Movable device and method of moving the device

Abstract

The mobile device has the shape of a regular tetrahedron and is equipped with sliders arranged on the device's surfaces. These sliders can be extended beyond the device's surfaces, thereby repelling and moving the device away from the surrounding solid surfaces. The sliders can be powered by an electric motor or other known motor type. The device can move either by tilting, when the sliders interact with a horizontal or near-horizontal surface, or by sliding on the support surface and rotating around it. Combined movements are also possible, when multiple sliders interact with one or more support surfaces simultaneously.

Description

[0001]

[0002] Movable device and method of moving the device

[0003] The invention relates to a mobile device and a method for moving the device.

[0004] Mobile devices or equipment are widely used in many areas, from consumer electronics to industrial applications. These devices can be moved in a variety of ways, including using wheels, chains, or legs. The choice of movement depends on many factors, including the type of surface the device will move on and the specific requirements of the application.

[0005] A special area of mobile equipment is equipment capable of moving on surfaces with uneven terrain and without special road surfaces. Such applications require complex technology, such as tracked or wheeled vehicles consisting of a large number of expensive parts. Further limitations for such expensive equipment include the insufficient hardness of the surface on which movement takes place, as well as obstacles such as earth cracks, riverbeds, canals, etc. US7327112 discloses a device that moves by rolling over. The device moves on supports (legs) extending in all directions. The legs of the device, which are distributed over the entire surface of the robot, are individually extended or retracted. The control system coordinates the actions of the legs so that the robot can roll over in any direction.

[0006] The disadvantages of this mobile device are:

[0007] • a rather complex control system for the device, which must synchronize the actions of all legs of the device in real time at a sufficiently high speed

[0008] • the impossibility of moving on relatively soft surfaces (swamp) or water surfaces, that is, despite the claimed off-road capability, this device has quite a few limitations

[0009] • energetically inefficient movement on flat roads with hard surfaces (asphalt, concrete), etc.

[0010] • jerky movements of the device between each two consecutive steps, especially on uneven or bumpy ground

[0011] Based on the state of the art described above, the object of the invention is to remedy this situation.

[0012] The stated problem is solved by the features of claim 1 .

[0013] It can be seen that the invention is at least realized when it is a cyclically movable device with a polyhedral housing, in particular a regular tetrahedron. The device comprises a center of gravity whose potential energy is variable. The coordinates of the center of gravity and thus also its potential energy can be changed mechanically, electrically, magnetically, hydraulically, pneumatically, and in other ways. At least four support surfaces equipped with motion sensors (pulse generators, energy converters) and motion dampers are provided, which can be brought into operative connection with the floor. When the device (equipment) is set in motion, the potential en- ergy of the center of gravity increases to a local maximum. From there, the potential energy is converted into kinetic energy of the center of gravity. This conversion occurs in cooperation with a motion damper that cooperates with the floor. Jerky movements of the device are thus completely avoided. The motion dampers can be designed at their free ends, e.g., as spherical, elastic bodies with different diameters. This allows the dampers to rest gently and support themselves even on an edge-like floor. Another simple embodiment of the invention is in the form of a tetrahedron with sliders (102) on each of the four surfaces of the device (Figs. 1 , 2). Generally, pulse generators (pulse generators, energy converters) are provided for this purpose, which inject the movement of the device.

[0014] The sliders (102) can be extended outwards beyond the surfaces of the device's housing (101 ). This pushes the device (100) off the surrounding solid surfaces (200, 220) and moves it. Depending on the shape of the surfaces (200, 300) with which the sliders (102) of the device (100) interact, the device can move either by tilting (rolling) when the sliders (102) interact with a horizontal or nearly horizontal surface (200, 220) on which the device rests with its lower surface. The device (100) can slide on the support surface (200) and rotate around it. Combined movements are also possible when several sliders (102) interact with one or more support surfaces (200, 300) simultaneously.

[0015] The housing (101 ) of the mobile device (100) has the shape of a polyhedron, in particular a regular tetrahedron, with a center of gravity located approximately in the geometric center of the housing (101 ).

[0016] The sliders (102) are arcuate and extend outward along an arcuate path and retract inward into the housing (101 ), so that the radius of their movement coincides with the edge of the support surface opposite the corner of the support surface of the tetrahedral housing (101 ) that is being repelled at that moment. The use of this shape and movement path of the sliders (102) avoids the effect of sliding of the sliders (102) with respect to the support surface (200, 220) caused by the geometry of the interaction, thus increasing the overall efficiency of the device.

[0017] The surfaces of the housing (101 ) are used by the mobile device (100) as large surfaces on which the device (100) supports itself during its movement. The use of the housing surfaces (101) as support during the movement of the mobile device (100) and the need to push off with only one slider (102) at a time when moving on the surface together simplify the control of the device.

[0018] In addition, by supporting the entire or a large part of the surface, the pressure exerted by the mobile device (100) on the support surface (200, 220) is considerably reduced, which allows our mobile device (100) to move even on surfaces of significantly lower hardness (swamp, etc.).

[0019] To move the mobile device (100) on less dense support surfaces (on water, etc.), the mobile device (100) can be placed in a protective shell (1000) with sufficient strength and elasticity (Fig. 1 ), which has an atmosphere inside and, in the total volume with the mobile device (100), has a lower density than the support surface (200), thus allowing movement on it. Thus, the mobile device (100) will move within the protective shell (1000) (Figs. 13-15), moving the protective shell (1000) itself by shifting their common center of gravity.

