Magnetic suspension ball wheel system capable of rotating in all directions

Abstract

The invention provides a spherical wheel system capable of enabling a platform carrying the system to suspend on a spherical wheel and perform omni-directional movement on a horizontal plane, and relates to the field of magnetic suspension and the field of electronic control. A complex driving transmission system can be replaced by a magnetic suspension technology, complexity is changed into simplification, space is saved, and meanwhile maintenance cost is reduced; the internal environment of the ball wheel is stable, driving devices such as the motor and the Mecanum wheel in the ball wheel are not prone to being damaged, the maintenance period is greatly prolonged, and the service life is prolonged; complex maneuvering such as translation and in-situ rotation of a platform carrying the platform can be achieved, and the practicability of the platform carrying the platform and the adaptability to different working environments are greatly improved; the magnetic suspension technology can replace an adjustable suspension and a damping system, the ground clearance of a platform carrying the platform can be adjusted within a certain range, different terrains can be automatically adjusted, and the stability of the platform when the platform passes through the different terrains is maintained.

Description

Technical Field

[0001] The invention relates to the field of magnetic suspension and electronic control, and is specifically described as a spherical wheel system that enables a platform equipped with the system to suspend on the spherical wheel and move in all directions on a horizontal plane. Background Art

[0002] On small platforms that require flexible movement, such as service robots, smart cars, AGVs, etc., the drive system and suspension shock absorption system occupy too much space, resulting in a corresponding reduction in payload, the inability of traditional tires to complete complex planar omnidirectional movements, and the complex structure and maintenance difficulties of traditional drive transmission systems have always restricted the development of these platforms. The current solution to the above problems is to use a complex drive transmission system in combination with micro shock absorption. This solution has a complex structure, is easy to damage, and is difficult to maintain, which has caused many adverse effects on the fields it involves. Summary of the invention

[0003] The technical problem to be solved by the present invention is to provide a spherical wheel system which replaces suspension shock absorption with magnetic levitation technology, saves platform space, and enables the platform equipped with the system to suspend above the spherical wheel and move in all directions on the horizontal plane.

[0004] To solve the above problems, the solution adopted by the present invention is: an omnidirectionally rotatable magnetic suspension ball wheel system, characterized in that it includes a platform electromagnetic coil suspension system, a platform processor, a wireless charging transmission system, a wireless charging receiving system, an omnidirectional motor power system, a signal transmission and receiving system, an in-wheel processor, a lower biased counterweight, a magnetic field coupling permanent magnet, a bracket, an integrated shell of the ball wheel, and an in-ball wheel sensor. The platform electromagnetic coil suspension system, the wireless charging transmission system, the platform processor, and a part of the signal transmission and receiving system are located in the platform on which the omnidirectional magnetic suspension ball wheel system is installed. The wireless charging receiving system, the in-wheel processor, the omnidirectional motor power system, the lower biased counterweight, the magnetic field coupling permanent magnet, the bracket, the in-ball wheel sensor, and another part of the signal transmission and receiving system are included in the integrated shell of the ball wheel. The bracket is fixed on the lower biased counterweight, and the omnidirectional motor power system is fixed under the lower biased counterweight. The wireless charging receiving system, the signal transmission and receiving system, the in-wheel processor, and the in-ball wheel sensor are carried on the bracket, the lower biased counterweight and the omnidirectional motor power system, and the magnetic field coupling permanent magnet is fixed on the bracket.

[0005] The bracket is a supporting system that serves to fix the various systems in the ball wheel housing to the lower offset counterweight.

