Classifications

• • A—HUMAN NECESSITIES
  • A63—SPORTS; GAMES; AMUSEMENTS
  • A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
  • A63H33/00—Other toys
  • A63H33/04—Building blocks, strips, or similar building parts
  • A63H33/042—Mechanical, electrical, optical, pneumatic or hydraulic arrangements; Motors
• • A—HUMAN NECESSITIES
  • A63—SPORTS; GAMES; AMUSEMENTS
  • A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
  • A63H33/00—Other toys
  • A63H33/04—Building blocks, strips, or similar building parts
  • A63H33/06—Building blocks, strips, or similar building parts to be assembled without the use of additional elements
  • A63H33/067—Building blocks, strips, or similar building parts to be assembled without the use of additional elements with rotation or translation, e.g. of keyhole or bayonet type
• • A—HUMAN NECESSITIES
  • A63—SPORTS; GAMES; AMUSEMENTS
  • A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
  • A63H33/00—Other toys
  • A63H33/04—Building blocks, strips, or similar building parts
  • A63H33/10—Building blocks, strips, or similar building parts to be assembled by means of additional non-adhesive elements
  • A63H33/107—Building blocks, strips, or similar building parts to be assembled by means of additional non-adhesive elements using screws, bolts, nails, rivets, clamps

Definitions

• the invention relates to a holding device, an element comprising a holding device, and a method for holding objects together using the holding device.
• a problem with most of these elements is that they require handling. Furthermore, the elements are used for a specific construction, or a specific use, like toys. Furthermore, often the known elements are not reusable.
• Self-configurable robots are discussed, and an overview is given of many types of self-configurable robots. It shows that many configurations are possible.
• GB2287045 discloses according to its abstract programmable self-mobile building material that is a collection of substantially cubic shaped bricks called monomers that move relative to each other under computer control to sculpt e.g. engineering structures and mechanisms (walking machine) illustrated in Figure 2.
• the monomers have features to lock to other monomers and slide relative to other monomers without separating.
• the monomers are fault tolerant against damage; functional monomers move faulty monomers and replace them with functioning clones. Movement of monomers is broken down systematically into streamers, gateways, highways and reservoir methods to obtain individual monomer movement paths required to synthesise a structure.
• Specialised monomers can carry tools which together with synthesis of custom structures create custom machines. Exemplified uses are
• WO2004062759 discloses according to its abstract a system of three-dimensional multipurpose elements, which consist of single solid elements, which can be computer- controlled to move, and which can connect one to and disconnect one from another.
• a single element of the system consists of a casing made up of walls, linked with each other by means of electroplastic actuator which change the reciprocal position of the walls of the casing of a single element. Changes in the reciprocal position of the walls occur according to the exciting signal transmitted from a programmable integrated circuit. Heat emitters carry away excess heat from the system devices.
• interlocks for connecting respective single elements, as well as magnetic coils and a voltage source supplying the integrated circuit, interlocks, magnetic coils and electroplastic actuator.
• US6487454 discloses according to its abstract an array of devices connected to each other, in a grid or other fashion, which are able to adjust their position and/or orientation relative to one another, in order to alter the overall structure that the devices form. Also, a controller that can determine this structure from data provided by the devices, and tell each device what relative position and orientation it should be in so that the overall structure changes to some other desired shape.
• WO2014/142665 of the current applicant in its abstract describes a system comprising at least a first, a second and a third element, and a motion module, said elements being three-dimensional and each element comprising a centre point in said element, at least one face coupled to said centre point and said face comprising a motion-guiding module, defining a trajectory over at least part of said face and a motion restriction module, adapted for limiting the displacement of said centre point with respect to said centre point of one of the other elements to at least one trajectory selected from the group consisting of said trajectory and said trajectory of said other element, when interacting with said motion module.
• the invention provides a holding device that allows a flexible use.
• the invention seeks to provide a holding device that allows sensing position and/ or alignment detection and/or transfer of data and/or transfer of power.
• the invention pertains to a holding device for locking, said holding device comprising:
• - a locking member having a longitudinal axis, an external surface and a first end;
• the invention in an embodiment comprises an alignment sensor for detecting alignment with another device having a complementary guiding part, complementary with said locking member, said alignment sensor functionally coupled with said actuator for allowing displacing said locking member when alignment with said complementary guiding part is sensed.
• the alignment sensor is functionally coupled for activating said actuator for displacing said locking member at the sensing of alignment.
• the alignment sensor is selected from a passive or active sensor, in an embodiment said alignment sensor is an active sensor comprising a transmitter for transmitting a signal and a receiver for receiving a return signal or feedback from another device, in particular said alignment sensor comprises a coil for providing one selected from a magnetic field, a light source, and a combination thereof.
• the guiding part and the locking member are in physical contact with each other.
• the guiding part and the locking member are in near physical contact with each other. For instance separated by a magnetic field.
• the alignment sensor is part of the locking member.
• the alignment sensor is positioned in the vicinity of the locking member.
• the holding device uses a ball screw mechanism or ball bearings, in particular related to the guiding part and the locking member.
• the alignment sensor is receiving a signal or feedback from another device, without the need of having transmitted a signal first, in particular said alignment sensor comprises a coil for detecting a magnetic field, a light source and a combination thereof.
• said alignment sensor may comprise a receiver only.
• the alignment sensor is in an active mode, a sleep mode or a power down mode.
• the mode of the alignment sensor may react or change due to signals or feedback from another device. This may be instigated due to a form of magnetism or electricity or a combination thereof.
• the alignment sensor may be used for communication with another device, for instance by using a coil or light or a combination thereof.
• the actuator is adapted for rotating said locking member around or about its longitudinal axis for said displacing.
• the holding device further comprising:
• a light guiding part extending in at least part of said locking member, extending functionally parallel to said longitudinal axis, and having a first light guiding part end at said first locking member end;
• a light detector optically coupled to said light guiding part for detecting light entering said light guiding part at said first light guiding part end.
• the actuator comprises a piezo drive element, in particular a linear piezo drive element, more in particular said piezo drive element at least partially surrounding said locking member for exerting an ultrasonic vibration for displacing said locking member.
• the locking member comprises an electrically conductive part, in part comprising a lead through said locking member for providing an electrical coupling to said other device.
• the holding device is adapted for locking with another, similar holding device.
• the locking member engaging said guiding part.
• the actuator is linked to said guiding part to allow said locking member to displace along its longitudinal axis, in particular to displace longitudinally.
• At least a part of said actuator is coupled to said guiding part, in particular an end of said actuator is coupled to said guiding part, more in particular its opposite end is free to vibrate.
• a 'squiggle motor' can be used, that is explain in the detailed description of further embodiments below.
• the holding device comprises the light source and light guiding part, and said first end of said locking member and said first end of said light guiding part comprises an end face.
• the locking member end face and said light guiding part end face are in a plane.
• the invention further pertains to a holding device for locking with another, similar holding device, said holding device comprising a locking member having a longitudinal axis, an external surface and a first end, an actuator for displacing said locking member along its longitudinal axis between a holding position and a released position, a guiding part, for engaging said external surface of said locking member and guiding its displacement functionally along its longitudinal axis, a light guiding part extending in at least part of said locking member, extending functionally parallel to said longitudinal axis, and having a first light guiding part end at said first locking member end, a light source for optically coupling light into said light guiding part for providing light source light at said first light guiding part end, and a light detector, optically coupled to said light guiding part
• a holding means refers to two or more holding devices that may work together for locking.
• a holding means is also used to indicate a setup in which one holding device engages another, passive holding device.
• Holding means when used in the context of a single element or object refers to one or more holding devices of an element or object. These holding devices may work together, may communicate data and/or power to one another, and/or may be functionally coupled to a common control device or computer system.
• the term holding module is also used to indicate a holding device.
• Such a holding device might enable secure coupling and locking. Furthermore, it can facilitate data transmission.
• the holding device may allow, enable or support swift locking and unlocking.
• the holding device can even support or facilitate alignment and/or positioning and/or alignment detection.
• the holding device may even support and/of facilitate transmission of power.
• a locking member of one holding device may be a simple bar extending into and fitting into a ring opening of a guiding part of another holding device.
• an object like an element, is provided with two or more faces that are at an angle with one another, and all these faces comprise at least one of such holding devices, it is possible to completely lock the object or element against any displacement.
• these faces are mutually functionally perpendicular and the longitudinal direction of each holding device associated with the face is perpendicular to the face, this allows locking against any displacement when each face comprises a holding module that is in its holding position.
• a face in the neighbourhood of a holding device is planar.
• the locking member further locks or is being locked against rotational movement of holding devices around their longitudinal direction.
• the locking member can be unround or non-round, and the guiding part fittingly matches the unround shape of the locking member.
• the locking member can be elliptic, or polygonal, like rectangular.
• the locking member is locked or being locked in the longitudinal direction.
• two holding devices can no longer displace from one another in longitudinal direction. This may be done for instance via a bayonet mount or connector.
• a bayonet mount or bayonet connector is for instance a fastening mechanism consisting of a cylindrical male side with one or more radial pins, and a female receptor with matching L-shaped slot(s). It may comprise a spring to keep the two parts locked together.
• the slots may be shaped like a capital letter L with serif (a short upward segment at the end of the horizontal arm); the pin slides into the vertical arm of the L, rotates across the horizontal arm, then is pushed slightly upwards into the short vertical "serif by the spring; the connector is no longer free to rotate unless pushed down against the spring until the pin is out of the "serif.
• a screw thread may be used.
• a ball screw can be used.
• a ball screw is a mechanical linear actuator that translates rotational motion to linear motion with little friction.
• a threaded shaft provides a helical raceway for ball bearings which act as a precision screw. As well as being able to apply or withstand high thrust loads, they can do so with minimum internal friction.
• the ball assembly can be provided in the guiding part to act as the nut while at least part of the locking member can be shaped as a threaded shaft to act as the screw/bolt part.
• the external surface of the locking member is provided with screw thread
• the guiding part comprises matching internal screw thread.
• the locking part may comprise an engagement part
• the receiving holding device may comprise a complementary engagement part that may be actuated for engaging the received locking member, for keeping the received locking member locked.
• a guiding part comprises a screw thread and a locking member has matching screw thread on at least part of its external surface. In this way, the guiding part can receive a locking member of another holding device.
• one holding device in fact functionally provides a bolt.
• the one holding device and another holding device both provide part of a nut. If the screw thread of the guiding part starts close to a surface of a face, and the screw thread of the locking member ends at or near an extremity of a locking member, then it allows fast locking with only minimal displacement of the locking member.
• a holding device can be symmetrical.
• any holding device may have its locking member engage the guiding part of any other, similar holding device and come into a locking position.
• any holding device can engage every other holding device.
• a locking member of one holding device may use a guiding part of another holding device.
• one holding device can be active and the other holding device may be passive.
• two holding devices may work together in the procedure of coming to a holding or a releasing position.
• One of the two involved holding devices may in this respect be mechanically active or passive, or for instance be electrically active or passive.
• a holding device can also allow asymmetric holding, requiring for instance a male holding device and female holding device that work together. Also in such a configuration, one holding device may be active and the other can be passive. Alternatively, also these holding devices may work together. Again, working together or working in a master-slave configuration may be split mechanically and electrically.
• a locking member has a first locking member end. This includes the end part of a locking member that engages a guiding part of another, similar holding device. In particular, it includes one or more end faces of a locking member end. As explained, in an embodiment it includes an end face of a locking member.
• the light guiding part has a first light guiding part end. This end allows electromagnetic radiation, in particular the light, to be coupled into and out of the light guiding part. Often, the end is an end face of the light guiding part. In an embodiment the end is an end face of the light guiding part that is perpendicular to a travelling direction of light through the light guiding part.
• a light guiding part in an embodiment comprises a second light guiding part end. If the light guiding part is a straight cylinder, the second light guiding part end is opposite facing the first light guiding part end. More in general, the second light guiding part end is an end that allows light that entered the first light guiding part end to be coupled out of the light guiding part and to the light detector.
• the second light guiding part end is the end where light from a light source can be coupled into the light guiding part and which light is allowed to travel to the first light guiding part end.
• more than two physical light guiding part ends may be provided.
• two or more first light guiding part ends and/or two or more second light guiding part ends may be provided for one light guiding part.
• a light guiding part relates to a part that allows light to travel or to be transported from one place to another.
• a light guide may include an optical fiber.
• a light guiding part may include a tube with reflecting inner walls.
• a light guiding part may be a straight part.
• a light guiding part may also define another trajectory for the light to travel.
• an optical fiber may be spiralling around/about the longitudinal axis of the locking member, inside the locking member and forming part of that locking member.
• a light guide uses internal reflection cause by layers having different refractive indices.
• These light guides can be made from glass, or for instance from and/or using polymer material. This may also be combined.
• the light guiding part of a holding device can be provided with active optical components, like beam splitters, (de)multiplexers, switches, optical amplifiers, and the like. These components as such are known in optical computing and optical data communication. These components may be activated electronically and/or mechanically.
• the light guiding part is adapted for optically coupling an optical signal entering its first light guiding part end to a first light guiding part end of another holding device provided in the same object or element.
• a second end of the light guiding part of a holding device is adapted for optically coupling to a second end of the light guiding part of another holding device of the same object or element.
• one or more optical pathways are provided that are coupleable to second light guiding part ends.
• the optical pathways can be activated by an optical coupling that may be activated and deactivated.
• one or more waveguides or light guides or optical fibres may run between second light guiding part ends.
• the couplings may be activated and deactivated.
• a light signal can be coupled to the detector and be optically passed through to another holding device via a direct optical pathway. As explained, such an optical pathway may be temporarily established.
• optical signals (carrying data, power, and the like) in fact to be transmitted through an object or element at the speed of light.
• a direct optical pathway may be provided through one or more objects and/or elements. These objects or elements do not need to interfere with the optical signal.
• light guiding parts of holding devices in an element can thus be optically coupled to transmit light entering a first light guiding part end to exit at a light guiding part end of another holding device. This allows extreme fast light signals through a series of objects and elements, or routing at the speed of light. Thus, data, power and for instance alignment signals can travel fast.
• light when referring to the holding device relates to electromagnetic radiation including UV, VIS and IR (ultraviolet, visual, infrared).
• UV, VIS and/or IR allows transmission of data, of power if needed, and for use in positioning and alignment.
• different wavelengths or combinations of wavelengths may be used for different purposes, or for allowing parallel processing.
• different wavelengths may be used for transmission of data, for positioning and for alignment. It may even be possible to transmit energy.
• yet another wavelength or wavelength range may be used.
• Different light sources may be used for different wavelength ranges, of for instance tuneable light sources may be used.
• the polarization of the electromagnetic radiation may be used.
• light may be polarized circularly, linearly, or a combination thereof.
• polarization may even vary in time.
• frequency hopping for transmitting information or data. The options mention can also be used for identifying alignment.
• the manipulation of the radiation may be combined with provisions of the light guiding part.
• the opening angle of a light guide may be selected to better determine alignment.
• the light guiding part may be provided with a passive polarization part.
• the light guiding part may also or alternatively comprise active optical parts.
• optical properties of at least part of the light guiding member may be adjustable.
• optical properties may be adjustable using mechanical force, and/or using electrical voltage or current, and or using temperature adjustment.
• refractive indices of a core or cladding may be adjustable.
• Transmission may be at least partly adjustable.
• Polarization properties may be at least partly adjusted.
• the light guiding part comprises a first light guiding part end. It includes an end part of the light guiding part. In particular, it includes an end face of a light guiding part. For instance, if the light guiding part included an optical fiber, the end part comprises an end face of the optical fibre.
• first end of said locking member comprises an end face.
• the locking member is substantially right cylindrical of has a substantially right cylindrical end, with an end face.
• the first end of said light guiding part comprises an end face.
• the locking member end face and the light guiding part end face are in a plane. This makes alignment, optical coupling of holding devices, and other actions simpler and more straight forward.
• the light guiding part comprises a light guide.
• the actuator comprises a displacement actuator for displacing said locking member between its holding position and its released position, and a locking actuator for locking and unlocking said locking member.
• the locking member has a rotationally symmetrical cross section, in particular a round cross section.
• the locking member further comprises an electrical conduit running functionally parallel in said locking member end extending to said first locking member end.
• the electrical conduit runs through said locking member in substantially said longitudinal direction.
• the holding device further comprises at least one coil around said locking member.
• the locking member comprises a ferromagnetic part extending in said locking member at least from a level of said coil when said locking member is it the released position up to said first locking member end.
• the light guide extends through said locking member, in particular for transporting light between said first locking member end and said a second, opposite locking member end.
• the locking member comprises a length having a round cross section and with its outer surface provided with a thread, and said guiding part provided with a corresponding thread in engagement with said locking member thread.
• the actuator comprises a motor.
• a motor may be electrical or mechanical.
• a hydraulic motor, a piezo drive, a pneumatic motor, of an electromotor may be incorporated.
• the actuator comprises an electromotor.
• such an electromotor may comprise components incorporated in different parts of the holding device. For instance, having an electromotor part surrounding said locking member and engaging said external surface of said locking member.
• the invention further relates to an element, said element being three-dimensional and comprising at least one face, said face comprising at least one holding device described in this description, adapted for interacting with a functionally aligned similar holding device of a further element, said locking member of said holding device in said holding state engaged with said aligned similar holding device of said further element for holding said element positioned with respect to said further element, and in said released state with said locking member disengaged from said aligned similar holding device.