[0020] To solve the problem of more energy-efficient movement of the mobile device (100) on hard, flat surfaces with a special coating (asphalt, concrete, etc.), one of the surfaces of the housing (101 ) can be equipped with units (104) located at the comers of the tetrahedron and equipped with extendable wheels (105). These are hidden inside the housing (101 ) of the mobile device (100) when moving on uneven terrain and, when necessary, extend for movement on a flat road, lifting the device (100) and serving to propel it (see Fig. 12).

[0021] According to other aspects of the invention, the sliders (102) may have individual drives (103), with three sliders (102) being arranged near each corner of the surface on each face of the housing (101 ) of the mobile device (100). This means that each of the sliders (102) can be controlled independently, allowing precise control of the movement of the device (100). Alternatively, the sliders (102) may have other arrangements or configurations to enable different types of movement.

[0022] According to other aspects of the invention, the sliders (102) can be bidirectional and extend beyond the corners of the surfaces. This means that the sliders (102) can move in both directions, allowing for greater flexibility in movement. Alternatively, the sliders (102) can also have other directions of movement or mechanisms to enable different types of movement.

[0023] According to other aspects of the invention, the number of double-acting sliders (102) can be twice the number of their individual actuators (103). This means that the device (100) can enable efficient use of the actuators (103) by reducing their number. Alternatively, the device (100) and the sliders (102) can have other configurations or mechanisms that enable efficient use of the actuators (103).

[0024] According to other aspects of the invention, the sliders (102) may have a length that exceeds the space of the four-sided housing (101 ) of the device (100) and extends beyond the boundaries of its surfaces. This means that the sliders (102) may have a length sufficient to effectively move the device (100). Alternatively, the sliders (102) may also have other lengths or shapes to enable movement of the device.

[0025] According to other aspects of the invention, the sliders (102) may be telescopic. This means that the sliders (102) can be extended and retracted to facilitate movement of the device (100). Furthermore, the sliders (102) may have other mechanisms or configurations to facilitate movement of the device (100).

[0026] According to other aspects of the invention, at least one wheel (105) may be driven. This means that the wheels (105) may be driven to enable active movement of the device (100) on a flat, hard-coated surface (200). Alternatively, the wheels (105) may also have other drive mechanisms or configurations to enable movement of the device (100).

[0027] According to other aspects of the invention, at least one rolling device (105) may be rotatably mounted. This means that the rolling devices (105) may be rotatable to enable movement of the device (100) with a low coefficient of friction. Alternatively, the rolling devices (105) may also have other mechanisms or configurations to enable movement of the device (100).

[0028] According to other aspects of the invention, a method of moving the device (100) may be provided, wherein the surfaces of the housing (101 ) of the device can be brought into contact with a support surface (200), and the surface can have controllable sliders (102) so that the device (100) can be tilted from one support surface to another. This means that the device (100) can move through a combination of contact with the support surface (200) and movement of the sliders (102). Alternatively, the device (100) can also have other mechanisms or methods of locomotion that enable its movement.

[0029] According to other aspects of the invention, during the tilting movement, two oppositely directed sliders (102) can operate in different directions, with one slider (102) exerting a repulsive action and the other acting as a receiving slider (102). This means that the device (100) can perform a controlled tilting movement by coordinating the actions of two oppositely directed sliders (102). Alternatively, the device (100) can also have other mechanisms or methods of locomotion that enable its movement.

[0030] An embodiment of the invention is shown schematically in the drawing. It shows:

[0031] Fig. 1 shows a preferred variant of the mobile device in a protective case on a support surface. Isometric view. Fig. 2 shows a perspective view of the mobile device with extendable sliders and their movement mechanisms.

[0032] Fig. 3 shows a perspective view of the four-sided mobile device in the initial position on a support surface.

[0033] Fig. 4a shows a perspective view of the mobile device in an intermediate position when the extended slider exerts force on the support surface.

[0034] Fig. 4b shows a perspective view of the mobile device in an intermediate position, where the first slider acts on the support surface with the force F and pushes off from it, while the second slider is extended and takes up the weight of the device.

[0035] Fig. 5 shows a perspective view of the four-sided mobile device in the final position of a completed step, where the mobile device has rotated around an axis to another surface of its housing due to the action of the slider.

[0036] Fig. 6 shows a perspective view of the four-sided mobile device lying on a support surface.

[0037] Fig. 7 shows a perspective view of the mobile device interacting with a support surface, with three sliders extended to different distances from the base of the device.

[0038] Fig. 8 - 10 show step by step the method of moving the mobile device by sliding on its support surface with rotation relative to the starting position.

[0039] Fig. 11 shows a perspective view of the mobile device, showing double-acting sliders driven by mechanisms that can extend and retract them.

[0040] Fig. 12 shows another variant of the mobile device, which is equipped with rolling devices at the corners of the tetrahedral housing. Fig. 13 shows the mobile device on a surface in a protective case in its initial position.

[0041] Fig. 14 - 15 show step-by-step movement of the mobile device on a surface in a protective case.

[0042] Fig. 16 - 19 show step-by-step movement of the mobile device over an obstacle in a protective shell on a "lunar surface".

[0043] Fig. 20 shows a third variant of the mobile device on a surface in a protective case. Isometric view.

