RU2588458C2 - Transportation of object on surface - Google Patents

Abstract

FIELD: transportation.

SUBSTANCE: invention relates to movement of object on surface. Said transportation consists in that when determining position of an object on surface can be used directly transport mechanisms that move said object over surface, which provides reduced number of idle transport movements as control is performed directly on results of surveillance and their comparison with preset trajectory. Described options exploit compressed air, magnetism and/or bending waves.

EFFECT: higher efficiency of moving an object on surface.

6 cl, 38 dwg

Description

This invention relates to the movement of an object on a surface, for example, a game figure along the game field.

A “classic” board game consists of a physical playing field (game table / board) and game pieces. Game pieces are placed on the field and moved by players (people) according to the rules of the game. An ordinary computer does not have access to such a classic game. He does not know the position of the figures in the game on the field, and can not move them.

When adapting a classic board game for a computer, which is common practice today, the arrangement of game figures on the playing field occurs in the computer “virtually” and is displayed on the display screen. The computer knows the arrangement of all the figures in a virtual field. The moves of the figures in the game on such a virtual playing field are made only according to the program. A “computer” can only move figures in the narrow sense. Of course, a computer can make a move on human input. This makes possible a “joint” game of a computer and a person according to the program on a virtual gaming table. Technically, this allows network players to take part in the game for several players separated by a distance in space.

Since a person likes to pick up “real” game pieces and move them around a real playing field, for example, when playing chess with game chess computers, often the arrangement of pieces and their movement across the chess field is performed virtually, and the person imitates moves outside the computer on real game board. Through the appropriate interface, the person and the computer inform each other about the moves made, and the person updates the position of the pieces in the game on the physical game board.

In addition, often when playing with chess computers, the computer recognizes the movement of game pieces directly through mechanical or electromagnetic switches. In such cases, the switch is placed under the integrated playing field. If the game piece moves along the board, the switching mechanism from the initial field to the move destination field is activated. Having received such information, the chess computer electronically recognizes and stores this movement in memory. Information about what kind of game figure is meant by such a movement is not recognized in today's systems. This information is generated by the computer itself by updating the data on all the moves of the game, based on a given initial position. The game moves from the computer side, displayed by him on the display, as a rule, should be performed by a person on a physical board.

There are also solutions in which the computer itself moves the game pieces with the manipulator, but this is a very expensive and time-consuming method, and therefore hardly applicable. Not to mention the fact that such decisions are most often specialized for a specific game, in particular chess. Moreover, such approaches are characterized by limitations. Say you can’t move several game pieces at the same time.

In DE102006009451.4, it was proposed to use RFID technology (= radiofrequencyidentification) to localize game figures on the game table, where an RFID reader or reader antenna is mounted under the game field, and the game figure is equipped with a pulse RFID transceiver. When a game piece is placed on the field, the transceiver signal is read and identified by the reader under the game field. After that, the game piece is tied to the position of the reader or reader turn.

According to the as yet unpublished DE102008006043.7

- the game plane is replaced by a horizontal computer display, for example, a liquid crystal display, which can thus display any playing fields;

- each game figure is equipped with an optical sensor on the underside, has an ID identifier and is connected by radio communication with the gaming computer.

In this method, the gaming computer can automatically recognize the type and position of game figures on the game table by a certain combination of data displayed on the game field and remotely read by the sensor in the game figure. Since this can be done very accurately and quickly, the gaming computer is able to track the position of the pieces in the game on the gaming table, in fact, continuously.

Thanks to the approach described above, there is the possibility of universal computer adaptation of board games, when the computer provides a removable playing field on the screen, which acts as a gaming table and automatically tracks the position of many physical game figures. At the prior art, automatic and efficient movement of these physical figures by a computer is not possible with low technical complexity. This is only possible due to complex special technical solutions, including a computer manipulator with mechanical locking or active self-moving game pieces, which, however, has a lot of inconvenience.

It is desirable that passive game pieces randomly placed on the gaming table are moved efficiently and automatically by the computer without the need for a robot arm or an active drive built into the game figures.

Of course, the difficulties described above apply to other areas and are not limited to game episodes. Moreover, problems related to the movement of game pieces vary depending on the game. For example, a game with a single game figure makes less demands on the generation of movement than a game with several game figures, where one or a specific set of game figures must move relative to other game figures on the surface or game table. In addition, some figures in the game line up rotationally symmetrically, while their alternating orientation relative to the surface does not matter, in other games with other game figures this can be different, and in some games the orientation of the game figure or the direction of its view are important.

Thus, it is an object of the present invention to provide a concept for moving pieces of a game over a surface, which can be accomplished at low cost and space and / or which extends applicability because the elements necessary for generating motion are compatible with a large number of likely methods for recognizing movement on the playing surface.

The task is achieved by means of the object according to paragraph 1, the system according to one of paragraphs 8, 19, 20 and 24 and the method according to one of paragraphs 30 to 33 of the claims.

The main idea on which the present invention is based is that when determining the position of an object on the surface, it is also possible to use means of transporting the object on the surface, which require less reproducible transport movements due to the possibility of controlling directly based on the observed movement and comparing it with the desired moving.

Based on the first objective of the present invention, this idea is used by initiating movement due to an air cushion between the object and the surface. The “carried” object can thus be moved horizontally on the basis of a variety of non-contact methods, for example, due to magnetic fields, electrostatically or the like. In accordance with one of the structural solutions, an air cushion is formed under the object horizontally selectively at the location of the object when it is recognized by the localization device. In this way, it is possible to selectively reduce the friction of the movement of one or several objects among many objects, in particular relative to other objects, so that the device exerting lateral force is not forced to exert such force specifically on only one or several specific objects, but can generate a single field acting on all objects, while only objects with reduced friction of movement will actually move. In addition, compressed air used to create an air cushion blown through the surface over which the object is to be transported can be used not only to reduce friction of movement on the surface, but also to initiate horizontal movement or create lateral forces to move objects horizontally on this surface . In one embodiment, this is achieved in combination with a specific constructive solution for the base of the facility, in which several air chambers are divided, and one or more of them have a hole in the outer wall through which the air cushion air can exit laterally, whereby due to recoil the object receives lateral force. In combination with the appropriate localization device that determines the location of the object on the surface, and in combination with the tight distribution of individually controlled air nozzles to create an air cushion, air can be precisely blown into the desired set of air chambers of the object, moving the object to the desired position. As an alternative, of course, it is possible to equip the object’s air chambers with mechanisms for closing and opening the side openings, thereby eliminating the need to individually control the air nozzles.

Alternatively, the activation of transport can be carried out by the magnetic field of the surface. Separately controlled solenoid turns are distributed over the surface, in which magnetic dipoles can be created with an orientation perpendicular to the surface. If you equip an object with an element or a plurality of elements attracted or repelled by a magnetic field, it becomes possible to move the object across the surface, that is, based on magnetic repulsion, or to move the object along the surface, that is, using magnetic attraction.

As another option, transport can be excited by surface bending waves. According to one of the technical solutions in this direction, surface waves propagating in the surface are calculated in accordance with the synthesis of the wave field in such a way that the resulting component of the displacement tangential to the surface of the surface points at the peaks of the surface wave, on which the object is mainly supported, leads to moving the object in the direction of the desired position.

All the aspects considered are united by the fact that mechanical grips or other superstructures above the surface are not needed, which otherwise could go against the aesthetics of the equipment or game or would be contrary to the purpose.

The components involved in the generation of movement according to the above aspects can be hidden under the transport surface. In addition, the considered aspects allow using the transport surface to determine the position coordinates optically. As follows from the hardware versions of the present invention, this is achieved by combining individual transport mechanisms with a localization device that uses an image on the display screen in combination with an optical sensor built into the object, as described in more detail below. This makes it possible to integrate the transport surface with most of the components necessary for positioning objects and generate motion in a functional unit that can subsequently display any image on the transport surface.

In the following, preferred embodiments of the invention are discussed in more detail using the accompanying drawings, where:

in FIG. 1 shows a general diagram of a system for transporting or moving an object over a surface;

in FIG. 2 shows a part of an isometric view of a nozzle diaphragm;

in FIG. 3 is a drawing of a bottom view of the base of an object in accordance with an embodiment;

on figa, b is given a plan view of a nozzle diaphragm having separately controlled air nozzles with a surface-mounted object having a base in accordance with FIG. 3, where in FIG. 4a and 4b show a change in position of an object due to the activation of different air nozzles;

in FIG. 5a, b are a plan view of an air nozzle in a closed or open state in accordance with an embodiment;

in FIG. 6a, b are given a plan view, as in FIG. 4a and 4b, for air nozzles, as in FIG. 5a and 5b;

in FIG. 7 schematically shows part of the system of FIG. 1 to illustrate an embodiment of a method for moving an object over a surface according to one implementation;

in FIG. 8 is a drawing of a bottom view of the base of an object in accordance with another embodiment of a technical design;

in FIG. 9a is a fragment of an isometric view of the lattice of an electromagnet winding in accordance with one of the hardware versions;

in FIG. 9b is a drawing of a plan view of the grating of FIG. 9a;

in FIG. 10a-c is a side view drawing of an object located on a transport surface operating in various modes of magnetic interaction between the magnetic grid and the object in accordance with different technical designs;

in FIG. 11a, b is a drawing of a plan view of an object having different elements that can be attracted or reflected by a magnetic field;

in FIG. 12a, b is a top view drawing of an electromagnet winding grating and an object located thereon, illustrating various activation schemes of electromagnet coils in a magnetic grating to generate a change in position of an object on the surface;

