity of the spherical assembly moves away from the central axis of the spherical assembly, thereby causing the spherical assembly to rotate.

In some embodiments, the controller is configured to cause the first motor and the second motor to rotate the first weight and the second weight, respectively, at opposite but equal speeds. The rotational speed of the weight may be equal to the rotational speed of the spherical assembly. The centers of gravity of the two weights may coincide at a specific position on an imaginary plane defined by the geometric vertical center line of the spherical assembly and the traveling direction of the spherical assembly. In some examples, the controller is configured to cause the two motors to instantaneously and equally slow or speed up their rotational speeds equal to but opposite the rotational speed of the spherical assembly. The controller may also control the duration (e.g., length of time) of the instantaneous slowing or speeding of the rotation of the weight. By slowing down or speeding up the rotation speed of the weights, the centers of gravity of the two weights can coincide at a new position on the imaginary plane. The new position may be in the front half or the rear half of the spherical assembly. For example, by having the centers of gravity of the two weights coincide at the location of the rear half of the spherical assembly, rotation of the spherical assembly may be slowed or stopped.

In some examples, the controller is configured to cause the second motor to rotate the second weight such that the second weight provides a maximum gravitational moment about a point along the central axis of the spherical assembly, while the controller causes the first motor to rotate the first weight to provide a maximum gravitational moment about the central axis of the spherical assembly. As an example, assuming that the ball assembly rotates at a rotational speed, the controller may cause the first motor and the second motor to rotate the first weight and the second weight in opposite directions at the same rotational speed as the rotational speed of the ball assembly. In this example, the processor rotates the weights such that each time the spherical assembly rotates, the weights will provide the greatest possible moment of gravity on the weights twice about the central axis of the spherical assembly.

In some embodiments, the planar surface of the first weight forms an angle greater than 0 degrees (e.g., 1 degree) relative to the central axis of the spherical assembly. In some examples, the planar surface of the second weight forms an angle greater than 0 degrees with respect to the central axis of the spherical assembly. For example, the weights may be configured such that the sides of each weight face the center of the spherical assembly at the same angle. In some examples, the planar surfaces of the first and second weights form an angle of 0 degrees with respect to the central axis of the spherical assembly.

In some embodiments, the spherical component comprises a spherical inner component and a spherical outer component. The spherical inner assembly encloses a first motor connected to the first weight and a second motor connected to the second weight. The spherical inner assembly also encloses a controller that is operably coupled to the first motor and to the second motor. The controller may be configured to cause the first motor to rotate the first weight in one direction at a rotational speed that is based on the rotational speed of the spherical inner assembly. The controller may be further configured to cause the second motor to rotate the second weight in the same or different directions at a rotational speed based on the rotational speed of the spherical inner assembly. For example, the controller may cause the first motor and the second motor to rotate the first weight and the second weight, respectively, at the same rotational speed but in opposite directions. As another example, the controller may cause the first motor and the second motor to rotate the first weight and the second weight, respectively, at the rotational speed of the spherical inner assembly.

In some examples, the ball assembly may use electricity (e.g., via one or more electric motors) to rotate weights within the ball assembly. In some embodiments, the weight may include a radial magnetic core and a cross current carrying conductor through which the device may provide current. The current carrying conductor may be embedded in a weight. For example, the device may provide radial magnetic flux through a radial magnetic core such that when the weight rotates through the magnetic flux, magnetic force is applied to the weight. The force may be perpendicular to the direction of the radial magnetic flux and the direction of the current. Magnetic force may be used to propel the spherical assembly. For example, magnetic force may increase the rotational speed of the spherical inner component. In some examples, the direction of current flow through the conductors may be reversed, which may result in forces being generated in opposite directions. This force may cause a reduction (e.g., a slowing) in the rotational speed of the spherical assembly. Thus, the magnetic force generated may be additive to or offset the gravitational force acting on the weight. The controller may control the current in the conductors to help speed up or slow down the spherical inner components. The controller may also adjust the rotational speed of the weight to match the new speed of the spherical inner assembly.

In some examples, the controller may adjust the rotational speed of the weight to match the rotational speed of the spherical inner assembly. In some examples, an electrical current is generated in the conductor as the weight rotates through the generated magnetic flux. The controller may direct the generated current to charge a battery positioned within the assembly.

In this way, the spherical assembly may be operated without the internal combustion engine or independently of the internal combustion engine. The ball assembly may also operate without or independently of a conventional gearbox and steering mechanism. In some examples, a vehicle (such as an automobile, truck, semi-truck, amphibious vehicle, or any other suitable vehicle) is propelled using one or more spherical assemblies. For example, one or more spherical components may be wirelessly controlled by a controller. Other uses are also contemplated as would be recognized by one skilled in the art having the benefit of this disclosure.

In some examples, the spherical assembly further comprises a first radial magnetic winding attached to the spherical outer assembly and a second magnetic winding attached to the spherical inner assembly. The first magnetic winding and the second magnetic winding may have opposite polarities, thereby generating a magnetic field between the spherical outer component and the spherical inner component. For example, the magnetic windings may provide a magnetic field from the spherical outer component to the spherical inner component, or vice versa, thereby creating a magnetic flux between the spherical outer component and the spherical inner component in a given direction. In some examples, the magnetic windings may alternatively be rare earth permanent magnets.

In some examples, the vehicle includes one or more spherical assemblies, wherein each spherical assembly is surrounded by a spherical shell. The spherical shell may enclose more than half of the spherical assembly. The spherical shell may include magnetic windings of similar polarity to the magnetic windings in the spherical outer assembly. In this way, the magnetic forces caused by the respective magnetic windings will oppose each other in order to provide magnetic levitation between the spherical shell and the spherical outer assembly.

In some examples, the spherical outer assembly surrounds the spherical inner assembly. The spherical inner assembly may also enclose a friction reducer configured to minimize friction between the spherical inner assembly and the spherical outer assembly. For example, the friction reducer may be a lubricant, such as oil, a mechanical device (such as a ball bearing), any combination of these, or any other known method of reducing friction. In one example, the friction reducer includes at least one ball bearing in an oil flow path between the spherical inner assembly and the spherical outer assembly. In some examples, the spherical outer assembly includes an inner shell and an outer shell, wherein the inner shell is in contact with the friction reducer.

In some examples, the spherical assembly includes one or more motion detectors. A motion detector may be used to detect the rotational speed of the spherical inner element. The motion detector may also be used to detect the rotational speed of the spherical outer component. Any given motion detector may be in communication with the controller, whereby the controller may detect the rotational speed provided by the motion detector. For example, the controller may be electrically coupled to the motion detector, thereby allowing wired communication, or may be in wireless communication with the motion detector.

In some examples, at least one motion detector is in communication with the controller and configured to detect a rotational speed of the spherical inner assembly. Based on the detected rotational speed of the spherical inner assembly, the controller may determine at what rotational speed (e.g., rate) to rotate the first motor and the second motor as described above. In some examples, the motion detector may be coupled to the spherical outer assembly such that detection of the rotational speed of the spherical inner assembly is relative to the rotational speed of the spherical outer assembly. In some examples, the rotational speed of the spherical inner assembly may be detected by the controller by monitoring the period of current drawn by the motors as they rotate their respective weights. For example, the controller may access a table stored in memory, such as a look-up table, that translates current consumption into motor workload. Based on the amount of current drawn, the controller may determine the workload of the respective motor. The controller may then employ one or more functions, such as logarithmic functions, to determine the rotational speed of the spherical inner assembly.

In some examples, at least one motion detector is in communication with the controller and configured to detect a rotational speed of the spherical outer assembly. In this way, the controller may determine, for example, the "rolling" speed of the spherical outer component.

In some examples, for example at higher rotational speeds, the rotating weights may cause a multidirectional centrifugal force acting on the spherical assembly. These centrifugal forces may create off-center reaction forces, creating unintended moments that may affect the direction of travel of the spherical assembly. However, the controller may correct for variations in these directions based on the detected rotational speed, as described above and further below.

In some examples, the spherical assembly includes a rotating spherical housing, up to three motors (such as electric motors), three weights, and a controller (such as a processor). The first motor is connected to the first weight and the spherical shell, the second motor is connected to the second weight and the spherical shell, and the third motor is connected to the third weight and the spherical shell. For example, the motor may be connected to the spherical shell at a location along the centerline of the spherical shell. In some examples, the weight of one weight is twice the weight of each of the other two weights. For example, the weight of the lighter weights may be about the same, with the weight of the heavier weights being about twice the weight of each of the lighter weights. The heavier weight may be caused to rotate in one direction by a motor, while the lighter weight is caused to rotate in the opposite direction by a corresponding motor. The centers of gravity of the heavier weight and the two lighter weights may be caused by respective motors to rotate at equal radii in three different equally spaced imaginary parallel planes, which may be perpendicular to the plane of the spherical shell. In this embodiment, the centrifugal force acting on the weight may urge the ball assembly in the direction of travel (e.g., forward) as the weight rotates. In some examples, the controller rotates the heavier weight to counteract centrifugal forces, such as undesirable centrifugal forces, caused by the other two (and lighter) weights on the spherical assembly.