• the invention further pertains to the use of the holding device described in this description, for holding objects that are each provided with said holding device together.
• the invention further relates to a method for holding objects together using the holding devices, comprising a first object comprising a first holding device and a second object comprising a second holding device, wherein said first holding device: - determines alignment with said second holding device using transmission of light from its light source through its light guiding part and detecting light from its light guiding part using its light detector;
• the invention further relates to a method for holding objects together using the holding device, comprising a first object comprising a first holding device and a second object comprising a second holding device, wherein:
• said first holding device transmitting light from its light source through its light guiding part
• said second holding device receiving said transmitted light via its light guiding part on its light detector
• said second holding device activating its actuator for displacing its locking member in longitudinal direction away from said first holding device for freeing its guiding part;
• said second holding device sending a signal to said first holding device when its guiding part is free for receiving a locking member
• elements or components or other parts of the element may temporarily keep elements positioned while the holding module comes into a locking state.
• human interaction may temporarily keep objects or elements together until holding devices come into their locking state or release state.
• a "similar" holding device This comprises holding devices that functionally operates in the same way and can mutually engage.
• a locking member of one holding device locking into another holding device, and the locking member of that other holding device locking into the one holding device.
• This can include one of the holding devices initiating and/or controlling the engaging process, of both holding devices communication and negotiating the engaging process.
• the holding devices may operate with respect to one another in a peer-to-peer manner, or for instance in a master-slave manner, or one of the devices may be passive.
• the holding device can in general be used to hold together objects that are provided with similar holding devices.
• an object is an element as described further in this description.
• the actuator is a part that may be electrically powered for setting the locking member in motion. This motion effectively causes displacement of the locking member in its longitudinal direction.
• the actuator may induce a rotational motion of the locking member.
• it may induce a translational motion of the locking member.
• the actuator may also induce both translational and rotational motion. This mode may be selectable switchable.
• the actuator is of an electromotor type. There are different ways of incorporating such an actuator. It can use permanent magnet parts and coils that can induce a magnetic field. These parts can be provided in the guiding part, the locking member, or both, thus functionally providing an electromotor.
• the locking member can be provided with a rotor and the guiding part can be provided with a stator.
• the holding device comprises an electromotor that engages the locking member.
• using a gear system and for instance toothing (or gearing) on the outer surface of the locking member enables an electromotor to set the locking member in motion.
• components may be incorporated that in fact make the locking member part of a linear motor.
• piezo electrical-type actuator may be used.
• piezo electrical components may be incorporated into the locking member.
• piezo electrical components may be integrated into the guiding part.
• piezo electrical components are incorporated into both the locking member and the guiding part.
• the piezo electrical parts may exert a force that displaces the locking member in its longitudinal direction, it may rotate the locking member, or may even induce both displacements, in an embodiment even selectively.
• a coil may be provided around the locking member.
• the magnetic field resulting from these coils can be used for one selected from alignment detection, power transfer, and data transfer.
• the locking member comprises ferromagnetic material, this can capture and confine the filed lines and improve operation.
• a holding means In the current context, this refers to the current holding device, which is a elaborates example of a holding means.
• the invention thus further relates to an element, said element being three- dimensional and comprising:
• the face of the element comprises holding means, adapted for interacting with a functionally aligned holding means of a similar element, and comprising a holding state and a released state, said holding means in said holding state engaged with said aligned holding means of said similar element for holding said element positioned with respect to said similar element, and in said released state disengaged with said aligned holding means.
• the face further comprises sensing means comprising a position sensor for sensing a position of said face of said similar element on said face of said element, said position sensor comprising an emitter for emitting electromagnetic radiation in an emitter pattern, a receiver for said electromagnetic radiation comprising detector elements in a receiver pattern, and said emitter pattern and receiver pattern mutually oriented for providing an alignment indication when said holding means are aligned with holding means of said similar element and said face is at a predefined orientation with respect to said face of said similar element.
• sensing means comprising a position sensor for sensing a position of said face of said similar element on said face of said element, said position sensor comprising an emitter for emitting electromagnetic radiation in an emitter pattern, a receiver for said electromagnetic radiation comprising detector elements in a receiver pattern, and said emitter pattern and receiver pattern mutually oriented for providing an alignment indication when said holding means are aligned with holding means of said similar element and said face is at a predefined orientation with respect to said face of said similar element.
• a position of a face may refer to a distance, and/or to an orientation of a face.
• a holding device comprises a light guiding part, a light source and a light detector. These elements may be part and/or form a sensing means.
• the sensing means is functionally coupled to said holding means, and wherein said holding means takes said holding state when said sensing means provides said alignment indication.
• the holding device is part of the holding means, as described earlier.
• the invention further relates to a system comprising at least a first and second element, said elements being three-dimensional and each element comprising:
• said emitter is provided for providing said emitter pattern in a first position pattern when said element is at said predetermined position with respect to said similar element and with said predetermined holding means aligned, in particular forming said first position pattern on or at said receiver, in particular said first position pattern is a two-dimensional pattern.
• said receiver is arranged for providing said receiver pattern in a second position when said element is at said predetermined position with respect to said similar element and with said predetermined holding means aligned, in particular, in particular said second position pattern is a two-dimensional pattern.
• said emitter pattern and said receiver pattern result in a third alignment pattern when said element is at said predetermined position with respect to said similar element and with said predetermined holding means aligned
• said emitter comprises an emitter element at said face and a reflector at said face, mutually positioned that when said face is at said predefined orientation with respect to said face of said similar element, electromagnetic radiation from said emitter element radiates on said reflector of said face of said similar element, providing said electromagnetic radiation in said emitter pattern on said receiver pattern of said receiver of said element.
• the emitter may be designed to provide a set of position patterns. This set of position patterns may be stored and used to discriminate between various alignment of different holding modules, and/or position of faces and/or sections of faces.
• the invention provides a system comprising at least a first, a second and a third element, and a motion module, said elements being three- dimensional and each element comprising a centre point in said element, at least one face coupled to said centre point and said face comprising a motion-guiding module, defining a trajectory over at least part of said face and a motion-restriction module, adapted for limiting the displacement of said centre point with respect to said centre point of one of the other elements to at least one trajectory selected from the group consisting of said trajectory and said trajectory of said other element, when interacting with said motion module.
• Said motion module is adapted to be coupled to a face of one of said elements, and adapted for displacing said centre point of said one element with respect to said centre point of one of the other elements when interacting with the motion-guiding module of said one of the other elements, said motion-guiding module, said motion module and said motion-restriction module defining different module types.
• a first face of said at least one face of said first element faces at least one of a second face of said at least one face of said second element and a third face of said at least one face of said third element, thus providing facing faces.
• said motion module interacts with at least one motion- guiding module, and with at least one motion-restriction module, with said facing faces providing said interacting modules while displacing at least one module of said first face interacts with at least one module of at least one different module type of at least one other of said facing faces while displacing, and said at least one module of said first face interacts with at least one module of a different module type of said second face and at least one module of a different module type of said third face.
• the invention provides a system of elements that allow a flexible use.
• the elements can be used for manually building a construction. Making such a construction consistent and coherent can be easy.
• the elements may comprise further features that may allow elements to displace under control, or even autonomously.
• an element comprises holding means, adapted for interacting with a functionally aligned holding means of a similar element, and comprising a holding state and a released state, said holding means in said holding state engaged with said aligned holding means of said similar element for holding said element positioned with respect to said similar element, and in said released state disengaged with said aligned holding means, and sensing means for providing grab-detection, said grab-detection including detection of one selected from an action leading to a grip of said element, having a grip on said element, an action of releasing a grip of said element, and a combination thereof, wherein said sensing means is functionally coupled to said holding means for upon said grab-detection actuating at least one of said functionally aligned holding means between said holding state and said released state.
• at least two elements comprises these means, in al particular embodiment, all the elements of the system comprises these means.
• the holding means is actuated between said holding state and said released state when said grab-detection includes one of an action leading to a grip of said element, and an action of releasing a grip of said element.
• the sensing means is further adapted for determining a distance to a similar element.
• This distance may be a shortest distance.
• This distance may for instance also be determined along a predefined trajectory. In other words, when moving along a trajectory, how far removed is that other element.
• it allows improved actuation of holding means. It further allows functionally coupling with for instance a motion module (discussed below), for example to control speed, like approaching speed.
• the sensing means may also measure the orientation of the element with respect to one or more other elements. Furthermore or additionally, the sensing means may determine alignment of holding means with holding means of one or more other elements.
• the sensing means comprises sensors that are time-correlated for providing grab-detection. Time-correlation of the sensors allows improved grab detection. It for instance allows sensing if two faces are involved in the process of grabbing.
• the sensing means comprises a first and second sensor, functionally coupled with one another for providing said grab-detection.
• the element being three-dimensional and comprising:
• said holding means coupled to a first face of said at least three faces, adapted for interacting with said functionally aligned holding module of a facing face of a similar element, for in said holding state cooperating for holding said first face positioned with respect to said facing face, and in said released state not holding said first face positioned;
• sensing means comprising a first and second sensor
• said at least two sensors are functionally coupled with said holding means of said first face for upon said grab-detection actuating of said holding modules of said facing face between said holding state and said released state.
• the sensor means comprises optical sensors with spatial resolution, in particular cameras.
• the holding means comprises at least one holding module comprising two parts, adapted to exert a force to one another for holding faces positioned, and wherein said two parts are provided to faces comprising said holding module, allowing each face provided with said holding module to be held in position with respect to a facing face provided with said holding module, with the one holding module part of a face interacting with an other holding part of a facing face.
• the holding module comprises a holding state in which the holding module holds faces positioned, and a released state in which faces can move with respect to one another.
• the holding means comprises a holding module on each face
• said sensing means comprises a sensor on each face comprises a sensor
• said sensors and said holding modules functionally coupled for upon said grab-detection actuating of said holding modules of said facing face between said holding state and said released state.
• the sensing means is adapted for alignment detection of said holding modules with holding modules of facing faces.
• grab-detection in its broadest sense relates to detection of actions leading to grabbing of an element, the actual holding of an element grabbed, and actions of releasing an element from a grip.
• Grabbing in this respect, in its broadest sense relates to engaging an element with the intention of allowing changing the location and/or orientation of the element. This may be using a robot arm having a part that can engage the element and pick up the element. It may for instance preferably include picking an element up by a human hand, or changing the orientation by a human hand. Usually, this requires engaging two faces. Often, two opposite face are clamped between fingers of a hand. Often, the actions of grabbing take place within a limited timeframe.
• the time between a hand approaching an element and actually engaging the element is in the order of minutes or less. In particular, this time is in the order of less than two minutes.
• the detection range can be less than 50 cm.
• Grab- detection in an embodiment may comprise transmitted human brain signals.
• An element can be either 'in- system' or 'out-system'.
• An element may be defined as being 'in-system' when it comprises a face that can interact with a facing face of another, similar element.
• an element can be in-system when it comprises a face that is both in physical contact with a face of at least one other, similar element, and properly aligned with a face of at least one other, similar element.
• An element that is defined as being 'out- system' does not have these requisites.
• a group of elements that are 'in-system' is designated or referred to as a system of elements. Multiple (separated) combinations of systems of elements may exist next to each other as does any combination of 'in-system' and 'out-system'. Proper alignment between 'in-system' elements is essential for allowing displacement or for holding a certain position.
• each face of the element can either be in a holding state or in a released state.
• a holding state may be defined as a state that affects an element.
• a holding state In a holding state, a face of an element cannot move with respect to an opposing or facing face of another, similar element.
• a holding state may be reached by means of one or more holding modules between opposing faces.
• a holding state may also be reached by means of other module(s), for example a motion module operating between two elements which has its motion temporarily halted.
• a motion module may cooperate with a motion restriction module and/or a motion guiding module in order to achieve a holding state.
• the holding state in general results from an activation of holding means.
• Such holding means may comprise a holding module.
• a holding means may also comprise a selection from a motion module, a motion restriction module, a motion guiding module. These modules may for instance in cooperation result in a locking state.
• the holding state of a face may thus be split up into a 'holding state by holding module' and a 'holding state by motion module lock'.
• An element may be in one or both of these states at a given time, and when either one or both of these states is active, the element is in a holding state. For example, when moving an element over faces of other, similar elements from one position to a destination position, the 'holding state by motion module lock' is activated when the destination position is reached. Then, a 'holding state by holding module' is activated before the 'holding state by motion module lock' is deactivated.
• an element may be locked to another element and be in a holding state in various ways.
• An element may use its own holding module, it may be engaged by a holding module from that other element.
• the state of the holding module can thus either be:
• a face can have multiple 'holding modules'.
• each quadrant may have a holding module, for instance in its centre.
• that face may be in a 'released state' or in a 'holding state by motion module lock'.
• Two cooperating face lock modules of two opposing elements may only work together when their modules are in a certain physical alignment. This encompasses the two elements to be in alignment. A consequence of this may be that when a face is in a 'holding state by holding module' the element is in one of its proper alignments.
• the precursor or descendant of the 'holding state' is the 'released state'. It is clear that a transformation from a 'released state' into a 'holding state by holding module' can only occur when an element is properly aligned with an other, similar element.
• two other states can be distinguished per holding module:
• An Out-system' element has per definition no direct 'holding state' potential (no physical face-contact or no proper alignments) and has each face in a 'released state' or stated differently: the element is in a fully 'released state'.
• An 'in-system' system of elements may have one or more 'set-holding states'. This means: each element belonging to a set of elements within that system, has one or more 'Holding states' active and this set cannot be split into subsets without breaking one or more of these 'Holding states'.
• a 'Set-holding state' encompasses every element of that system, that system is also in a 'System- holding state'.
• An element that is either 'in-system' or 'out-system' can be in a 'non-displacing state' or in a 'displacing state'.
• an 'out- system' element When an 'out- system' element is in a 'displacing state', it means that outside system handling or forces are taking care of this displacing. For example, an element can be picked up by a human hand. Another example of such a combination of states is an element that is falling due to gravity forces.
• an 'in-system' element When an 'in-system' element is in a 'displacing state', it can be an action of either 'direct displacing' or 'indirect displacing'.
• 'Direct displacing' of an element occurs when a face of that element is engaged with at least a motion module or a rotation module. That face is not in a 'holding state' but in a 'released state'.
• 'Indirect displacing' of an element occurs when that element is not engaged with a motion module or a rotation module. Furthermore, that element is part of a set of elements which are in a 'set-holding state'. In that 'set-holding state', at least one other element of that set can be in the 'displacing state' of 'direct displacing' (piggybacked analogy). Based upon the principles described here, various combinations are possible.
• an element is cubic and comprises six faces. From the perspective of the element, there are then six directions: North, South, East, West, Up and Down.
• the invention further or additionally provides a system comprising at least a first, a second and a third element, which may be of the type defined above.
• This system further comprises a motion module, said elements being three-dimensional and each element comprising:
• a motion-guiding module defining a trajectory over at least part of said face
• a motion-restriction module adapted for limiting the displacement of said centre point with respect to said centre point of one of the other elements to at least one trajectory selected from the group consisting of said trajectory and said trajectory of said other element, when interacting with said motion module;
• said motion module is adapted to be coupled to a face of one of said elements, and adapted for displacing said centre point of said one element with respect to said centre point of one of the other elements when interacting with the motion- guiding module of said one of the other elements, said motion-guiding module, said motion module and said motion-restriction module defining different module types, wherein for displacing said centre point of said first element away from said centre point of said second element and towards said centre point of said third element, a first face of said at least one face of said first element faces at least one of a second face of said at least one face of said second element and a third face of said at least one face of said third element, thus providing facing faces, and
• said motion module interacts with at least one motion-guiding module, and with at least one motion-restriction module, with said facing faces providing said interacting modules while displacing;
• At least one module of said first face interacts with at least one module of at least one different module type of at least one other of said facing faces while displacing
• said at least one module of said first face interacts with at least one module of a different module type of said second face and at least one module of a different module type of said third face.
• At least one element can be provided with a building plan for the shape.
• the building plan can be distributed over elements, and by communicating and distributing control, the elements together may accomplish shifting the shape.
• a building plan may consist of a definition of the eventual shape of an object. It may alternatively comprise intermediate constellations of elements, or intermediate shapes to arrive to an end shape.
• the motion module, motion restriction module and motion guiding module allow minimal displacement distances or orientation changes of elements, in particular of the centre points of elements, for changing shapes and constellations of elements. Thus, changes may take less time and/or less energy.
• a configuration is used for an assembly of elements that are grouped together in a substantially consistent orientation with respect to one another.
• the elements in such a configuration may form an object.
• one or more elements move or displace with respect to other elements.
• Elements may have displaced, but that does not always mean that the shape of the object changed. If at least some of the elements of an object displace in a predefined manner, it is possible to in fact have displaced the entire object.
• Faces of elements face other faces. In its broadest sense, faces are thus directed to one another.
• the facing faces may be opposite one another.
• facing faces may at least partly overlap.
• Faces may be curved.
• faces are flat, planar.
• a face defines a plane over which in an embodiment a face of another element can slide. In such a state, faces are facing, and during said sliding opposite one another and partly overlapping.
• the various modules and parts are 'coupled'.