[0006] Preferably, the platform electromagnetic coil suspension system includes three devices: an electromagnetic coil group, a permanent magnet group, and a Hall sensor. The platform electromagnetic coil suspension system includes multiple sets of electromagnetic coil group devices and multiple sets of permanent magnet group devices. Each set of electromagnetic coil group devices cooperates with a set of permanent magnet group devices. Each set of electromagnetic coil group devices and a set of permanent magnet group devices correspond to one magnetic field coupling permanent magnet. The magnetic field coupling permanent magnet is located on the central axis of the electromagnetic coil group device of the electromagnetic coil suspension system and is affected by the magnetic force generated by the electromagnetic coil group device. The multiple sets of electromagnetic coil group devices and the multiple sets of permanent magnet group devices in the platform electromagnetic coil suspension system are symmetrically distributed in a hemispherical shape in the platform, and the central axis of all electromagnetic coil group devices and all permanent magnet group devices is symmetrical. The lines point to the center of gravity of the ball wheel at the same time. The microprocessor device in the platform processor determines the magnetic field state by receiving the signal of the Hall sensor device in the platform electromagnetic coil suspension system, and adjusts the working state of the electromagnetic coil group device in the platform electromagnetic coil suspension system through the coil controller device to achieve the purpose of platform suspension. At the same time, the lower offset weight cooperates with the platform electromagnetic coil suspension system to jointly constrain all systems and structures contained in the integrated shell of the ball wheel, so that when the integrated shell of the ball wheel rolls, the relative position of all systems and structures contained in the integrated shell of the ball wheel relative to the platform on which the omnidirectional magnetic suspension ball wheel system is installed in space does not produce unexpected changes.

[0007] Preferably, the wireless charging transmitting system includes two devices, a power processing circuit and a transmission coil; the wireless charging receiving system includes four devices, a transmission coil, a receiving circuit, a rechargeable battery, and a battery protection board; the wireless charging transmitting system inputs the power in the platform into a wireless transmission control circuit device, which is modulated and input into a coil device to generate electromagnetic waves; the transmission coil device in the wireless charging transmitting system is parallel to the transmission coil device in the wireless charging receiving system and is located on the same central axis; the wireless charging receiving system receives the electromagnetic waves emitted by the wireless charging transmitting system through the transmission coil device and converts them into alternating current, and inputs the alternating current into the receiving circuit device to convert it into stable electric energy and charge the battery device through the battery protection board device; the battery protection board device can detect the status of the battery device and protect the battery device by connecting or disconnecting the input line or output line of the battery device; the part inside the ball wheel of the signal transmitting and receiving system, the processor inside the wheel, the omnidirectional motor power system, and the sensor inside the ball wheel are all powered by the wireless charging receiving system.

[0008] Preferably, the signal transmitting and receiving system includes four devices, a pair of radio frequency modules and a pair of directional antennas. The signal transmitting and receiving system is located in the platform part. After receiving the control information from the platform processor, the radio frequency module device converts the control information into a radio frequency signal and transmits a highly directional electromagnetic wave to the part of the ball wheel where the signal transmitting and receiving system is located inside the ball wheel through the directional antenna device. The electromagnetic wave emission direction of the directional antenna device in the platform part of the signal transmitting and receiving system always points to the signal receiving direction of the directional antenna device in the part of the ball wheel where the signal transmitting and receiving system is located. After receiving the radio frequency signal, the directional antenna device in the part of the ball wheel where the signal transmitting and receiving system is located inputs the signal into the radio frequency module device, and the signal is processed by the radio frequency module device and restored to the control information.

[0009] Preferably, the integrated shell of the ball wheel can be processed by a variety of processes, the inner wall of the integrated shell of the ball wheel is flat, and the outer wall can be attached with different shells according to different usage occasions of the system. Among all the systems and structures contained in the integrated shell of the ball wheel, only the omnidirectional motor power system is in contact with the integrated shell of the ball wheel. The omnidirectional motor power system includes two devices, a motor group and a Mecanum wheel group. The in-wheel processor includes two devices, a microprocessor and a motor driver. The motor group device of the omnidirectional motor power system includes multiple motors, and the Mecanum wheel device is installed in the motor group device of the omnidirectional motor power system. On the power output shaft of each motor, the in-wheel processor receives control information from the signal transmitting and receiving system located in the part inside the spherical wheel. The microprocessor device in the in-wheel processor parses the control information and distributes the instructions obtained after the parsing to the motor driver device. The motor group device in the omnidirectional motor power system is controlled by the motor driver device in the in-wheel processor. The motor group device is controlled to output power to the Mecanum wheel group device connected thereto, and the Mecanum wheel group device rubs the inner wall of the spherical wheel integrated shell to make the spherical wheel integrated shell roll.