Methods of propelling the spherical assembly are also contemplated. These methods may be implemented by, for example, the spherical components described above or any of their components. A method of propelling (e.g., by a controller) a spherical assembly includes causing a first motor to rotate a first weight in a first direction at a first rotational speed that is based on a rotational (e.g., rolling) speed of the spherical assembly. The method further includes causing the second motor to rotate the second weight in a second direction at a second rotational speed that is based on the rotational speed of the spherical assembly.

In some examples, the method further comprises making the first rotational speed of the first weight and the second rotational speed of the second weight the rotational speeds of the spherical assemblies.

In some examples, the method includes rotating the first motor such that the first weight provides a maximum gravitational moment about a point along the central axis of the spherical assembly. The method may further include rotating the second motor to rotate the second weight such that the second weight provides a maximum gravitational moment about a point along the central axis of the spherical assembly. In some examples, the controller rotates the motor such that the gravitational moments provided by the first and second weights are simultaneous.

In some examples, the method includes varying a first rotational speed of the first motor in association with a second rotational speed of the second motor to vary a direction of travel of the spherical assembly.

In some examples, the method includes rotating the first motor in a first direction at a first rotational speed, rotating the second motor in a second and opposite direction, and rotating the third motor in a second and opposite direction based on a rotational (e.g., rolling) speed of the spherical assembly. In some examples, the weight of the first weight is about twice the weight of each of the second weight and the third weight (e.g., the second weight and the third weight are the same, and the weight of the first weight is twice the weight of the second weight or the third weight). The method may include rotating the first weight such that it counteracts centrifugal forces acting on the spherical assembly caused by rotation of the second and third weights. Other methods according to the disclosure herein are also contemplated.

Among other advantages, the apparatus and method may provide propulsion without the need for an internal combustion engine, a gearbox, or a conventional steering mechanism. The apparatus and method may also allow for changing the direction of travel without requiring a large turning radius. In some examples, the apparatus and methods provide propulsion for land vehicles. In this way, the apparatus and method may improve road traction control and reduce road slip. The apparatus and method can also shorten the distance that the vehicle stops. Furthermore, the apparatus may require fewer components than conventional internal combustion engines and may also provide cost benefits.

In some examples, the apparatus and methods provide controlled centrifugal forces that may enable a land vehicle to approach the earth against vertical terrain or propel a flying land vehicle while allowing its battery to be charged wirelessly. For example, one or more spherical assemblies may provide initial propulsion for an aircraft (e.g., rocket) by providing takeoff power during a takeoff phase. In some examples, one or more spherical assemblies may replace a magnetically levitated linear motor that propels a high speed train. This may reduce train operating costs because the train system rails required for a maglev train may be relatively expensive.

Other advantages of the present disclosure will become apparent to those skilled in the art to which it pertains upon a careful reading of the claims, drawings, and detailed description of the embodiments below.

Brief Description of Drawings

FIG. 1 illustrates spheres of uniform density to illustrate the concepts of the prior art;

2A-2C illustrate a spherical assembly rotating a weight at the rotational speed of the spherical assembly, according to some embodiments of the present disclosure;

3A-3C illustrate a spherical assembly rotating a weight at twice the rotational speed of the spherical assembly, according to some embodiments of the present disclosure;

4A-4C illustrate a spherical assembly rotating a weight at three times the rotational speed of the spherical assembly, according to some embodiments of the present disclosure;

5A-5C illustrate a spherical assembly rotating a weight at half the rotational speed of the spherical assembly, according to some embodiments of the present disclosure;

fig. 6 illustrates a spherical assembly system according to some embodiments of the present disclosure;

FIG. 7 illustrates an electrified ball assembly system according to some embodiments of the present disclosure;

FIG. 8 illustrates the spherical assembly of FIG. 7 including an additional outer surface in accordance with some embodiments of the present disclosure;

FIG. 9 illustrates a motion detector that may be used with the spherical assembly of FIG. 6, in accordance with some embodiments of the present disclosure;

fig. 10A and 10B illustrate weight configurations that may be used with the ball assembly of fig. 2A-2C, 6, or 7, in accordance with some embodiments of the present disclosure;

11A and 11B illustrate a spherical assembly rotating two weights at the rotational speed of the spherical assembly, according to some embodiments of the present disclosure;

12A and 12B illustrate a spherical assembly rotating two weights at the rotational speed of the spherical assembly, according to some embodiments of the present disclosure;

13A, 13B and 13C illustrate various embodiments of an electrified ball assembly system having three weights according to some embodiments of the present disclosure;

14A and 14B illustrate various views of a plurality of spherical assemblies employed in a rocket in accordance with some embodiments of the present disclosure;

fig. 14C, 14D, 14E, and 14F illustrate examples of the spherical assembly of fig. 14A and 14B, according to some embodiments of the present disclosure; and

fig. 15 illustrates centrifugal forces acting on a spherical assembly according to some embodiments of the present disclosure.

Detailed Description

While the disclosure is susceptible to various modifications and alternative forms, specific embodiments have been shown by way of example in the drawings and will be described in detail herein. The objects and advantages of the claimed subject matter will become more apparent from the following detailed description of preferred embodiments thereof, taken in conjunction with the accompanying drawings. It should be understood, however, that the disclosure is not intended to be limited to the particular forms disclosed. On the contrary, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the disclosure as defined by the appended claims.

FIG. 1 illustrates a sphere 102 having a uniform density 100 with three dimensions identified by plane-1 104, plane-2 106, and plane-3 108. For example, in the x, y, z coordinate system, plane-1 104 may represent a plane along the x-direction, plane-3 108 may represent a plane along the y-direction, and plane-2 106 may represent a plane along the z-direction. The geometric center of sphere 102 is identified by point-1 110. When placed on a surface, sphere 102 will have a single point of contact, i.e., at point-2 112. If gravity is the only force applied to the sphere 102, the sphere 102 will be stationary in a steady state equilibrium. Because sphere 102 has a uniform density, its center of gravity occurs along a vertical line intersecting point-2 112 and point-1 110.

However, if a weight is embedded in the sphere 102, the sphere 102 will no longer have a uniform density. Thus, its center of gravity will shift and may lie outside the vertical line intersecting point-2 112 and point-1 110. For example, the center of gravity may shift to a vertical line intersecting plane-1 104 and point-3 114. The result is (assuming no other force) that sphere 102 will rotate (e.g., roll) along plane-1 104 toward point-3 114. The sphere 102 will continue to rotate until a new steady state equilibrium is established. Specifically, when the sphere 102 has stopped rotating, the center of gravity of the sphere 102, identified by point-3 114, will be along a vertical line passing through the new point of contact of the sphere 102 along plane-1 104.

Fig. 2A-2C illustrate the ball assembly 200 as the ball assembly 200 rolls along the plane 295 in three views (i.e., a side view in fig. 2A, a top view in fig. 2B, and a schematic view in fig. 2C). The ball assembly 200 includes a ball housing 256, a first motor 248, a second motor 250, a first weight 252, and a second weight 254. The first motor 248 is connected to a first weight 252 and a spherical housing 256. Likewise, the second motor 250 is connected to a second weight 254 and a spherical housing 256. The side view in fig. 2A shows the ball assembly 200 from the side as the ball assembly 200 rotates along the plane 295. The top view in fig. 2B shows the ball assembly 200 as the same ball assembly 200 rotates along the plane 295, but from a top view. The schematic view in fig. 2C also shows the spherical assembly 200 as the same spherical assembly 200 rotates along plane 295, but each position shows an angle showing one face (e.g., the planar side) of the weight.

