In　view　of　the　shortcomings　of　traditional　gastroscopy　and　capsule　robot　in　human　stomach　detection,　a　new　6-square　coil　electromagnetic　control　device　for　capsule　robot　attitude　control　was　proposed　in　this　paper.　The　device　can　not　only　generate　uniform　magnetic　field　in　arbitrary　direction　and　wide　range　of　three-dimensional　space　to　control　the　capsule　to　revolve,　but　also　generate　magnetic　field　with　a　certain　gradient　to　provide　propulsion　for　the　capsule.　Compared　with　the　traditional　electromagnetic　device　consisting　of　Helmholtz　coil　and　Maxwell　wire,　it　is　easier　to　assemble,　has　higher　coil　utilization　rate　and　more　diverse　driving　signals.　At　the　same　time,　it　has　a　pair　of　movable　coils,　which　can　adjust　the　coil　spacing　according　to　the　demand　and　produce　different　magnetic　field　configuration.　Firstly,　the　appropriate　device　parameters　were　chosen　by　modeling　and　simulation,　and　illustrate　the　advantages　of　the　system　in　generating　magnetic　field.　After　that,　the　feasibility　of　the　device　to　control　the　capsule　robot　was　proved　by　experiments　such　as　fixed-point　three-dimensional　rotation　scanning　and　two-dimensional　planar　locomotion.　The　moving　distance　in　plane　point　motion　of　the　capsule　robot　can　be　adjusted　by　adjusting　the　signal　type,　amplitude　and　frequency　of　the　driving　coil,　so　as　to　improve　the　control　accuracy　reasonably.　It　can　achieve　a　maximum　accuracy　of　1 mm　in　plane　point　motion,　and　the　angle　control　accuracy　in　three-dimensional　scanning　motion　can　reach　up　to　10°.　©　Springer　Nature　Switzerland　AG　2019.