[0010] Compared with the prior art, the present invention has the following advantages:

[0011] The present invention can replace the complex drive transmission system through magnetic levitation technology, simplify the complex, save space and reduce maintenance costs; the internal environment of the ball wheel of the present invention is stable, and the driving devices such as the motor and Mecanum wheel inside the ball wheel are not easily damaged, which greatly prolongs the maintenance cycle and increases the service life; the present invention can enable the platform equipped with the present invention to achieve complex maneuvers such as translation and rotation on the spot, which greatly increases the practicality of the platform equipped with the present invention and the adaptability to different working environments; the magnetic levitation technology of the present invention can replace the adjustable suspension and shock absorption system, not only can the ground distance of the platform equipped with the present invention be adjusted within a certain range, but also different terrains can be automatically adjusted to maintain the stability of the platform when passing through different terrains. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 2 is a schematic diagram of the corresponding internal and external structure of the overall structure of this embodiment. The left side of the figure is a schematic diagram of the partial structure of this embodiment after removing the ball wheel shell and platform shielding, and the right side of the figure is a schematic diagram of the normal state of this embodiment.

[0013] Figure 2 This is a schematic diagram of the overall logical structure of this embodiment.

[0014] Figure 3 These are the three-view diagram and axonometric diagram of the structure of this embodiment.

[0015] Figure 4 Schematic diagram of the internal structure of the spherical shell of this embodiment.

[0016] Figure 5 Schematic diagram of the smallest unit structure in the omnidirectional motor power system of this embodiment.

[0017] Figure 6 The diagram is a schematic diagram of an effective layout consisting of a single electromagnetic coil group, a permanent magnet group, and a Hall sensor in this embodiment, which can make the magnetic field-coupled permanent magnet be controlled by the magnetic field constraint and suspended.

[0018] In addition, the various parts of this embodiment located inside the platform, except for the platform electromagnetic coil suspension system and the wireless charging transmission system transmission coil, the other systems and parts can be installed at any position in the platform where the omnidirectional magnetic suspension ball wheel system is installed according to actual needs, so they are not shown in the figure. Figure 1 , 3 , 4, 5, and 6.

[0019] The reference numerals are as follows:

[0020] Figure 2 In: 1 platform power supply, 2 driver operation data input, 3 system status display, 4 platform processor microprocessor and signal processor, 5 signal transmitting and receiving system platform part radio frequency module, 6 signal transmitting and receiving system platform part directional antenna, 7 platform processor internal coil controller, 8 wireless charging transmitting system wireless power transmission control circuit, 9 wireless charging transmitting system power transmission coil, 10 platform electromagnetic coil suspension system, 11 ball wheel internal sensor, 12 signal transmitting and receiving system ball wheel part directional antenna, 13 signal transmitting and receiving system ball wheel part radio frequency module, 14 wheel internal processor microprocessor, 15 wheel internal processor motor driver, 16 omnidirectional motor power system motor group, 17 wireless charging receiving system power transmission coil, 18 wireless charging receiving system wireless power transmission receiving circuit, 19 wireless charging receiving system battery protection circuit, 20 wireless charging receiving system rechargeable battery.

[0021] Figure 3Middle: 1 platform electromagnetic coil suspension system, 2 wireless charging transmitter system transmission coil, 3 magnetic field coupling permanent magnet, 4 lower bias weight, 5 omnidirectional motor power system, 6 bracket, 7 wireless charging receiver system transmission coil, 8 equipment compartment for installing other systems and devices in the ball wheel.