Notably, as with reference to fig. 2A-2C and 3-5, it is assumed that the only force acting on ball assembly 200 includes gravity acting on weights 252, 254 and friction in the direction of travel at the point of contact of ball assembly 200 with plane 295 (e.g., ball assembly rolling in vacuum on plane 295). Assuming a constant rotational speed of the spherical assembly 200, the three views of FIGS. 2A-2C illustrate the various points of the spherical assembly 200 after each one-eighth revolution of rotation along the plane 295. For example, in the side view of fig. 2A, position 202 is the beginning of a full rotation of ball assembly 200 (and similarly at position 218 of the top view in fig. 2B and position 234 of the schematic view in fig. 2C). Position 204 shows ball assembly 200 after one-eighth rotation (and similarly at position 220 of the top view in fig. 2B and position 236 of the schematic view in fig. 2C); position 206 shows the ball assembly 200 after two-eighths of a revolution (and similarly at position 222 of the top view in fig. 2B and position 238 of the schematic view in fig. 2C); position 208 shows the ball assembly 200 after three-eighths of a revolution (and similarly at position 224 of the top view in fig. 2B and position 240 of the schematic view in fig. 2C); position 210 shows ball assembly 200 after four-eighths of a revolution (and similarly at position 226 of the top view in fig. 2B and position 242 of the schematic view in fig. 2C); position 212 shows ball assembly 200 after five eighths of a revolution (and similarly at position 228 of the top view in fig. 2B and position 244 of the schematic view in fig. 2C); position 214 shows ball assembly 200 after six eighths of a revolution (and similarly at position 230 of the top view in fig. 2B and position 246 of the schematic view in fig. 2C); and position 216 shows ball assembly 200 after seven-eighth rotation (and similarly at position 232 in the top view of fig. 2B and position 247 in the schematic view of fig. 2C). The top view of fig. 2B shows the same position of the ball assembly as the side view of fig. 2A when rotated, but from above from an angle. The schematic view of fig. 2C shows a view if seen from an angle perpendicular to the plane of the weight at each position.

Furthermore, in fig. 2A-2C and 3-5, weights 252, 254 are shaped as half circles, with each weight in a separate half of ball assembly 200. However, it should be understood that the weight may be other shapes. For example, the weight may be shaped as a smaller than semicircle, shaped as a square, shaped as a sphere, a disc, a spherical wedge, shaped as a smaller than a quarter sphere, or any other shape.

In this example, motors 248, 250 rotate weights 252, 254, respectively, at the rotational speed of the spherical assembly. For example, weights 252 and 254 complete a full rotation within ball assembly 200, while ball assembly 200 itself also completes a full rotation. Further, in this example, the motors 248, 250 rotate the weights 252, 254 in opposite directions. At position 202 in the side view of fig. 2A (and similarly at position 218 in the top view of fig. 2B and at position 234 in the schematic view of fig. 2C), the weight provides a maximum gravitational moment about a point along the central axis of the spherical assembly 200. In this position, weights 252, 254 coincide in the front half of ball assembly 200 (i.e., the half closest to the direction of travel). This is because, at this point in the rotation process, weights 252, 254 are aligned along the central horizontal axis of ball assembly 200 and furthest from the central axis of ball assembly 200.

As the ball rotates, motors 248, 250 rotate weights 252, 254 at the same rotational speed as ball assembly 200. Thus, after one half of the rotation of ball assembly 200, identified by position 210 in side view (and similarly by position 226 in top view and position 242 in schematic view), weights 252, 254 will again coincide in the front half of ball assembly 200, but this time weight 254 appears on top of weight 252. However, weights 252, 254 are also aligned along the central horizontal axis of ball assembly 200. As such, they provide a maximum gravitational moment about a point along the central axis of the spherical assembly 200. In other words, gravity acting on weights 252, 254 provides a moment to ball assembly 200 in the direction of travel of ball assembly 200. In this way, the ball assembly 200 will continue to rotate in the same direction. As mentioned above, the three different views show the position of the weight in increments of one-eighth rotation as the spherical assembly rotates along plane 295.

The direction of travel of the ball assembly 200 may be controlled by rotating the weights 252, 254 at a rotational speed that is greater than or less than the rotational speed of the ball assembly 200. For example, fig. 3A-3C again illustrate the ball assembly 200 of fig. 2A-2C when rolled along the plane 295 in three views (i.e., a side view in fig. 3A, a top view in fig. 3B, and a schematic view in fig. 3C). However, in this example, motors 248, 250 rotate weights 252, 254, respectively, at twice the rotational speed of the spherical assembly. As with fig. 2, the three different views in this example show the position of the weight in increments of one-eighth revolution as the spherical assembly rotates along plane 295. Position 302 in the side view of fig. 3A corresponds to position 318 in the top view of fig. 3B and to position 334 in the schematic view of fig. 3C. Similarly, position 304 in the side view of FIG. 3A corresponds to position 320 in the top view of FIG. 3B and to position 336 in the schematic view of FIG. 3C; position 306 in the side view of fig. 3A corresponds to position 322 in the top view of fig. 3B and corresponds to position 338 in the schematic view of fig. 3C; position 308 in the side view of fig. 3A corresponds to position 324 in the top view of fig. 3B and corresponds to position 340 in the schematic view of fig. 3C; position 310 in the side view of fig. 3A corresponds to position 326 in the top view of fig. 3B and corresponds to position 342 in the schematic view of fig. 3C; position 312 in the side view of fig. 3A corresponds to position 328 in the top view of fig. 3B and corresponds to position 344 in the schematic view of fig. 3C; position 314 in the side view of fig. 3A corresponds to position 330 in the top view of fig. 3B and corresponds to position 346 in the schematic view of fig. 3C; and position 316 in the side view of fig. 3A corresponds to position 332 in the top view of fig. 3B and to position 348 in the schematic view of fig. 3C. At position 302 in the side view of fig. 3A (and similarly at position 318 in the top view of fig. 3B and position 334 in the schematic view of fig. 3C), weights 252, 254 provide a maximum gravitational moment about a point along the central axis of spherical assembly 200.

Because weights 252, 254 rotate at twice the rotational rate of ball assembly 200, after one full rotation of ball assembly 200, the weights will make two full rotations within ball assembly 200. For example, after half a revolution of ball assembly 200, weights 252, 254 have completed one full revolution, identified by position 310 in the side view of fig. 3A (and similarly by position 326 in the top view of fig. 3B and position 342 in the schematic view of fig. 3C). Weight 254 is present on top of weight 252 because the ball assembly only completes a half turn. In this position, the weight provides a gravitational moment about a point along the central axis of the spherical assembly 200 that opposes the rotational direction of the spherical assembly 200. For example, in this position, the weight will act to slow or stop the rotation of the ball assembly 200.

Fig. 4A-4C again illustrate the ball assembly 200 of fig. 2A-2C when rolled along the plane 295 in three views (i.e., a side view in fig. 4A, a top view in fig. 4B, and a schematic view in fig. 4C). However, in this example, motors 248, 250 rotate weights 252, 254, respectively, at three times the rotational speed of the spherical assembly. As with fig. 2A-2C, the three different views in this example also show the position of the weight in increments of one-eighth revolution as the spherical assembly rotates along plane 295. Position 402 in the side view of fig. 4A corresponds to position 418 in the top view of fig. 4B and corresponds to position 434 in the schematic view of fig. 4C. Similarly, position 404 in the side view of fig. 4A corresponds to position 420 in the top view of fig. 4B and to position 436 in the schematic view of fig. 4C; position 406 in the side view of fig. 4A corresponds to position 422 in the top view of fig. 4B and to position 438 in the schematic view of fig. 4C; and position 408 in the side view of fig. 4A corresponds to position 424 in the top view of fig. 4B and to position 440 in the schematic view of fig. 4C. At position 402 in the side view of fig. 4A (and similarly at position 418 in the top view of fig. 4B and at position 434 in the schematic view of fig. 4C), weights 252, 254 provide a maximum gravitational moment about a point along the central axis of spherical assembly 200.

Because weights 252, 254 rotate at three times the rotational rate of ball assembly 200, after one full rotation of ball assembly 200, the weights will make three full rotations within ball assembly 200. However, because the weights rotate at three times the rotational rate of the ball assembly 200, rotation of the weights 252, 254 will cause the ball assembly to slow down. For example, after one-eighth turn and two-eighth turn of ball assembly 200 rotation, identified by positions 404 and 406 in the side view of fig. 4A (and similarly by positions 420 and 422 in the top view of fig. 4B and positions 436 and 438 in the schematic view of fig. 4C), weights 252, 254 will fully coincide (e.g., align) in the rear half of rotating ball assembly 200 (e.g., relative to the direction of travel of ball assembly 200) and will cause ball assembly 200 to slow down. Eventually, the spherical element will change its direction.