• this relates to functionally coupled.
• this relates to parts or modules that are physically coupled. More in particular, in an embodiment it is used to cover connected.
• parts faces, modules and the like that are fixed or mounted.
• fixed refers to for instance welding, gluing, and the like.
• Mounted may refer to the use of attachment provisions, like bolts and nuts.
• Interacting' relates to modules and/or elements that exert force to one another, but also to exchanging data, exchanging instruction program parts, and exchanging feedback.
• interacting relates to modules and/or elements that are in contact.
• interacting relates to modules and/or elements that are engaging.
• Various modules are provided 'for displacing'. This relates functionally to the process of displacing an element. It can also include preparations for displacing elements. 'For displacement may also include post-processing. It may include, for instance, displacement of one or more motion modules over one or more faces of an element, or between elements, to their actual position on a face where they start displacing an element. It may for instance also include storing a motion module after use, or transmission of an end position to other elements. 'For displacing' may for instance also include the time during which data is exchanged in preparation for setting an element in motion.
• 'While displacing' refers to the time frame during which elements are actually in motion. For displacing elements, multiple instances of 'while displacing' may occur.
• the faces are provided to allow a face to exert or transmit a force to another face.
• a movement of an element can in fact be split into an actual displacement of a centre point of an element, and a change in orientation.
• a change of orientation is for instance a rotation about a line through the centre point: the centre point does not change its position.
• the motion module of an element is instrumental for an actual displacement of a centre point of an element.
• An element may further comprise an orientation module for changing the orientation of an element.
• the motion module and the orientation module may be combined.
• An element may comprise parts defining an outer contour of an element.
• an element may comprise ribs.
• An element comprises a face.
• a face at least has supports allowing one element to rest on another element. Ribs for instance define such a face.
• the space between ribs may be open.
• support may be provided by exerting a force, for instance aerodynamic or electromagnetic forces.
• each element further comprising a face provided with a surface at a surface-distance from said centre point.
• Such a surface provides a solid, physical support.
• a surface may be completely closed.
• a face may comprise a surface that has openings.
• the surface may be meshed. Often, such a face is planar, defining a bounded plane. In a sense, the motion module in fact drives the movement of an element with respect to another element.
• the motion-guiding module in a sense steers a direction of displacement of an element with respect to another element.
• the motion guiding module may comprise a track on one element and the other element follows that track.
• One or more of the elements may further comprise a motion-restriction module adapted for limiting the displacement of said centre point with respect to said centre point of one of the other elements to at least one trajectory selected from the group consisting of said trajectory and said trajectory of said other element, when interacting with the motion module of the other element.
• the interaction between at least one of the motion module, the motion-guiding module and the motion-restriction module from the face of an element with at least one different module from an element with a facing face may in fact restrict the distance between those elements. It may hold these elements together or release these elements to allow them to move away from one another. It may also keep the distance between these elements between defined limits. In combination and/or in a separate action, the interaction may also keep orientation of these elements with respect to one another elements limits.
• This function occurs while a motion module, a motion-restriction module and a motion-guiding module interact. This may also be the case when elements are not displacing any more. In such a case, modules may still be interacting. This may be referred to as a holding state.
• the modules of the current system provide a reliable displacement of elements.
• the result of a displacement is at least partially predictable.
• Displacement follows at least part of a trajectory.
• Interaction between on or more motion modules, one or more motion guiding modules, and one or more motion restriction modules limit the displacement of a centre point with respect to one or more other centre points of other elements to at least one trajectory.
• Such a trajectory may be predefined. It may be a fixed route over a face. For instance a rail provides such a fixed route.
• the invention further pertains to a system comprising at least a first, a second and a third three-dimensional element, each element comprising:
• a centre point in said element a motion-guiding module, coupled to said centre point and defining a trajectory over said element;
• a motion module adapted for displacing the centre point with respect to a second centre point of one of the other elements using the motion-guiding module of that other element
• a motion-restriction module adapted for limiting the displacement of said centre point with respect to said second centre point to at least one trajectory selected from the group consisting of said trajectory and a second trajectory of said other element;
• said motion-guiding modules of at least two of said elements are functionally coupled for enabling said motion module to displace the centre point of a third displacing element which is in contact with one of the other two elements away from the centre point of one of the other two elements and towards the centre point and in contact with the other of the other two elements.
• said first face changes its interacting module for said displacing.
• said motion module is coupled to said first face.
• At least one module of said second face and at least one module of said third face interact with a different module of said first face while displacing.
• said modules of said second face and said third face interact one after the other.
• said modules of said second face and said third face interact one after the other with a different module of said first face for said displacing.
• said modules of said first, second and third face interact alternatingly while displacing.
• At least one of said modules from each of said first, second and third face interacts.
• each of said elements comprises a motion module.
• each of the elements comprises at least one motion module. This increases flexibility and speed.
• each of said at least one face of said elements comprises a motion module. This again increases speed and flexibility, allowing elements to work for instance autonomously, or in subgroups.
• each element comprises at least two of said faces. With proper orientation of faces of an element with respect to one another, for instance motion in two dimensions and eve three dimensions becomes easier to accomplish.
• said motion module is adapted for changing an orientation of said one element, coupled to said motion module, and an other element, having a face having a module interacting with said motion module, with respect to one another.
• said changing orientation may comprise rotating said face coupled to said motion module and a face facing said face coupled to said motion module with respect to one another. More in particular, for rotating about an axis through said centre point of said one element. The axis of rotation may be perpendicular to the face.
• At least one of said elements further comprises an orientation module, adapted for changing an orientation of said one element and another of said elements with respect to one another.
• said changing orientation may comprise rotating said face coupled to said orientation module and a face facing said face coupled to said orientation module with respect to one another, more in particular rotating about an axis through said centre point of said one element.
• the axis of rotation may be perpendicular to the face.
• said motion module is adapted for decoupling itself from said face.
• said motion module is displaceable when it is decoupled from said face.
• said motion module is displaceable to a neighbouring element when it is decoupled from said face.
• said one element comprises at least two faces, and said motion module is displaceable from one face to a next face of said one element.
• said motion module is displaceable inside said element from one face to another face of said one element when it is decoupled from said face. Allowing a motion module to move from one face to another, or even from one element to another, may save on the amount of motion modules that are needed in a system of elements.
• said motion module, said motion restriction module and said motion guiding module comprise a holding state in which at least partially overlapping facing faces are held in their mutual position, said holding state in particular involving at least a motion module from one face and a motion restriction module from a face facing said one face.
• each element comprises a holding module, coupled to a face, for interacting with a holding module of a facing face for holding said face positioned with respect to said facing face.
• the holding module holds at least one from position and orientation.
• the holding module of an element may engage another element.
• said holding module comprises two parts, adapted to exert a force to one another for holding elements positioned and/or in their orientation with respect to one another.
• one element actuates its first holding module part to engage the second holding module part of another element.
• the other element may in turn actuate its second holding module part to disengage from the first holding module part of the other element.
• said holding module comprises two parts, adapted to exert a force to one another for holding faces positioned.
• said holding module comprises two parts, adapted to exert a force to one another for holding faces positioned, and wherein said two parts are provided to faces comprising said holding module, allowing each face provided with said holding module to be held in position with respect to a facing face provided with said holding module, with the one holding module part of a face interacting with an other holding part of a facing face.
• said holding module comprises a holding state in which the holding module holds faces positioned, and a released state in which faces can move with respect to one another.
• said at least one face of said each element is connected to said element.
• said motion module is connected to said face.
• system further comprises a fourth such element comprising at least the features of the first, second and third elements, and providing a fourth of said at least one face to said system.
• said fourth face faces said first face.
• said first element displaces in a first direction, and wherein a further, subsequent, displacing comprises:
• At least one module of said first face interacts with at least one module of at least one different module type of said fourth face while further displacing in a further direction different from said first direction, in particular at an angle to said first direction.
• said first element further comprises a further at least one of said faces, providing a fifth face to said system.
• said fifth face may face said fourth face.
• said first element displaces in a first direction
• a further, subsequent, displacing comprises:
• At least one module of said fifth face interacts with at least one module of at least one different module type of said fourth faces while further displacing in a further direction different from said first direction during said displacing.
• the motion-guiding module of at least one of said elements is adapted for providing said trajectory functionally around said element.
• said motion-guiding module of said at least one element is adapted for defining a further, second trajectory crossing said predefined, first trajectory. This allows in operation displacement of one of the other elements in two dimensions.
• the trajectories for instance encircle or run around the centre point.
• said elements comprising at least two of said faces, provided with a surface at a surface-distance from said centre point.
• At least part of said motion module is adapted for displacing internally inside said element.
• At least part of said motion module is adapted for changing its orientation inside said element.
• said elements comprise at least two of said faces, said elements neighbouring one another and said motion-guiding modules of said faces connected to one another.
• said faces comprise boundaries, with said motion-guiding modules running to at least one of said boundaries.
• said motion-guiding module comprises a trail of detectable indications, in particular a trail of electromagnetic radiation, like light, a magnetic trail, an electrostatic trail, sound or ultrasound trail. When provided with one or more sensors, the trail can be followed.
• said trajectory comprises a physical track.
• said trajectory comprises a rail.
• a rail An example of this is for instance a type of rails that a train uses.
• said trajectory at least partly follows a straight line.
• said element comprises at least one face comprising a surface provided with said motion-guiding module.
• said motion-guiding module comprises at least two motion- guiding parts defining a plane.
• two motion-guiding parts have at least one crossing, in particular said motion-guiding parts are straight and cross one another rectangularly.
• said element comprises at least one face comprising a surface provided with said motion module, in particular said surface is a flat plane forming a face of said element.
• said element comprises at least one face comprising a surface provided with said motion module and said motion-guiding module.
• said element comprises a series of faces each having a surface, in particular said faces defining said element.
• said element comprises a series of at least two of said faces, in particular said element comprises a series of coupled faces forming faces of said element.
• said element comprises at least 4 faces, in particular at least 6 faces, more in particular opposite and having a normal direction orthogonal normal.
• said element is a regular body.
• said element is substantially a block, more in particular a cube.
• An advantage of cubes is that they allow easy stacking.
• said motion-restriction module comprises a first motion- restriction module part, arranged for physically engaging an other element, and restricting motion in a first direction having a component perpendicular to said trajectory.
• said motion-restriction module comprises a second motion- restriction module part, arranged for physically engaging an other element and restricting motion in a second direction having a component perpendicular to said trajectory and perpendicular to said first direction.
• the invention further pertains to an element comprising:
• holding means adapted for interacting with a functionally aligned holding means of a similar element, and comprising a holding state and a released state, said holding means in said holding state engaged with said aligned holding means of said similar element for holding said element positioned with respect to said similar element, and in said released state disengaged with said aligned holding means, and
• sensing means for providing grab-detection, said grab-detection including detection of one selected from an action leading to a grip of said element, having a grip on said element, an action of releasing a grip of said element, and a combination thereof, wherein said sensing means is functionally coupled to said holding means for upon said grab-detection actuating at least one of said functionally aligned holding means between said holding state and said released state.
• This element allows easy building for instance by a human hand picking up and placing an element on another element, or via other means that engage the element and moves it to another position or location.
• the invention further pertains to an element, said elements being three- dimensional and comprising:
• a motion-guiding module defining a trajectory over at least part of said face
• a motion-restriction module adapted for limiting the displacement of said centre point with respect to a centre point of a similar element to at least one trajectory selected from the group consisting of said trajectory and said trajectory of said similar element, when interacting with said motion module; - a motion module,
• said motion module is adapted to be coupled to a face of said element, and adapted for displacing said centre point with respect to a centre point of a similar element when interacting with the motion-guiding module of said similar element, said motion-guiding module, said motion module and said motion-restriction module defining different module types, wherein for displacing said centre point of said element away from said centre point of said similar element and towards a centre point of a further similar element, a first face of said at least one face of said element faces at least one of a second face of said at least one face of said similar element and a third face of said at least one face of said further similar element, thus providing facing faces, and
• said motion module interacts with at least one motion-guiding module, and with at least one motion-restriction module, with said facing faces providing said interacting modules while displacing;
• At least one module of said first face interacts with at least one module of at least one different module type of at least one other of said facing faces while displacing
• said at least one module of said first face interacts with at least one module of a different module type of said second face and at least one module of a different module type of said third face.
• This element allows a system that may changes its shape autonomously, or that changes its shape upon instruction. Elements can be able to displace themselves: an element may displace autonomously or upon instruction.
• the invention further pertains to an element comprising:
• At least one holding module for holding said element with respect to at least one other, similar element, said holding selected from holding position and holding orientation;
• -at least one motion module for moving said element with respect to at least one other, similar element substantially along or on an exterior surface of at least one other, similar element, said moving selected from displacing of a centre of mass with respect to one another, displacing a geometrical centre with respect to one another, and changing an orientation with respect to one another;
• -a data processing module functionally coupled to said communication module for processing data from said communication module
• -an energy module functionally coupled for providing energy to at least said displacement module, said communication module, and said data processing module
• said data processing module comprises software which, when running on said data processing module, comprises the steps of:
• producing a motion instruction may comprise calculating a motion instruction, or it may comprise calculating intermediate steps. Thus, it may comprise calculating at least one motion instruction for moving said element towards said set position.
• An element may, for instance, comprise a motion module, a motion guiding module and a motion restriction module, and also comprise a holding module and a sensing module.
• a system may comprise elements having all these modules.
• a system may also comprise elements that have one or more of these modules or means, and other elements that may have other of these modules or means.
• the features may differ per face of an element.
• said element in operation is in physical contact with at least one other, similar element with its exterior surface at least partly in contact with at least part of an exterior surface of said at least one other, similar element.
• elements comprise at least one exterior surface and when displacing, the surface displaces substantially parallel to an abutting exterior surface of another, similar element.
• the surfaces slide with respect to one another, with for instance an air cushion between the surfaces, or with a small distance for instance using magnetic levitation.
• An element can thus 'hover' over another element.
• An element can be characterised by its position and orientation. Both position and orientation may be absolute and relative.
• the relative position can be defined as a position of an element with respect to one or more other elements. Relative position may also be defined as the position of an element in an object it forms together with other elements, or the position in a group of elements.
• elements may be provided with a position sensing part functionally coupled to said data processing module. The sensing part may be part of the sensing means discussed earlier.
• said position sensing part comprises a relative position sensing part for sensing the position of said element with respect to at least one other, similar element.
• Such an element may be in contact with said element.
• said position sensing part comprises a local absolute position sensing part for sensing the local position of said element with respect to a location within a group of elements.
• said position sensing part comprises an absolute position sensing part for sensing the global position of said element.
• an element comprises an orientation-sensing part functionally coupled to data processing module.
• said orientation-sensing part comprising a relative orientation sensing part for sensing the orientation of said element with respect to at least one other, similar element which is in contact with said element.
• said orientation-sensing part is adapted for sensing the orientation of said element with respect to a force field, for instance a gravitational force field, an electrostatic force field, a magnetic force field.
• said motion module comprises a rail with displacer.
• a displacer of one element runs in or on a rail of another element.
• the displacer may physically engage the rail. Alternatively, it may exert one or more forces to the rail, even without being in physical contact with the rail, like for instance exerting magnetic forces.
• said rails runs in at least two dimensions, in particular on/in exterior surface.
• elements may comprise a shared displacer.
• said motion module comprises at least one piezo element ("stepper").
• said element comprises walls defining the outer boundaries of an element.
• At least one exterior wall may be provided with a seal for sealing space between surfaces of elements.
• said seal has an engaging position and disengaging position.
• said seal is circumferential or peripheral with respect to a wall of an element.
• the seal may comprise parts that run along sides of a wall.
• At least one wall comprising a planar surface part.
• an element comprises at least one functional surface, for instance comprising a photovoltaic element.
• a functional surface is provided with one or more display elements.
• a display element may comprise one or more pixels that may form a display.
• the neighbouring surfaces of several elements may form a display.
• the elements allow presentation of visual information.
• the functional surface may comprise touch-functionality and/or proximity-sensing, allowing formation of for instance a touch panel.
• elements can be combined to form a display for playing movies, television, or games. In case of elements which have sides smaller than 1 cm, the elements will in many instances combine the functional surfaces into one display of combined element-functional surfaces.
• said element comprises a container space in said element, in particular a closable container space.
• said container space comprises a closure or an actuator for closing said container.
• said actuator is functionally coupled to said data processing module.
• said element comprises at least one actuator for selectably operating said motion module, in an embodiment for retracting said motion module within said element.
• said actuator is functionally coupled to said data processing module.
• said data processing module may comprise any one selected from: a memory, a master-slave setting, a dynamic master slave setting, a building plan, time-based position instructions, a time keeping part.
• the size of the elements is 10 cm down to 0.1 micron, in particular 1 cm down to 0.5 micron, more in particular 1 mm down to 0.5 micron, specifically 100 micron down to 0.1 micron.
• the invention further pertains to a method for conveying material, comprising providing said material in at least one element described above.
• the invention further pertains to an element comprising:
• the motion module can also be a separate part shared with at least one other element, see rail for example, or it can induce linear displacement, rotation, displacing of centre of mass with respect to one another, change of orientation with respect to one another; changing distance of said element with respect to other, similar elements;
• a telescope part may be provided on the element.