[0044] Fig. 21 - 24 show step by step the movement of the third variant of the mobile device in a protective case on a surface.

[0045] The following description presents exemplary aspects of the present invention. This description should not be considered as limiting the scope of the present disclosure. On the contrary, the description also includes combinations and modifications of the exemplary aspects described herein.

[0046] The present invention relates to a mobile device (100) and methods for moving the same. In particular, the mobile device (100) may have a housing (101 ) in the shape of a regular tetrahedron and be equipped with sliders (102) located on the projections of lines on the surfaces connecting the geometric center of gravity of the tetrahedron to its vertices. The sliders (102) can be extended beyond the surfaces of the housing

[0047] (101 ) of the device (100), thereby repelling the device (100) from the surrounding solid surfaces (200, 220, 300) and thus moving it.

[0048] In some cases, the mobile device (100) can move by tilting (rolling) when the sliders

[0049] (102) interact with a horizontal or nearly horizontal surface (200) on which the device rests with its lower surface. Alternatively, the device (100) can slide on and rotate around the support surface (200), which occurs when the sliders (102), which are not currently on the support surface of the device (100), interact with vertical or nearly vertical surfaces (300). Combined movements are also possible when multiple sliders (102) interact with one or more support surfaces (200, 300) simultaneously.

[0050] The sliders (102) can be driven by an electric motor (103) via a gear or other known motor type. In the device presented, the sliders (102) are arch-shaped, and on their inside there is a rack by which they are driven.

[0051] The ability to move two or more sliders (102) simultaneously allows the device (100) to perform combined movements, such as rolling with simultaneous rotation, aligning one of the surfaces of the device (100) horizontally, moving the support surface of the housing (101 ) upwards and, under certain conditions, lifting the entire device (100) upwards.

[0052] Furthermore, the shape and size of the sliders (102) in the proposed device (100) make it possible to make them double-acting sliders, so that when the drive (103) of the slider moves in one direction, it protrudes beyond the edge of one side of the tetrahedral housing (101 ), and when moving in the other direction, the slider (102) protrudes beyond the edge of the second side of the tetrahedral housing (101 ) at its furthest point from the corner of the first side.

[0053] Fig. 1 shows a preferred embodiment of the invention of the mobile device (100) in a protective casing (1000) on a support surface (200). This mobile device (100) has a housing (101 ) in the shape of a regular tetrahedron and moves primarily by rolling from one surface to another, with arcuate sliders (102) moving along an arcuate path interacting with the support surface (200) and in turn driven by individual actuators (103). The mobile device (100) itself is enclosed in an elastic protective casing (1000), which ensures complete or partial isolation of the mobile device (100) from the environment with special environmental conditions inside and also provides a method for its movement on a support surface (200) with low surface hardness. The protective cover (1000) is a hermetically sealed, elastic cocoon of sufficient strength, approximately spherical in shape, that surrounds the mobile device (100) on all sides, providing protection from dust and moisture, and maintaining the required temperature and atmosphere inside the cover if necessary. The protective cover can be transparent to ensure visibility and light transmission, or opaque to protect against harmful radiation, etc.

[0054] Fig. 2 shows the mobile device (100) without the protective cover (1000) in more detail. The illustrated mobile device (100) consists of a housing (101 ) and movable sliders (102) connected to slider drives (103). The movable sliders (102) can be extended from the housing (101 ) of the device (100) to interact with the environment and enable various movements of the mobile device (100). The illustration shows several movement directions: tilt direction downwards (01 ), tilt direction left (02), diagonal tilt direction right (03), slide rotation direction left (04), slide rotation direction right (05), and vertical movement direction upwards (06). These directions show the ability of the mobile device (100) to tilt, slide and move in the vertical direction, which is made possible by the extendable sliders (102) and the drives of the sliders (103).

[0055] In some embodiments, the mobile device (100) may have a housing (101 ) in the shape of a regular tetrahedron. The housing (101 ) of the device (100) may be made of various materials to accommodate different surface textures and hardnesses. For example, the housing of the device (101 ) may be made of a hard material such as steel for hard surfaces or a softer material such as rubber for uneven or slippery surfaces.

[0056] The sliders (102) can have different shapes to enable different types of movement. For example, they can have a conical or cylindrical shape to enable rotational movement, or a flat or curved shape to enable sliding movement.

[0057] The slider drives (103) can be configured in various ways to enable different movement patterns of the mobile device (100). For example, they can be configured to move the sliders (102) in a specific order or in a random order, or they can be configured to move the sliders (102) simultaneously or sequentially.

[0058] The actuators (103) of the sliders can use various types of motors to move the sliders (102). For example, they can use electric motors, internal combustion engines, linear motors, or other types of motors.

[0059] The mobile device (100) may be controlled by a controller and may include additional sensors to control its movement. For example, it may include accelerometers, gyroscopes, infrared sensors, or other types of sensors to determine its position, orientation, speed, or other movement parameters.

[0060] The mobile device (100) may have additional functions that expand its application range. For example, it may be used as a robot, drone, toy, means of transportation, or other types of devices.

[0061] The mobile device (100) may have additional safety features to prevent accidents or damage. For example, it may include shock absorbers, airbags, seat belts, or other types of protective devices.

[0062] The mobile device (100) may have additional energy sources to extend its operating time. For example, it may include batteries, solar cells, fuel cells, or other types of energy sources.