Fig. 5A-5C again illustrate the ball assembly 200 of fig. 2A-2C when rolled along the plane 295 in three views (i.e., a side view in fig. 5A, a top view in fig. 5B, and a schematic view in fig. 5C). However, in this example, motors 248, 250 rotate weights 252, 254, respectively, at half the rotational speed of the spherical assembly. As with fig. 2A-2C, the three different views in this example show the position of the weight in increments of one-eighth revolution as the spherical assembly rotates along plane 295. Position 502 in the side view of fig. 5A corresponds to position 518 in the top view of fig. 5B and corresponds to position 534 in the schematic view of fig. 5C. Similarly, position 504 in the side view of fig. 5A corresponds to position 520 in the top view of fig. 5B and corresponds to position 536 in the schematic view of fig. 5C; position 506 in the side view of fig. 5A corresponds to position 522 in the top view of fig. 5B and corresponds to position 538 in the schematic view of fig. 5C; position 508 in the side view of fig. 5A corresponds to position 524 in the top view of fig. 5B and to position 540 in the schematic view of fig. 5C; position 510 in the side view of fig. 5A corresponds to position 526 in the top view of fig. 5B and corresponds to position 542 in the schematic view of fig. 5C; position 512 in the side view of fig. 5A corresponds to position 528 in the top view of fig. 5B and corresponds to position 544 in the schematic view of fig. 5C; position 514 in the side view of fig. 5A corresponds to position 530 in the top view of fig. 5B and corresponds to position 546 in the schematic view of fig. 5C; and position 516 in the side view of fig. 5A corresponds to position 532 in the top view of fig. 5B and corresponds to position 548 in the schematic view of fig. 5C. At position 502 in the side view of fig. 5A (and similarly at position 518 in the top view of fig. 5B and at position 534 in the schematic view of fig. 5C), weights 252, 254 provide a maximum gravitational moment about a point along the central axis of spherical assembly 200.

Because weights 252, 254 rotate at half the rotational rate of ball assembly 200, after one full revolution of ball assembly 200, the weights will make half a full revolution within ball assembly 200. For example, after a quarter turn of ball assembly 200, weights 252, 254 have completed an eighth turn identified by position 508 in the side view of fig. 5A (and similarly by position 524 in the top view of fig. 5B and position 540 in the schematic view of fig. 5C). At this location, the center of gravity of each weight begins to move into the rear half of the ball assembly 200, creating a moment opposite to its direction of travel, thus causing the ball assembly 200 to slow down.

Fig. 6 illustrates a ball assembly system 600 that includes a ball well (e.g., a shroud) 650 and a ball assembly 601. The spherical well 650 may enclose at least half of the spherical assembly 601. Ball assembly 601 includes an outer ball assembly 622 and an inner ball assembly 652, with outer ball assembly 622 being contactable with a surface, such as the ground. The outer spherical assembly 622 includes the magnetic windings 606. In this example, spherical well 650 includes one or more magnetic windings 602. Magnetic windings 602 and 606 may be, for example, radial core windings. In some examples, the magnetic windings 602 are the same polarity as the magnetic windings 606 of the outer spherical assembly 622. In this way, magnetic force is applied to the spherical well 650 because the windings will repel each other. In some examples, all (e.g., 4) spherical wells of the vehicle include magnetic windings 602. The magnetic windings 602 and 606 are configured to provide a magnetic force to the vehicle such that the magnetic force supports some weight of the vehicle. In some examples, all of the weight of the vehicle is supported via magnetic force (e.g., magnetic levitation).

In some examples, the ball well 650 includes one or more detents 631 to slow or stop rotation of the outer ball assembly 622. The brake 631 may help slow or stop the rotation of the spherical assembly 601. Further, the detent 630 may be located between the inner ball assembly 652 and the outer ball assembly 622. The brakes 630, 631 may be of any suitable type, such as electronically controlled mechanical brakes (e.g., electromechanical brakes).

In some examples, the internal spherical assembly 652 further includes a rechargeable battery and a controller. The outer spherical assembly 622 may contain a radial magnetic core and windings 606 that uniformly cover some or all of the outer surface of the outer spherical assembly 606. The outer bulb assembly 622 may also contain a rechargeable battery and a controller (not shown). The controller may also be connected to one or more motion detectors 634. The motion detector 634 may be of any suitable type, such as a type that may indicate absolute and relative rotational speeds.

In some examples, a controller (not shown) may activate the ball assembly 601 by causing the motors 612, 614 to start rotating their associated weights 618, 620, respectively, at a preset low speed. The controller may also control and adjust the brake 631 and the brake 630 between the inner spherical assembly 652 and the outer spherical assembly 622 to adjust the rotational speed of the inner assembly and match the preset low speed of the weights 618, 620 detected via the motion detector 634. Upon receiving a wireless signal, e.g., from an operator, regarding the desired direction of travel, the controller may produce a momentary difference in the rotational speed of the weights 618, 620. The amount and duration of the speed change may be based on the desired direction of travel. The same polarity magnetic windings 602, 606 in both the outer spherical assembly 622 and the spherical well 650 may be activated by the controller to create a magnetic levitation force on the spherical well 650. The controller may also release the brake 630 therebetween so that the ball assembly 601 is free to move in the desired direction.

In some examples, the controller is operable to control the speed and direction of the spherical assembly 601 based on wireless input signals from an operator. The weights 618, 620 may be rotated automatically (e.g., in opposite directions) by the controller to change the arm length of the moment exerted by gravity acting on the weights 618, 620. The controller can also be operable to adjust the resistance applied by the brake 630. For steady state travel (e.g., to maintain a particular rotational speed of the outer spherical assembly 622 that is capable of contacting the ground), the controller of the spherical assembly 601 may automatically and continuously maintain the rotational speed of the weights 618, 620 the same as the rotational speed of the inner spherical assembly 652.

Fig. 7 illustrates a ball assembly system 700 that includes a ball well 650 and a ball assembly 701. The spherical assembly 701 includes a spherical inner assembly 704 and a spherical outer assembly 702. The spherical inner assembly 704 houses the motor 714 and weight 720 in a first (e.g., upper) portion and the motor 712 and weight 718 in a second (e.g., lower) portion. For example, each of the first and second portions of the spherical inner assembly 704 may be a sealed chamber. The motors 712, 714 may be variable speed Direct Current (DC) motors, such as variable speed reversible DC motors or any other suitable motor. Weight 720 includes a portion of radial core 740 and a portion of current carrying conductor 724. The weight 718 includes a portion of the radial core 742 and a portion of the current carrying conductor 722. In this example, weights 718 and 720 are in the shape of quarter hollow spheres, with the respective hollow spheres allowing placement of radial cores 740, 742 and current carrying conductors 724, 722.

The spherical assembly 701 may also include a friction reducer configured to minimize friction between the spherical inner assembly 704 and the spherical outer assembly 702. In this example, the friction reducer includes a ball bearing 710. Ball bearings 710 may be held in place by wire mesh or other suitable material. The friction reducer may also include a flow path for oil such that ball bearings 710 reside in the flow path for oil. The oil may be used as a lubricant and cooling mechanism. The spherical assembly 701 may further include a friction reducer 770, the friction reducer 770 configured to minimize friction between the spherical inner assembly 704 and the radial magnetic windings 716.

The spherical inner assembly 704 may also enclose a radial magnetic winding 716 in each of the first and second portions. Similarly, spherical outer assembly 702 may enclose radial magnetic windings 706. These magnetic windings may be, for example, radial core windings. The magnetic windings 706, 716 may have opposite polarities to create a magnetic field on current carrying conductors 722 and 724 embedded within weights 718 and 722.

One or both of the portions of the spherical inner assembly 704 may also include one or more controllers (not shown) operatively coupled to one or both of the motors 712, 714. The controller may be, for example, a processor, microprocessor, or microcontroller. A controller may also be implemented as part of or in a Field Programmable Gate Array (FPGA), an Application Specific Integrated Circuit (ASIC), a digital circuit, or any suitable circuit. The controller can be configured to cause the motors 712, 714 to rotate weights 718, 720, respectively. The controller may be housed in a corresponding half of the central region 708 of the spherical inner assembly 704. In some examples, the controller is attached to the weights 720, 718 or embedded within the weights 720, 718.

One or both of the first and second portions of the central region 708 may house a battery (not shown) to power each of the central magnetic winding 716, the motors 712, 714, and/or the controller. The battery may be, for example, a rechargeable battery, such as a wireless rechargeable battery, a conventional battery, a gel-type battery, or any other suitable battery. The batteries may optionally be housed in respective halves of the central region 708 of the ball assembly 701. In some examples, the battery may be attached to or embedded within one or more weights 720, 718.