• the element may further comprise:
• said communication module for exchanging data with other, similar elements; in particular, said data comprising orientation, position with respect to others, fixation, external physical parameters like temperature, sensor data, time, or software or firmware updates, said communication module may be adapted for wireless transmission of data.
• the element may further comprise:
• the element may further comprise:
• the energy module for instance for providing energy to said motion module, motion-restriction module, to said communication module, to said data processing module, for instance providing said energy using electromagnetic radiation, wireless transfer, energy from other, similar element, the energy module may also provide storage or energy.
• 'similar' refers to elements comprising at least one face provided with a holding module and a motion module that allows cooperation.
• the elements are functionally in physical contact with one another.
• at least parts of their walls or external surfaces are in physical contact with one another.
• an area of contact is defined.
• Forces pressing one construction element onto another can be taken up via a motion module, a holding module, and/or at least part of said exterior surface.
• Elements may be combined in an object, where their position may be defined with respect to the object or with respect to other elements.
• the neighbourhood may be of importance.
• the neighbourhood is defined as one beyond said element.
• the neighbourhood may be two elements beyond said element.
• an element is at least partly produced using for instance 3D printing.
• plant cells may be used for producing a "wood" surface. Such plant cells may be attached to a carrier substrate.
• elements in an assembly of elements work together, wherein said elements have a master/slave setting, in particular a dynamic master/slave setting.
• the invention further pertains to a game assembly, comprising a system described above, and a computing device in communication with at least one of said elements, said computing device running a computer program which, when operating on said computing device, performs the steps of:
• the invention further pertains to a computer implemented construction tool, comprising a computer program which, when running on a computer device, performs the steps of:
• each element comprising: a centre point in said element, a relative position and an orientation
• a motion-guiding function coupled to said centre point and defining a trajectory over said element
• a motion function defining displacing the centre point with respect to a second centre point of one of the other elements using the motion-guiding function of that other element;
• a motion-restriction function adapted for limiting the displacement of said centre point with respect to the second centre point to at least one trajectory selected from the group consisting of said trajectory and a second predefined trajectory of said other element;
• said motion-guiding function of at least two of said elements define a functionally coupling between elements for enabling said motion function to displace the centre point of a third, displacing element which is in contact with one of the other two elements away from the centre point of one of the other two elements and towards the centre point and in contact with the other of the other two elements.
• the construction tool may also be seen as a game, a game, or a simulation, in which features of functional elements are modified and effects of modification may be explored.
• Other functions may for instance be:
• the invention further pertains to a method for playing a game, comprising providing a computer program which, when running on a computer device, performs:
• a set of motion-restriction functions adapted for limiting the displacement of said centre point with respect to said second centre point to at least one trajectory selected from the group consisting of said trajectory and a second trajectory of said other element;
• a game may also be or comprise a simulation as explained above.
• the method comprises providing input regarding the presence of another element in contact with at least one face.
• said method further comprises defining in a memory a goal state of said set of elements by an end outer boundary of said set of elements.
• said method further comprises defining in a memory a goal state of said set of elements by defining for at least one element a requirement with respect to said set of elements.
• said method further comprises defining in a memory a goal state of said set of elements by defining for at least one element a requirement with respect to at least one element of said set of elements.
• said method further comprises defining in a memory a goal state of said set of elements by defining for at least one element a requirement with respect to at least one specific element of said set of elements.
• the behaviour of an element in an embodiment has a factor of randomness.
• a selection of a direction of motion may comprise a factor of randomness.
• the motion of an element may be based upon a genetic algorithm.
• a random generator influences the selection of for instance the direction of motion. In case such a random selection has a good effect, for instance it brings an element closer to a final goal, a value of a weight factor associated with the direction is increased. If the random selection has a bad effect, the value of the weight factor is decreased.
• the behaviour of an element may at least partly be controlled, or problems that an element or an assembly or system of elements face may be solved, using an evolutionary algorithm.
• An element in this embodiment comprises a controller comprising machine instructions using an evolutionary algorithm.
• An evolutionary algorithm generates solutions to optimization problems using techniques inspired by natural evolution.
• a genetic algorithm in fact is a type of an evolutionary algorithm.
• Further examples of evolutionary algorithms are inheritance, mutation, selection, and crossover.
• An evolutionary algorithm uses for instance mechanisms inspired by biological evolution, such as reproduction, mutation, recombination, and selection. Many of these algorithms and mechanisms have a factor of randomness or chance: A property or a choice that needs to be made can at least partly be based upon a random selection. In this way, solutions and operational modes may be found that provide a better solution to a problem.
• an exact solution or even an optimal solution, and/or for instance a statistical probability that a solution may reach an end goal may not always be calculated within an available time frame.
• a calculation at/of another element may become invalid.
• An element, at least part of the elements, or an assembly of elements may use the following algorithms or combinations thereof:
• Elements may use it for solving a problem, for instance in the form of strings of numbers (traditionally binary, although the best representations are usually those that reflect something about the problem being solved), by applying operators such as recombination and mutation (sometimes one, sometimes both).
• Elements may use it for making their control instructions more flexible. Effectiveness of for instance parts of computer programs in solving a problem is evaluated, and their fitness is determined by their ability to solve a (computational) problem.
• GEP Like genetic programming, GEP also evolves computer programs but it explores a genotype-phenotype system, where computer programs of different sizes are encoded in linear chromosomes of fixed length.
• Evolution strategy - Works with vectors of real numbers as representations of solutions, and typically uses self-adaptive mutation rates.
• Memetic algorithm It is the hybrid form of population based methods. Inspired by the both Darwinian principles of natural evolution and Dawkins' notion of a meme and viewed as a form of population-based algorithm coupled with individual learning procedures capable of performing local refinements.
• Neuro-evolution Similar to genetic programming but the genomes represent artificial neural networks by describing structure and connection weights.
• the genome encoding can be direct or indirect.
• Learning classifier system is a machine learning system with close links to reinforcement learning and genetic algorithms. It for instance comprises a population of binary rules on which a genetic algorithm altered and selected the best rules. Rule fitness may be based on a reinforcement learning technique.
• the elements or assembly of element may also use so called Swarm algorithms, including:
• Ant colony optimization Based on the ideas of ant foraging by pheromone communication to form paths. Elements may use this when confronted with combinatorial optimization and graph problems.
• Bees algorithm is based on the foraging behaviour of honey bees. When elements face problems like routing and scheduling.
• Cuckoo search is inspired by the brooding parasitism of the cuckoo species. It also uses Levy flights. Elements may use the algorithm global optimization problems.
• the invention further pertains to a system comprising at least a first, a second and a third three-dimensional element, each element comprising:
• a motion-guiding module coupled to said centre point and defining a trajectory over said element
• a motion-restriction module adapted for limiting the displacement of said centre point with respect to the second centre point to at least one trajectory selected from the group consisting of said trajectory and a second trajectory of said other element;
• a motion module adapted for displacing the centre point of an element with respect to a second centre point of one of the other elements, said motion module adapted for engaging the motion-guiding module of at least one of the element;
• said motion-guiding modules of at least two of said elements are functionally coupled for enabling said motion module to displace the centre point of a third, displacing element which is in contact with one of the other two elements away from the centre point of one of the other two elements and towards the centre point and in contact with the other of the other two elements.
• said motion module also referred to as a shared motion module
• said motion module can move along an element from one face to another.
• the shared motion module can functionally perform its function of motion module.
• the centre point of an element may remain at rest.
• the shared motion module can even travel from one element to a next element, in particular a neighbouring element.
• the shared motion module in an embodiment engages the motion guiding module. It thus uses provisions in or on an element that are already present. If, for instance, the elements are provided with tracks, motion guiding module engagement parts of the shared motion module may engage the motion guiding module. Such a motion guiding module may for instance be provided below the surface of a face of the element, like for instance a flush-mounted track. This allows a shared motion module to displace below the surface of a face of an element.
• the shared motion module may comprise a releasable attachment part for attaching the shared motion module to an element. Releasing the attachment part allows the shared motion module to displace with respect to an element, and activating the attachment part keeps the shared motion module attached to an element.
• the attachment part of the shared motion module may engage an element, for instance by exerting a force, like a magnetic force. Alternatively, the attachment part may physically engage the element.
• a mechanical attachment part can cooperate with cooperating attachment parts provided in the element.
• the shared motion module may comprise an anchoring pin locking into an anchoring hole in an element, or vice- versa, the shared motion module can be provided with the anchoring hole.
• the shared motion module may comprise an element displacement part.
• Such an element displacement part engages a motion guiding module on an other element.
• the other element is an element which is in face contact with an element that (temporarily) houses the shared motion module.
• the element displacement part exerts a displacing force on a motion guiding module of another element.
• This can be a mechanical force, for instance from a wheel running in a track, a gear wheel running on a rack rail, or piezoelectric elements exerting force.
• a magnetic force may be exerted.
• the element displacement part extends from a face of an element that is engaged by the shared motion module.
• the shared motion module comprises a motion module movement part.
• This motion module movement part may engage the motion guiding module of the element over of in which the shared motion module is displacing.
• the motion module movement part is the element displacement part that is withdrawn to work on the element that employs the shared motion module, or on or within the shared motion module travels.
• one or more wheels may extend from the shared motion module in a direction facing away from the element, thus enabling engagement of a neighbouring element. These wheels may be retracted to extend from the shared motion module at an opposite end, allowing engagement of the element using the shared motion module.
• An element may comprise one or more storage provisions for storing a shared motion module.
• a shared motion module may comprise one or more of the functional parts of an element that are mentioned in this description.
• a shared motion module may also comprise at least part of one or more of the functional parts of an element that are mentioned in this description.
• a shared motion module may comprise one or more selected form the group consisting of a data processing device, data storage, an energy storage device, an energy generating device, a data communication device, and a combination thereof.
• an element may comprise at least one motion module that can displace from a functional position at one face to a functional position at another face of an element,
• an element may be provided with one or more motion modules, reducing complexity of an element. This no longer requires at least one motion module for each face of an element.
• a three dimensional object refers to an object that is composed of coupled elements and extending at least two elements in each dimensional direction. Such a three dimensional object or 3D object would have at least 4 elements. In fact, three elements might already form a 3D object when one or more elements are out-of- plane with respect to the other elements.
• elements may comprise one or more faces that may be defined as being "polar".
• one type of face may be defined as having the property "plus” and another type of face may have the property "minus” with respect to at least one of the motion module, motion restriction module, motion guiding module.
• a plus face can only couple to and displace over a minus face.
• an element comprises at least one face that comprises at least one mirror symmetry with respect to at least one face of another element in view of at least one selected from the motion module, motion guiding module and motion restriction module when facing that other face.
• the at least one face comprises at least one mirror symmetry with respect to the at least one other face with respect to its shape.
• two elements have at least one orientation with respect to one another in which they have a respective face and in which these faces fit on one another, can attach to one another, and move or displace over each others surface.
• an element comprises at least two non- polar faces.
• an element comprises less than four polar faces. More in particular, an element comprises less than three polar faces. Specifically, the polar faces are not provided on opposite sides of an element.
• elements may comprise one or more faces that have mirror symmetry regarding motion modules, motion restriction modules and/or motion guiding modules in one or more mirror planes normal to the face or faces.
• a degree of intra-face symmetry may be provided.
• for elements to couple such faces or to displace over such faces only requires proper rotational orientation with respect to a rotational axis normal to those faces.
• there is mirror symmetry in two perpendicular mirror planes then coupling becomes even easier.
• the respective faces are for instance square and these two mirror planes run through the centre of the square, then two square faces always couple exactly on top of one another.
• an increasing symmetry of a face with respect to its motion module and/or its motion restriction module and/or its motion guiding module reduces the need to check rotational orientation of elements with respect to one another. This again increases flexibility when building an object from elements.
• At least one face of an element has mirror symmetry in a mirror plane normal to the face and through the centre of the face.
• the face has mirror symmetry in two mirror planes that are normal to one another and the face.
• the symmetry of the shape of the face and the symmetry of at least one of the motion module, the motion guiding module and the motion restriction module coincide.
• the invention further relates to a system comprising at least a first and second element, said elements being three-dimensional and each element comprising:
• - holding means adapted for interacting with a functionally aligned holding means of a similar element, and comprising a holding state and a released state, said holding means in said holding state engaged with said aligned holding means of said similar element for holding said element positioned with respect to said similar element, and in said released state disengaged with said aligned holding means, and
• - sensing means comprising a position sensor for sensing a position of said face of said similar element on said face of said element, said position sensor comprising an emitter for emitting electromagnetic radiation in an emitter pattern, a receiver for said electromagnetic radiation comprising detector elements in a receiver pattern, and said emitter pattern and receiver pattern mutually oriented for providing an alignment indication when said holding means are aligned with holding means of said similar element and said face is at a predefined orientation with respect to said face of said similar element,
• said sensing means is functionally coupled to said holding means, and wherein said holding means takes said holding state when said sensing means provides said alignment indication.
• the invention further pertains to a game comprising shape-shifting an object of elements from a first shape to a second shape, wherein the position of at least one element with respect to at least one other of said elements changes during said shape- shifting.
• the elements can in fact form construction elements for assembling a physical structure, for instance a building, a home, or the like. To that end, one or more symmetries of the shape of an element simplifies construction of an object of elements.
• geometrical symmetry The most familiar type of symmetry is geometrical symmetry.
• a geometric object is said to be symmetric if, after it has been geometrically transformed, it retains some property of the original object.
• the most common group of transforms is the Euclidean group of isometric, or distance-preserving transformations, in two dimensional (plane geometry) or three dimensional (solid geometry) Euclidean space. These isometries consist of reflections, rotations, translations and combinations of these basic operations.
• a geometric object is symmetric if the transformed object is congruent to the original.
• the elements is symmetric under at least one isometric transformation.
• the elements have a shape to allow tessellation in at least two dimensions. More formally, a tessellation or tiling is a partition of the Euclidean plane into a countable number of closed sets called tiles, such that the tiles intersect only on their boundaries. These tiles may be polygons or any other shapes. Many tessellations are formed from a finite number of prototiles; all tiles in the tessellation are congruent to one of the given prototiles. If a geometric shape can be used as a prototile to create a tessellation, the shape is said to tessellate or to tile the plane, or, using elements, a space.
• Certain polyhedra can be stacked in a regular crystal pattern to fill (or tile) three dimensional space, including the cube (the only regular polyhedron to do so); the rhombic dodecahedron; and the truncated octahedron.
• the elements have an identical shape, and have a shape that allows filling a space.
• tiling refers to filling a plane with identical figures or a set of figures.
• elements are three dimensional and in an embodiment have a shape allowing substantially seamlessly filling a space. This is also referred to as tessellation.
• identical cubes easily fill a space.
• polyhedra can be provided that allow filling a space.
• such shapes are known.
• a spacefilling polyhedron sometimes called a plesiohedron (Grunbaum and Shephard 1980), is a polyhedron which can be used to generate a tessellation of space. Tessellations in three dimensions are also referred to as honeycombs.
• the cube, hexagonal prism, rhombic dodecahedron, elongated dodecahedron, and truncated octahedron are all "primary" parallelohedra (Coxeter 1973, p. 29).
• Elements may be combined into an object by placing elements on top of one another. Elements may also or additionally be held together by allowing at least some of the elements in an object to exert an attracting onto other elements in the object. When combining elements into an object, the elements may be placed substantially on top of one another. Thus, elements may align in three dimensions.
• the elements may be combined in a bond.
• a bond For instance, in two dimensions (in fact, one dimensional), in stretching bond, or another known bond.
• These bonds are in general known to a skilled person.
• These bonds can also be generalised in three dimensions.
• faces can overlap partially in one direction.
• elements align.
• Bonds can also be designed in two directions.
• planes of elements are created. Bonds can even be designed in three directions, creating a three-dimensional bond. Faces may, for instance, overlap with only corner parts.
• the elements all have the same shape allowing them to substantially fill a space. Gaps may remain. In such instances, elements may be provided with gap-sealing provisions.
• the elements comprise motion modules guiding modules and motion restriction modules on each face.
• inter-face symmetry and the intra-face symmetry may be combined. Furthermore, these face symmetries may be combined with the shapes mentions above. Thus, face symmetry and shape symmetry may provide an additional flexibility in controlling, displacing, and building objects.
• the motion module, motion guiding module and motion restriction module are designed in such a way that that an element that has two opposite neighbours to move with respect to those neighbours in a direction away from those neighbours while these neighbours maintain their position. In particular, this is the case when the element was at first coupled to its neighbours. Before moving away or displacing, the element detached from the neighbouring elements. More in particular, an element is designed in such a way that it is surrounded by at least four neighbouring elements surrounding the element and at first coupled to the element, to move in a direction away from the neighbouring elements. This is easiest explained based on elements that are block-shaped and have the same size.
• the 9 block-shaped elements form a block object of 3x3 elements.
• the elements are in face-contact and motion restriction modules couple respective elements of the 9 elements together in such a way that they form one object in the shape of a block.
• motion restriction modules of relevant elements may be actuated in such a way that the centre element is no longer coupled to the other elements. Now, motion modules can be actuated to set the centre element in motion.
• the elements are for instance symmetrical, for instance having three orthogonal mirror planes.
• the elements are block-shaped, easy stacking is possible.