in FIG. 13a, b is a top view drawing as in FIG. 12a and 12b, but using repulsive magnetic interaction;

in FIG. 14 is a diagram illustrating a process of generating motion by means of surface waves;

in FIG. 15a, b are a sectional view and a plan view of a bending wave generator extending along the peripheral edge of a plate forming a transport surface in accordance with an embodiment of the present invention;

in FIG. 16 is a side sectional view of a device for determining the position of an object on a display;

in FIG. 17 is a drawing illustrating a gaming device having a function for determining a position of a game figure, in accordance with one of the technical solutions;

in FIG. 18 is a block diagram of the transmitter of FIG. 17;

in FIG. 19 is a flowchart of the gaming device of FIG. 17 in accordance with one implementation;

in FIG. 20 is a diagram of possible options for finding the position and orientation of figures in the game of FIG. 17 and 18 on the display;

in FIG. 21 is a flow chart of the operation of the gaming device of FIG. 17 in accordance with another version of the implementation;

in FIG. 22 is a sequence diagram of step-by-step images on a binary search display screen as part of the method in accordance with FIG. 21;

in FIG. 23 is a sectional view of a base of a game figure placed on a display in accordance with an embodiment;

in FIG. 24 is a drawing of a cross-section of the base with a transmitting device for mounting on the underside of the game figure in accordance with one of the structural solutions;

in FIG. 25 schematically shows a frame with a photomask in accordance with a variant of the technical solution; and

in FIG. 26a is a sectional drawing of a fragment of a transport surface including components of a motion generating means and a positioning device, where the missing external elements of the equipment are control and evaluation means, for example, a computer;

in FIG. 26b is a side sectional drawing of a game figure that can be used with the component in FIG. 26a; and

in FIG. 26c is a cross-sectional drawing of a fragment of a transport surface including components of a motion generating means and a positioning device in accordance with another embodiment.

Next, various structural solutions of the present invention will be discussed in more detail. Moreover, repeatedly repeated elements in different figures have the same or similar reference numbers and are not described repeatedly.

In particular, various hardware versions are described for various aspects mentioned above, which, however, can also be partially combined with each other, as indicated in the relevant context.

Despite the fact that the description often refers to gaming applications, the proposed invention can certainly be applied in other fields of activity where it is necessary to automatically move objects on the surface, say, in logistics or the like.

In FIG. 1 shows a general diagram of a system for moving an object 10 along a surface 12. It includes a positioning device 14 capable of tracking the position of an object 10 on a surface 12, for example, the lateral position of, say, the center of gravity and / or the lateral direction of sight or the circular movement of an object around a normal to surface 12, taking into account the initial direction. Hereinafter in the context of FIG. 16-25, embodiments of the positioning device 14 are described, where an optical sensor integrated in the object 10 is included in the scheme of the positioning device 14, and a display projecting a screen image on the back of the surface 12 through the surface 12 onto the working plane where the object is placed 10. When Other versions of the positioning device 14 are also possible, which, for example, include a video camera (not shown) with an overview of the transport surface 12 from the front side, that is, in FIG. 1 - from above, or other remote sensors, in particular proximity sensors, such as two or more remote sensors mounted along the edge of the transport surface 12.

Further, the system of FIG. 1 includes means for moving an object over a surface, that is, device 16. Thus, device 16 performs actual movement without user intervention. Hereinafter in the context of FIG. 2-16, the moving means 16 is described as a series of hardware versions. Depending on the technical design, the moving means 16 is made in such a way that forces changing the position 10 'of the object on the surface 12 are applied to the object 10 non-contact, for example, using compressed air, by means of a magnetic field or using bending waves. In addition, it is possible to use other methods or combinations of methods, which will be explained later.

The positioning device 14 and the moving means 16 are interconnected. In particular, the positioning device 14 and the moving means 16 can, for example, be connected to each other through the control 18. The control 18, in particular, includes a processor that executes the appropriate program. So, the control unit 18 is configured to control the moving means 16 based on the position of the object 10 on the surface 12 recognized by the positioning device, and the initial position or the planned position of the object 10 so that the object 10 approaches the desired position given by the control loop leading object 10 to the target position. The coordinates of a given position of an object can come from various sources depending on the application. Data on the desired position can be transferred from an external source to the control 18. In addition, the control 18, in addition to the functions of controlling the moving means 16, can also perform other operations that affect the specified location of the object 10. For example, control 18 can also work in game mode computer, which provides or obtaining information about the desired change in the position of the object 10, transmitted manually by the player through some input device, and / or offline calculation of the necessary changes the position of the object 10. The input device may be equipped with, for example, a keyboard, mouse, voice input terminal, touch screen surface 12, or the like. As already mentioned, the system of FIG. 1, may have other applications, for example, in logistics, where the control 18 simultaneously, among other things, solves logistics problems with calculating the optimal location of the object 10.

Although this will be discussed several times below, it should be noted that the positioning device 14 and the moving means 16 can be implemented with the ability to control several objects 10 and 10 'on the surface 12 separately, that is, to determine their relative location or move them individually relative to another object. Accordingly, the control 18 can be implemented to manipulate several objects 10 and 10 'in different positions, or at least to control or manage their positions as necessary.

Further, in the context of FIG. 2-8, implementation versions are described, according to which the device 60 for moving an object along the surface forms an air cushion between the object and the transport surface, so that the natural static and dynamic friction between the bottom of the object and the transport surface is overcome with a significantly lower friction force under the influence air cushion.

In FIG. 2 illustrates a fragment of the transport surface 12 provided with air nozzles 20 with a grid or in-line distribution. In FIG. 2 row distribution is shown as a uniform horizontal arrangement in rows and columns. In this case, other ordered and non-uniform horizontal distribution of air nozzles 20 are allowed. In addition, the air nozzles 20 in FIG. 2 can be individually adjustable or separately closed / opened, with the exception of one hole 20a, all other holes are shown in a closed state. Below, in the description of FIG. 7, it is said about the possibility of using the moving means 16 of constantly open air nozzles 20 or those that can only be controlled together. In addition, it is provided that the air nozzles can be closed and opened when the air is released, that is, to perform the function of air valves. However, it is also possible to individually control the air nozzles by means of valves installed in the air channels connected to the air valve connecting the air nozzles to a pressure source.

In FIG. 2, the transport surface 12 is shown as the main face of a parallelepiped, for example, a nozzle diaphragm 22, the working side of which forms a transport surface 12, consisting of air nozzles 20. Other shapes are also possible.

Although in FIG. 2 is not shown, air nozzles 20 are uniquely connected in-line with a pressure blower, and when open, air nozzles 20a allow compressed air to pass through. Compressed air passes through the nozzle 20, for example, perpendicular to the transport surface 12. However, the nozzles can be made to allow air to pass through the nozzle 20 at an angle relative to the perpendicular to the surface. Lateral angles, i.e. the tangent passage to the surface 12, in particular, may be different for different air nozzles 20, as will be discussed below.

Now, in the context of FIG. 3-6b, a technical design will be considered where the arrangement of separately controlled air nozzles is used in combination with an object whose bottom is configured to generate horizontal movement of the object over the surface. In FIG. 3 shows a possible configuration of the base of the object 10. For a better understanding, at the top of FIG. 3 shows the corresponding side projection of the object 10.

As seen in FIG. 3, several cavities 32 _i -32 _{g are} made in the base 30 of the object 10. The base itself or bottom 30 is flat, that is, it is a flat abutment surface 34. As shown in FIG. 3, the recesses or cavities 32 _i -32g may have a total depth t inward of the object 10 from the abutment surface 34. Referring to FIG. 3 cavities 32i-32g are separated by internal partitions 36 perpendicular to the supporting surface 34. In addition, there are such cavities, i.e. cavities 32 ₂ -32 ₉ , which are adjacent to the outer wall 38 of the object 10. In the example of FIG. 3, an opening 40 ₂ -40 ₉ is provided in the outer wall 38 for each of the niches 32 ₂ -32 ₉ , which provides lateral air outlet forming an air cushion under the object 10 from the corresponding cavity 32 ₂ -32 ₉ . For example, in FIG. 3 holes of the object 10 40 ₂ , 40 ₄ , 40 ₆ and 40 ₈ are located at an angle of 90 ° relative to each other, which provides a radial exit of the air flow that is formed symmetrically about the axis of rotation 42. Located at an angle of 45 ° to the above holes, holes 40 ₃ , 40 ₅ , 40 ₇ and 40 ₉ are relative to each other at an angle of 90 °, setting the direction of the air flow leaving the respective cavities or chambers, 32 ₃ , 32 ₅ , 32 ₇ and 32 ₉ , the tangential component. In particular, these openings are made in pairs so that pairs of opposing openings 40 ₃ and 40 ₇ or 40 ₅ and 40 ₉ let out air flow, setting rotation to the object, i.e. counterclockwise or clockwise, when viewed from above.

As will be illustrated in FIG. 4a and 4b, due to the design of the cavities and the chambers consisting of them, by selecting combinations of chambers into which compressed air is supplied from air nozzles, it is possible to rotate the object 10 on the surface and / or move it in the desired direction, that is, specify any direction of movement, combining a linear movement and rotation around axis 42. Thus, the compressed air in the chamber 32 ₂ due to the lateral flow out through the opening 40 ₂ moves the object 42 in the opposite direction to the outgoing lateral air flow. This is applicable for holes 40 ₄ , 40 ₆ and 40 _8, respectively. If compressed air enters the chambers 40 ₃ and 40 ₇ at the same time, air jets coming from the corresponding holes cause the object to rotate clockwise (Fig. 3). Rotation in the opposite direction is achieved by supplying compressed air to the chambers 32 ₉ and 32 ₅ . When filling with compressed air the chamber 32 _{1 of} FIG. 3, closed on all sides by the internal partition 36, lateral forces do not act on the object 10, but an air cushion is created between the object 10 and the surface.