[0022] Figure 4 Middle: 2.1 magnetic field coupling permanent magnet, 2.2 bracket, 2.3 equipment compartment for installing other systems and devices in the ball wheel, 2.4 lower offset weight, 2.5 omnidirectional motor power system, 2.6 wireless charging receiving system transmission coil.

[0023] Figure 5 Middle: 1.1 motor fixing block, 1.2 Mecanum wheel, 1.3 motor.

[0024] Figure 6 Middle: 3.1 electromagnet, 3.2 fixed base, 3.3 permanent magnet, 3.4 Hall sensor. DETAILED DESCRIPTION

[0025] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and examples, but the examples are not intended to limit the present invention.

[0026] like Figure 2 After the driver issues the start command, the command enters the 4-platform processor microprocessor and the signal processor in the form of an original signal, which is converted into a digital signal and transmitted to the coil controller in the 7-platform processor. The coil controller in the 7-platform processor controls the 10-platform electromagnetic coil suspension system (corresponding to Figure 3 1) The inner coil group generates a specific magnetic field and a magnetic field coupling permanent magnet (corresponding to Figure 3 Middle 3 and Figure 4 2.1) and 10-platform electromagnetic coil suspension system (corresponding to Figure 3 1) The internal permanent magnet coupling, the strength and direction of the coupling magnetic field will be determined by the 10-platform electromagnetic coil suspension system (corresponding to Figure 3 1) The internal Hall sensor detects and transmits the information back to the coil controller in the 7-platform processor. The coil controller in the 7-platform processor uses a specific closed-loop control algorithm based on the 10-platform electromagnetic coil suspension system (corresponding to Figure 3 1) The internal Hall sensor transmits data to adjust the 10-platform electromagnetic coil suspension system in real time (corresponding to Figure 3 1) The inner coil group generates a specific magnetic field strength and direction so that the magnetic field couples with the permanent magnet (corresponding to Figure 3 Middle 3 and Figure 4 2.1) maintains a stable and controllable distance with the 10-platform electromagnetic coil suspension system, while the lower offset weight ( Figure 3 Medium 4 and Figure 4 2.4) Complete the return to the original position, and lower the offset weight ( Figure 3 Medium 4 and Figure 4 2.4) is used to cooperate with magnetic field coupling permanent magnets in complex movements (corresponding to Figure 3 Middle 3 and Figure 4 2.1) and 10 platform electromagnetic coil suspension system keep the position of all components inside the ball wheel as controllable and stable as possible. At this time, the system has completed the magnetic suspension of the platform relative to the ball wheel. When the driver issues a directional command such as forward and backward, based on the above magnetic suspension state, 8 wireless charging transmission system wireless power transmission control circuit converts electrical energy into alternating current and sends it to 9 wireless charging transmission system transmission coil (corresponding to Figure 3 2) is converted into electromagnetic waves, and the energy electromagnetic waves are transmitted by the 17 wireless charging receiving system transmission coil (corresponding to Figure 3 Middle 7 and Figure 4 2.6) After receiving, it is sent to 18 wireless charging receiving system wireless power transmission receiving circuit, which is converted into stable electric energy and enters 19 wireless charging receiving system battery protection circuit, where the electric energy is reasonably distributed, part of the electric energy enters 20 wireless charging receiving system charging battery for standby, and the other part of the electric energy is supplied to other devices in the ball wheel, and the input command enters 4 platform processor microprocessor and signal processor in the form of original signal, which is converted into digital signal and sent to 5 signal transmitting and receiving system platform part RF module, which is converted into RF signal by 5 signal transmitting and receiving system platform part RF module and sent to 6 signal transmitting and receiving system platform part directional antenna, after the RF signal is sent, it is difficult to be hijacked or interfered because of the directional transmission, when the RF signal is received by 12 signal transmitting and receiving system ball wheel part directional antenna in the ball wheel, the RF signal will be converted back into digital signal by 13 signal transmitting and receiving system ball wheel part RF module and sent to 14 wheel processor microprocessor, and sent to 15 wheel processor motor driver after calculation processing, and the 15 wheel processor motor driver drives 16 omnidirectional motor power system motor group (corresponding to Figure 3 5 and above Figure 4 2.5) to perform differential rotation, thereby driving the integrated housing of the ball wheel to rotate. At this point, the system completes the movement. When the platform height from the ground needs to be adjusted, the driver issues an adjustment command, and the command enters the 4-platform processor microprocessor and signal processor in the form of an original signal, which is converted into a digital signal and transmitted to the coil controller in the 7-platform processor. The coil controller in the 7-platform processor controls the 10-platform electromagnetic coil suspension system (corresponding to Figure 3The height of the platform from the ground can be changed by changing the magnetic field strength of the internal coil group 1) The system data information is fed back by the sensor in the ball wheel 11 and the battery protection circuit of the wireless charging receiving system 19 to the processor microprocessor in the wheel 14 for processing and then sent to the radio frequency module of the ball wheel part of the signal transmitting and receiving system 13. The radio frequency module of the ball wheel part of the signal transmitting and receiving system 13 adds signal status information to form a complete information packet. The complete information packet is converted into a radio frequency signal by the radio frequency module of the ball wheel part of the signal transmitting and receiving system 13 and then sent to the directional antenna of the ball wheel part of the signal transmitting and receiving system 12 and transmitted to the directional antenna of the platform part of the signal transmitting and receiving system 6. The directional antenna of the platform part of the signal transmitting and receiving system 6 receives the radio frequency signal and sends it to the radio frequency module of the platform part of the signal transmitting and receiving system 5 to restore it to a complete information packet. The complete information packet is sent by the radio frequency module of the platform part of the signal transmitting and receiving system 5 to the processor microprocessor and the signal processor of the platform 4 and then converted to the system status display 3, so that the driver can know the system running direction, speed, status in the ball wheel and other information.