• the invention relates to a holding device, comprising: - a locking member having a longitudinal axis, an external surface and a first end;
• the holding device may comprise at least one selected from a light reflecting part for reflecting light, a light detector optically coupled to said light guiding part for detection light entering said light guiding part at said first light guiding part, and a light source, for optically coupling light into said light guiding part for providing light source light at said first light guiding part end.
• the light reflecting part may have a shape representing an orientation of said holding device.
• a light detector may allow spatial detection for detecting said shape.
• an orientation of a holding device may be derived. This may be the orientation and/or position of another holding device wishing to get its locking member into a locking position in the holding device, or the holding device seeking to bring its locking member into holding position with the other holding device.
• the term “substantially” in this application such as in “substantially encloses” or in “substantially extends up to”.
• the term “substantially” may also include embodiments with “entirely”, “completely”, “all”, etc. Hence, in embodiments the adjective substantially may also be removed.
• the term “substantially” may also relate to 90% or higher, such as 95% or higher, especially 99% or higher, even more especially 99.5% or higher, including 100%.
• the term “comprise” includes also embodiments wherein the term “comprises” means "consists of.
• the adjective “functionally” includes the term substantially as explained above. Functionally in particular is to be understood to include a configuration of features that allows these features to function as if the adjective “functionally” was not present.
• the light guiding part may have any direction or configuration, as long as it functions as if the light guiding part was exactly parallel.
• Additional features described may allow increasing complexity of the system, or may allow elements to function more or less autonomous. Elements may group together to perform tasks, possible by features that all the elements have, or using one or more features that only one or part of the elements have.
• the invention further applies to construction element or parts thereof comprising one or more of the characterising features described in the description and/or shown in the attached drawings.
• the invention further pertains to a method or process comprising one or more of the characterising features described in the description and/or shown in the attached drawings.
• Figures 1A-1F a perspective view showing several subsequent steps of an example of mutual displacement of three elements
• Figures 2A-2E a perspective view of several subsequent steps of another example of mutual displacement of in this case four cube-shaped elements;
• Figures 3A-3P a perspective view of several subsequent steps of another example of mutual displacement of in this case 18 cube-shaped elements, and in figures 3N-3P 26 elements;
• Figures 4A-7D relate to various possible motion modules, motion guiding modules, motion-restriction modules and combinations thereof, in which in particular: Figure 4A-4L shows a combined motion module, motion-guiding module and motion-restriction module;
• Figure 5A-5C show a motion module based upon magnetic forces
• Figure 6A-6D shows a separate motion module and motion-guiding module
• Figures 7A-7D show an alternative combination of motion module, motion- guiding module and motion-restriction module based upon piezo-elements
• Figure 8 shows a schematic drawing showing modules that may be present in an element, and the interconnection between modules
• Figures 9A-9K Show the use of a separate, shared motion module
• Figures 10A-10H show a motion module that can change its orientation inside an element
• Figure 11 shows an element that is going to be grabbed or was just released from a grip
• Figure 12 an element with a sensing means comprising a position sensor
• Figure 13 two holding devices in released position with respect to one another;
• Figure 14 the holding devices of figure 13, with the lower holding device in locking position;
• Figure 15 the holding devices of figure 13, with the lower holding device in locking position.
• the current holding device can be used to hold objects in position with respect to one another.
• the holding device may furthermore, as explained, support or enable or provide one selected from data transfer, alignment, position detection, power transfer, and a combination thereof. Examples of the holding device may be incorporated into elements that will first be elaborated in more detail. The holding device will be further elaborated in figures 13-15.
• elements have a general reference number 1, and will individually be indicated with letters 'a', 'b', ... in order to distinguish them from one another.
• the reference number 1 will be left out when referring to element 'a', 'b', etc..
• the elements a, b, ... can be identical. They can also differ in shape or functionality.
• the elements have a centre 2 (only indicated in element b of figure 1A). This centre can in general be a centre of mass (also referred to as "centre of gravity"), or alternatively a geometrical centre (also referred to as "centroid”) of an object. If an element has a uniform density, the centre of mass is the same as the centroid.
• Each element 1 can have one or more faces 3 that are adapted to allow an element
• the one or more faces 3 can be adapted to allow elements 1 to displace with respect to one another with the surfaces of face 3 in contact or almost in contact. In this detailed description, however, other options will also be demonstrated.
• each element 1 has at least one face 3 with a surface that allows the elements to be in contact with one another and to displace with respect to one another over the surface of these faces 3.
• This at least one face 3 of elements 1 thus have a surface 3 that is adapted to allow for an element a, b, c to displace over another element a, b, c.
• a centre 2 is indicated. For the discussion, the nature of this centre
• a centre 2 has a fixed position in its corresponding element 1.
• Figures 1 A- IF show an example six subsequent steps of element c with respect to elements a and b. Elements a and b remain at the same position and orientation with respect to one another.
• FIG 1A starting positions of elements a-c are depicted. Element c starts from a position in which it is in contact with the surface of one face of element a only. Element c starts to move to the right side of the paper. In figure IB, element c is moving to the right and is positioned between elements a and b, and continues to move to the right-hand side of the drawing. In figure 1C, element c is no longer in contact with element a, Element c now is in contact with the surface of a face 3 of element b only. Element c continues to move to the right side over the surface of face 3 of element b, and in figure ID it arrives at an end of the surface of face 3 of element b.
• Element c is able to move on to the right and in figure IE, it arrives at a position depicted. In this position, halve the area of the surface of face 3 contacts the surface of face 3 of element b. Element b now starts moving in a direction into the paper and cross with respect to the earlier direction.
• element c is shown in a rest position. In this position, a surface of face 3 is only partly in contact with the surface of face 3 of element b.
• the elements a-c exert forces on one another using the motion modules, motion-guiding modules and/or motion-restriction modules. These forces can be exerted mechanically, using electromagnetic forces, using chemical forces, and any other physical forces, or a combination of these. In case of a chemical force, a potential use of a reversible process which for example does not leave traces on a surface may prolong the usability for future movement along such a surface. When describing the movement phases it must be understood that movement may vary in speed and acceleration. Even an interrupted sequence of move, no move and move again is possible.
• an element When moving or not moving, an element may withstand one or more forces exerted upon that element (internal or external) selected from the group consisting of for example gravitational force, mechanical force, electrical force, chemical force and climate forces.
• forces exerted upon that element selected from the group consisting of for example gravitational force, mechanical force, electrical force, chemical force and climate forces.
• a potential use for an element is for example on a different planet, in a fluid or in a vacuum like outer space.
• element c is held on elements a and b via a mechanical means or via for instance magnetic force.
• the surfaces of the faces 3 of the elements a-c may actually be in contact with one another.
• FIG. 2A-2E In the example of figures 2A-2E, four elements 1, indicated a-d, are shown. These elements a-d displace with respect to one another.
• the elements 1 in this example are identically shaped cubes.
• the faces of the cubes are solid surfaces and the cubes rest on each other's solid surface and can be under the influence of a gravitational field.
• a starting position of the elements a-d is indicated in figure 2A. If the displacement action indicated in figures 2A-2E would be repeated, the construction of four elements a-d as a whole moves to the right.
• element a starts displacing along a surface of face 3 of element b in an upward direction. Element a thus displaces towards element d. In fact, centre 2 of element a moves away from the centre of element b and gets closer to the entre of element d when it moves in the upward direction.
• element a arrived at a position closest to the centre of element d. Element a now no longer contacts element b.
• elements a and d together start displacing to the right side of the paper. This may be done in several ways: Element a may couple to element d, and a motion module of either element d or element b starts acting on element d in the direction of (intended) motion.
• elements a and d are exactly on top of elements b and c. Elements a and d continue to displace together to the right until the situation depicted in figure 2D is reached. There, elements a and d stop. Now, element d starts displacing in a downward direction, with its centre moving away from the centre of element a and towards the centre of element c. Again, this motion can be caused by the action of a motion module of element a, of element c or element d, or a combined effort of any of these motion modules.
• the elements a-d are in fact in a similar external configuration.
• the same construction as in figure 2A results, but displaced to the right with a displacement which equals the length of a side of an element.
• transportation When an object is temporarily coupled to element a, for example placing a basket with material on top or inside element a; element a now uses it's own or the other elements movement ability to transport this other object from one position to another position.
• an element may comprise a build-in storage space.
• the element may functionally be or comprise a container for holding material.
• a construction of 18 elements 1 in fact changes its shape by moving elements with respect to one another. All the elements have an identical shape. The functionality of the elements may differ. Thus, the functionality of the new construction may also differ.
• FIG. 3H In the arrangement of 18 elements 1 , the top 9 elements are indicated a-i. In order to get to a new arrangement of these elements depicted in figure 3H, many schemes are possible.
• Figures 3B-3G show several intermediate arrangements of the elements. One of these possible schemes is to first displace the complete row d-f two positions to the left (figure 3C), then displace element c to the left until its centre is closest to element e (figure 3D), then displace element f in a position where its centre is closest to the centre of element c (figure 3E), then displace the elements c and f to the left until elements b and c touch (and may lock) (figure 3F). Then displace element e down until it reaches the position shown in figure 3G.
• element d moves to the left until the configuration of figure 3H is realized.
• This scheme thus requires 7 steps, displacing a total of 4 elements (c, d, e, f) a total of 12 positions: when going from figure 3 A to figure 3B, a displacement of three positions occurs, from figure 3B to figure 3C three positions, from figure 3C to figure 3D one position, from figure 3D to figure 3E one position, From figure 3E to figure 3F two positions, from figure 3F to figure 3G one position, and from figure 3G to figure 3H again one position.
• elements a-f move as a group one position to the right.
• a, b, c, f move as one group and d, e move as a second group.
• Speeds may differ.
• element e moves to the right (figure 3L).
• Figure 3M depicts the intermediate position of element e while moving down; in this position element e uses element f and in parallel or sequentially uses the element on the left side of element e.
• the composition of figure 3H is again realized.
• This scheme requires five steps (not counting figure 3M), displacing 6 elements (a-f) a total of 12 positions. The last scheme may require a smaller amount of (kinetic) energy, for instance element d has now been displaced only 1 position.
• FIGS 3N-3P it is illustrated how an element 1 can move when it is surrounded by other elements 1.
• 26 elements 1 are assembled into a single cube, with one free space in the right centre row of elements 1.
• the 26 elements thus form one object: a cube with one opening.
• the top 9 elements 1 are lifted only for illustration purposes.
• Element 'e' is thus in figure 3N in face-contact with 5 other elements 1, including elements 'b', 'd', and 'h'.
• the motion module, motion guiding module and motion restriction module in this embodiment allows the element 'e' to move to position 30 and further on to the position indicated in figure 3P while the other elements 1 remain at their position.
• the motion module of element 'e' will use the motion guiding module of at least one of the elements with which it is in 'face contact'.
• element 'e' may use the motion modules of all but its faces 3 that are either facing away from a direction of motion, and its face 3 that faces the direction of motion.
• the motion module of element 'e' in an embodiment subsequently uses for instance motion guiding modules of the element 1 directly below element 'e' in figure 3N, and/or the element 1 below element 'e' in figure 3P, or a combination of the two if possible.
• element 'e' may also use motion guiding modules and/or motion modules of elements b, c, h, i if possible. In general, it may use motion guiding modules and/or motion modules of elements in contact with element 'e'.
• fuzzy logic artificial intelligence, data mining techniques, machine learning, (path finding) algorithms, proportional logic, game theory, or other methods known in the field may be used.
• Elements may be steered or controlled from one or more central points.
• elements may be adapted to make their own decisions.
• elements may use distributed control.
• an element or a group of elements can operate autonomously, for instance using data or information obtained from other elements and/or other sources.
• An element can have agent functionality and may learn from the feedback of its environment.
• An element may investigate, by computation, several potential actions or sequence of actions it is able to make.
• the element may determine either for itself, or for one or more other elements, which action has the highest benefit to the element, or to one or more other elements. It may then select that action or sequence of actions, and execute that action or sequence of actions. Furthermore, the timing of an action or sequence of actions may be taken into account: Elements may be planning their sequence of actions wherein the planning may take into account actions from other elements, or it may anticipate actions by other elements. Elements may receive only part of the information needed to accomplish a final configuration of elements and therefor need to communicate to other elements or devices. Client-server, master-slave, peer-to-peer, push or pull systems, polling, swarming- or other (hybrid) methods/technology may be used or adapted.
• a set of elements can assume a first configuration, and then move with respect to one another into a second configuration.
• the set of elements together are first in a first shape, and then in a second shape. This is also referred to as 'shape shifting'.
• the elements may be reused.
• This shape shifting by displacing reusable elements allows for example the formation of a table from a group of elements.
• at least one element from the group can be instructed to exert some form of control over, or to communicate to, at least one other element of the group.
• This can be direct, wireless, but may also be accomplished by for instance a messenger element which can be inserted or added and which transfers the message to an element out of the group and then returns.
• a task of the group of elements may thus comprise changing its current shape, for instance a chair, into a table, and back again into a chair. Thus, the elements start moving with respect to one another.
• the constellation of elements that first fulfils the requirements of a chair shifts its shape to a constellation that fulfils the requirements of a table.
• the constellation of elements can then reorganise itself to fulfil the requirements of a chair according to input given or already available at an element.
• the task of reusing the elements is executed by the elements.
• the elements can be physical at various scales. First, their size can vary. Their size may be comparable to playing blocks. Thus, an element may have a cross section of between 1-5 cm. An element may be a building block for constructing a building. In such an instance, a building block may have a cross section of about 5-50 cm. The elements may also be so small that the human eye can hardly discern the individual element. In such an embodiment, an element can have a diameter smaller than 1 mm. In particular, the diameter can be smaller than 100 micron. This may require the use of nanotechnology and for instance molecular or atomic motors. These elements can be used to build parts of this invention, as can larger elements the size of bricks or prefab concrete elements that may form a building.
• the elements can be simulated in order to determine or predict whether a configuration of elements can be achieved.
• an element may need a combination of a program or app, with functionality which allow some functions to be performed. These functions steer actuators available in an element. Available sensors may give the element or the program input, potentially resulting in a different outcome of a function or a group of functions. These attributes and interactions as such may be known in the field of robotics.
• a game or simulation may be construed, which may be using physical or virtual elements or a combination of both. In such a game, it can be the task of a player to select the right program and the right functions/functionalities in order for elements to achieve a certain goal state out of a begin state.
• This game can be played by a human being alone, or by a computer. It may be played by at least one human being against at least one other human being or against at least one other computer, or a combination thereof.
• Specific parameters measure the success; parameters like consumption of energy, speed, amount of moves of an individual element or of the group as a whole, amount of memory/cpu usage, strength of the goal state, or time required to reach the end state.
• the outcome may in advance not be known to a player.
• An overkill of regulating constraints to an element may restrict an elements ability to respond well to other situations/goal states; there may also be a trade-off between specialization and generalization.
• a player can for instance design on a game device a certain goal state and give certain elements selected properties: a selection from a group of programs, of actuators or motion modules, of sensors, of functions, of energy systems, and of communication systems.
• the design can be used by at least one element.
• the design is provided in part or as a whole to one or more elements and the elements start the displacement and depending upon the given properties the design, actually being a goal state can be accomplished or not. Changing the design allows for the elements to try to achieve another goal position.
• the elements can be physically or virtually, and displace themselves according to the given properties.
• Elements may be configured in order for the elements to exchange at least one property or functionality with one another or with another device. Elements may comprise memory in order to recall previous situations or compute potential future situations. This as such is known in the field of computer science.
• a goal state can be defined in different ways. For instance, the outer boundaries of a set of elements can be used as a goal state. For example, the end shape is a cube, or a plate.
• the goal state may be functionally defined at element-level. For example, each element must have at least one face in contact with another element; each element must have at least 2 faces free.
• a goal state may also be a list of locations, absolute or relative to other elements, of elements, or for instance specific elements have predefined end positions, again either relative, absolute, or a combination of both.
• a goal state may also be represented by a mathematical function, general or mathematical demands or requirements on an assembly of elements, for instance, the assembly or configuration of elements must have a particular plane of symmetry, a hollow space inside, a defined circumference, a defined volume, number of layers, etc.
• a goal state may also be functional. Elements having a defined functionality or property are at a certain position. Or the position should be such that the function is optimized. For instance, elements having a photovoltaic face should be located and/or positioned such that their production is maximized.
• the goal state may even evolve, change or be modified, even during the motions of elements towards the original goal state.
• the goal state may for instance change due to environmental influences, like day/light rhythm, temperature, etcetera, or may be time-dependent.
• a goal state may also be a negative definition, or be an exclusion.
• outside interaction may be possible. For example, inserting or removing an element to or from a certain state. This may be done physically for instance by a human being by using his/her hand. When done by taking into account how elements may attach/interact to one another, an element adjacent to a newly added element may notice/sense this interaction and use this for its own and potentially for other elements' behaviour in the configuration of elements. When going back to the example of designing a goal state on a device, the inserting or removing of at least one element may be taken into account by that device as well. Alternatively, a predesigned goal state may be used.
• a child designing a castle using the elements is a child designing a castle using the elements.
• a computer device There are many examples of usable devices.
• a handheld device such as for instance a handheld device comprising a (touch)screen.
• An example of such a device comprises a smartphone, an iPad, a smart watch or similar device.
• These devices may receive user input via a touchscreen, voice control, receiving muscle or nerve input, or other input means.