The controller may be operably connected to the current carrying conductors 722, 724 and may be configured to control the amount, timing, and direction of current through the current carrying conductors 722, 724. In some examples, the controller causes the motors 712, 714 to rotate the weights 718, 720, respectively, in opposite directions and causes current to flow through the current carrying conductors 722, 724. When the weights 718, 720 are rotated by the magnetic field provided by the radial magnetic windings 706, 716, magnetic forces are applied to the weights 718, 722 due to the current flowing through the current carrying conductors 722, 724. The magnetic force applied to the weights 718, 722 may act together with or counter the gravitational force acting on the weights 718, 722. For example, the controller may cause current to flow through the current carrying conductors 722, 724 in a direction such that the magnetic force is in the same direction as the gravitational force acting on the weights 718, 722. In this way, the magnetic force will tend to increase the speed of the spherical inner component 704. Similarly, the controller may cause current to flow through the current carrying conductors 722, 724 in the other direction such that the magnetic force is in the opposite direction to the gravitational force acting on the weights 718, 722. In this example, the magnetic force will tend to reduce the speed of the spherical inner component 704.

For example, to increase the rotational speed of the spherical inner assembly 704, the controller may cause an increase in the current flowing through the current carrying conductors 722, 724 when the weights 718, 720 coincide in the front half of the spherical assembly 701. To reduce the rotational speed of the ball-shaped inner assembly 704, the controller may cause an increase in the current flowing through the current carrying conductors 722, 724 when the weights 718, 720 coincide in the rear half of the ball-shaped assembly 701. To reduce the rotational speed of the ball-shaped inner assembly 704, the controller may alternatively cause a reduction (e.g., complete elimination) of the current flowing through the current carrying conductors 722, 724 when the weights 718, 720 coincide in the front half of the ball-shaped assembly 701.

In some examples, rather than flowing current through the current carrying conductors 722, 724, the controller directs the current generated in the current carrying conductors 722, 724 to charge a battery (such as a battery powering the central magnetic winding 716, each of the motors 712, 714, and/or the controller). For example, as weights 718, 720 rotate through the magnetic flux generated by radial magnetic windings 706, 716, current is generated in current carrying conductors 722, 724. The current may be directed by the controller (e.g., via an electrical switch) to charge one or more batteries.

The controller may also be connected to one or more brakes 728, 730, 732. The controller can control and adjust the detents 728, 730 between the spherical inner assembly 704 and the spherical outer assembly 702 to adjust the rotational speed of the spherical inner assembly 704. A stopper 732 is located between the spherical well 650 and the spherical outer assembly 702.

The controller may also be connected to one or more motion detectors (not shown). The motion detector may be any suitable detector, such as a detector that may indicate absolute or relative rotational speed. In some examples, the controller is configured to pass current through the current carrying conductors 722, 724 based on the rotational speed of the spherical inner component 704. For example, the controller may detect the rotational speed of the spherical inner assembly 704 via one or more of the motion detectors. Based on the detected rotational speed, the controller may increase or decrease the current flowing through the current carrying conductors 722, 724.

Fig. 8 illustrates the ball assembly of fig. 7 including an outer surface 804. The outer surface 804 encases (e.g., encloses) the spherical assembly 701. The outer surface 804 includes air cooling fins 802 to allow heat dissipation. For example, air cooling fins may provide cooling for the friction reducer of FIG. 7. In some examples, the air cooling fins may be covered with a perforated cover. For example, a perforated sheet metal cover with an external rubber layer may cover the air cooling fins. The outer rubber layer provides a high coefficient of friction when in contact with the road surface, thereby reducing slip. In some examples, the outer surface encases the spherical assembly 601 of fig. 6.

Fig. 9 shows an example of a motion detector 900. For example, the motion detector 900 may be used as the motion detector 634 of fig. 6, or as the motion detector in fig. 7. In this example, the motion detector 900 is hexagonal in shape and includes a magnetic core and windings 902. The motion detector may be encoded for monitoring the rotational speed. For example, the motion detectors 728, 730 may be configured to detect a rotational speed of the spherical inner assembly 704.

Fig. 10A and 10B illustrate weight configurations that may be used, for example, in the spherical assembly 601. In the figure, the ball assembly 601 includes weights 1006, 1002. Each weight 1006, 1002 includes a planar surface that forms the same angle (e.g., an angle greater than 0 degrees) with respect to the central axis 1050 of the spherical assembly 601. In other words, weights 1006, 1008 comprise planes that are inclined and mirrored relative to central axis 1050 of spherical assembly 601. To initiate rotation (e.g., rolling) of the ball assembly 601 along a surface, one or both of the weights 1006, 1008 may be rotated such that one or both of the weights provide a moment to the ball assembly 601 in a desired direction of travel due to gravity.

For example, in fig. 10A, assume that ball assembly 601 is in a resting state with weight 1002 in the position shown and weight 1006 at position 1004. The weight 1002 has a center of gravity 1008 that is a distance from the central axis 1050 and the weight 1006 has a center of gravity (not shown) that is the same distance from the central axis 1050 (assuming that the weights 1002, 1006 have the same shape and density). In this position, the moment of gravity on the weight 1002 about the central axis 1050 is the same as the moment of gravity on the weight 1006 about the same central axis 1050. Because the moments are in opposite directions (e.g., the moment caused by weight 1002 is in a counter-clockwise direction and the moment caused by weight 1006 is in a clockwise direction), ball assembly 601 does not rotate.

However, if the weight 1002 or 1006 rotates, the moment acting on the spherical assembly 601 changes. For example, if the weight 1006 rotates as indicated by arrow 1057 to position 1040, the moment of gravity on the weight 1002 about the central axis 1050 will be greater than the moment of gravity on the weight 1006 about the same central axis 1050. This is because the distance of the center of gravity 1010 of the weight 1004 from the central axis 1050 will be less than the distance of the center of gravity 1008 of the weight 1002 from the same central axis 1050. As such, the spherical assembly 601 will tend to rotate in the direction identified by arrow 1012 (e.g., counterclockwise). In this way, rotation of the ball assembly 601 may be initiated.

Similarly, in fig. 10B, ball assembly 601 is assumed to be in a resting state with weight 1002 in the position shown and weight 1006 at position 1024. The weight 1002 has a center of gravity 1028 at a distance from the central axis 1050 and the weight 1006 has a center of gravity 1030 at the same distance from the central axis 1050 (assuming the weights 1002, 1006 have the same shape and density). Note, however, that these initial distances are smaller than those in fig. 10A. In this position, the moment of gravity on the weight 1002 about the central axis 1050 is the same as the moment of gravity on the weight 1006 about the same central axis 1050. Because the moment is in the opposite direction (e.g., the moment caused by weight 1002 is in the counter-clockwise direction and the moment caused by weight 1006 is in the clockwise direction), ball assembly 601 does not rotate.

However, if the weight 1002 or 1006 rotates, the moment acting on the spherical assembly 601 changes. For example, if the weight 1006 rotates to position 1042 as indicated by arrow 1054, the moment of gravity on the weight 1002 about the central axis 1050 will be less than the moment of gravity on the weight 1006 about the same central axis 1050. This is because the distance of the center of gravity 1028 of the weight 1008 from the central axis 1050 will be less than the distance of the center of gravity 1020 of the weight 1002 from the same central axis 1050. As such, the ball assembly 601 will tend to rotate in the direction identified by arrow 1032 (e.g., clockwise). In this way, rotation of the spherical assembly 601 may also be initiated.

In some examples, a controller, such as the controller described with reference to fig. 7, causes a motor (such as motors 712, 714) to rotate at least one of weights 1002, 1006 to initiate rotation of spherical assembly 601.

Fig. 11A and 11B show the ball assembly 1101 rolling along a plane at various points after one eighth of a revolution of the ball assembly 1101 in two views, namely a side view in fig. 11A and a front view in fig. 11B. These figures identify the center of gravity 1102 of the first weight and the center of gravity 1104 of the second weight. Although not shown, it should be appreciated that each weight is connected to a motor that is operable to receive input from the controller and cause the weight to rotate within the ball assembly 1101. In fig. 11A, position 1110 represents the beginning of a full rotation of ball assembly 1101 when ball assembly 1101 is rotated clockwise as indicated by the directional arrow, wherein position 1130 of fig. 11B illustrates the beginning of the rotation, but from a front view (e.g., when ball assembly 1101 is rotated toward the reader).

Position 1112 shows ball assembly 1101 after one-eighth rotation (and similarly, position 1132 in the front view of fig. 11B); position 1114 shows ball assembly 1101 after two-eighth rotation (and similarly, position 1134 in the front view of FIG. 11B); position 1116 shows ball assembly 1101 after three-eighths of a revolution (and similarly, position 1136 in the front view of fig. 11B); position 1118 shows ball assembly 1101 after four-eighths of a revolution (and similarly, position 1138 in the front view of FIG. 11B); position 1120 shows ball assembly 1101 after five eighths of a revolution (and similarly, position 1140 in the front view of fig. 11B); position 1122 shows ball assembly 1101 after six eighths of a revolution (and similarly, position 1142 in the front view of fig. 11B); position 1124 shows ball assembly 1101 after seven-eighth of a full revolution (and similarly, at position 1144 of the front view of fig. 11B). The front view of fig. 11B shows the same position of ball assembly 1101 as the side view of fig. 11A when rotated, but from the front view.