[0027] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An omnidirectionally rotatable magnetic suspension ball wheel system, characterized in that: The omnidirectional magnetic suspension ball wheel system comprises a platform electromagnetic coil suspension system, a platform processor, a wireless charging transmitting system, a wireless charging receiving system, an omnidirectional motor power system, a signal transmitting and receiving system, an in-wheel processor, a lower biased counterweight, a magnetic field coupling permanent magnet, a bracket, an integrated shell of a ball wheel, and an in-ball wheel sensor. The platform electromagnetic coil suspension system, the wireless charging transmitting system, the platform processor, and a part of the signal transmitting and receiving system are located in the platform on which the omnidirectional magnetic suspension ball wheel system is installed. The wireless charging receiving system, the in-wheel processor, the omnidirectional motor power system, the lower biased counterweight, the magnetic field coupling permanent magnet, the bracket, the in-ball wheel sensor, and another part of the signal transmitting and receiving system are contained in the integrated shell of the ball wheel. The bracket is fixed on the lower biased counterweight, and the omnidirectional motor power system is fixed under the lower biased counterweight. The wireless charging receiving system, the signal transmitting and receiving system, the in-wheel processor, and the in-ball wheel sensor are carried on the bracket, the lower biased counterweight and the omnidirectional motor power system, and the magnetic field coupling permanent magnet is fixed on the bracket.

2. The omnidirectionally rotatable magnetic suspension ball wheel system according to claim 1, characterized in that: Among all the systems and structures contained in the integrated shell of the spherical wheel, only the omnidirectional motor power system is in contact with the integrated shell of the spherical wheel.