The interaction between the control 18, individually controlled air nozzles 20 and the base of the special configuration 30 of the object 10 is further illustrated in FIG. 4a and 4b. In FIG. 4 shows a portion of the transport surface 12 and separately controlled air valves 20. The position of the object 10 on the surface 12 in FIG. 4a is known to control 18 through positioning device 14. FIG. 4a, it is assumed that in order to move to the desired position, object 10 is planned to be moved southward (downward in FIG. 4a). Accordingly, the control unit 18 after the air valves 20 located under or adjacent to the central air chamber 32 ₂ activates or opens the air nozzles 20 corresponding to the pneumatic chamber in the northern part, so that the air flowing laterally through the corresponding opening of this chamber 32 ₂ displaces an object 10 on an air cushion formed by open air nozzles 20 in the desired direction, as indicated by arrow 50. In FIG. 4a, open air valves are indicated by an oval, and closed air valves by a bar.

In FIG. 4b shows the same starting position as in FIG. 4a. However, in this case, it is assumed that the control 18 to rotate the object 10 to the desired position should rotate the object 10 clockwise. Accordingly, in addition to the air valves 20 filling the central chamber 32 ₁ with air, the air valves 20 opposite the air chambers 32 ₂ and 32 ₇ open. The air flow coming out from the chamber 32 ₃ excites the thrust 52 in a tangential direction opposite to the direction of the thrust 54 created by the air flow coming out from the opposite air chamber 32 ₇ , whereby the desired rotational movement of the object 10 is generated hourly.

It should be noted that the specific configuration of the bottom of the object in FIG. 3 is provided as an example only. Numerous modifications are possible. Suppose, if the rotation of the object 10 is not necessary, the object 10 will have only three holes through which the air flow radially and which, for example, can be located at an angle of 120 ° to each other. If the trajectory of the object 10 on the surface 12 is set differently, and, say, has certain limitations, then perhaps only one single side cavity with an opening in the wall 38 next to the next cavity or chamber that does not have a side opening in wall as chamber 32 _1.

Above in the description of FIG. 2-4b, air nozzles 20 are also referred to as air valves. This is because the individual control of the air nozzles can be carried out either directly by each air nozzle, which in this case acts as an air valve, or by means of an air valve with which a certain constantly open controlled air nozzle is connected. Each such pair of air nozzle and associated valve must have an air channel, which requires a large space.

In FIG. 5a and 5b are examples of air valve 20 in a closed and open state. In FIG. 5a and 5b, the air valves are made of silicon 60. For example, the entire body 22 (Fig. 2) can be made entirely of silicone, or the main supporting element can be made of sheet glass with a matrix of holes drilled into it, into which individual silicone valves as shown in FIG. 5a and 5b. In particular, the valve material 60, for example silicon, has a refractive index equivalent to the refractive index of the material of the sheet of the supporting member, that is, glass, for example, which in this case achieves full light transmission of the entire surface 12. The refractive index may, for example, be 1, 43. In the preferably flexible material of valve 60, a through slot 62 is provided from surface 12 to opposite plane 64, from which compressed air is supposedly supplied. The slot is provided to be performed in the elastic material 60.

On both sides, electrodes 66 and 68 are installed along the slot with a potential difference. The inner coating 70 of the walls of the slot 62 should ensure that in the closed state shown in FIG. 5a, the electrodes 66 and 68 were not in contact. It is understood that such an inner coating 70 is not necessary if the electrodes 66 and 68 are mounted at a distance from the slot 62 and will not be mutually contacted when closed.

Now the control 18 must close the air valve in FIG. 5a. For this, different electrodes are supplied to different electrodes 66 and 68. In FIG. 5b, a case is illustrated where a charge of the same polarity is applied to the electrodes 66 and 68. Thus, according to the diagram of FIG. 5a, the air valve electrodes 66 and 68 can be connected to two different voltage sources, while in the circuit of FIG. 5b, each of the electrodes 66 and 68 is connected to the pole of the same name. In FIG. 5b shows an example with a negative pole. The resulting electrostatic repulsive force between the electrodes 66 and 68 opens the slot of the valve 62 into an oval, as shown in FIG. 5b.

Of course, the embodiment of FIG. 5a and 5b are given only as an example, while other technical solutions are possible. In addition, the pictorial representation in FIG. 5a and 5b are so simplified that the power supply lines of the electrodes 66 and 68 are not displayed in it. For separate control of the air valves, they must be individually connected / disconnected to the above-mentioned voltage sources through the corresponding separate circuits. It should also be noted that in FIG. 5a and 5b, the circle 72 graphically shows the possible interaction between the materials of the valve 60 and the above-mentioned plate of the supporting element, for example, sheet glass.

FIG. 6a and 6b show a process for controlling an array of air valves having a structure corresponding to FIG. 5a and 5b to generate the motions shown in FIG. 4a and 4b. In short, FIG. 6a and 6b depict a fragment of a transport surface 12 equipped with a set of valves 20, according to the construction of FIGS. 5a and 5b, where the object 10 with the base made according to FIG. 3 is placed on surface 12. As can be seen in FIG. 6a, the air valves 20 located under the chambers 32 ₁ and 32 ₂ are in the open state in accordance with FIG. 5b for driving southward, as was the case with FIG. 4a; and in FIG. 6b in the state corresponding to FIG. 5b, only those air valves are located below the chambers 32 ₁ , 32 ₃ and 32 ₇ , while certain other air valves are in the closed state corresponding to FIG. 5a.

As will be discussed later with respect to FIG. 26a and 26b, air valves mounted in a sheet of glass having the same refractive index, as described in the context of FIG. 5a to 6b have the advantage that with closed air valves they do not impair the optical properties of the glass surface. In other words, with closed air valves, “break points” do not arise that would affect the permeability of the working field, which is especially favorable in the implementations of FIG. 16-25, in accordance with which the positioning device 14 uses a display placed under the transport surface to determine the location of objects.

The smallest average distance between the air nozzles 20 cannot, in particular, exceed the width of the cavities 32 _2-9 . Advantageously, the average smallest distance between the air nozzles 20 should be less than or equal to the smallest cavity width 32 _2-9 . Depending on the movement that the object needs to make to the destination, the control 18 selects for injection nozzles located under the corresponding cavities 32 _2-9 .

In FIG. 2-6b, lateral forces for changing the position of an object carried by an air cushion were applied due to compressed air generating such an air cushion by blowing appropriate air chambers or forcing air into the desired air chambers.

In FIG. 7 shows the principle of the implementation of the means of moving the object 16 on a horizontal surface, in accordance with which such a means includes a network of separately controlled air nozzles built into the surface 12, for the formation of an air cushion 80 between the object 10 and the surface 12, in particular, at the location object 10, as well as the implementation of the device 82 for non-contact horizontal movement and / or rotation of the object 10 on the air cushion 80. To perform a given change of position of the object 10 on the surface 12 means b Non-contact horizontal movement 82 can, for example, use the forces of an electrostatic field, the strength of a magnetic field, or the inclination of a surface 12 relative to a gravitational field.

If it becomes necessary to move only one specific object 10 among several objects on the surface 12, the possible versions of the means 82 are not limited by the ability to individually affect the desired object 10. Rather, when creating a local air cushion 80 under a specific object 10, static and dynamic friction, otherwise acting on the surface 12 and the object 10 are eliminated so that the lateral forces of the means 82 generate lateral movement only for the given object 10.

Here, one of the possible implementations of the means 82 involves, for example, moving the object 10 not due to the excitation of the corresponding fields, but due to the orderly opening and closing of the side openings of the bottom chambers of the structure in accordance with FIG. 3. In addition to the structural solution of FIG. 3 arrangement of devices 84 _2-9 in FIG. 8 is provided for the selective opening and closing of openings 40 ₂ -40 ₉ , which can be controlled, for example, by the control element 18 via the wireless interface 18. Based on the above description, the control element 18 controls the devices 84 so that air can only exit laterally through the necessary holes 40 ₂ -40 ₉ , and the rest of the air generated an air cushion 80.

In the constructive interpretation of FIG. 8, when using a device for selective opening and closing of holes associated with each of the apertures, it is also possible to use air nozzles that are either simultaneously controlled or not controlled, but constantly simultaneously open. If in this case several objects 10 are placed on the surface 12, then the control of objects that should not change their position, carried out through a combination of devices 84 ₂ -84 ₉ , is limited to closing all the holes and keeping these objects motionless by weight due to the air cushion under them . Devices 84 ₂ -84 ₉ open one or more openings only at the object or objects to be moved.

While for the structural solutions discussed above in the context of FIG. 2-8, it is common that an air bag is created between the object and the transport surface, for the implementations described below in the context of FIG. 9a-13b, this function is only an option. The hardware versions discussed below are based on controlling the change in the position of the object on the surface due to the uniform in-line distribution of separately regulated electromagnet windings under the transport surface.

FIG. 9a and 9b show an example of a transport surface 12 with respect to which the network of coils of the electromagnet 90 is distributed so that the magnetic flux excited by the electric current passing through these coils of the electromagnet 90 mainly flows symmetrically to the axis perpendicular to the surface 12. Forming otherwise, the longitudinal axis the coils of the electromagnet 90 are perpendicular to the surface 12. As shown in FIG. 9a, the coils of the electromagnet 90, for example, mounted in a magnetically permeable carrier material 92. The ability to separately control the solenoids 90 is provided by the corresponding loops and switches, which are not shown in FIG. 9a and 9b, and which individually allow electric current to pass through the coils of the electromagnet 90.