[0063] The mobile device (100) may have additional communication features to interact with other devices or systems. For example, it may include Wi-Fi, Bluetooth, NFC, or other types of communication technologies.

[0064] It should be noted that all aspects and variations mentioned above are to be understood as exemplary and not restrictive. Features of all embodiments may be replaced or mixed with features of other embodiments, and each feature of one embodiment is disclosed independently of all other features of each individual embodiment. Fig. 3 shows an isometric view of the quadrilateral mobile device (100) placed on a support surface (200). The quadrilateral mobile device (100) is depicted resting on one of its triangular faces with the apex pointing upward, indicating a stable position on the support surface (200). The support surface (200) appears flat and extends beneath the quadrilateral mobile device (100), providing a base upon which the device can rest.

[0065] In some aspects, the mobile device (100) can be placed on various surfaces, including, but not limited to, flat, sloped, uneven, or slippery surfaces. In some cases, the mobile device (100) can rest on one of its triangular faces, while in other cases, it can rest on one of its edges or comers. In some embodiments, the mobile device (100) can be configured to self-align to achieve a stable position on the support surface (200), regardless of the orientation of the support surface (200). In some cases, the mobile device (100) can have additional mechanisms or devices to increase its stability on the support surface (200), such as suction cups, magnets, hooks, or other types of fasteners.

[0066] Fig. 4a shows a view of the mobile device (100) in the middle of a movement sequence. The device body (101 ) is located on the support surface (200). The slider (102-01 ) exerts a force F on the support surface (200), tilting the device (100) about the rotation axis (0). The diagonal tilt direction to the right (03) indicates a possible movement or rotation of the device (100), with corner A lifting under the action of force F and corner B moving to the right as the highest point of the tetrahedron. The dashed lines connecting the vertices of the tetrahedron to the center of its base indicate the axis about which the device tilts.

[0067] Fig. 4b shows a perspective view of the mobile device (100) interacting with the support surface (200). The device's housing (101 ) is shown with one of its corners, designated A, lifted by the extendable slider (102-01 ), which pushes off the support surface (200) with force F. The slider (102-11 ) is located opposite the slider (102-01 ) and is extended by a distance S, as indicated by the arrow. The rotation axis (0) is indicated by a dashed line and is the axis around which the device tilts. The directional arrow (03) points away from corner A and indicates the direction of movement and rotation of the device (100). Corner B is shown as the initial highest point of the device's housing (101 ) in this phase of movement.

[0068] During rollover movement of the mobile device (100), in some embodiments of the invention, two oppositely directed sliders (the extending slider (102-01 ) and the retracting slider (102-11 )) may operate in different directions. One slider (102-01 ) may exert a repulsive action (toward the surface with corner A), while the other slider (102-11 ) may function as a receiving support slider (from the side of the surface with corner B). In some cases, the extending slider (102-01 ) may be configured to extend beyond the surface of the device's housing (101 ) to repel the mobile device (100) from the support surface (200), thereby moving it. In other cases, the extendable slider (102-11 ) may be configured to retract into the device housing (101 ) to smoothly transfer the weight of the mobile device (100) onto the support surface (200).

[0069] In some embodiments, the mobile device (100) can perform various movements, including, but not limited to, tilting, sliding, rotating, and vertical movement. In some cases, the mobile device (100) can tilt using the sliders (102-01 ), (102-02), (102-03) that extend from the surfaces of the device's housing (101 ) and rest on the support surface (200). In some embodiments of the invention, the sliders (102-01 ), (102-02), (102-03) can operate in a specific order or in a random order to enable various movement patterns of the mobile device (100). In some cases, the sliders (102-01 ), (102-02), (102-03) can operate simultaneously or sequentially to enable complex movements of the mobile device (100). In some embodiments of the invention, the extendable sliders (102-01 ), (102-02), (102-03) may be configured to extend beyond the surfaces of the device housing (101 ) to repel the mobile device (100) from the surrounding solid surfaces and thus move it. In some cases, the extendable sliders (102-01 ), (102-02), (102-03) may be configured to retract into the device housing (101 ) to stabilize the position of the mobile device (100) on the support surface (200). It should be noted that all aspects and variations described above are to be understood as exemplary and not restrictive. Features of all embodiments may be replaced or mixed with features of other embodiments, and each feature of one embodiment is disclosed independently of all other features of each individual embodiment.

[0070] Fig. 5 shows a perspective view of the four-sided mobile device (100) in its final position of a step, in which the mobile device (100) has rotated around the axis (0) on another surface of its housing (101 ) due to the action of the slider (102-01 ). The housing of the device (101 ) is shown in a position in which one of its corners, designated A, is raised above the support surface (200), while the other corner, designated B, is now in the lower position. The slider (102-01 ) returns to its initial position within the housing (101 ) of the device. The dashed contour on the support surface (200) shows the initial position of the device (201 ), in which the mobile device (100) was before starting its movement. The term "step" refers to the distance or movement of the quadrilateral mobile device (100) from its initial position to the current position, as shown in Fig. 5.

[0071] Fig. 6 shows a perspective view of the quadrilateral mobile device (100) resting on a support surface (200), with its base touching the surface and one of its corners facing upward, indicating a stable resting position. The interaction between the tetrahedral mobile device (100) and the support surface (200) demonstrates that the device is capable of maintaining stability when placed on a flat surface.