3. The omnidirectionally rotatable magnetic suspension ball wheel system according to claim 1, characterized in that: The ball wheel integrated shell can be processed by a variety of processes. The inner wall of the ball wheel integrated shell is flat, and the outer wall can be attached with different shells according to different usage occasions of the system.

4. The omnidirectionally rotatable magnetic suspension ball wheel system according to claim 1, characterized in that: The omnidirectional motor power system comprises two devices: a motor group and a Mecanum wheel group.

5. The omnidirectionally rotatable magnetic suspension ball wheel system according to claim 1, characterized in that: The platform electromagnetic coil suspension system comprises three devices: an electromagnetic coil group, a permanent magnet group, and a Hall sensor.

6. The omnidirectionally rotatable magnetic suspension ball wheel system according to claim 1, characterized in that: The wireless charging transmission system includes two devices: a wireless power transmission control circuit and a power transmission coil.

7. The omnidirectionally rotatable magnetic suspension ball wheel system according to claim 1, characterized in that: The wireless charging receiving system includes four devices: a power transmission coil, a wireless charging receiving circuit, a rechargeable battery, and a battery protection board.

8. The omnidirectionally rotatable magnetic suspension ball wheel system according to claim 1, characterized in that: The signal transmitting and receiving system includes four devices: a pair of radio frequency modules and a pair of directional antennas.

9. The omnidirectionally rotatable magnetic suspension ball wheel system according to claim 1, characterized in that: The in-wheel processor includes two devices: a microprocessor and a motor driver.

10. The omnidirectionally rotatable magnetic suspension ball wheel system according to claim 1, characterized in that: The sensors inside the ball wheel include three devices: an internal component temperature sensor, a humidity sensor, and a gyroscope.

11. The omnidirectionally rotatable magnetic suspension ball wheel system according to claim 1, characterized in that: The platform processor includes three devices: a microprocessor, a signal processor, and a coil controller.

12. The omnidirectionally rotatable magnetic suspension ball wheel system according to claims 1 and 4, characterized in that: The motor group device of the omnidirectional motor power system includes multiple motors, and the Mecanum wheel device is installed on the power output shaft of each motor in the motor group device of the omnidirectional motor power system.

13. The omnidirectionally rotatable magnetic suspension ball wheel system according to claims 1 and 5, characterized in that: The platform electromagnetic coil suspension system includes multiple sets of electromagnetic coil group devices and multiple sets of permanent magnet group devices. Each set of electromagnetic coil group devices works in conjunction with a set of permanent magnet group devices. Each set of electromagnetic coil group devices and a set of permanent magnet group devices correspond to a magnetic field coupling permanent magnet. The magnetic field coupling permanent magnet is located on the central axis of the electromagnetic coil group device of the electromagnetic coil suspension system and is affected by the magnetic force generated by the electromagnetic coil group device.

14. The omnidirectionally rotatable magnetic suspension ball wheel system according to claims 1 and 5, characterized in that: The multiple electromagnetic coil group devices and the multiple permanent magnet group devices in the platform electromagnetic coil suspension system are symmetrically distributed in a hemispherical shape in the platform, and the central axes of all the electromagnetic coil group devices and all the permanent magnet group devices point to the center of gravity of the ball wheel at the same time.

15. The omnidirectionally rotatable magnetic suspension ball wheel system according to claims 1 and 5, characterized in that: The lower offset counterweight and the platform electromagnetic coil suspension system and the cooperation together play the role of constraining all systems and structures contained in the integrated shell of the ball wheel, so that when the integrated shell of the ball wheel rolls, the relative positions of all systems and structures contained in the integrated shell of the ball wheel relative to the platform on which the omnidirectional magnetic suspension ball wheel system is installed in space do not undergo unexpected changes.