In both fig. 11A and 11B, at each point, the arrows near the center of gravity 1102 of the first weight and the center of gravity 1104 of the second weight indicate the direction of the centrifugal force generated by each respective weight on the ball assembly 1101. For example, at location 1110 (and similarly, at location 1130 in the front view of FIG. 11B) in the side view of FIG. 11A, the centrifugal force caused by each rotating weight applies equal but opposite forces (assuming the weights rotate at similar rotational speeds), at location 1112 (and similarly, at location 1132), the centrifugal force has a vertical component in the same vertical direction but has a horizontal component in the opposite direction, at location 1114 (and similarly, at location 1134), the centrifugal force is in the same direction as the direction of travel of ball assembly 1101, at location 1116 (and similarly, at location 1136), the centrifugal force has a component in the same direction and a component in the opposite direction, at location 1118 (and similarly, at location 1138), the centrifugal force has a component in the same direction and a component in the opposite direction, at location 1120 (and similarly, at location 1140), the centrifugal force has a component in the same direction, at location 1124 (and similarly, at location 1142), the centrifugal force has a component in the same direction and the same as the ball assembly 1101, at location 1144), the centrifugal force has a component in the same direction and a component in the same direction as the ball assembly, and a component in one or more directions that can cause the ball assembly to rotate in the same direction, at location 1101, in one or more than one example, in the direction or more than one or more directions that the ball assembly may cause the ball assembly to rotate in the same direction, the controller is configured to cause a change in the direction of travel of the ball assembly 1101 by changing the rotational speed of the rotating weight.

Fig. 12A and 12B show each point of the ball assembly 1201 after each eighth of a revolution of the ball assembly 1201 in two views, namely a side view in fig. 12A and a front view in fig. 12B, rolling along a plane. These figures identify the center of gravity 1206 of the first weight, the center of gravity 1202 of the second weight, and the center of gravity 1204 of the third weight. In some examples, the weight of the first weight is twice the weight of each of the second weight and the third weight. In some examples, the first weight rotates within a cavity of the ball assembly 1201 between cavities through which the second and third weights rotate, respectively. Although not shown, it should be understood that each weight is connected to a motor that is operable to receive input from a controller and cause the weight to rotate within the ball assembly 1201. In fig. 12A, position 1210 represents the beginning of a full rotation of the ball assembly 1201, corresponding to position 1230 in the front view of fig. 12B.

Position 1212 shows the ball assembly 1201 after one-eighth turn rotation (and similarly, position 1232 in the front view of fig. 12B); position 1214 shows ball assembly 1201 after two-eighth rotation (and similarly, position 1234 in the front view of fig. 12B); position 1216 shows ball assembly 1201 after three-eighths of a revolution (and similarly, position 1236 in the front view of fig. 12B); position 1218 shows ball assembly 1201 after four eighths of a revolution (and similarly, position 1238 in the front view of fig. 12B); position 1220 shows ball assembly 1201 after five eighths of a revolution (and similarly, position 1240 in the front view of fig. 12B); position 1222 shows ball assembly 1201 after six eighths of a revolution (and similarly, at position 1242 of the front view of fig. 12B); position 1224 shows the ball assembly 1201 after a full rotation of seven-eighth of a turn (and similarly, at position 1244 of the front view of fig. 12B). The front view of fig. 12B shows the same spherical assembly 1201 as the side view of fig. 12A in position as it rotates, but from the front view.

In each position, in fig. 12A and 12B, the arrows near the center of gravity 1206 of the first weight, center of gravity 1202 of the second weight, and center of gravity 1204 of the third weight indicate the direction of the centrifugal force caused by each respective weight on the ball assembly 1201. For example, at position 1210 in the side view of fig. 12A (and similarly, at position 1230 in the front view of fig. 12B), the centrifugal force caused by each rotating weight applies an equal but opposite force (assuming the weights rotate at similar rotational speeds). At location 1212 (and similarly, at location 1232), the centrifugal force has a vertical component in the same vertical direction, but has a horizontal component in the opposite direction. At location 1214 (and similarly, at location 1234), centrifugal force is in the same direction as the direction of travel of ball assembly 1201. At position 1216 (and similarly, at position 1236), centrifugal force has a component in the same direction, and a component in the opposite direction. At location 1218 (and similarly at location 1238), the centrifugal force is in the opposite direction. At location 1220 (similarly, location 1240), the centrifugal force has a component in the same direction, and a component in the opposite direction. At location 1222 (and similarly, at location 1242), the centrifugal force is in the same direction. Finally, at location 1224 (and similarly, at location 1244), the centrifugal force has a component in the same direction and a component in an opposite direction.

When one or more centrifugal forces caused by the rotating weight are in the direction of travel of the ball assembly 1201, the centrifugal forces may push the ball assembly in the direction of travel. In some examples, one or more centrifugal forces caused by the rotating weights on the ball assembly 1201 may cause a change in the direction of travel of the ball assembly 1201. In some examples, the controller is configured to cause a change in the direction of travel of the ball assembly 1201 by changing the rotational speed of the rotating weight.

In some examples, the controller rotates the first weight to counteract (e.g., cancel) centrifugal forces caused by rotation of the second and third weights. For example, the first weight may be rotated to counteract an unintended change in the direction of the ball assembly 1201.

Fig. 13A, 13B and 13C show electrified ball assemblies of different configurations, each electrified ball assembly having three weights. For example, fig. 13A shows a spherical assembly 1300 that includes a spherical inner assembly 1313 and a spherical outer assembly 1311. One or more ball bearings 710, and in some examples a lubricant (e.g., oil) separate the spherical inner assembly 1313 from the spherical outer assembly 1311. This allows the spherical inner assembly 1313 to rotate within the spherical outer assembly 1311 with little friction. The spherical interior assembly 1313 houses a first motor 1312 operable to rotate the first weight 1306, a second motor 1308 operable to rotate the second weight 1302, and a third motor 1310 operable to rotate the third weight 1304. The first weight 1306 rotates within the cavity 1334 of the ball assembly 1300. The second weight 1302 rotates within the cavity 1330 of the ball assembly 1300 and the third weight 1304 rotates within the cavity 1332 of the ball assembly 1300. In some examples, the weight of the first weight 1306 is twice the weight of each of the second weight 1302 and the third weight 1304.

In this example, the radius of the cavity 1334 from the center of the spherical assembly 1300 is less than the radius at which the cavities 1330 and 1332 are located. Further, although the cavity 1334 spans the upper and lower halves of the ball assembly 1300, the cavities 1330 and 1332 each span only half of the ball assembly 1300.

The ball assembly 1300 may also include ball bearings 710 and, in some examples, a lubricant within the cavity of the rotating weight. For example, ball bearings 720 may separate each of first weight 1306, second weight 1302, and third weight 1304 from the inner walls of their respective cavities 1334, 1330, 1332. In some examples, a permanent magnet 1320, such as a rare earth permanent magnet, may be used to generate a magnetic field between the spherical outer assembly 1311 and the spherical inner assembly 1313. Current carrying conductors (not shown) may be embedded within the first weight 1306, the second weight 1302, and the third weight 1304 so that when the weights rotate, magnetic forces are applied to the weights as they rotate through the magnetic field. These magnetic forces may increase or decrease the rotational speed of the weight. For example, a controller (not shown) may turn the magnetic field on to increase or decrease the rotational speed of any of the first weight 1306, the second weight 1302, and the third weight 1304. In this example, the first motor 1312, the second motor 1308, and the third motor 1310 are aligned along a central horizontal axis of the ball assembly 1300, with the first motor 1312 located between the second motor 1308 and the third motor 1310.

Fig. 13B shows a ball assembly 1350 similar to ball assembly 1300 of fig. 13A, but with a different weight and cavity configuration. The ball assembly 1350 includes a ball inner assembly 1313 and a ball outer assembly 1311. One or more ball bearings 710, and in some examples a lubricant (e.g., oil) separate the spherical inner assembly 1313 from the spherical outer assembly 1311. The ball-shaped inner assembly 1313 houses a first motor 1312 operable to rotate a first weight 1356, a second motor 1308 operable to rotate a second weight 1352, and a third motor 1310 operable to rotate a third weight 1354. The first weight 1356 rotates within the cavity 1364 of the ball assembly 1350. The second weight 1352 rotates within the cavity 1360 of the ball assembly 1350 and the third weight 1354 rotates within the cavity 1362 of the ball assembly 1350. In some examples, the weight of the first weight 1356 is twice the weight of each of the second weight 1352 and the third weight 1354.