• a castle is constructed using elements. Physically, the castle formed in a room by action and displacement of the elements themselves. After or during said formation, the child extends the castle by physically adding two more elements.
• a device may for instance comprise an "app" running on a device like the iPad, which receives information from an element forming part of the castle that the two elements are added. The child may save his/her altered version of the castle.
• the child instructs the elements by means of the app to move to a certain begin state. Such a begin state may be compact so that his/her room may be used for other purposes.
• This example may then use wireless communication or multiple devices, like for instance multiple iPads, which are used to make a joint configuration of elements even at remote or uninhabited locations (like on planet Mars).
• elements may optimize growing conditions for plants. This may be achieved by for instance physically moving one or more plants, providing shade by covering the sun.
• Two assemblies of elements can displace two plants or groups of plants with respect to one another in such a way that the growing conditions for both plants are optimized.
• elements may form a container, for instance a pot, holding the plants.
• one or more elements may for instance provide an opening in the container for allowing excess of water to flow out of the container.
• Parts of the container may form a sunshade, or the elements may completely move the plant.
• Communication may replace a certain type of sensor functionality.
• An element may use a sensor to detect only its direct neighbour.
• a sensor may be able to detect another element two positions further, or an element may ask or receive information from an other element if that other element is in contact with the element two positions further.
• Sensors can use contact/proximity detection by using the electromagnetic or the audio spectrum.
• Another example is when two users play a game on for instance two separate devices, for instance on two iPads, two users play a game in which reaching a certain given goal state physical or virtual is the purpose of the game. As described earlier, this can be accomplished by selecting the right properties, functionality or tools for the elements. In this game there may be limits on certain properties or limits on how many different element configurations can be used for a certain goal state when playing a level of that game.
• An approach akin to the program Minecraft or other virtual worlds can be accomplished with for instance the difference that the current elements may physically build what is virtually designed when using design rules applicable to a physical element.
• FIGS 4A-4C a cross-sectional view, detail and top view are shown which illustrate a mechanical solution that combines a motion module, a motion-restriction module and a motion-guiding module.
• FIG 4B a cross section is shown of parts of two elements 1, that are positioned on top of one another. Faces 3 are almost in contact. In fact, if their surfaces have little to almost no friction, the surfaces can in fact be in contact. Otherwise, one of the three modules (motion, motion-guiding and motion-restriction) will cause a little distance between the faces 3.
• FIG. 4A-4C an embodiment of part of two elements 1 is schematically shown.
• Part of the motion module 10 of element 1 is a retractable wheel.
• Another part of the motion module is the part of track 11 that provides an engagement surface of the tread of the retractable wheel.
• the track 11 further provides part of the motion guiding module and of the motion restriction module.
• Element has in this embodiment the same modules.
• Figure 4 A shows one element in top view
• figure 4B shows a cross section of figure 4A as indicated, but with a second element on top of it and also cross sectional view.
• the retractable wheel of element 1 extends and engages a motion guiding module of element , here track 11 ' of element .
• Retractable wheel 10' of element is here in its retracted position.
• Retractable wheel 10 of element 1 in its extended position engages track 11 ' .
• a slidable cover 12 is in its inactive position. It slides here to the right in the drawing.
• Element has its slidable cover 12' closed.
• the cover 12' together with track 11 provides a continuous track.
• the track 11 is sunken with respect to the surface or face 3.
• the motion module is shown in more detail.
• the motion module 10 comprise retractable wheels, comprising a strut 18 coupled to a shaft 16 that is cross with respect to strut 18.
• shaft 16 carries wheel 17.
• a driving motor for the wheel 17 here is an electromotor 19 that can be provided as a rim motor inside wheel 16.
• the electromotor may be provided in shaft 16.
• parts 15 of the motion- restriction module are provided that many be extended and retracted in the axial direction of shaft 16. In extended position, it can engage in a groove 14 (figure 4B), and in retracted position the motion module 10 can be retracted.
• the element 1 may be a cube. Such a cube can be provided with six similar faces. In fact, the six faces may also be identical.
• a face carries a cross shaped track.
• the centre of the cross is located at the centre of the face.
• the element may have further faces that are provided with a similar, cross-shaped track.
• the track on one side functionally connects to the track on another, neighbouring face.
• element 1 has one single, closed, sunken, track that runs all around four sides or faces of the element 1.
• groove 14 differs from the embodiment of figures 4 A and 4B.
• One of the walls of the groove 14 runs equal with the surface of track 11.
• the element has at least two tracks. These tracks have two crossings at opposite faces, and in figure 4 A one of the crossings is visible.
• a similar neighbouring element must have a similar sunken track at the same level to allow the moving module to traverse the two gaps (each element causing one gap. It may also be seen as one single gap).
• Figures 4E-4L schematically depict 3 elements 1 ; a, b and c, in a cross-section parallel through the centre of the tracks of the elements.
• the gaps in the lines resemble the gaps of figure 4D of the closed track around the element.
• Figure 4E shows that the extended wheel module 10 of element 'a' is running in the track of element 'b'.
• Figure 4F depicts the situation where the wheel module 10 tries to traverse the first gap. It is obvious that there is no traction by which the wheel module can displace element 'a' any further in the direction of element c by itself.
• One or more helper elements 1 attached to element 1 'a' may in this case solve that problem.
• the element 1 of figure 4D has a different motion module 10: a motion module 10 with multiple wheels (Figure 4G).
• a motion module 10 with multiple wheels (Figure 4G).
• First such a motion module 10 extends towards the track. Subsequently the motion module 10 extends its wheel base length and two wheels will be following the track.
• a frame connecting both wheel axes extends.
• the wheels in figures 4G and 4H may have half the width of the single wheel of figure 4E. In that way, these wheels if the embodiment of figure 4G and 4H can slide out of one another and fit into the track.
• the distance between the rotational axes those two wheels is such that the two wheels span the two gaps, which is depicted in figure 4H: When one wheel has no traction, the other wheel has traction.
• the distance between the rotational axes of the two wheels may be set. These two wheels may be jointly or independently of one another use a motorized part.
• multiple motion modules 10 are provided at a certain distance from one another. This allows for movement while one of the motion modules 10 crosses the two gaps and another motion module 10 moves over track 11 (figure 41- 4L).
• Figure 41 shows an element 1 having two extended motion modules 10 which are moving element a on element b and towards element c.
• the right wheel has no traction any more, due to the first gap.
• the left wheel uses its power to continue the displacement of element a.
• the second gap is reached.
• the left wheel engages element b and pushes element a further towards element c.
• both wheels have traction again: with the left wheel engaging element 'b' and the right wheel engaging element 'c'.
• the wheels may change roles if element 'a' is completely on top of element 'c'.
• an element in particular when it is a cube, can usually only move on another element when a face of each element faces one another, are parallel to the direction of motion. In particular, these faces are in-plane. Thus, when another motion is required, the help of another element may be needed.
• An advantage of the cross-shaped track is the relatively simple layout. Furthermore, motion can be provided using a single motion module on each face, at the crossing of a track. Thus, in the embodiment of a cube, six motion modules may be needed to enable full motion capability. In the embodiment of figure 4A, each track 11 is provided with four motion modules. This may be needed to provide sufficient traction, supple motion. Other placements of motion modules in the track may be possible, and another number of motion modules per track may be used. In a simple embodiment, already mentioned, one motion module at a crossing of a track may be sufficient under certain conditions.
• Figure 4B shows in schematic cross-section an embodiment in which a motion module 10 is shown in more detail.
• a part of the motion module 10 is an extendable driving unit that can move up and down with respect to a face 3, 3 '. It can be retracted, leaving the face 3 free, and it can be extended in order to extend beyond the surface of a face 3 and to engage a track 11 of another element.
• a motion-restriction module many ways can be devised to provide a motion-restriction module. Furthermore, many ways can be found to provide a motion-guiding module.
• a mechanical solution is presented.
• part of a motion-restriction module and a motion-guiding module are provided using a set of grooves 14 at both sides of track 11.
• the grooves 14 here provide opposite normal abutments working along a line normal to the face of an element, and opposite transverse abutments working along a line in-plane with respect to a face and cross with respect to the track.
• the grooves 14 have a rectangular cross section. Here the grooves are parallel to the face, and parallel to track 11.
• the grooves 14 together provide part of a motion-restriction module and a motion-guiding module.
• grooves 14 can be seem as partly undercut grooves, comprising an undercut at both opposite longitudinal sides of the groove 14.
• a motion-restriction module and a motion-guiding module is realized through parts 15 running in the grooves 14.
• the parts 15 run in grooves 14 and provide abutments in the grooves 14.
• FIGS 5A-5C an alternative embodiment for the motion module, motion guiding module and motion restriction module is demonstrated.
• This embodiment demonstrates an embodiment that avoids mechanical means for realizing a motion module, a motion-guiding module and a motion-restriction module. Parts of a non- mechanical embodiment and a mechanical embodiment may be combined.
• This embodiment uses magnetic force. To that end, permanent magnets and switchable magnets may be combined.
• the elements 1, 1 ' both comprise at least one strip of magnets 40 that can be switched on and off.
• the parts in a strip can be selectably activated.
• the strips in two elements can together form a distributed linear motor.
• the principle of a linear motor as such is known in the art.
• such a linear motor is split into two separate parts. This allows the motor to function as a motion module.
• the opposite strips 10, 10' in two elements that are on top of one another with their strips above one another can even provide at least part of a motion- guiding module.
• additional strips can be provided at the surface of an element.
• two strips can be provided in/at a face of an element. These strips can be substantially parallel.
• the strips can function as a motion module and a motion-restriction module.
• two elements 1 are positioned one on top of the other. Both elements comprise two strips of selectably activatable magnets 40 and that are parallel with respect to one another. The strips of the one element are furthermore substantially parallel with respect to the strips of the other element. Now, if several opposite parts of the strip of two elements that rest on top of one another are actuated in an opposite way, the strips can even provide a motion-restriction module.
• parts of the strip of one element are poled in one way, for instance north or south, and these parts are opposed by opposite poles, i.e., respectively south or north, of parts of the strip of the other element.
• the strips now attract one another.
• a mode is illustrated in which both elements change the polarity of their magnets and cooperate.
• one element can change the polarity of its magnets, while the other element leaves the magnet poles static.
• the magnetic force of the magnets may be adjustable.
• the elements may be provided with at least two strips of magnet parts 40 at or near one face 3 and that are provided substantially in a cross. As such, this is discussed above in a mechanical embodiment. It may also be possible to provide several strips at one face.
• selectably switchable magnet parts 40 can even be provided in the following embodiment, providing control over the motion with respect to one another of two elements that rest one on top of the other.
• an element is provided with a two-dimensional (2D) grid of selectably activatable magnet parts 40 or magnet patches.
• Magnet parts 40 may be integrated into the surface of a face 3 of an element 1, but may also be provided below the surface of a face 3.
• elements 1, 1 ' are placed one on top of the other with the faces 3, 3' contacting one another, and the magnet parts of the elements are activated in a controlled manner, this can provide a 2D motion module.
• opposite magnet parts 40 are activated in an opposite way, the 2D magnet parts 40 that are provided in a grid provides a motion-restriction module.
• magnet parts 40 in a 2D grind in one element 1 and in the opposite element 1 resting on to of element 1 interact.
• opposite magnet parts are poled oppositely, two elements are attached and stick together.
• subsequent magnet parts are activated, the effect of a plane-motor is realized.
• Subsequently activating magnet parts along a line over a face 3 will move elements 1 with respect to one another along that line.
• the 2D magnet parts thus also provide a motion guiding functionality. Faster motion may be achieved by activating groups of magnet parts 40.
• the 2D grid of magnet parts 40 and the strip of magnet parts 40 may be combined.
• the magnet parts 40 may be provided below a low- friction surface of a face 3.
• a polymer material may be used.
• PTFE or a similar low- friction polymer material may be used.
• At least one mechanical motion module, motion-guiding module and/or motion-restriction module may be provided.
• a mechanical motion-restriction module may be activated to at least temporarily fix the position of two elements with respect to one another in a way that does not require the use of an energy source.
• FIGS 6A-6D schematically a mechanical embodiment using a separate motion module 10, a motion-guiding module 20, fig. 6B in cross section en figure 6C in further cross section as indicated in figure 6B) and a separate motion-restriction module 30 (fig. 6D in cross section) is shown.
• the motion module comprises a caterpillar track in each element 1, .
• Caterpillar tracks 10 here engages caterpillar track 10'.
• one driving wheel of an element extends in normal direction or face 3 until it engages the caterpillar track 10'.
• the caterpillar track may be one linear track along a face 3, and alternatively it is a pair of crossing caterpillar tracks laid out like in figure 4A.
• the motion-restriction module 30 here is an extendable pin 31 that first is activated to extend out into a slot 32 in the opposite element.
• pin 31 extends in slot 32, it rotates about its longitudinal axis.
• a cam 34 extending from pin 31 in transverse direction is rotated into undercut opening 35' in slot 32'.
• Can 34 thus hook into undercut opening 35 '. It holds the distance between the elements 1, l '.uThis holds element 1 in position with respect to element 1 '.
• slot 32' is a groove running along face 3 and having an undercut groove 35', thus motion-restriction module keeps the elements on top of one another during motion. Both elements 1 and 1 ' can both have parts of the motion-restriction module.
• Motion-guiding module 20 of element 1 here is a simple, straight pin 21 running in a groove 22' in an opposite element .
• a trail along face 3 is defined.
• the transverse cross section of pin 21 is rectangular, in particular square. It fits in groove 22'.
• FIGS 7A-7D yet another alternative embodiment of the motion module, motion-restriction module and motion-guiding module is schematically shown.
• This embodiment is based upon the use of piezo-elements for realizing parts of the modules mentioned.
• 'Piezo' is used to refer to an element using the piezoelectric effect. As such, there are principles like linear motors that are suited for application in the elements. In this embodiment, one type will be discussed.
• a rail 80 is provided. Furthermore here four piezo modules 70 are provided.
• the piezo module is extendible, in figure 7B, a cross section as indicated in figure 7A shows the piezo module 70 of element 1 in retracted position and piezo element 70' in element also in retracted position.
• the piezo modules 70, 70' have two U elements that are interconnected by a piezo piece 72. When activated, length L changes and the distance between the U-elements also changes.
• Figure 7C shows a top view of a piezo module 70
• figure 7D shows a side view of the piezo module 70. The distance D between legs 71 and 71 ' is such that it fits over the thickened part 83 of rail 80.
• legs 71 , 71 ' are here provided with clamping piezo elements 73, 73'.
• these piezo elements 73, 73' move inward and reduce the space D between legs 71, 71 '.
• piezo modules 70, 70' are fixed onto rail 80. Motion of piezo module 70 over rail 80 is possible by subsequent clamping of the U elements. If activation of piezo piece 72 is out of phase with the activation of the U elements, motion is possible.
• piezo module 70, 70' together with rail 80 is motion module, motion-restriction module and motion guiding module.
• the motion module may be based engaging elements using a hoist, winch, rack and pinion, chain drive, belt drive, rigid chain and rigid belt actuators which all operate on the principle of the wheel and axle.
• a wheel/axle e.g. drum, gear, pulley or shaft
• a linear member e.g. cable, rack, chain or belt
• the wheel/axle rotates.
• elements may be put in motion with respect to one another.
• a schematic cross section of an element 1 is shown, indicating the various components that may be present in an element 1. In this cross section, four faces 3 are indicated.
• Element 1 comprises a data processing unit 100, a data communication unit 200, an energy unit 300, a sensor unit 400, a motion-restriction module 600, a motion module 500 and a motion-guiding module 700.
• a data processing unit 100 may be able to work together with other data processing units 100 of other elements 1 and distribute computational tasks to one another; This may be done in the form of distributed computing or cloud computing.
• the waving arrows indicate that the various modules and/or units can interact with the environment outside the element 1.
• a sensor unit 400 can measure a physical parameter outside an element 1.
• An energy unit 300 may be charged from a source outside element 1. Charging may be wireless, for instance inductive, or using conductive surface patches, for instance.
• a data communication unit 200 may transmit data to outside an element 1, or be able to receive data from outside an element 1. This may be data transmitted by another element 1. It may be an element that is in contact with element 1.
• Data communication may be analogue or digital, be wireless via the electromagnetic spectrum, via sound or via other known wireless data transmission protocols, for instance Zigby, Bluetooth, WIFI, Near Field Communication (NFC) or the like.
• data communication may be physically using conductive patches on the surface of the face 3 of an element.
• a sensor like a (digital) camera and analysing data taken by the camera is also a potential form of data communication; known examples are for instance QR-codes or bar-codes. Communication can go across several degrees of distances, even inter-planetary.
• the energy unit 300 in this embodiment provides energy to components (modules and/or units) in the element 1. This is indicated by single arrows running from the energy unit 300 to the other units and/or modules.
• An energy unit 300 may be an energy storage unit, for instance a chargeable battery, an accumulator, a capacitor, for instance a super capacitor, or the like.
• the energy unit 300 may also be a power generator, which generates power. Examples of such an energy unit 300 are a fuel cell, a combustion engine, a photovoltaic element, or similar energy unit 300.
• a sensor unit 400 may comprise one or more sensors that are able to detect a physical parameter. Examples of suitable sensors are a temperature sensor, a proximity sensor that detects the presence and/or distance of another element.