16. The omnidirectionally rotatable magnetic suspension ball wheel system according to claims 1, 5 and 11, characterized in that: The microprocessor device in the platform processor determines the magnetic field state by receiving the signal of the Hall sensor device in the platform electromagnetic coil suspension system, and adjusts the working state of the electromagnetic coil group device in the platform electromagnetic coil suspension system through the coil controller device to achieve the purpose of platform suspension.

17. The omnidirectionally rotatable magnetic suspension ball wheel system according to claims 1, 6, 7 and 9, characterized in that: The wireless charging transmitting system inputs the power in the platform into the power processing circuit device, and after modulation, inputs it into the coil device to generate electromagnetic waves. The power transmission coil device in the wireless charging transmitting system is parallel to the power receiving coil device in the wireless charging receiving system and is located on the same central axis. The wireless charging receiving system receives the electromagnetic waves emitted by the wireless charging transmitting system through the power receiving coil device and converts them into alternating current, and inputs the alternating current into the receiving circuit device to convert it into stable electric energy and charge it into the rechargeable battery device through the battery protection board device. The battery protection board device can detect the status of the rechargeable battery device and protect the rechargeable battery device by connecting or disconnecting the input line or output line of the rechargeable battery device. At the same time, the battery protection board device will send the real-time status of the rechargeable battery device to the microprocessor device in the in-wheel processor for preliminary judgment and analysis.

18. The omnidirectionally rotatable magnetic suspension ball wheel system according to claims 1 and 7, characterized in that: The signal transmitting and receiving system part inside the ball wheel, the in-wheel processor, the omnidirectional motor power system, and the in-wheel sensor are all powered by the wireless charging receiving system.

19. The omnidirectionally rotatable magnetic suspension ball wheel system according to claims 1, 9 and 11, characterized in that: After receiving the control information from the platform processor, the signal transmitting and receiving system located inside the platform converts the control information into electromagnetic waves by the radio frequency module device and the directional antenna device transmits highly directional electromagnetic waves to the inside of the spherical wheel. The pair of directional antennas in the signal transmitting and receiving system always correspond to each other.

20. The omnidirectionally rotatable magnetic suspension ball wheel system according to claims 1 and 10, characterized in that: The sensor inside the ball wheel will continuously collect the temperature of each device inside the ball wheel, the humidity inside the ball wheel, and the direction information of the bracket inside the ball wheel, and transmit the information to the processor inside the ball wheel for preliminary judgment and analysis.

21. The omnidirectionally rotatable magnetic suspension ball wheel system according to claims 1, 9, 10, 11, 12, and 17, characterized in that: The in-wheel processor will receive control information from the part of the signal transmitting and receiving system located in the ball wheel. The microprocessor device in the in-wheel processor will parse the control information and distribute the instructions obtained after the parsing to the motor driver device. At the same time, the microprocessor device will dynamically adjust the working status of each part in the ball wheel after analyzing the information from the sensor in the ball wheel and the battery protection board device in the wireless charging receiving system, and feed back the status information in the ball wheel to the platform processor via the signal transmitting and receiving device.

22. The omnidirectionally rotatable magnetic suspension ball wheel system according to claims 1, 2, 3, 4, 9, and 12, characterized in that: The motor group device in the omnidirectional motor power system is controlled by the motor driver device in the in-wheel processor, and the motor group device is controlled to output power to the Mecanum wheel group device connected thereto, and the Mecanum wheel group device rubs the inner wall of the spherical wheel integrated shell to make the spherical wheel integrated shell roll.

23. The omnidirectionally rotatable magnetic suspension ball wheel system according to claims 1, 8 and 11, characterized in that: The microprocessor device in the platform processor will receive the platform driver's operation information or remote operation data signal processed by the signal processor device and convert it into control information, and transmit the control information to the inside of the ball wheel through the part of the signal transmission and receiving system located on the platform. At the same time, the microprocessor device in the platform processor will receive the information from the inside of the ball wheel received by the part of the signal transmission and receiving system located on the platform, and feed the information back to the console instrument or remote control terminal.

Images