Depending on the design version, the coils of the electromagnet 90 can operate both in the mode of two states - current-carrying and non-current-carrying or alternating current and de-energized, and in the mode of three states, that is, de-energized and two states that differ in the direction of passage of the electric current. Combinations of these types of control are possible, for example, by individually or selectively connecting the coils of the electromagnet 90 to a voltage source, which, in turn, provides all the windings of the electromagnet 90 equally depending on the setting specified by the control unit 18, alternating current, constant voltage in one or constant voltage in the other direction.

When the distribution of separately controlled coils of the electromagnet 90 is included in the function of the means for moving the object over the surface (Fig. 1), the control 18 is able to move the object 10 from the current position recognized and transmitted by the positioning device 14 to the desired position. In this regard, the object 10 may be made of magnetically-attracting or magnetically repellent material, for example, iron, or the object may be equipped with one or more magnetically-attracting and / or magnetically-repulsive elements embedded in the magnetically-permeable material.

In FIG. 10a-10c show diagrams of structural options for an object 10 made of a material that is permeable to a magnetic field, in the base area of which a magnetically attractive and / or magnetically repulsive element is integrated. The material permeable to the magnetic field can be, for example, plastic. According to FIG. 10a and 10b, the element 100, for example, is a permanent magnet. For example, according to the implementation of FIG. 10c, such an element is a coil 110. Hereinafter, we will consider how a single object can logically include several elements 100 or 110 located at different points on the horizontal surface of the base of the object 10. In the examples in FIG. 10a and 10b, the magnetic poles of the permanent magnet 100 are perpendicular to the transport surface 12, and in FIG. 10c, the longitudinal axis of the solenoids is perpendicular to this surface.

FIG. 10a illustrates how a control 18 can move an object 10 over a surface 12 due to the repulsive force of a magnet. For example, the control 18 activates one of the coils 90 below the surface 12 so that its north magnetic pole is facing through the surface 12 to the north pole of the permanent magnet 100, namely, that a certain coil of the electromagnet 90 from the plurality of coils of the electromagnet is in a position offset from the position of the permanent magnet 100 in the direction opposite to the direction 112 of movement of the object 10. Magnetic repulsion between the permanent magnets 100 and the excited coils 90 generates a force in the desired direction Lenia 112.

In addition, the control 18 provides for controlling the coil of the electromagnet 90 directed towards the intended movement 112 and offset relative to the permanent magnet 100 so that its magnetic north / south 90 interacts through the surface 12 with the opposite poles of the permanent magnet 100, and the resulting magnetic force generates lateral movement of the object 10 in the desired direction 112. In the case of FIG. 10b, the control 18 excites that solenoid 90 of the plurality of solenoids that is offset from the position of the permanent magnet 100 in the direction of the corrected or maintained path 112, which the object 10 must adhere to when moving.

In the embodiment of FIG. 10c used other management capabilities. When technically feasible, a current source not shown in FIG. 10c, for example, a battery or battery that supplies electric current to the coil of the electromagnet 110 of the object 10, so that the object moves as in the case of the permanent magnet 100. In this case, the control 18 can control, as explained in the context of FIG. 10a and 10b.

The winding of the electromagnet 110 does not need to be controlled externally, in particular, the current load of the built-in battery of an object or the like, and therefore, the function of a permanent magnet. In addition, the ends of the winding of the electromagnet 110 can be short-circuited through a tap parallel to the coil 110, or they can be electrically connected to each other via an impedance. In this case, a magnetic field that increases or decreases depending on the behavior of the excitation coil 90 induces an electric current in the winding of the electromagnet 110 of object 10, which, in turn, generates a magnetic field that is inverse to a change in the magnetic field, that is, a counteracting magnetic field in the case of an increase in magnetic the field generated by the excitation coil 90, and the rectified magnetic field in the case of a decreasing magnetic field generated by the excitation coil 90. The control 18 can use this effect to control the coils of the electromagnet 90 ', aimed in the direction opposite the desired direction 112, staggered with respect to the winding 110 so as to generate the increasing magnetic field in the coil 110, moving objects 10 in the desired direction 112 due to the current induced in the coil of the electromagnet 110; and to control the coils of the electromagnet 90, aimed in the direction of motion 112, offset relative to the winding 110, so that they generate a weakening magnetic field that attracts the winding of the electromagnet 110 and, therefore, moves the object 10 in the direction 112. The control can do this, in in particular, sequentially controlling the excitation coils 90 or 90 'so that under or near the winding of the electromagnet 110 of the object 10 with a given direction 112 of the excitation coil, aimed in the direction 112 in front of the windings The first electromagnet 110, first of all, strengthened the magnetic field in the area where the winding of the electromagnet 110 is located, after which the electromagnet coils aimed in the direction 112 after the winding of the electromagnet 110 weakened the magnetic field in the area of the winding of the electromagnet 110. Thus, in contrast to FIG. 10a and 10b, the excitation section, starting from which the control 18 activates the excitation coils 90, does not push the object 10 in front of itself and does not pull it along, but cyclically passes through the working area, where the object 10 is currently on the given path 112.

Moving over longer distances, that is, beyond the inter-turn interval, the control performs selectively activating the coils so that the position in which the activated coils 90 are located is anticipated or delayed relative to the current position of the object 10, or relative to the position determined by the positioning device 14 to to - as described above - “pull” or “push” an object.

FIG. 11a and 11b once again demonstrate possible options for equipping the object 10 with magnetically attractive and / or magnetically repulsive elements integrated with offset relative to each other into the material of the object 10 permeable to magnetic field. Thus, in FIG. 11a, two coil windings 110a and 110b are mounted laterally offset relative to each other, and in FIG. 11b, two permanent magnets 100a and 100b are inserted into the base of the object 10 with an offset relative to each other, whose magnetic north and south poles are located, for example, symmetrically perpendicular to the supporting surface of the object 10. The longitudinal axis of the windings 110a and 110b also extend perpendicular to the surface of the base of the object 10.

FIG. 12a and 12b are intended to illustrate the ability of the control 18 to generate translational and rotational motion of the object 10, in which, in accordance with FIG. 11a and FIG. 10c, the passive winding of the electromagnet is integrated or in accordance with FIG. 11b is a magnet when a magnetic attraction force is used between this magnet and a network of electromagnet coils distributed over surface 12.

In FIG. 12a shows a diagram of an object 10 in a certain starting position, from which the control 18 expects to move the object 10 progressively in the direction of the arrows. It is assumed that in FIG. 12a, the object 10 comprises four permanent magnets 100a-100d or two windings of an electromagnet 110a and 110b. The distance between the windings of the electromagnet 110a and 110b, or between the four permanent magnets 100a-100d, is selected so that it corresponds to the intervals between the uniformly distributed coils of the electromagnet 90. Suppose that the four permanent magnets 100a-100d are located exactly above the four coils of the electromagnet 90, as shown in FIG. 12a. When the object 10 is rotated 90 °, this arrangement will be repeated with other coils of the electromagnet 90. Now, to initiate the movement in the desired direction, indicated by arrows and their numbering, the control 18 sequentially activates the coils of the electromagnet 90, starting from those located under the permanent magnets 100 100d or turns of the windings 110a and 110b, to the side located with offset from them in a predetermined direction, that is, first of all the electromagnet coils are excited, to which the arrows with the number 1 are directed, then those at which Arrows e indicate the number 2, etc. It is clear that the excitation of the respective coils of the electromagnet 90 depends on the turns of the winding 110a and 110b or the permanent magnets 100a-100b included in the design of the object 10, when the excitation is initiated by changing the voltage in the corresponding coils of the electromagnet 90 or by applying a constant voltage, as described with with reference to FIG. 10a-10c, which means that in the case of permanent magnets embedded in the object 10, the excitation sections simply pull the object 10 along, while in the case of the electromagnet windings integrated in the object 10, the excitation coils are controlled in time when the weakened magnetic field near the electromagnet windings object 10 due to the force of attraction provides movement in the desired direction (in Fig. 12a, top right). In the latter case, already at the preceding moment of time, the excitation coils 90, located further upstream in the intended direction, are already tuned, for example, near the windings of the electromagnet of object 10, the magnetic field increases, resulting in a repulsive force in the desired direction (in Fig. 12a top right).

In FIG. 12b shows the same initial position as in FIG. 12a, however, to start the movement and rotation of the object 10 from it, the control 18 excites other coils of the electromagnet 90. As in the next step, the excitation of the currently activated electromagnet coils is modified, FIG. 12b, as in the previous case, is shown by arrows with the number 1. As you can see, the result is counterclockwise rotation.

In FIG. 13a and 13b, as in FIG. 10a shows a diagram of an object using magnetic repulsion. As in the case of FIG. 11b, in FIG. 13a and 13b, only two permanent magnets 100a and 100b are included in the structure of the object. The magnetic polarity is identical to the polarity in FIG. 10a, i.e., the magnetic poles of the excited solenoids 90 are directed oppositely to the permanent magnets 100a and 100b. In FIG. 13a and 13b also indicate in which direction the excited coils of the electromagnet 90 should act in order to “push in front of them” the permanent magnets 100a and 100b.