In this example, the radius of the cavity 1364 from the center of the ball assembly 1350 is the same as the radius of the cavities 1360 and 1362. In some examples, the cavities 1364, 1360, and 1362 occupy approximately 1/3 of the interior cavity of the ball assembly 1350. Further, the cavity 1364 partially spans the upper and lower halves of the ball assembly 1350. The cavity 1362 spans only a top portion of the ball assembly 1350 and the cavity 1360 spans only a bottom portion of the ball assembly 1350. In this example, the first motor 1312, the second motor 1308, and the third motor 1310 are aligned along a central horizontal axis of the ball assembly 1350, with the first motor 1312 being located between the second motor 1308 and the third motor 1310.

Fig. 13C shows a ball assembly 1370 similar to ball assembly 1300 of fig. 13A, but with a different weight and cavity configuration. Ball assembly 1370 includes a ball inner assembly 1313 and a ball outer assembly 1311. One or more ball bearings 710, and in some examples a lubricant (e.g., oil) separate the spherical inner assembly 1313 from the spherical outer assembly 1311. The spherical interior assembly 1313 houses a first motor 1382 operable to rotate a first weight 1372, a second motor 1380 operable to rotate a second weight 1376, and a third motor 1384 operable to rotate a third weight 1374. In this example, the first motor 1382, the second motor 1380, and the third motor 1384 are located near the center of the ball assembly 1370.

The first weight 1372 rotates within the cavity 1392 of the ball assembly 1370. The second weight 1376 rotates within cavity 1390 of ball assembly 1370 and the third weight 1374 rotates within cavity 1394 of ball assembly 1370. However, in this example, the radius of cavity 1394 from the center of ball assembly 1370 is greater than the radius of cavities 1390 and 1392. In some examples, the weight of the first weight 1372 is twice the weight of each of the second weight 1376 and the third weight 1374. In some examples, the first motor 1382 may also rotate the counterweight 1305, and the counterweight 1305 may help stabilize the ball assembly 1370 during rotation.

Fig. 14A shows a rocket 1403 employing a plurality of spherical assemblies 1401. For example, the ball assembly 1401 may include one or more of the ball assemblies of fig. 13A-13C. The ball assembly may generate a propulsive force in a vertical direction, as indicated by the directional arrow. Fig. 14B illustrates a top view of the ball assembly 1401 of fig. 14A. The ball assembly 1401 may be rotated in opposite directions to counteract or minimize horizontal forces while maximizing vertical forces.

Fig. 14C and 14D show each point of the ball assembly 1401 after each eighth of a revolution of the ball assembly 1401 in two views, namely a side view in fig. 14C and a front view in fig. 14D, rolling along a plane. These figures identify the center of gravity 1406 of the first weight, the center of gravity 1402 of the second weight, and the center of gravity 1404 of the third weight. In some examples, the first weight is twice the weight of each of the second weight and the third weight. In some examples, the first weight rotates within a cavity of the ball assembly 1401 that is located between the cavities through which the second and third weights rotate, respectively. Although not shown, it should be appreciated that each weight is connected to a motor that is operable to receive input from the controller and cause the weight to rotate within the ball assembly 1401. In fig. 14C, position 1410 represents the beginning of a full rotation of ball assembly 1401 in the direction indicated by the directional arrow, which corresponds to position 1430 of the front view in fig. 14D.

Position 1412 shows ball assembly 1401 after one-eighth rotation (and similarly, at position 1432 of the front view of fig. 14D); position 1414 shows the ball assembly 1401 after two-eighths of a revolution (and similarly, at position 1434 of the front view of fig. 14D); position 1416 shows the ball assembly 1401 after three-eighths of a revolution (and similarly, in position 1436 of the front view of fig. 14D); position 1418 shows the ball assembly 1401 after four eighths of a revolution (and similarly, in position 1438 of the front view of fig. 14D); position 1420 shows ball assembly 1401 after five eighths of a revolution (and similarly, position 1440 in the front view of fig. 14D); position 1422 shows ball assembly 1401 after six eighths of a revolution (and similarly at position 1442 in the front view of fig. 14D); position 1424 shows ball assembly 1401 after seven-eighth rotation (and similarly, at position 1444 in the front view of fig. 14D). The front view of fig. 14D shows the same position of the ball assembly 1401 as the side view of fig. 14C when rotated, but from the front view.

In each position, in fig. 14C and 14D, the arrows near the center of gravity 1406 of the first weight, the center of gravity 1402 of the second weight, and the center of gravity 1404 of the third weight indicate the direction of the centrifugal force caused by each respective weight on the ball assembly 1401. For example, at location 1410 in the side view of fig. 14C (and similarly, at location 1430 in the front view of fig. 14D), the centrifugal force caused by each rotating weight is applied in the same direction (e.g., upward), assuming that the weights rotate at similar rotational speeds. At position 1412 (similarly, position 1432), the centrifugal force has a vertical component in the same vertical direction, but has a horizontal component in the opposite direction. At location 1414 (and similarly, at location 1434), centrifugal force is in the opposite direction. For example, the centrifugal force caused by the rotation of the first weight is opposite to the centrifugal force caused by the rotation of the second weight and the third weight. At location 1416 (and similarly, at location 1436), the centrifugal force has a component in the same direction (e.g., vertical direction) and a component in the opposite direction. At location 1418 (and similarly, at location 1438), centrifugal forces are in the same direction. At location 1420 (similarly, location 1440), the centrifugal force has a component in the same direction (e.g., vertical direction) and a component in the opposite direction. At location 1422 (and similarly, at location 1442), centrifugal force is in the opposite direction. For example, the centrifugal force caused by the rotation of the first weight is opposite to the centrifugal force caused by the rotation of the second and third weights. Finally, at location 1424 (and similarly, location 1444), the centrifugal force has a component in the same direction (e.g., vertical direction), and a component in the opposite direction.

Fig. 14E and 14F show, in two views, a front view in fig. 14E and a side view in fig. 14F, each point of another ball assembly 1401 rolling along a plane after each eighth revolution of the ball assembly 1401. Fig. 14F is similar to fig. 14C except that the ball assembly 1401 rotates in an opposite direction (e.g. counter-clockwise rather than clockwise) as indicated by the directional arrow at position 1480. By including spherical assemblies 1401 that rotate in opposite directions, the vibratory forces generated by the rotating weights can be balanced (e.g., offset).

In fig. 14F, position 1480 represents the beginning of a full rotation of ball assembly 1401 in the direction indicated by the directional arrow, which corresponds to position 1460 of the front view in fig. 14E. Position 1482 shows ball assembly 1401 after one-eighth rotation (and similarly, in position 1462 of the front view of fig. 14E); position 1484 shows ball assembly 1401 after two-eighths of a revolution (and similarly, position 1464 in the front view of fig. 14E); position 1486 shows ball assembly 1401 after three-eighths of a revolution (and similarly, position 1466 in the front view of fig. 14E); position 1488 shows ball assembly 1401 after four-eighths of a revolution (and similarly, in position 1468 of the front view of fig. 14E); position 1490 shows ball assembly 1401 after five eighths of a turn (and similarly, position 1470 in the front view of fig. 14E); position 1492 shows ball assembly 1401 after six eighths of a revolution (and similarly, position 1472 in the front view of fig. 14E); and position 1494 shows ball assembly 1401 after seven-eighth rotation (and similarly, position 1474 in the front view of fig. 14E). The front view of fig. 14E shows the same position of the ball assembly 1401 as the side view of fig. 14F when rotated, but from the front view.

In each position, in fig. 14E and 14F, the arrows near the center of gravity 1452 of the first weight, the center of gravity 1454 of the second weight, and the center of gravity 1456 of the third weight indicate the direction of the centrifugal force caused on the ball assembly 1401 by each respective weight. For example, at position 1480 in the side view of fig. 14F (and similarly, at position 1460 in the front view of fig. 14E), centrifugal force caused by each rotating weight is applied in the same direction (e.g., upward), assuming that the weights rotate at similar rotational speeds. At location 1482 (and similarly, at location 1462), centrifugal force has a vertical component in the same vertical direction, but has a horizontal component in the opposite direction. At location 1484 (and similarly at location 1464), centrifugal force is in the opposite direction. For example, the centrifugal force caused by the rotation of the first weight is opposite to the centrifugal force caused by the rotation of the second weight and the third weight. At location 1466 (and similarly, at location 1486), centrifugal force has a component in the same direction (e.g., vertical direction) and a component in the opposite direction. At location 1488 (and similarly, at location 1468), centrifugal force is in the same direction (e.g., vertically upward). At location 1490 (and similarly, at location 1470), the centrifugal force has a component in the same direction (e.g., vertical direction) and a component in the opposite direction. At location 1492 (and similarly, at location 1472), centrifugal force is in the opposite direction. For example, the centrifugal force caused by the rotation of the first weight is opposite to the centrifugal force caused by the rotation of the second weight and the third weight. Finally, at location 1474 (and similarly, at location 1494), the centrifugal force has a component in the same direction (e.g., vertical direction) and a component in the opposite direction.