[0072] Fig. 7 shows a perspective view of the mobile device (100) interacting with a support surface (200). The housing (101 ) of the mobile device (100) is raised above the support surface (200) and supported by three extended sliders: slider (102-01 ), second slider (102-02), and third slider (102-03). Each slider extends to a different distance from the base of the device housing (101 ), designated extension distance one s1 , extension distance two s2, and extension distance three s3. The vertical movement of the device housing (101 ) from the support surface (200) is indicated by arrow S, and angle alpha indicates the device's ability to change its orientation relative to the support surface (200).

[0073] Fig. 8 shows a perspective view of the mobile device (100) near a vertical cylindrical surface (300) on a support surface (200). The mobile device (100) has a tetrahedral shape, and its housing (101 ) rests with its lower surface on the support surface (200). An extendable slider (102-04) is shown extending from the edge of the device's housing (101 ) toward the vertical cylindrical surface (300), indicating interaction between the mobile device (100) and the surfaces (200) and (300).

[0074] In some embodiments, the extendable slider (102-04) may be configured to extend beyond the edge of the device housing (101 ) to push the mobile device (100) off the vertical cylindrical surface (300) and thus move it. In other cases, the extendable slider (102-04) may be configured to retract into the device housing (101 ) to stabilize the mobile device (100) on the support surface (200).

[0075] Fig. 9 shows in plan view the beginning of the movement of the mobile device (100) during its interaction with the vertical surface (300), wherein the slider (102-04) is extended beyond the housing (101 ) of the mobile device (100) and touches the vertical cylindrical surface (300) with its end remote from the housing, while the mobile device (100) is still in its initial, stationary state.

[0076] Fig. 10 shows the final position of the mobile device (100) during this movement, with the slider (102-04) extending as far as possible beyond the edge of the housing (101 ) of the mobile device (100). Corners A, C, and D slid into their new positions on the horizontal support surface (200); their initial and final positions are indicated by the corresponding arrows. Corner "B" of the mobile device, which was the upper corner before the start of the movement, remained the upper corner after its completion, having moved along an arc relative to its initial position.

[0077] Thus, we see that all corners of the device (100) have shifted relative to their initial position, but more importantly, the position of the device's edges in space has changed. The edges AC, AD, and CD of the device's support surface have rotated by a certain angle relative to their initial position, thus correcting the overall position of the device (100) in space and allowing it to bypass insurmountable obstacles encountered along its path.

[0078] From the movement method described in Fig. 8 - 10, it is clear that the angle between the initial and final positions of the base edges of the mobile device (100) can be regulated depending on the stroke of the extendable slider (102-04) in its continuous working range.

[0079] Fig. 11 shows a perspective view of the mobile device (100). The device housing (101 ) is shaped like a quadrilateral with comers A, B, C, and D. The fifth slider (102- 05), the second slider (102-02), and the third slider (102-03) are shown protruding from the corners of the device housing (101 ). The actuators (103) are connected to the extendable sliders (102), indicating their role in controlling the sliders. The arrows, labeled +s5 and -s5, indicate the ability of the extendable sliders to extend and retract in two directions through two surfaces of the housing (101 ), thereby changing the position of the mobile device (100) relative to the surfaces with which they interact.

[0080] In some embodiments of the invention, the extendable sliders (102-05), (102-02), (102-03) may have individual actuators (103), with three extendable sliders (102) located near each corner of the surface of the mobile device (100). In other embodiments of the invention, the extendable sliders (102) may be extended in two directions beyond the device's housing (101 ) and extend beyond the comers of the surfaces. In some cases, the number of bidirectional sliders (102) may be twice the number of their individual actuators (103). In some embodiments, the extendable sliders (102) may have a length that exceeds the space of the four-sided housing (101 ) of the device and extends beyond the boundaries of its surfaces. In other cases, the extendable sliders (102) may be telescopic. Fig. 12 shows another variant of the mobile device (100), placed on a flat support surface (200) with a special hard coating (e.g., asphalt, concrete, or similar) and equipped with corner elements (104) in the housing (101 ) in which rolling devices (105) are housed. The figure shows three rolling devices (105) on only one surface of the device (100), the support surface, arranged in the corner elements (104-01 ), (104-02), (104-03). It can be seen that the rolling devices (105) have the shape of discs (plates, wheels), but they can also have any other suitable shape (spheroid, track, etc.).

[0081] The rolling devices (105), as shown in the figure, can be installed either on one surface of the device (100) or on all of its surfaces. In the device variant proposed in Fig. 12, there are three rolling devices (105), two of which, located in the corner elements (104-01 ), (104-02), are passive supports, while the third rolling device (105) in the corner element (104-03) is driven and rotatable, allowing the mobile device (100) to roll along specially prepared surfaces at higher speeds and with less energy expenditure. It should also be understood that, if necessary, all rolling devices (105) of the mobile device (100) can be driven and controllable. Furthermore, these rolling devices (105) can either be retracted into the housing (101 ) of the mobile device (100) when moving over uneven terrain or can constantly protrude above all surfaces of the device (100), which allows the mobile device (100), equipped with rubber tires or similar damping material, to operate more smoothly and to subject its payload to fewer vibrations and accelerations.

[0082] Fig. 13 shows the previously described mobile device (100) enclosed in a protective case (1000) in an initial position on a surface (200).