Further, based on FIG. 14-15b, structural solutions of means 16 for moving an object along a horizontal surface are considered (Fig. 1), in accordance with which the propulsion device generates bending or surface waves of the transport surface 12. Thus, the approach discussed below is an alternative to generating motion using electromagnetic forces in accordance with FIG. 9a-13b, and in combination with an air cushion can only be used as an option in order to reduce the mass of the object.

The principle on which this technical solution is built is illustrated in FIG. 14. The surface or bending wave propagating along the transport surface 12, excited by the generator of the bending wave 141, initiates an ellipsoidal movement 114 of the surface points of the surface 12 in time. It should be emphasized that in FIG. 14, the state of longitudinal tension of the surface 12 at a certain point in time is recorded, and for the position of a single point on the surface 140, an oval with arrows shows the trajectory of movement in time. The direction of motion of the bending wave in FIG. 14 is indicated by arrow 142. As you can see, the movement of the points of the surface 12 occurs at the peaks of the wave 144, on which the object 10 rests, that is, in the direction of movement of the highest point of the path 140 to the side 146, opposite to the direction of propagation of the bending wave 142. Object 10, mainly based on the wave peaks 144, thus, moves in the same direction 148 as the surface points on the peaks of the bending wave, that is, in the direction 146.

Therefore, in accordance with the implementation of FIG. 14, an arrangement of surface bending waves generator 12 is included in the arrangement of the object moving means 16 over the surface (FIG. 1). The control body 18 generates bending waves according to the explanation of FIG. 14 by moving the object 10 in the desired direction. Using known methods for calculating the synthesis of the wave field, the control 18 can appropriately calculate the formation of a bending wave.

FIG. 15a and 15b illustrate a possible method of generating a bending wave in the transport surface 12. The transport surface 12 is formed by a plane of sheet material 150, which, for example, can be rigid and translucent, which allows you to combine different types of structures, ensuring the operation of the positioning device 14, which uses the screen 152 indicated in FIG. 15a. The edge 154 of the plane 12 is fixed along the entire length in the supporting device 156 with a U-shaped profile of the working part, using an adhesive that, filling the cavities or gaps between the supporting device 156, which serves as the supporting fastening, and the sheet material 150, can simultaneously serve as an attenuator of bending vibrations plane 150 and fasten the elements mechanically and / or combine or isolate them acoustically. Piezoelectric elements 160 are inserted from both sides of the plane 150 against each other with emphasis on the opposing inner surfaces 162a and 162b of the support channel 156, which transmit mechanical vibrations to the plane 150, directed perpendicular to its surface 12, with the least possible attenuation, as shown by double arrows in FIG. . 15a. Piezoelectric elements 160 are placed along the cut 154 of the plane 150 at a certain equal distance from each other.

As shown in FIG. 15a and 15b, a groove 164 can be made in the channel of the support device 156 to deepen the edges of the sheet 150, where the latter is then fixed with an attenuating adhesive 158 so that when a very large force is applied perpendicularly to the plane 150, damage to the piezoelectric elements 160 or the attenuating material 158 is prevented. such a groove dampens the reciprocating movements of the horizontal plane 150 in the vertical direction in the area of the fastening, limited by the vibration-damping material 158, in order to prevent damage by the piezoelectric ntov.

Of course, the groove 164 can be made deeper and the mouth closer to the outer part or the piezoelectric elements 160 without preserving the free volume between the plane 150 and the inner surfaces 162a and 162b of the supporting device so that the plane 150 is fixed only by the groove 164. Depending on such working properties of the sheet material like stiffness and thickness, a similar arrangement can optimize the excitation of bending waves of the required frequency and amplitude.

It should also be borne in mind that there are many alternatives to the approach of FIG. 15a and 15b, both with regard to the excitation method, where, say, instead of a piezoelectric actuator, electromotive actuators can be used, as well as with respect to the fixation or non-fixation of the edge of the plane, attenuation of the bending wave in the region of the edge, in particular, shock-absorbing materials or giving the sheet edge an appropriate profile , with respect to the abutment and fastening of the plane, for example, not due to the groove, but due to the crest and / or foam material, as well as in relation to the design of the vibration excitation device 160.

Although in FIG. 15a, it is shown that the piezoelectric elements 160 are mounted on both sides of the plane 150, it is permissible that the piezoelectric elements 160 are placed on only one side, for example, on the side of the transport surface 12.

A number of precautions help to prevent the occurrence of reflection of bending waves on the edge 154 of the plane 150. One of the combined antireflection measures may be the processing of the edge 154 of the plane 150, such as, for example, coating or selecting the proper damping material 158, or shaping the edge of the cone shape etc.

In FIG. 15a and 15b, it is not shown that the plane 150 may be in the shape of, say, a rectangle or square. Also possible, for example, round or other shapes.

Finally, it should be noted that bending waves are not necessarily generated in planar figures. Surface waves can also be excited in a bulk body, one side of which is a transport surface.

Following consideration of options for constructive solutions of the present invention with a focus on means 16 for moving an object over a surface (FIG. 1), further, in the context of, first of all, FIG. 16-25, hardware versions of the positioning device 14 will be considered (Fig. 1), the main components of which are the display screen and the optical sensor built into the object.

In FIG. 16 shows a device for positioning or localizing an object 601 on a display 602. The device includes a control 613a of a display 602, on the horizontal working plane 602a of which changing information is displayed, and an optical sensor 603b for installation in or on the object 601 for optical scanning plot 602a 'of the transport surface 602a, on which the object 601 is located, to update the changing information. In addition, the device includes an orientation unit 604, 604 ′ for determining the location of the object 601 on the display 602 depending on the update results shown in FIG. 16 in dashed lines and mounted inside or outside the facility and / or outside the facility and separate from it.

In the future, in more detail, we will consider possible ways of presenting by the control body 603a information that varies on the horizontal plane of the display 602 to executive devices. For example, the control unit 603a may set the display to mode 602 to regularly request potential locations or positions of an object 601 on the display 602 by controlling the display 602 so that the display 602 displays an optically distinct spatially minimized feature recognized against the current background of the display screen 602, for example like, a constantly glowing pixel, a dark pixel, or a flickering pixel that would mark successively alternating data on different parts of a horizontal work surface 602a. Such a marking feature will move, scanning, for example, in a zigzag line-by-line fashion, the entire screen 602. By synchronizing sequentially displaying markers of potential localization sites, on the one hand, and data of orientation block 604 or 604 ', on the other hand, orientation block 604 or 604' is capable of calculate the position of the object 601 on the display 602, based on the time dependence or the ratio of alternating marker indications on the display 602, on the one hand, and the time when the optical sensor 603b recognizes the markers, that is, the time when The highlighting feature is within the reference portion 602a ′ of the object 601 on the transport surface 602a. If the orientation block 604 or 604 'is located outside the object 601, as an element 604', then a general time scan or synchronization of the orientation block 604 'and the control 603a can be performed in a simple form, for example, ordinary timing. More detailed explanations in this case are set forth below in the context of the figures below. Along with this, it is possible that the orientation unit 604, which is built into the object 601, only receives information from the control 603a about the beginning of the sequential indication of the marking feature, which then, let us assume, cyclically passes through all potential points of localization or position of the object at a given speed. To maintain synchronization, the following mapping is foreseen. The orientation unit 604 or 604 'and the control 603a can interact by actively querying the brightness value measured by the optical sensor 603b, after each movement of the marker to the next expected position, after which the marker first moves on, and then the next brightness indicator is requested, etc. d.

In addition to the above procedure of sequential or cyclic interrogation about the possible location of object 601 during successive passage of these positions and sequential indication of markers of these positions, there is another way to localize the object by the control unit 603a of the display 602, in which a dichotomous detailing procedure is displayed on the screen, which allows you to determine the location of object 601 in n steps up to the 2nd ^n- th screen size of the display 602. So, the display control unit 603a first divides the field wound 602 into two halves, each of which contains an image different from the second, or displays on the screen background something that does not coincide with the second half. Based on the results of the gating by the optical sensor 603b, the orientation unit 604 determines which half contains the object 601, then again halves this half and, based on the results of the new gating, determines in which quarter of the display screen 602 the object 601 is located, etc. If several objects are displayed on the display 602, the control 603a likewise halves all sectors in which the object is located at a certain stage, continuing to perform a binary search operation step by step, thereby simultaneously positioning more than one object with the same resolution abilities. This method of localization will be further detailed in the discussion of other technical solutions. A common time scan for the orientation block 604 or 604 'and the control 603a, which allows the orientation block to correctly distribute the gating results of the optical sensor 603b step-by-step in binary detail, can be performed, as in the previous display scanning interrogation procedure, for example, querying one or more brightness values per step.

Finally, it is possible for the control 603a to control a display 602 that displays information changing on a horizontal surface such that by extrapolating a piece of this information to the area scanned by the optical sensor 603b, it is possible to accurately determine the position within the display area 602. An example of this is serve as the cellular structure of the image on the display 602, where the step of the pattern changes strictly uniformly from one corner of the screen 602 to the opposite. In such a case, there is no need for a common time base or synchronization of orientation unit 604 and control 603a.

One of the advantages of installing the orientation block 604 'outside the object 601 is that the requirements for operating parameters for recognizing each object 601 are hereinafter. When wirelessly sending information by the optical sensor 603b to the orientation unit 604 ', data, for example, about the brightness measured by the optical sensor 603b, can be transmitted directly to the orientation unit 604', which immediately compares them with the changing information displayed on the display 602. In addition , a variant is possible in which the element 604 of the orientation unit, which is built into the object 601, already preprocesses exclusively the brightness indicators provided by the optical sensor 603b to transmit data to another element 604 ', Removing the brightness of parameters comprising, for example, recognition time marking feature, sequentially passing through the display 602 in the support portion 602a. A number of other features are discussed below.