Fig. 15 shows the centrifugal forces acting on spherical assemblies 1501 and 1551. Ball assemblies 1501 and 1551 may be, for example, ball assemblies 1401, each having an outer assembly housing that rotates in opposite directions. For each spherical assembly 1501 and 1551, FIG. 15 shows a side view and a top view of the respective locus after each eighth of a revolution as the corresponding spherical assembly rotates along a plane, as shown at position 1515. In this example, a controller (not shown) causes a motor (not shown) to rotate the first, second, and third weights to eliminate unbalanced vibrations due to, for example, centrifugal forces generated by rotating the weights. Fig. 15 identifies a center of gravity 1502 of the first weight, a center of gravity 1504 of the second weight, and a center of gravity 1506 of the third weight.

Graph 1520 shows the corresponding magnitude (in percent) of centrifugal force experienced by the corresponding spherical assemblies 1501 and 1551 throughout the revolution. Graph 1520 identifies four curves, namely curve 1522, curve 1524, curve 1526, and curve 1528. Curves 1524 and 1526 correspond to spherical element 1501, and curves 1522 and 1528 correspond to spherical element 1551. Curves 1526 and 1528 represent the magnitude of centrifugal force experienced by respective spherical assemblies 1501, 1551 in a direction perpendicular to their direction of travel and their axis of rotation (e.g., upward or downward from the plane in which they rotate). Curves 1522 and 1524 represent the magnitude of centrifugal forces experienced by the respective spherical assemblies 1551, 1501 in their direction of travel.

Thus, for example, after two-eighths of a revolution, curve 1524 shows that spherical assembly 1501 experiences approximately 100% centrifugal force along its direction of travel, while spherical assembly 1551 experiences little if any centrifugal force, as shown by curve 1522. However, after four eighths of a revolution, curve 1524 shows that spherical assembly 1501 experiences little if any centrifugal force, while spherical assembly 1551 experiences nearly 100% centrifugal force along its direction of travel, as shown by curve 1522.

Curve 1526 shows that after one-eighth and five-eighth rotations, spherical assembly 1501 experiences a maximum percentage of centrifugal force in a direction perpendicular to the direction of travel. This is because the centrifugal force generated by rotating the weight has a component in the vertical direction. Curve 1528 shows that after three-eighths and seven-eighths of a revolution, ball assembly 1551 is subjected to a maximum percentage of centrifugal force perpendicular to the direction of travel.

Among other advantages, the apparatus and method may provide propulsion without the need for an internal combustion engine or gearbox. Furthermore, the device can inherently change its direction of travel to any direction without requiring a large turning radius. The apparatus and method may provide propulsion for any suitable vehicle, such as a land or amphibious vehicle (amphibious vehicle). For example, the apparatus and method may improve road traction control and reduce road slip. The apparatus and method may also reduce vehicle stopping distances. Furthermore, the apparatus may require fewer components than conventional internal combustion engines and may also provide cost benefits. Other advantages of the present disclosure will become apparent to those skilled in the art to which it pertains upon a careful reading of the claims, drawings, and detailed description of the embodiments below.

While the preferred embodiments of the present subject matter have been described, it is to be understood that the described embodiments are merely illustrative and that the scope of the present subject matter is to be defined solely by the appended claims when given the full range of equivalents, and that many variations and modifications will become apparent to those of ordinary skill in the art upon review of this subject matter.

Claims

1. A spherical assembly, comprising:

a spherical shell;

a first motor connected to a first weight and the spherical housing;

a second motor connected to a second weight and the spherical housing;

a third motor connected to a third weight and the spherical housing; and

a controller operatively coupled to the first motor, the second motor, and the third motor, and configured to:

causing the first motor to rotate the first weight in a first direction at a first rotational speed based on a rotational speed of the ball assembly;

causing the second motor to rotate the second weight in a second direction at a second rotational speed based on the rotational speed of the spherical assembly; and

Causing the third motor to rotate the third weight in the second direction at the second rotational speed;

causing the first motor to change the first rotational speed of the first weight relative to the second rotational speeds of the second weight and the third weight to change a direction of travel of the spherical assembly.

2. The ball assembly of claim 1, wherein the weight of the first weight is about twice the weight of each of the second weight and the third weight.

3. The ball assembly of claim 2, wherein the controller is configured to rotate the first weight to counteract centrifugal forces on the ball assembly caused by rotation of at least the second weight and the third weight.

4. The ball assembly of claim 1, wherein the controller is configured to cause the first rotational speed of the first motor and the second rotational speeds of the second motor and the third motor to be the rotational speeds of the ball assembly.

5. The spherical assembly of claim 1, wherein the controller is configured to cause the first motor to rotate the first weight such that the first weight provides a maximum gravitational moment about a point along a central axis of the spherical assembly.

6. The spherical assembly of claim 5, wherein the controller is configured to cause the second motor to rotate the second weight such that the second weight provides a maximum gravitational moment about the point along the central axis of the spherical assembly, while the controller causes the first motor to rotate the first weight to provide a maximum gravitational moment about the central axis of the spherical assembly.

7. The spherical assembly of claim 1, wherein the controller is configured to cause: the first motor changing the first rotational speed of the first weight to the rotational speed of the spherical assembly; and

the second motor changes the second rotational speed of the second weight to the rotational speed of the spherical assembly.

8. The ball assembly of claim 1, wherein the controller is configured to cause the first and second motors to rotate the first and second weights such that the center of gravity of the first and second weights remain in a half of the ball housing.

9. The ball assembly of claim 1, wherein at least one of the first weight and the second weight is coupled to a current conductor, wherein the controller is configured to pass current through the current conductor based on the rotational speed of the ball assembly.

10. A spherical assembly, comprising:

a spherical inner assembly, the spherical inner assembly surrounding:

a first motor connected to a first weight;

a second motor connected to a second weight; and

a controller operatively coupled to the first motor and to the second motor and configured to:

rotating the first motor in a first direction at a first rotational speed of a rotational speed based on the spherical inner assembly;

causing the second motor to rotate the second weight in a second direction at a second rotational speed based on the rotational speed of the spherical inner assembly; and

changing the first rotational speed of the first motor in association with the second rotational speed of the second motor to change a direction of travel of the ball assembly; and

a spherical outer assembly, the spherical outer assembly surrounding:

the spherical inner assembly; and

a friction reducer configured to minimize friction between the spherical inner component and the spherical outer component.

11. The spherical assembly of claim 10, further comprising a first magnetic winding partially attached to the spherical outer assembly and a second magnetic winding partially attached to the spherical inner assembly.

12. The ball assembly of claim 11, wherein the polarity of the first magnetic winding is opposite to the polarity of the second magnetic winding, and wherein at least one of the first weight and the second weight is coupled to a magnetic core and a current carrying conductor.

13. The ball assembly of claim 10 wherein the friction reducer comprises at least one ball bearing.

14. The ball assembly of claim 10, further comprising a third motor, wherein the controller is configured to rotate a third weight in the second direction at the second rotational speed.

15. The ball assembly of claim 14, the weight of the first weight being at least twice the weight of each of the second weight and the third weight.

16. The spherical assembly of claim 10, further comprising at least one motion detector in communication with the controller and configured to detect a rotational speed of the spherical inner assembly.

17. A method of propelling a spherical assembly, comprising:

causing a first motor to rotate a first weight in a first direction at a first rotational speed based on a rotational speed of the ball assembly; and

Causing a second motor to rotate a second weight in a second direction at a second rotational speed based on the rotational speed of the ball assembly; and

the first rotational speed of the first motor is varied in association with the second rotational speed of the second motor to vary the direction of travel of the ball assembly.

18. The method of claim 17, further comprising making the first rotational speed of the first motor and the second rotational speed of the second motor the rotational speed of the spherical assembly.

19. The method of claim 17, further comprising rotating a third motor in the second direction at the second rotational speed.

20. The method of claim 19, further comprising:

rotating the first motor to rotate the first weight to counteract centrifugal forces acting on the spherical assembly caused by rotation of at least the second weight and the third weight.