• a pressure sensor an air-pressure sensor, a light sensor, a location sensor (GPS), a motion detecting sensor, an accelerometer, a moisture sensor, a gyroscope, and the like.
• GPS location sensor
• Various sensor types that may also be used are also known in the field of robotics.
• Data processing unit 100 may for instance be a computer having various components known in computers, like memory, an arithmetic processor, data busses, end the like. Data processing unit 100 may be able to control the other parts in the element 1. It may even control at least part of at least one other element. For instance, in a master-slave setting state. It may also coordinate cooperation between elements 1. It may run a computer program. It may process instructions provided from an external source.
• the various units or components in figure 8 are indicated schematically.
• the units may be incorporated in the element.
• one or more units may at least partially be integrated in a face of an element.
• one or more units may at least partially be integrated into a single component.
• at least part of the functionality of the units 100-700 may be incorporated in the form of a computer program product.
• FIGS 9A-9K an embodiment of an assembly of elements 1 (labelled 'a'-'e') comprising a shared motion module 90 is illustrated.
• the elements do not have the same shape or size.
• An advantage of a shared motion module is that an assembly of elements can shift shape with the use of a limited number of relatively complex motion modules 90.
• element 'a' is provided with the shared motion module 90.
• shared motion module 90 is temporarily assigned to element 'a'. This may be done by a control structure for assigning the shared motion module, and for controlling the shared motion module 90. Alternatively, the shared motion module 90 is controlled by an element that uses the shared motion module.
• the shared motion module is self-controlled, of may be part of a peer network together with elements, and even further shared motion modules.
• the above indicated forms or modes of operation may be combined, or the assembly of elements and one or more shared motion modules may switch from one mode of operation to another.
• processing and operation of the motion module may be operated and controlled from the shared motion module 90.
• operation and control of shared motion module 90 is done in an element 1.
• Operation and processing can also be distributed. Using for instance master-slave settings, control may be switched from element 1 to shared motion module 90 and vice versa. Also, control of a shared motion module may also be switched from one element 1 to another element 1.
• the shared motion module 90 comprises attachment parts 91 that engage element 'a'.
• Shared motion module 90 is in figure 9 A in its active position. Attachment parts 91 engage element 'a' here in such a way that shared motion module 90 cannot displace with respect to element 'a'. In this active position the shared motion module 90 can be further activated to engage a neighbouring element to start moving element 'a' with respect to such a neighbouring, in particular adjoining, element. Here, no such element is illustrated.
• the shared motion module 90 is located in a track 11, like for instance a track 11 illustrated in figure 4 A. In figure 9B, the attachment part 91 is pulled in into shared motion module 90. Thus, shared motion module 90 becomes free to move along track 11 of element 'a'.
• the shared motion module 90 can be provided with a displacement part 92.
• displacement part 92 engages in the track 11 of element 'a'.
• Displacement part 92 may be a mechanical component, physically engaging track 11.
• displacement part 92 may comprise driven wheel similar for instance to the motion module of figures 4A-4L, a piezo element illustrated above in a motion module in an element and for instance similar to the embodiments illustrated in figures 6A-7D.
• Displacement part 92 may also comprise magnet parts that can be activated.
• the track may be provided with parts that respond to magnetic forces, but that are themselves not permanently magnetic, for instance iron patches. Thus, it is possible to provide a magnetic drive while the elements are themselves not permanently magnetic.
• displacement part 92 causes shared motion module 90 to travel along tracks 11 of various elements ('a', 'c', 'd') to arrive at an element 1 that is indicated 'e'.
• the motion module follows track 11, even if the track 11 rounds a corner.
• motion module 90 leaves element 'a' and continues its way in track 11 of element 'd'.
• motion module 90 first follows track 11 of element 'd', and goes to track 11 of element 'e'. These tracks 11 here connect to one another and for the motion module 90 present one continuous track 11.
• FIG 9H it is illustrated that shared motion module 90 activates its attachment parts 91 to engage element 'e'.
• the attachment parts 91 are illustrated at one sided of shared motion module 90.
• the attachment parts 91 can engage motion module 90 from various sides. Here two sides are illustrated.
• the attachment parts 91 are designed to allow engagement of all sides of motion module 90.
• the attachment parts 91 are not incorporated in the motion module 90 itself, but may be part of the motion module that is integrated in an element.
• the attachment part 91 may be designed along the lines of the motion restriction module shown in figures 6A-6D. In fact, it may even be possible to provide a part that is allowed to function as motion restriction module, and as attachment part for motion module 90.
• an element 1 comprises two crossing motion guiding modules 11 , each motion guiding module 11 going around the element 1.
• two types of shared motion modules may be defined, one type of motion module for a first motion guiding module 11 and another for a second motion guiding module 11.
• These types of motion modules 90 and motion guiding modules 1 1 may be identical, but oriented differently.
• element displacement part 93 is activated into its active position. The element displacement part 93 extends from shared motion module 90 and from element 'e' into the motion guiding module, here track 11 , of element 'b'.
• the element displacement part 93 can be similar to the types illustrated in figures 4A-7D, i.e., based on mechanical operation, like a wheel, a toothed gear, or the like, magnetically/activated operated elements, or for instance piezo-type elements.
• the element displacement part 93 now engages into track 11 of element 'b'. It starts exerting force on element 'b' via engagement of track 11. Consequently, element 'd' displaces with respect to element 'b'.
• Figure 9J illustrates this.
• the shared motion module 90 is stored in a storage space in an element, here element 'd'.
• the tracks 11 are free, and shared motion module 90 may be in a position to be charged, or to be protected against environmental influences.
• displacement part 92 and element displacement part 93 may functionally be combined.
• an element 1 has at least one motion module 10 and a motion module movement part 95 allowing displacement or change of orientation of the motion module 10 in an element 1. In this way, the number of motion modules 10 in an element 1 can be considerably reduced.
• an element 1 comprises one motion module 10 that comprises a motion module movement part 95 that allows a motion module to be displaced or repositioned to have an active position at each face 3.
• only one motion module 10 can be sufficient of displacing an element 1 with respect to another element 1.
• more than one motion module 10 may be included in an element 1.
• FIGS 10A and 10B an embodiment of such a motion module 10 is illustrated that comprises a motion module movement part 95 that allows rotation of the motion module 10 inside the element 1.
• motion module 1 that is at an active position at a face 3, allowing engagement of an adjoining element (not shown) that rests against the surface of face 3.
• motion module 10 is rotated about rotation axis R to an active position at the adjacent face 3 of element 1.
• motion module 10 moves parallel to motion guiding module 11. It is within motion guiding module 11.
• Motion module 10 in this embodiment comprises a motion module movement part 96 that allows displacement of motion module 10 as indicated in subsequent figures 10C-10G.
• the motion module 10 moves or displaces from its position in figure IOC to its position in figure 10D parallel to motion guiding module 11, here track 11.
• Motion module 10 here displaces inside element 1.
• motion module 10 moves or displaces between the centre point of the element and track 11 , leaving track 11 free.
• the motion module may be actuated via exertion of a mechanical force. Examples are illustrated above. Alternatively, electromagnetical force may be used. An example of this is also illustrated above. In this way, an element may comprise as little as one motion module 10, reducing complexity o an element. It may me possible to equip an element 1 with several motion modules.
• motion module 10 is moved to come into its working position.
• the motion module has a working position.
• the motion module may be designed to move in more than one orientation.
• motion module 10 is at its new active position at adjacent face 3.
• motion module 10 may be locked in its position in element 1.
• figure 10H schematically, motion module 10 released an element displacement part 93.
• it may comprise a driven wheel, like the embodiment of figures 4A-4L.
• Other element displacement parts 93 may also be conceivable, for instance the piezo element described above, or the magnetic parts described earlier.
• This embodiment may considerably simplify elements 1, as the may comprise as little as one motion module 10 in an element 1.
• the motion module may comprise part of the elements functional parts.
• the motion module 10 comprises all the functional parts (figure 8) of the element 1.
• an element may comprise one or more internally displaceable motion modules 10, in combination with one ore more shared motion modules in an object.
• a motion module can be both an internal motion module, and it may function as a shared motion module 10.
• Figure 11 shows schematically a further or alternative embodiment of an element
• a hand 51 is about to grab the element 1 in order to displace it.
• This embodiment of an element 1 can have one or more of the features described, or a combination thereof. Alternatively, it may comprise only a sensor for grab-detection and holding means.
• FIG 11 schematically an embodiment of an element is shown with a motion module 10, motion guiding module 20 and motion restriction module 30 schematically indicated.
• a mechanical embodiment is shown which may be like the embodiment of figures 4, or the embodiment of figures 9 or of the figures 10.
• the element 1 of this embodiment can be a building block and in this embodiment has a cubic shape, although, as already explained earlier, other shapes may also be considered. In fact, it may also be possible to use a set of shapes, like the different bricks in an old-fashioned box of bricks used as a child's toy.
• the element 1 of figure 11 basically can be picked, put and stacked like the bricks of a set of bricks, or like the well-known Lego ® .
• Element 1 comprises in this embodiment a set of sensors 400 for grab detection. These sensors 400 can for instance be proximity sensors, heat sensors, or cameras, or combinations thereof, and make up a sensing means.
• the sensing means may comprise one or more controllers, one or more data processors, including image processors. Means for interpreting sensed parameters may be part of the sensing means.
• the sensor 400 comprise camera's, for instance cameras that are provided on each face 3 of the element 1. In this way, it can be possible to detect for instance a hand 51 approaching the element 1.
• the element 1 further comprises holding means 50.
• element 1 is a thermoplastic material
• each face 3 comprises a subset of, here four, holding modules 50.
• holding modules 50 are provided on each quadrant of a face 3.
• element 1 can be locked onto another, similar element with one quadrant onto another quadrant, allowing flexible building of bricks or blocks.
• the bonds referred to before may be realised in that way.
• the sensors 400 can be functionally coupled to a data processor 100 (not shown).
• a data processor 100 not shown.
• the input of at least two sensors on different faces 3 can be combined in a more versatile grab-detection.
• a camera on each face 3 having viewing angels that for instance at least stitch together, it may be possible to have all- around grab-detection.
• each camera can have a viewing angle of more than 45°. In particular, the viewing angle of each camera can be more than 90°.
• an all- around view can be accomplished with a camera on each surface of a cube easily, from a distance of about 8 cm or less already.
• One or more of the surfaces of an element may be curved.
• a convex curvature is referred to.
• Most extreme examples include a sphere and a cylinder.
• a sphere in this respect, has one curved surface.
• a cylinder in particular a circle cylinder with circle end planes, has three faces. In such shapes, for instance, a smaller amount of cameras may be required for grab detection. For instance grab detection at a distance from about 5 cm.
• image processing on the images of the cameras may be done, and image interpretation using known image- interpretation routines.
• the holding modules 50 can also be functionally coupled to data processor 100.
• the grab-detection of one or more sensors 400 can be combined and coupled with a locking and/or unlocking action of one or more holding modules 50.
• Element 1 may also upon grab-detection contact one or more similar elements that are locked to element 1, and request being unlocked or request being locked, depending upon its current state.
• element 1 is allowed to anticipate being grabbed, or anticipate being released from being grabbed:
• the holding modules 50 can unlock. This allows the hand to grab element 1 and actually pick it up and remove it from other elements.
• the one or more holding modules may, in anticipation, start locking.
• holding modules of opposite faces are functionally aligned when the holding modules are capable of exerting a locking force at one another.
• Mechanically-operating holding modules of opposite faces may be self-searching or self-tapping.
• the entrance of a holding module may be conical, for guiding an inserting end towards a centre.
• the holding modules 50 allow exerting a force to and/or receiving a force from one or more holding module or other, similar elements.
• the holding modules 50 allow a force with a component normal to face 3, and directed towards the face 3.
• element 1 can be (face) locked to one or more other, similar elements.
• the exerted force may be for instance magnetic, electrical, mechanically.
• each holding module 50 may comprise a treaded end that can be extended and be received in an other, similar holding module. Such a treaded end may for instance be hollow. This may allow alignment control, or signal transmission from one element to another.
• holding module 50 may comprise a hooking part which can be hooked in (and released from) a receiving part.
• a holding module 50 can be male, female, unisex, or can be "hermaphrodite”. This may allow a holding module 50 to lock into another holding module, or to be locked by another holding module.
• the one or more sensors 400 are functionally coupled to one or more holding modules 50. This allows the holding modules 50 to respond to sensor measurements, like grab-detection.
• element 1 can unlock before it is actually touched by a hand 51 , allowing element 1 to be picked up and displaced.
• element 1 may also or in combination allow element 1 to lock to one or more other, similar elements even before it is released by hand 51. This gives element 1 a sense of "responsiveness”.
• no force needs to be exerted to lock elements, and no additional action may be needed for taking one or more elements away.
• element 1 comprises a frame structure (not shown) holding the sensors 400, and supporting the holding modules 50.
• a frame structure may provide support or define a face. In a minimal way, it may provide three supports defining a face. It may also provide or support a surface defining a face 3.
• the frame structure may be from any material, like polymer, reinforced polymer, metal, combinations thereof, and the like. A skilled person will recognize suitable materials.
• the frame structure may be produced using any type or production method, including 3D printing.
• the sensing means in particular a camera, comprises a field of view.
• one or more detection cones may be defined.
• two cameras can comprise a first detection cone and a second detection cone.
• detection cones that are opening in substantially opposite directions may be involved.
• detection cones may have an axis which is under an angle of at least 90 degrees.
• the holding means is adapted for providing a holding force having a component of the holding force directed to and perpendicular to a connecting line of these detection cones.
• the axes of two detection cones of sensor involved in grab-detection may define a plane.
• the holding means that are actuated are adapted to exert a force having a component normal to that plane. The force is often directed towards the element.
• the first and second detection cone comprise a connecting line
• the holding means is adapted for providing a holding force having a component directed to and perpendicular to the connecting line.
• the sensing means furthermore is adapted for detecting alignment of said holding means with a holding means of a similar element.
• the sensing means may provide a measure of the distance from actual alignment of opposite holding means.
• Elements may have a different shape and/or be of a different type.
• the sensing means may be adapted to determine the type and/or shape of the an other element.
• the sensing means may be adapted for measuring or sensing proximity other element. In case of an element according to figure 11, and with the sensing means comprising a camera at each face having a viewing angle allowing a detection cone opening away from the face, for instance having an axis normal to a face, the parameters mentioned can be determined.
• elements comprise a sensing means comprising the position sensor.
• the position sensor can comprise a series of components. Furthermore, a series of position sensors may be provided on each face.
• the position sensor may comprise an emitter and a receiver for electromagnetic radiation.
• the electromagnetic radiation can for instance be infrared (IR) radiation, also referred to as IR light.
• IR light having a wavelength of between 750 and 1200 nm may be applied.
• An advantage of such radiation is that it is invisible to the human eye. Thus, the position sensor would not interfere with other functionalities.
• an emitter may comprise one or more sources that emit electromagnetic radiation, like a series of IR LEDs.
• the emitter may emit radiation intermittently.
• the emitter can further comprise reflecting elements. In an embodiment, the emitter at the face of an element in fact cooperates with reflecting elements on the face of another element. The reflected radiation can be detected by the receiver.
• the receiver can comprise a series of detecting elements.
• An example of a receiver can be a strip or line scan detector that is sensitive for the electromagnetic radiation emitted by the emitter.
• the receiver may also comprise a camera comprising a 2D detector having spatial resolution.
• An example of such a camera can be based upon CCD elements or the like.
• a line scan element produces a limited amount of data, and is fast. This hold even more if the sensitivity of the receiver is limited to a defined bandwidth, for instance by using filters.
• the emitter in an embodiment is provided for producing in operation radiation in an emitter pattern.
• This emitter pattern changes when two elements move, for instance slide, over or with respect to one another with one of their faces facing. When at least part of these facing faces are at a predefined position and with one or more holding modules aligned, the emitter pattern will form a first position pattern, in particular to the receiver.
• the first position pattern is a two dimensional first position pattern.
• the position sensor comprises a set of predefined position patterns that allow discrimination of various alignment options on a face.
• quadrants may be defined on a face, and predefined position patterns allow discrimination of alignment of each of the quadrants separately of in combination. An example of this will be explained below.
• this first position pattern is radiation that may in fact originated from or is reflected by at least part of a face of another element.
• a face is provided with all the parts that form the position sensor, but in order to work, parts of the position sensor on the face of one element may work together with parts of the position sensor on a face of another element.
• a first element may comprise an emitter that transmits radiation that is reflected on the face of another, second, element. The (back) reflected light is detected by a receiver on the first element.
• one element may transmit the radiation, and the other element detects the radiation. Again, both elements may hold both the emitter and receiver in order to be fully operational.
• Position sensors of elements may work together, for instance in a distributed way, to be able to determine position and/or alignment.
• the elements of emitter and receiver are positioned on or with respect to a face in such a way that the radiation needs to travel a distance before reaching the receiver. This can be accomplished in different ways.
• one of, or both, the emitter and receiver are positioned below the surface of a face.
• a source or radiation and/or a detection element may be positioned in a groove or trench in a face.
• waveguides may be used for positioning emitter locations and /or receiver locations on a face.
• radiation may be emitted from a location on a face that is remote from a location of a source, thus providing design freedom, and freedom of pattern formation.