Further, after a quick look at the device for tracking an object on the display surface, with reference to FIG. 17-20, a gaming device will be described, for example, for playing chess or the like, where it is necessary to track one or more game pieces on the display plane, and it is desirable that the technical features disclosed below, so to speak, be useful for the device proposed on FIG. 16.

Although the gaming device is further discussed, the positioning method used here for game figures can also be used for other purposes with corresponding objects, which will be discussed in conclusion of the description of FIG. 16-20.

The gaming device of FIG. 17, with a common designation 605, includes a display 610, a computer 612, a receiver 614, and a game figure 616. A computer 612 is connected to a display 610 and includes a control unit 618 that controls the display 610, for example, a graphics card of computer 612, and a processor 620, for example, a CPU (central processing unit) of a computer 612 configured to execute a program and responsible for the gaming functions of the gaming device 605, which will be described in detail below. Computer 612 or processor 620 is then connected to receiver 614.

The game figure 16 has a three-dimensional base 622, leaning during the game session on the display screen 610, thus overlapping a fragment of the image on it, that is, a portion of the supporting surface.

A transmitter 624 is mounted in the game figure 616, which is in communication with the receiver 614 and, furthermore, provides for reading the image element on the screen under the base 622 of the figure at the time of installing the game figure 616 on the display field 610.

Moreover, the gaming device is implemented with the ability to move the game figure without the user, for which the computer 612 or processor 620 provide, in particular, the translation of the functions of the control body 18 and are equipped with a moving means 16, coupled through the control body 18 with a positioning device, which in turn, consists of a display 610, a processor 620, a control unit 618, and an optical sensor integrated in the object 616.

As schematically shown in FIG. 18, the transmitting device 624 includes, among other things, a transmitter 626 capable of sending a response signal to the receiver 614, as described in more detail below, and an optical sensor 628 such as a photocell or photosensitive matrix, which are oriented so as to pick up radiation or light, falling into the internal volume of the base 622. In addition, the transmitting device 624 may include a processor 630 through which the transmitter 626 is connected to the optical sensor 628, although between the transmitter 626 and the optical sensor 628 Direct connection is also possible.

Following the above description of the individual components of the gaming device 605, this device will be considered in action during the game using, as an illustration, FIG. 19. The game may be, say, chess or the like, where, however, the description below with reference to FIG. 19 is limited by the functionality of the processor 620, which includes determining the position of the game figure 616 on the playing field of the display 610, which the processor 620 then uses, in particular, to calculate further moves in the game, to calculate the moves of the opponent, etc.

In the basic mode, i.e. in the initial state of the method according to FIG. 19, the processor 620 instructs the control unit 618 to display the playing field on the display 610. Thus, the parameters of the playing field on the display 610 are input to the processor 620. For example, in FIG. 17, the surface of the gaming table consists of three playing fields 632, on which, according to the rules of the game, a game chip 616 can be placed. At step 634, a background screen saver of the display screen is displayed. Then, the control unit 618 activates a display 610 for overlaying on the background image or on the image of the game table a special test pattern template for the game field 632 of the intended game, which should be clearly readable against the general background. So, in step 636, the control unit 618 sets the display 610 to alternately display the game fields 632 and, possibly, cyclically, sequentially for each field, display the test pattern template alternately. The visualization of the template within each corresponding game field 632 can be minimized over an area of 638, for example, up to one pixel of a given display 610. The test table may differ from the rest of the background characterizing this game table with a conditional color or variability of brightness or color over time, which is applied in a number of implementations described below.

In step 636, the optical sensor 628 of the transmitting device 624 continuously scans the portion of the image on the display screen 610, located under the base 622 of the game figure 616. As soon as the test pattern is displayed in step 636 in the game field 632, on which the game figure 616 is located, in the output signal of the optical of sensor 628, a special pattern can be recognized for processor 630. Following the recognition of the optical pattern in step 640 by processor 630, it sends transmitter 626 a command to transmit a response to receiver 614 via contactless interface 6 42 (step 644). The receiver 614 sends the response to the processor 620. Upon receipt of the response signal, the processor 620 receives information about the playing field 632, within which a control pattern was allocated in step 636. As for the possible time mismatch between the display of the control pattern in the corresponding game field 632 and the receipt of information about the transmission of the response signal by the transmitter 626, the processor 620 determines the position of the game figure 616 on the display 610 in step 646.

The response is transmitted through the contactless interface 642, for example, using RFID (Radio Frequency Identification) technology. However, further from the transmitting device 624 to the processor 18, wire transmission is again possible (not shown in FIG. 17).

If the signal sent by the transmitter 626 in step 644 contains a unique identification number, in step 646, in addition to determining the location of the game figure, a strictly defined figure from the plurality of game figures will be identified. This approach allows you to implement games such as, say, chess, where the pieces have different meanings, and, therefore, the processor 620 must distinguish between them.

In the case of chess, for example, the values of the unique identification number assigned to game pieces for their recognition will be in the range between 1 and 32 according to the number of pieces on the chessboard.

Since the processor 618 at each moment of the game “knows” the location and appearance of the figures 616 on the display board 610, it is possible to quickly duplicate any existing game situation without having to calculate the entire game from the beginning to the position of interest.

Provided that the computer 612 or processor 620 is expanded due to the interface for subsequent data exchange 648 (for example, via a modem or network), the processor 620 can transmit to the external device the game positions and the identity of all the figures, and, if necessary, the background displayed on the display 610 Moreover, if the processor 620 is also designed to receive data through the exchange interface 648, then it is possible to operate the system in team competition mode. Suppose two players who decide to play a game of chess can do this by having a processor 620 on each side connected to the opposite side via the Internet using the 648 data exchange interface. Each player will make moves only with his pieces. The moves by the figures of an opponent who is connected in the network will be performed by the computer from “this side” using organs 14, 16 and 18. So, after the first move of one of the players, the new position of the moved figure 616 will be locally fixed under the game board, the function of which is performed a display 610, as described in the context of FIG. 19. The processor 620 reports the new position of this figure through the second player’s data exchange interface 648 and the Internet 620, which, in turn, instructs the control unit 618 to use the moving means to translate the game piece 616 (say, an elephant, a pawn or others. ) on the display board 610 of the second player to a new position. Then, the second party member can register a new playing position and plan his next move, which, after being made, will again be communicated to the first player according to the procedure described above. It follows that the layout of the gaming computer 605 can be used to play chess with both a computer and a remote partner, moreover, the opponent’s pieces will move automatically. Along with this, the processor 620 can monitor compliance with the rules of the game and inform one player (in a game with a computer) or several participants in the game (in team game mode) about actions that violate the rules of the game.

Although a chess example in itself implies the participation of only two opponents, the gaming device 605 is also designed for games involving several rivals competing among themselves, for example, such as the board game “Mensch-Ärger-Dich-Nicht” (a variant of the board game Ludo is given in the application).

The next version of the implementation illustrates the possibility of applying the invention to game strategies, where not only determining the position and recognition of specific game figures is crucial, but also their orientation on the playing field. Using a gaming device and method, for example, described with reference to FIG. 5, it is possible to obtain accurate data of strategic importance for games where an offensive, retreat, or capture of combat forces by ticks is conducted. The test pattern 638, sequentially displayed in each field of the display 610, may, for example, consist of 3 x 3 pixels. Spatial localization and identification of the game piece 616 can be performed as described for playing chess. The orientation of the game figure 616 can be determined as follows: in four successive steps, each corner pixel of the template 638 is turned off (the corner pixel is not lit) and, therefore, cannot be detected by the optical sensor 628 of the transmitting device 624.

The optical sensor 628 of the transmitting device 624 is adjusted so that the angular pixel of the field, also 3 x 3 pixels in size, is empty or “blind” (ie, not recognized by scanning). At each of the four time steps, the processor 630, integrated into the transmitting device 624, controls the number of dark (unlit) corner pixels detected by the optical detector 628. In one of four successive steps, the disabled corner pixel of the template 628 will coincide with the “blind” corner pixel of the optical sensor 628, which means that only one dark corner pixel can be detected. Upon completion of the four time steps, the processor 630 activates the transmitter 626 to send a response signal to the processor 620, which contains registration data of a single dark corner pixel detected in a four-step operation. If the processor 620 knows the position of the blind pixel in the optical sensor 626 relative to the figure (for example, “rear left”), then the orientation of the game chip 616 can be determined based on the response, since the processor 620 extracts unique ones from the results of the four-step procedure when displaying the template 628 the orientation parameters of the game figure 616 and information on which of the four consecutive steps a single dark corner pixel has been registered. This type of recognition provides the determination of the four directions of orientation of the game figure 616, it is "forward", "right", "left" and "back". The ability to use finer “pixelation” or “blurring” (that is, increasing resolution and reducing contrast) of the image of the template 638 and the optical sensor 628 allows you to get even more accurate orientation of the game figures 616.

In another case, the orientation of the game figure 616 can be determined using a transmitting device 624, which sends a response report to the processor 620 on the recognition by the optical sensor 628 of the test pattern 638. The processor 620 can then calculate the orientation of the game figure 616 from the received response signal and the data it has regarding the orientation of the template 638 on the display 610 by determining the position of the image of the template 638 contained in the response signal, assume “upside down”.