[0083] Fig. 14 - 15 show a step of the movement of the mobile device (100) within the protective cover (1000) on the surface (200). Thus, Fig. 14 shows that the slider 102, which projects beyond the housing (101 ) of the tetrahedral mobile device (100), rests on the inner surface of the protective cover (1000), deforms it and thus pushes itself off the support surface (200) through the protective cover (1000).

[0084] As shown in Fig. 15, the mobile device (100), after rotating onto another of its surfaces within the protective shell (1000), moved with it, shifting its center of gravity with the shell. Thus, it is clear that for the mobile device (100) to move effectively within the protective shell (1000), in addition to the aforementioned properties of the shell, its size must also be ensured, providing minimal resistance from the shell during movement (i.e. , the size of the shell must exceed the size of the mobile device by a sufficient margin). The efficiency of the mobile device's movement within the protective shell (1000) on the support surface (200) can also be increased by maintaining a certain pressure of the filling gas inside the shell, its specific composition, etc.

[0085] This type of device (100), enclosed in a protective shell (1000), can be used in areas of our planet with adverse climatic conditions (North Pole, Antarctica, deserts, etc.), both autonomously and piloted, as well as in conditions of reduced gravity (e.g., on the Moon, etc.). The mobile device (100) itself acts as a propulsion system, ensuring the movement of the protective shell (1000) and all its contents. Thus, when using the mobile device (100) in locations with reduced gravity, the power and speed of the sliders (102) will be sufficient not only for movement on the surface (220), but also for overcoming obstacles (400) comparable in size to the mobile device (100) itself.

[0086] Fig. 16 shows the mobile device (100) in a protective shell (1000) on a "lunar surface" (220), i.e., under conditions of reduced gravity, with an obstacle (400) in its path that the mobile device (100) can overcome by moving its slider (102) at the speed and force with which it moves under terrestrial gravity. For normal locomotion on the surface (220) in areas of reduced gravity, the sliders (102) will therefore move at a lower speed to prevent the device from jumping during movement. As can be seen in the figure, the size of the protective shell (1000) must also be significantly larger to allow the mobile device (100) to make a jump within the shell itself to a sufficient height to overcome the obstacle (400).

[0087] Fig. 17 shows the next position of the mobile device (100) moving inside the protective shell (1000) over the obstacle (400) on the "lunar surface" (220). In this position, the slider (102) is extended at high speed, generating sufficient momentum for the mobile device (100) to jump under conditions of reduced gravity inside the protective shell (1000) by pushing off the inner surface of the shell, whose outer surface rests on the "lunar surface" (220).

[0088] Fig. 18 shows the next position of the mobile device (100) moving inside the protective shell (1000) over the obstacle (400) on the "lunar surface" (220). In the position shown, the mobile device (100), while continuing its jump inside the shell, reaches the other edge of the protective shell (1000) with one of the comers of its casing and, using the momentum it received during the initial push, moves the shell itself upward and sideways. It is important that the ratio of the mass of the protective shell (1000) to the mass of the mobile device (100) be minimal so that the required momentum can be generated easily enough.

[0089] Fig. 19 shows the final position in the sequence of steps for overcoming the obstacle (400) on the "lunar surface" (220) by the mobile device (100) inside the protective shell (1000). As can be seen from the series of figures (15-18), movement over obstacles of various heights is possible, where the momentum can be regulated by the speed of the mobile device (100)'s repulsion from the inner surface of the protective shell (1000). It is also clear that if a jump is performed and the obstacle is not overcome (if the height of the obstacle was misjudged), the mobile device (100) inside the protective shell (1000) will bounce off the obstacle and return to a position close to the starting position, as shown in Fig. 15.

[0090] It should be noted that all aspects and variations mentioned above are to be understood as exemplary and not restrictive. Features of all embodiments may be replaced or mixed with features of other embodiments, and each feature of one embodiment is disclosed independently of all other features of each individual embodiment.

[0091] Fig. 20 shows a third variant of the mobile device (100) in a protective case (1020) on a surface (200). The variant of the mobile device (100) shown in the figure differs from the variants previously presented in the application both in terms of its design and in the method of locomotion.

[0092] Thus, the mobile device (100) shown in the figure has the shape of a regular polyhedron, in particular a tetrahedron, and is enclosed in an elastic protective sheath (1020) whose shape mimics the shape of the mobile device's casing and is rigidly attached to it, for example, in the area of the polyhedron's corners. Furthermore, the protective sheath (1020) is connected to the mobile device (100) in such a way that a uniform gap (equal distance) with the required internal environment and physical parameters (pressure, temperature, etc.) exists between it and the mobile device's casing on all sides.

[0093] A group of small dynamic loads (108) is placed in the gap between the mobile device (100) (its housing) and the inner surface of the protective shell (1020). These loads may preferably have a spherical shape and are large enough to allow them to move freely within this space. Furthermore, the dynamic loads (108) must be made of a material with a high density that exceeds the average density of the mobile device (100) as much as possible, allowing the dynamic loads to move even within the shell through contactless action (e.g., through a magnetic or gravitational field).

[0094] Fig. 20 shows the mobile device (100) in a protective case (1020), in which a magnetic field generated by a magnetic system is used to move the dynamic loads (108). Thus, at least one magnetic actuator (106) is placed on each surface of the housing of the mobile device (100), which can interact with and attract the dynamic loads (108) as needed. Similarly, each surface of the protective case (1020) contains at least one magnetic actuator (107) on its inner surface, allowing it to interact with and attract the dynamic loads (108) as needed.