• a receiver location may be remote from an actual detector location.
• the position sensor can be implemented in the following way.
• the elements have the shape according to figure 4 A, with the track 10 of figure 4D and having for instance a track 10 and holding modules as indicated in figure 11.
• On the bottom of a track one of more radiation sources may be provided at known positions. These sources emit for instance IR light in a defined pattern, for instance one of more cones of IR light. The radiation is emitter out of the track and away from the face.
• the surface of the elements may be provided with reflecting parts for reflecting the emitted radiation. These reflecting parts may have a known pattern. For example, strips of reflecting material may be provided along the edges of a face.
• the receiver may for instance comprise two strip detectors, which may each comprise a line of detection elements. These strips can be at an angle with respect to one another, thus forming a receiver pattern.
• the receiver can result in a third, detection or alignment, pattern when faces are at a desired position and holding modules are aligned. In this way, when two elements are in a desired position with faces facing one another and one or more holding modules aligned, it is possible to generate the first position pattern on the receiver pattern of detection elements. In fact, a third, resulting alignment pattern is generated.
• the position sensor can determine (or using signals resulting from the position sensor(s) it can be determined) if a predefined, desired position and alignment is present.
• Functional coupling of one or more position sensors and one or more holding modules may be accomplished in the following way.
• the position sensors and holding modules may be coupled to a data processing unit or a data processor 100.
• the data processor 100 from the detected signal or signals may calculate that a desired position and/or alignment is accomplished, and which holding module or holding modules may be activated.
• the data processor 100 may then activate that holding module or those holding modules into a holding state. Parts of facing faces or even complete facing faces may then be held together using the holding modules. For instance, a face may be sub-divided into face sections, for instance quadrants. Each face section may allow separate position sensing, alignment detection, and may have holding module per face section. Possible options are illustrated below using a square face divided in equal quadrants.
• the position sensor or position sensors may also allow dynamic position detection. Using dynamic position detection, approaching or moving away from alignment can be detected and activation of holding modules can be anticipated.
• the position sensors can be used in combination with the grab detection sensor(s), and/or in combination with other sensors of the element that together form the sensing means.
• the sensing means may comprise a data processor that allows processing and/or combination of data from the sensing means.
• Conclusions/results from the calculations or processing may be used for activating and/or controlling other modules, like the motion modules, holding modules, motion- restriction modules, motion guiding modules.
• Element 1 here has a groove or trench, at indication 10, 20, 30. This, however, may also be a channel of material that is transparent or almost transparent for the radiation of the emitter. Thus, for instance a smooth or flat surface of a face may be provided.
• the other parts described above motion module 10, motion guiding module 20, motion restriction module 30 may be present in this element, but it is not required.
• the element 1 is provided with a position sensor indicated on its front face, although in fact all faces may be provided with such a position sensor.
• the position sensor here has various parts. Each face section or quadrant may in fact have its position sensor.
• the position sensors are, however, integrated and combined in such a way that they may in fact operate as one single position sensor.
• Holding modules 50 are provided here on each quadrant.
• the quadrants of the front face here have an indication A-D.
• the position sensor here comprises emitters, here radiation sources 60, in particular IR LEDs 60.
• the emitters here further comprise reflectors 61, here strips along edges of each quadrant.
• the position sensor here comprises receivers 62.
• the receives are here line scan elements 62, that have detection elements aligned in a line.
• the line of the line scan elements 62 are at an angle with respect to a cross, here the lines of symmetry of an element 1. The angle here is substantially 90 degrees.
• the line scan elements here extend over the width of the groove (indicated at 10, 20, 30). This allows detection if faces or parts of faces almost align or are far from alignment.
• the emitters are here further provided with reflecting patches 63 in the groove or trench.
• one LED 60, and one angular reflector strip 61 form an emitter
• two halve line scan elements 62 form one receiver.
• each quadrant A-D here has its own position detector.
• these elements may here be integrated functionally and work together in such a way that the elements 60, 61, 62 and 63 on one face may also be seem as one position sensor.
• element -1 element may align with its face fully on the face of element 1;
• element -1 element may align two adjacent quadrants with two adjacent quadrants of element 1 (AB, BD, DC or CA);
• -1 element may align one quadrant on one of the quadrants A-D of element 1; -2 elements may align one quadrant with each of the quadrants A-D;
• elements may each align two of their adjacent quadrants with adjacent quadrants of element 1 ;
• elements may each align one quadrant with a quadrant of element 1;
• the patches 63 which may even comprise radiation sources in addition to or in stead of reflecting patches, allow detection of a face of an element fully aligning with the face of element 1. These patches are provided in the groove. They may vary in position. It may even assist detection deviations from alignment.
• the embodiment of figure 12 allows discrimination of all the options of alignment indicated above.
• Each of the light sources 60 may for instance have their own, unique frequency of intensity, allowing further discrimination. The same holds for reflecting properties, width, or other property of the reflecting elements 61.
• radiation from sources 60 of element 1 reflects off of reflecting elements 61 of other elements and is received by receivers 62 of element 1.
• the reflectors 61 may for instance be sources of radiation.
• the width of the reflectors 61 is less than the width of the grooves, and less than the length of the strip detectors 62, allowing detection of positions close to alignment.
• the reflectors 61 are in figure 12 provided along outer edges of quadrants A-D. Orthogonal arrangement of emitter parts 61 and receiver parts 62 allows discrimination between possible situations and even partial alignment. Dimensions of emitter parts and receiver parts are mutually adapted and selected for providing detection of possible situations sketched above. Furthermore, mutual positioning of emitter parts with respect to receiver parts allows discrimination of partial alignment, estimation of how far away alignment is, and the actual possibility of faces partially facing a face of element 1. Additionally, position sensors and/or parts thereof may be individually calibrated for instance for handling tolerances in position and size.
• the position sensor allows an element 1 to detect the position of a face of another element without the need for active participation of that other element 1.
• the holding devices 50 include a sensing means that allows sensing various properties and statuses. Furthermore, the holding devices 50 may enable transmission of data and/or of power.
• two holding devices 50 are depicted which are in released position with respect to one another.
• the holding devices 50 of figure 13 are depicted, with the lower holding device 50 engaging the upper holding device 50.
• the holding devices here enable holding while maintaining the faces at a set distance.
• the holding devices 50 of figure 13 are depicted again, with the lower holding device in holding position.
• the holding devices 50 of figure 13 are both provided at a surface of a face 3, 3 ' of a respective object or element like described above comprise a locking member 120.
• the locking member 120 has a rod-shape.
• the locking member 120 has an outer surface 121. In this embodiment, it is provided with a screw thread.
• a screw thread is a relatively simple way of allowing locking in a direction that is in line with a longitudinal direction 1 of the locking member 120.
• the baronet locking may be provided on the locking member.
• the holding device 50 in this embodiment comprises a guiding part 124.
• the guiding part 124 is positioned and designed to engage the external surface 121 of the locking member 120.
• the guiding part 124 comprises an inner surface that is complementary to the outer surface 121 of the locking member 120.
• this inner surface is sized to receive the locking member end.
• the inner surface of the guiding part 124 is also circular and matches fittingly the outer surface 121 of the locking member 120, or at least part of the locking member 120, for instance the end part of the locking member 120.
• the locking member 120 may also lock/hold against displacement in a line, for instance a line perpendicular to the longitudinal direction of the locking member 120.
• displacement in more directions may be blocked, for instance the displacement in a plane also be blocked using three holding modules in a triangular orientation.
• the outer surface 121 (or cross section of the end of the locking member 120) may also be unround, for instance elliptic, triangular, rectangular, polygonal, end the like. This also blocks rotation around an axis that is in line with the longitudinal direction 1 of the locking member 120.
• the holding device 50 comprises a coil 125 provided in the guiding part 124 and around the inner surface of the guiding part 124.
• the locking member 120 comprises a ferromagnetic part, for instance extending in longitudinal direction of the locking member 120, this may provide a magnetic field that may be used for alignment and/or position detection, distance detection, power transmission and/or data transmission.
• additional functionalities may be provided, part of the functionalities described can be provided, or temporarily functionalities may be taken over from other parts of a holding device.
• the locking member 120 has a first locking member end 122. In general, this is the part of the locking member 120 that engages another holding device 50.
• the locking member 120 has a first end face. In figures 13-15, the first end faces of the locking members 120 face one another. In fact, in figures 14 and 15 the first end faces are in contact.
• the locking member 120 and a receiving opening of the holding device 50 may be shape-self-aligning or seeking, in the sense that for instance the opening is funnel shaped, or the end of the locking member 120 is slanted, or both. In such an embodiment, holding devices need not be perfectly aligned in order to be able to get into locking position. Alignment detection may take this into account.
• the locking member 120 can comprise a massive or solid rod or shaft, for instance a metal rod, a polymer rod, if required having reinforcement, or the locking member may comprise a composite rod.
• the locking member 120 may further be hollow, for instance having a hollow rod or hollow shaft.
• the locking member 120 in this embodiment further comprises a light guiding part 126.
• the guiding part 126 in the broadest sense is a guide for electromagnetic radiation. As a light guiding part, it transfers radiation in the IR, VIS and/or UV range from one of its ends to its other end.
• the light guiding part 126 extends in a straight line and in particular parallel to the longitudinal direction 1 of the locking member 120, more in particular it extends in line with the longitudinal direction 1.
• the light guiding part 126 here extends in the centre of the locking member 120. In an alternative embodiment, it may extend at another position of the locking member 120.
• the centre in particular along the longitudinal axis and more in particular at the longitudinal axis of rotational symmetry, allows easy alignment and/or contact with the locking member 120 and the light guiding part 126 of another, similar holding device 50.
• the light guiding part 126 may be a guiding pipe, for instance a hollow cylinder having reflective walls, reflective for the radiation that is intended to be guided.
• the light guiding part 126 is of the waveguide type. More in particular is can be a single optical fibre of a bundle of optical fibres.
• optical fibres usually comprise a core and cladding which is selected in such a way that the interface of the core and cladding is totally reflecting for the radiation that needs to be transmitted.
• a waveguide may be provided with radiation-attenuating provisions, like for instance doping.
• the light guiding part 126 can send out radiation in a cone, indicated with the striped lined in figure 13.
• the light may be optically refracted, for instance bundled or even collimated.
• the radiation may also be formed in an emitting pattern, spatially or in time domain. Using a bundle of optical fibres, this may be done easily. This may support and/or enable transmission of power, data, of may assist alignment, positioning, for instance.
• the locking member 120 in this embodiment further comprises an electrical conduit 128.
• the electrical conduit 128 in the current embodiment is electrically isolated from the rest of the locking member 120. It here extends from one face of the locking member 120 to its opposite face. Thus, electrical connection may be provided through a locking member 120, and if locking members of similar holding devices 50 are oriented such that their locking members 120 are in contact (like for instance in figures 14 and 15), power, signals or data may be transferred through these electrical conduits 128 or lines.
• One electrical conduit 128 may be coaxially around the light guiding part 126. Alternatively, a bundle of conduits or lines may be provided. Here, the electrically conductive conduit 128 extends between (end) faces of the locking member 120.
• one end may extend to the outer surface 121, for instance to the end part of the locking member 120.
• the electrical conduit 128 may comprise parts that are moveable with respect to the locking member 120. Examples are for instance resilient ends, or biased ends that can make electrical contact when pressed or released. Alternatively, the parts of the electrical conduit 128 may be actuated via an actuator.
• the holding device 50 further comprises an actuator 123, for displacing the locking member 120 along its longitudinal axis 1. It can displace the locking member 120 in the direction indicated with arrow L, and back.
• the actuator 123 is indicated schematically.
• the actuator 123 is of the electromechanical type. It is positioned around the locking member 120 end engages the outer surface 121 of the locking member 120.
• a more conventional electromotor may be provided outside the locking member 120. The electromotor may engage the outer surface 121 of the locking member 120. For instance, part if the outer surface may be provided with a tooting or gearing that surrounds the locking member 120.
• the electromotor engages the tooting and sets the locking member 120 into a rotational motion with the longitudinal axis as rotational axis.
• the outer surface of the locking member is provided with a screw thread and the inner surface of the guiding part 124 is provided with a complementary screw thread, rotation of the locking member 120 will cause it to displace in its longitudinal direction 1.
• the actuator 123 is provided for setting the locking member 120 into a motion in longitudinal direction 1.
• the actuator 123 is provided at a distance from the surface of faces 3, 3'. This, the actuator engages an upper half of the locking member 120. In an alternative configuration, the actuator 123 may be provided close to the surface of faces 3, 3'. This may enable assistance of one holding device in the displacement of the locking member 120 of another holding device.
• the actuator 123 can be of the piezo- electrical type. Actuator 123 in fact only needs to be able to displace the locking member 120.
• the strength of the locking in an embodiment thus depends mainly on the strength of the locking member 120, of the connection of the guiding part 124 to a further construction, and of the mutual engagement of the locking member 120 and the guiding part 124.
• the strength of locking against displacement in normal direction of the longitudinal axis of the locking member 120 thus mainly depends on the strength and rigidity transverse or perpendicular to the longitudinal axis of the locking member 120.
• the actuator 123 may comprise for instance a piezo linear actuator that is marketed under the name 'Squiggle micro motor' by New Scale Technologies, Victor, USA.
• the locking member 120 may comprise the threaded part of the 'squiggle motor', while the 'squiggle part' of the 'squiggle motor' may be part of the actuator 123.
• One end of the 'squiggle part' can be linked to the guiding part 124, allowing the rest of the 'squiggle part' to 'squiggle' to displace the locking member 120.
• the squiggle motor may be seen as a piezoelectric ultrasonic rotary motor system which may include an attached unbalanced mass that generates an oscillating centripetal force perpendicular to an axis of rotation for use as a haptic actuator.
• it includes providing a vibrating motor body which has two orthogonal first bending modes and is substantially enclosed within a housing.
• a shaft is frictionally coupled to the vibrating motor body by applying a force substantially perpendicular to the rotation axis.
• the shaft is arranged to rotate in at least one direction about a rotation axis in response to the vibrating motor body.
• One or more bearings are provided that support the shaft, are connected to the housing, and define the axis of rotation of the shaft.
• the holding device 50 further comprises a radiation source 60 for transmitting electromagnetic radiation.
• the radiation source 60 is arranged in the holding device 50 to couple radiation into the radiation guiding part 126.
• the radiation source is a light source that couples light into a light guiding part 126.
• the radiation source is depicted at a distance from the locking member 120.
• the radiation source 60 may be optically coupled to the locking member 120.
• the radiation source 60 can be connected to the locking member 120. In an embodiment, it an for instance comprise one or more LEDs connected to the end of the locking member 120, for instance, the radiation source 60 is integrated into an end of the light guiding part 126.
• the holding device further comprises a detector 62 for detecting electromagnetic radiation transmitted by the radiation source.
• the detector 62 is a detector for light.
• light is defined in a broad sense, including IR, VIS and UV.
• a light detector 62 may be a photodiode.
• the light detector 62 may have spatial resolution. For instance, an array of photodiodes may be used, or a camera like a CCD or similar type of camera may be used.
• the light detector 62 is arranged in the holding device 50 to receive light that is coupled out of the light guiding part 126 at an end of the locking member 120. In particular, that end is opposite to the first locking member end 127.
• the radiation source 60 and radiation detector 62 are provided close together, and are each optically coupled to the same end of the light guiding part 126.
• the end of the light guiding part 126 may be split into two ends, one optically coupled to the radiation source 60 and the other one optically coupled to the radiation detector 62.
• the locking member 120 may comprise a reflecting part, for instance on the first end face of locking member 120. In an embodiment, that reflecting part may have a pattern. In this way, a holding device 50 may lock onto another holding device 50 without that holding device needing to be actively involved.
• FIG 14 the holding devices 50 of figure 13 are depicted, with the lower holding device 50 now engaging the upper holding device 50.
• the locking member 120 of the lower holding device 50 now inserted into the guiding part 124 of the upper holding device 50.
• the lower locking member 120 is in a holding position.
• the faces 3, 3' are not in contact. Rotation of one of the locking members 120 may in certain configurations cause the faces 3, 3' to come together and to come into the configuration of figure 15.
• the locking member 120 of the lower holding device 50 is in a locking position.
• the locking member 120 of the lower holding device 50 here been inserted into the guiding part 124 of the upper holding device 50.
• the faces 3, 3' are in contact.
• the first face of lower locking member 120 is in contact with the first face of the upper locking member 120.
• Parts or the entire holding device may be produced using for instance a 3D printing process.
• a locking member may be 3D printed.
• 3D printing may be relatively simple.
• a 3D printing process that allows use of different materials.
• Injection moulding a light guiding part in a hollow locking member may also be a relatively robust processing method.
• materials and compounds may be used that can fulfil different functions for different components of parts.
• a material may be used that can guide light, put also provides structural integrity.
• the cladding of a light guide may be conductive for electrical current.
• the interface of the locking member and the light guide may provide total internal reflection, thus providing light guide properties.

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• Manipulator (AREA)

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• 2016
  • 2016-10-10 EP EP16781368.2A patent/EP3362161A1/de not_active Withdrawn
  • 2016-10-10 WO PCT/EP2016/074243 patent/WO2017064012A1/en active Application Filing
  • 2016-10-10 MA MA042984A patent/MA42984A/fr unknown

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