Despite the fact that until now, the transmission of the response signal at step 644 was initiated immediately after the detection of the pattern 638 by the optical sensor 628, it is also possible that the transmitting device 624 constantly sends the image recognized by the optical sensor 628 and a unique identification number to the processor 620. Then, the processor 620, for example, instructs the control unit 618 to cyclically display the pattern 638 one in each of the fields 632. In this case, the positioning of the object 616 is performed by the processor 620, which registers the time of appearance of the pattern 638 on the image received from the transmitting device 624, and, based on this, determines the individual location of the object 616 in the field 632, in which the template 638 was generated

As mentioned above, the function of the processor 630 can be skipped if a value measured by the sensor 628 was sent, the value of which depends on the parameters of light incidence on the detector 628. Of course, before sending data, the processor can calculate another value from this value as a result of quantization or comparison with the threshold value, and pass this indicator to the orientation block. If, let’s say, the sensor has fixed several pixels of the image, then the orientation block sends the measured values of all the pixels at a time. Along with this, the processor 630 can, for example, pre-compute a scalar value from several measured pixel values, which it will then transmit to the orientation unit as a response signal.

Despite the fact that only the devices and methods were discussed above, where the processor 620 initiates a sequential indication by the control unit 618 of only one test pattern 638 in each of the fields 632, it is possible to simultaneously display several different individually recognizable patterns 638 in each of the fields 632 on the display 610 In such a case, the determination of the coordinates of the object 616 by the transmitter 626 is possible due to the continuous transmission of the image recognized by the optical sensor 628 to the processor 620, which Then, by comparing the received image and all the templates presented in the fields 632, it calculates the location of the object 616 in the field 632, in which the selected template 638 corresponds to the image contained in the response signal. At the same time, rotation of the received image by the processor 620 is also possible in order to match this “picture” with the template displayed on the display 610.

In the discussion of FIG. 16-20, the functions of orientation block 604 'in FIG. 16 took over the processor 620 and processor 630.

It should once again be specifically noted that the optical sensor 603b or 628 need not necessarily provide for horizontal resolution. The coverage of the optical sensor can be as little as one pixel, due to which it will measure only one value of the luminance of the glow at each moment of time, including and excluding color parameters. In particular, the optical sensor can be implemented as a single LED. The use of a photodiode array is not necessary. The explanation for this will again be given later in the description of the constructive solution for a game with several game figures with the illustration in FIG. 17. For example, in this embodiment, a passive or semi-passive RFID sensor is integrated in all game figures 616, including a device 626, and if necessary 630, to which a single photosensor is connected, such as a photodiode 628, which has a photosensitive surface that is larger than one in area display pixel 610. Since game figures in this example can be equipped with only one sufficiently large photodiode, the cost of the game is significantly reduced compared to the use of photodiode arrays in game figures 616.

In this game scenario, the device of FIG. 17, implementing the algorithm of FIG. 21, searches for game pieces on the display 610 and, if necessary, determines their orientation. As shown in FIG. 21, the algorithm starts (at 660) a processor 620 instructing the display 610 of the computer 612 through the control unit 618 to turn off the screen to darken it. Following this (at step 662), the processor 620 through the transceiver 614 recognizes all available RFID624 devices or all involved game pieces 616 and registers or stores the status or brightness value of the corresponding photosensors 628, that is, it captures what the photosensor perceives as the corresponding working sensor game pieces - darkness or light. Depending on the type of RFID technology used, shown here, of course, only as an example of wireless communication 642, the processor 620 is able to determine, for example, from 100 to 1000 RFID devices and, therefore, from 100 to 1000 game figures per second. The result of step 662 is a register of all game figures located in the range of the receiver 614, regardless of whether they are placed on the gaming table, on the display 610 or outside.

Following this (at step 664), the processor 620 of the computer 612, through the control unit 618, initiates the on (glow) of the display 610 and at the next step 666 repeats the search for all available RFID624 tools or at least records the status of the photo sensors 628 of the covered RFID624 devices. Based on these two brightness values of each of the available RFID 624 devices, the processor 620 can recognize those game figures 616 in which the status or fixed brightness value of the corresponding optical sensor 628 has changed by more than a predetermined amount. Such a comparison of the brightness values before and after turning on or beginning to light up the display in step 664 is performed by the processor 620 in step 668. The result of step 668 is the arrangement of game figures on the gaming table or on the display 610, since it is assumed that game figures whose sensor status has changed are on the display 610, while other game pieces are not on the display 610 or the gaming table.

Steps 660 - 668 can be repeated one or more times in order to ensure recognition reliability in step 668, and the search or fixing in steps 662 and 666, for example, may be limited by the already known RFID elements. In general, that is, with or without repetition, steps 660 to 668 can be performed for a maximum of two seconds.

Then [FIG. 22], the processor 620 of the computer 612 through the control unit 618 step by step performs a series of operations of dividing the display area 610 in half [670a - 670d], first dimming one half 610 ₁ and leaving the second half 610 ₂ [670a] glowing, after which, in the next step [ 670b], performs the same division, extinguishing half 610 ₃ and leaving luminous half 610 ₄ , each of which overlaps half of each of the two previous halves [610 ₁ , 610 ₂ ], and in the next step [670c] divides the formed quarters 610 again ₃ on the dark and luminous, etc. One possible stepwise sequence of images on a display screen 610 is shown in FIG. 22, where, from left to right, for example, the first four steps 670a, 670b, 670c, 670d of dividing in half are given. When the processor 620 performs dichotomous division at step 670, it registers each individual operation of procedure 670, fixing in which part of the screen — dark or illuminated — according to the indications of the corresponding optical sensor 628, there is a game figure. This is the procedure for the “binary search” by the processor 620 of the location of the game figures 616 at step 670 of the algorithm. Based on the recorded responses of the game figures 616 or based on the recorded brightness values for each of the division operations 670a, 670b, 670c, 670d, etc. binary search 670 processor 620 determines the individual position of each of the game figures.

Or, alternatively, the processor 620 may at step 670 determine where the game figure is located, performing a dichotomous search in descending order of the magnitude of the illuminated area, that is, after sequential blanking or lighting, first half, then quarter, then one-eighth, etc. On the screen, the processor then checks which game pieces are registered lit or dark. As for the search in each of the fields of any small size or known configurations, it only requires a more thorough examination of the surface area on which the objects are located, and the binary search at step 670 is not too time-consuming.

As seen in FIG. 22, dividing the surface into light and dark areas at each subsequent step of the dichotomous search 670 becomes smaller and smaller. In principle, the fineness of such fragmentation can reach a resolution in pixels. In practice, the division can be so small that the separated light sections at a certain stage can become smaller in area than the optical sensors 628 of the game figures 616, that is, less than the area of the base or supporting surface of the figures 616 when the processor 620, according to the registration of the received responses or values brightness for each operation 670a through 670d will have to determine the boundaries of the objects 616 and, in particular, the boundaries of the photosensitive regions of the respective optical sensors 628.

So, the result of step 670 is the spatial localization of game figures 616 on the horizontal surface of the display screen 610.

Now, in the next step 672, the processor 620 can pay special attention to thin scanning of each position of the game figure determined as a result of step 670 in order to accurately determine the area of the photosensitive zone of the optical sensors 628 of the game figures 616 on the display screen 610. Scanning can be provided, for example, only one pixel or one light point. For example, in front of the photosensor 628 of each game figure 616, you can install a photo template of a suitable geometric shape, and you can return the template to its original shape by simple rotation in the plane of the screen more than 90 ° or, say, 360 °. In this case, the scanning at step 672 will help to determine not only the location, but also the orientation direction of the figure 616. For example, a request to the RFID626 devices integrated in the game figures 616 can be sent individually and with high frequency through the transceiver 614. In practice, at step 672 after more than 100 read operations can be performed in one second, that is, high-precision scanning is fast and imperceptible to the user. The exact scan in step 672 is actually limited by the position of the game piece. The computational cost of recognizing the corresponding template for the planar resolution of the photomask can be attributed, as described above, to the account of computer 612 or processor 620, while the sensors will only transmit brightness values. Game pieces 616 only need photo masks or properly configured photosensors 628. If the rules of the game do not require the orientation of the game figures, round photo sensors or round photo masks can be applied.

In FIG. 23 shows that the game figure 616 can include a lens 690, for example, a polymer one, which performs the function of adapting pixels 692 of the image of the display 610 for the optical sensor 628 or for its photomask (not shown) in order to improve optical characteristics in the composition of its equipment in the base cavity 622 . So, the lens 690 reduces the distance between the volume of the base 622 of the figure 616 and the image elements (pixels) 692 of the display 610, which is formed by a protective screen 694 placed between the display screen or the display 610 and the game figure 616 to protect the translucent screen 610 from mechanical damage, etc. The use of the lens 690, along with this, helps to reduce the negative effect of contamination of the sole 622 of the game figure 616, since the contaminants are not in the plane of the object, but at a distance from the plane of the lens.

It is logical to conclude that the design solution discussed using FIG. 21-23, can be implemented in such a way that the recognition of test patterns described above will be performed by snap elements of game figures, i.e., by processor 630.

Finally, you should pay attention to the fact that the movement of one or many game pieces on the display 610 can be monitored directly while they are moving along the surface of the playing field on the display 610. For this, it is recommended to scan (maintain) game pieces or an object with, for example, high frequency. Due to this, both horizontal displacements from the vertical axis and rotations around it are well recognized. Due to this, the trajectory of the movement of game figures can be fixed in the case when they are moved horizontally along the playing field or display 610 by the user.