[0095] Thus, the mobile device (100) in the protective case (1020), equipped with a system of magnetic actuators (106) and (107), can ensure the movement of ferromagnetic dynamic loads (108) inside the case and outside the mobile device housing (in the gap between them). The movement of the dynamic loads (108) allows the position of the center of mass of the mobile device (100) in the protective case (1020) to be changed, which makes it possible to use this feature to specify the direction of movement of the device (as a control).

[0096] To ensure the actual movement of the mobile device (100) within the protective sheath (1020), a magnetic actuator (106) on the mobile device and a magnetic actuator (107) on the sheath must be placed opposite each other in the center of each surface. When magnetic fields of the same sign interact, these actuators (106) and (107) repel each other. Since the sheath (1020) is elastic, the distance between the actuators increases, and the force of the interaction of their magnetic fields is transferred from the lower actuator (107) through the protective sheath (1020) to the support surface (200), thereby imparting to the mobile device (100) an impulse initially directed perpendicular to the support surface and sufficient to tilt the mobile device from one surface to another, in the direction in which the device's center of mass has been shifted.

[0097] Thus, the described variant of the mobile device (100) in the protective case (1020) with ferromagnetic dynamic loads (108) there between and a system of magnetic actuators (106) and (107) represents a mobile device with a previously unknown combination of technical properties that allow it to move in an original way.

[0098] The shape of the housing of the mobile device (100) and the protective cover (1020) in the form of a tetrahedron with 4 faces, the number and shape of the dynamic loads (108), the number of actuators (106) and (107) and their arrangement on the faces, including their relative arrangement to each other, may differ from that shown in the figure and do not represent a limitation of the claimed invention.

[0099] It is also clear that the technical solution for the interaction between the objects of the device presented in the example is not the only possible one, but serves only as the most vivid demonstration of the invention and does not limit this invention.

[0100] Fig. 21 - 24 show step by step the movement of the third variant of the mobile device (100) in the protective case (1020) on a surface (200) in side views.

[0101] Fig. 21 shows the mobile device (100) in the protective case (1020) in its initial position on the support surface (200). In this position, all ferromagnetic dynamic loads (108) are located in the lower gap between the case and the housing. The magnetic actuators (106-01 ) and (107-01 ) are located at the lower edge of the device, resting on the surface (200), while the actuators (106-02) and (107-02) are located at the top left of the figure, along the left side edge of the device.

[0102] Fig. 22 shows the position at the beginning of the movement of the mobile device (100) in the protective case (1020), in which the actuators (106-02) and (107-02) were activated and attracted the ferromagnetic dynamic loads (108) towards them, thereby shifting the center of mass of the device, indicated in the figure by a vertical arrow consisting of a dot and with "mg", up and to the left in the figure.

[0103] Fig. 23 shows the next step in the device's movement, where the magnetic actuators (106-01 ) and (107-01 ), located opposite each other at the bottom edge, began to interact with each other using magnetic fields of the same sign, repelling each other. Interacting with the support surface (200) via the shell (1020), they imparted an impulse to the mobile device (100) within the protective shell (1020), lifting the bottom edge from the surface (200). Due to the displacement of the device's center of mass from its central position, the device (100) lifted and tilted in the direction of the displacement of the center of mass. Fig. 24 shows the final position of a single movement of the mobile device (100) within the protective case (1020). The edge with the magnetic actuators (106-02) and (107-02) and the ferromagnetic dynamic loads (108) attracted to them became the lower edge, while the magnetic actuators (106-01 ) and (107-01 ), located at the bot- tom edge of the device at the beginning of the movement step, moved along with the edge to the upper right position in the figure. The center of mass of the device (100) within the protective case (1020) returned to the geometric center of the device after the completion of the single movement.

[0104] List of abbreviations:

[0105] 100 - Mobile transport device;

[0106] 101 - housing of the mobile device;

[0107] 102 - mobile device slider; 103 - drives of the sliders of the mobile device;

[0108] 01 - 06 - Possible directions of movement of the mobile device;

[0109] 200 - support surface;

[0110] 102-01 - Mobile device repulsive slider;

[0111] 0 - 0 - Current tilt axis of the mobile device; A, B, C, D - comers of the mobile device body;

[0112] F - force with which the slider of the mobile device pushes off the support surface;

[0113] S - displacement of the corner of the mobile device case when tilting;

[0114] 102-11 - Additional supporting slider of the mobile device;

[0115] 201 - trace on the support surface from the initial position of the mobile device; 102-02 - Second repulsive slider of the mobile device;

[0116] 102-03 - Third repulsive slider of the mobile device; s1 , s2, s3 - stroke by which the first, second and third sliders lift the mobile device relative to the support surface; Alpha - angle of inclination of the lower surface of the mobile device relative to the support surface;

[0117] 300 - Vertical obstacle in the shape of a tree trunk;

[0118] 102-04 - Fourth slider of the mobile device, aligned along the support surface (cannot currently interact with it);

[0119] 102-05 - Fifth slider of the mobile device, aligned along the support surface (cannot currently interact with it);

[0120] ±s5 - stroke of the double-acting slider (now the fifth in this figure);

[0121] 104 - corner elements of the mobile device housing;

[0122] 104 - 01 - First corner element;

[0123] 104 - 02 - Second corner element;

[0124] 104 - 03 - Third corner element;

[0125] 105 - rolling devices (wheels) installed in the corner elements of the housing of the mobile device; e - angle of rotation of the steering wheel installed in one of the corner elements of the mobile device housing;

[0126] 1000 - protective cover;

[0127] 220 - "Lunar surface" (surface with reduced gravity);

[0128] 400 - Obstacle of sufficient height to be jumped over.

[0129] 1020 - Protective case, rigidly attached to the mobile device; 106 - Magnetic actuators of the mobile device;

[0130] 107 - Magnetic actuators of the protective cover;

[0131] 108 - Dynamic ferromagnetic load (microspheres);

[0132] 106 - 01 , 107 - 01 - Magnetic actuators that interact with each other and repel the mobile device from the support surface;

[0133] 106 - 02, 107 - 02 - Magnetic actuators that attract the dynamic ferromagnetic load to shift the center of mass of the device;

[0134] M - force of magnetic interaction between the actuators.

Claims

Claims1. Cyclically movable device with a polyhedral housing, in particular a regular tetrahedron, with a center of gravity whose potential and kinetic energy can be continuously changed during the movement of the device, with at least four support surfaces equipped with motion sensors (pulse generators, energy converters) and motion dampers, which can be brought into operative connection with the ground (subsurface I support surface) in such a way that after reaching the maximum potential energy of the center of gravity during a cycle, at least one motion damper is in operative connection with the ground.

2. Device according to claim 1 , characterized in that the pulse generators are designed as sliders (102) which are extended and retracted from the surfaces and are supported on the ground.

3. Device according to claim 1 or 2, characterized in that the sliders (102) have individual drives (103), three sliders (102) being arranged near each corner of the surface on each face of the mobile device (100).

4. Device according to one of claims 1 - 3, characterized in that the movement path of the sliders (102) is arcuate and that a toothed ring is arranged on the radial surface of the sector.

5. Device according to one of claims 1-4, characterized in that the sliders (102) are movable in both directions and project beyond the comers of the surfaces (Fig. 10).

6. Device according to one of claims 1-5, characterized in that the number of sliders (102) with double-sided action is twice as large as the number of their individual drives (103).

7. Device according to one of claims 1-6, characterized in that the sliders (102) have a length which exceeds the space of the four-sided housing (101 ) of the device and projects beyond the boundaries of the surfaces.

8. Device according to one of claims 1-7, characterized in that the sliders (102) are telescopic.

9. Device according to one of claims 1-8, characterized in that the rolling devices (105) are arranged at the corners of the housing (101 ).

10. Device according to one of claims 1-9, characterized in that the rolling devices (105) are arranged on at least one surface of the housing (101 ) at its comers.

11. Device according to one of claims 1-10, characterized in that at least one rolling device (105) is driven.

12. Device according to one of claims 1-11 , characterized in that at least one rolling device (105) is rotatably mounted.

13. Device for moving the device according to any one of claims 1-12, characterized in that the surfaces can be brought into contact with a support surface and that the surface has controllable sliders so that the device can be tilted from one support surface to another.

14. Method according to claim 13, characterized in that during the tilting movement of the device (100) two oppositely directed sliders (102-01 , 102-11 ) (Fig. 3b) can work in different directions, one slider (102-01 ) exerting a repulsive effect (surface with corner A) and the other slider (102-11 ) acting as a receiving slider (surface with corner B).

15. Device (100) according to claim 1 , comprising at least four support surfaces, each equipped with three arcuate pushers (102) arranged in the region of the vertices of the support surfaces of the body (101 ), wherein the movement path is arcuateand includes a toothed crown on its radial surfaces, and wherein the pushers (102) interact with the support surface (200) after reaching the maximum potential energy.

16. Device (100) according to claim 15, characterized in that the pushers (102) are double-acting and each protrudes beyond the boundaries of two different surfaces of the device body (101 ) and is operatively connected to the support surfaces (200, 300).

17. Device (100) according to claims 15 and 16, characterized in that the pushers (102) of the device are designed to be telescopic, arc-shaped, and simultaneously telescopic.

18. Device (100) according to claim 1 , comprising at least four support surfaces with motion sensors (pulse generators, energy converters) and an elastic protective cover (1000, 1020) that interacts with the substrate (support surfaces 200, 220).

19. Device (100) according to claim 18, characterized in that a cavity is formed between the protective cover and the device body (101 ).

20. Device (100) according to claims 18 and 19, characterized in that the volume of the space and the physical properties of the medium filling it are variable.

21. Device (100) according to any one of claims 18 to 20, characterized in that the protective cover (1000) is spaced from the device body (101 ).

22. Device (100) according to any one of claims 18 to 21 , characterized in that the distance between the protective cover and the housing (101 ) is several millimeters (see Figs. 16 to 19).

23. Device (100) according to any one of claims 18 to 22, characterized in that the inner shape of the protective cover (1000) and the outer shape of the housing (101 ) are different.

24. Device (100) according to any one of claims 18 to 20, characterized in that the protective cover (1020) can be attached to the housing (101 ) in the region of the corners.

25. Device (100) according to any one of claims 18 to 22 and 24, characterized in that the shape of the protective cover (1020) is complementary to and spaced apart from the housing (101 ) (see Figs. 20 to 24).

26. Device (100) according to any one of claims 19 to 21 and 25, characterized in that the distance between the body (101 ) and the protective cover (1020) is dynamically variable and assumes defined shapes.

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