Further and finally, FIG. 24 should clearly show that the transmitting device 624, while not being paired with a specific game figure 616 rigidly, however, can be individually associated with it. In accordance with FIG. 24, the transmitting device 624 is, for example, embedded in the base 700, into which the game figure 616 can be inserted, threaded or mounted in any other way. Finally, in FIG. 25 is a top view of one of the possible arrangements of the panel 710, which covers the photosensitive region of the optical sensor, for example, a photocell, and has a clearance 712, which opens the most efficient photosensitive area of the optical sensor 628, since only through it the display light can fall on the detector 628. Along with this shows by way of example that the area of zone 712 may exceed the dimensions of the pixels indicated in the figure by general reference 714. Of course, the sensor itself can also be made in the form of 712, then the panel can be excluded. The panel shown in FIG. 25 contributes to the exact determination of position and orientation described above, for example, by scanning the area around the lumen 712 with a resolution of only one pixel 714, alternately fading and illuminating. Due to this, the orientation unit is able to set all the pixels 714 that overlap the field 712 to a greater extent than anticipated. The response signal transmitted by the detector 628 through the transmitter to the orientation unit is binary and indicates whether the measured brightness value does not exceed the calculated value corresponding to the calculated degree of instantaneous overlap, for example, at the time of the request. It is clear that the response signal can also serve as an indicator of brightness at more specific stages.

In the prior review process of FIG. 16-25 the presence of the means of movement 16 and the control body 18 was indicated only schematically. The fact that the structural solutions presented above in the context of FIG. 2-16 are very well combined with the design options shown in FIG. 16-25, will become apparent further, with reference to FIG. 26a and 26b, which illustrate the implementation of combined hardware versions combining the display means of the positioning device shown in FIG. 16-25, and previous technical solutions of the vehicle 16.

As previously described, the working plane can be made of a transparent or translucent material with separately adjustable nozzle valves integrated in it, as shown in FIG. 2-8. In FIG. 26a shows how such a structure can be combined with the equipment of FIG. 16-25 using a pneumatic valve membrane 800 mounted above the display 802, the structure of which, in turn, may include a protective panel 804 and correspond to the technical solutions of the display screen shown in FIG. 16-25. Between the pneumatic valve membrane 800 and the display screen 802, a hollow space 806 is preserved, which acts as a pressure chamber, from which compressed air is passed through activated air valves of the membrane 800 to the area of the transport surface 12. The light transmission of all over-screen layers guarantees the viewer a clear view of the image on the display 802 formed of pixels 808, through a transparent protective panel 804, through a pneumatic chamber 806 and through a pneumatic valve membrane 800, the outer side of which is directed against olozhnuyu side of the display 802 and forms a transport surface 12. The optical sensor, which has already been discussed, integrated into the bottom part of the base object, as shown in the examples of FIGS. 3 or 8, provides for reading through one of the volumetric cavities, for example, the central one, changing in the horizontal plane of the information displayed by the display 802, and, if appropriate, transmits the scan results using the transmitter.

In FIG. 26b is a cross-sectional view of an object or game figure; an example of an arrangement of an optical sensor according to FIG. 23.

FIG. 26b shows the ability to integrate the constructs of FIG. 2-8, 9-13b and 16-25. In FIG. 26c, the display 802 is also separated by a pneumatic chamber or a layer of air under pressure 806 from the pneumatic valve membrane 800, the upper side of which forms the transport surface 12. On the inner plane of the display 802 facing the opposite side of the valve membrane 800, a plane with a battery of electromagnet coils is mounted [810], which can be made in accordance with FIG. 9a. The objects hanging on the air cushion can be controlled by an electromagnetic drive due to the battery of electromagnet coils 810, and the position of the object will be determined by the positioning device using the display 802.

In FIG. 15a, the feasibility of combining the technical solutions of FIG. 16-25 and the design options of FIG. 14-15b, in which the display is simply mounted below the surface of the bending wave. Here, attention should be paid to the possibility of exciting a bending wave in a plane of sheet glass, which, in accordance with the version of FIG. 6a and 6b of the air valve opening, whereby the arrangement of FIG. 2-8 may be combined with the options of FIG. 14-15b, i.e. with the combined technical solution of FIG. 16-20.

In other words, the design solutions discussed above allow the gaming computer to move the passive game piece on the game table in a controlled and “free” mode, taking into account the position and orientation of the game figure. In addition, the possibility of a directed application of force to the game figure is provided when the place, direction and power of such a driving force are regulated within certain limits within the plane of the playing field. It is also possible to rotate game pieces in place. To this end, two force vectors are applied to the object, arising due to elements opposing each other within the playing surface, acting on different points of the figure, as shown in FIG. 4b and 6b, 12b and 13b. If it is necessary to move several figures at the same time, n times more vectors must be applied to them, which also require control, which, however, is not a problem in practice.

The physical characteristics of different game figures can vary to one degree or another, for example, their friction on the surface of the gaming table, their mass, etc. This task, however, is easily solved, since the control uses a feedback mechanism, in which, accordingly, the current location and orientation of the game figures are taken into account, and, if necessary, this data is sent to the gaming computer.

Therefore, the options for technical solutions discussed above meet the requirements of gaming devices, where a large number of force vectors are often applied, which require ease of control, taking into account the application point, direction, and magnitude. In the described implementations of the invention, the principle is used that the management of the named variables should not depend on a random choice of resolution. It is preferable to vary the quantization step depending on the properties of specific game figures, for example, on their sizes. Suppose that if the diameter of the smallest of the figures used is 10 mm, then, for example, a resolution of one fourth of this diameter, that is, in this case 2.5 mm, will be enough to control the force vector. The exact indicators depend on the conditions of practical implementation.

The magnitude of the force vector acting on the figures can also be determined by the control. At the output of a closed duty cycle, the positioning device produces a result that includes a controlled variable of position or speed of an object or game figure and controlled variable of direction and “power” of the force vector. The control can use the PID (proportional-integral-differential) controller, which, in turn, must ensure the balance of the applied force vector so that the movement of the game figure is as uniform as possible while eliminating or minimizing side effects on other game figures. For example, the control can increase the magnitude of the application of the force vector from the minimum value to the beginning of the movement of the game figure and then maintain this level, or even reduce it after overcoming static friction. In particular, force quantization is accomplished by introducing additional air valves in the structure of FIG. 2-8, or even by dosing the air pressure supplied to the pneumatic valves. The intensity of the bending waves is also controllable. And finally, the current passing through the windings of the electromagnet in the hardware versions of FIG. 9a-15b is also adjustable.

The positioning device can control the position of the fixed figures during the game, and if necessary, the control body can apply the necessary additional force vectors to hold such figures in place.

So, the technical solutions discussed above demonstrated three different practically feasible ways of applying the mentioned force vectors. Firstly, it is bending waves excited in a translucent, as thin as possible plane, for example, from Plexiglas (perspex), which can cover the playing field, in particular, the display screen, as in the cases of FIG. 16-25. Secondly, these are magnetic fields generated by a matrix of electromagnets placed under the screen serving as a playing field. Finally, it is compressed air passing through controlled pneumatic valves, integrated, for example, into a thin translucent sheet of the playing field, preferably protecting the areas where the game pieces move. Along with these, the description also referred to other implementation options in which the physical phenomena indicated above were somehow used.

Depending on additional conditions, in particular, the type, shape and size of the movable game pieces, it is preferable to use one or several of the aforementioned sources of applied force or energy during the implementation, namely bending waves, magnetic fields or compressed air, as indicated above. So, for example, using compressed air, namely, by creating the effect of an air cushion, the friction force under a figure or in a certain area of the playing field is reduced for the subsequent movement of this figure in this area using a magnetic field, which is shown in combination in FIG. 26c.

Thus, without additional arguments, it is clear that the design solutions discussed above can be used to create games, especially board games. Moreover, they can be used for computer games, where a gaming computer will quickly automatically move real figures on the gaming table, moreover, without human intervention.

As shown and described above, the implemented hardware versions can be equipped with a screen acting as a gaming table on which the computer can automatically determine the position of the figures in the game.

Thanks to the technical approaches presented above, tasks often associated with games have also been solved, namely, the need to move several game pieces simultaneously. The structures presented in this invention do not need any movable elements.

Referring to the arrangement of FIG. 14-15b, it should again be emphasized that the use of sheet material is preferred. Since [on a bending wave] any point on a flat surface moves along an elliptical trajectory, in which at the peak of the wave the movement is directed in one direction and at the sole of the wave in the opposite direction, it becomes possible to move an object that relies on the peak points of the surface wave in the desired direction , that is, due to the impact on the object, in particular, the game figure in contact mainly with the peak points of the bending wave, the friction force directed towards the movement of the surface points of the peak of the wave.

The control can adjust the waveform in the plane with an accuracy sufficient to ensure that under each moving game piece in a given direction peaks of waves of large amplitude pass, and under the figures that should not move, the amplitudes of the peak of the waves remain insignificant. Through such manipulations, the control can individually move the desired objects or set them in the desired position. For rotation of an object or a game figure, the control body can, for example, generate oncoming waves of opposite waves from opposite edges of the support surface, due to which oppositely directed forces begin to act on the object. In this regard, the control can use wave field synthesis to generate an almost disordered wave field. Such a synthesis of the wave field is well known from the field of acoustics. To this end, as already described above in the context of FIG. 18a and 18b, the transport surface may be surrounded by a large number of flexural wave generators, such as piezoelectric elements, each of which excites a head wave or an elementary wave that covers the desired wave field according to the Huygens principle.

Preferably, the bending wave generators are installed no closer than a certain minimum distance from each other. This minimum interval may depend on the frequency with which the bending wave generator generates bending waves. When designing the control 18, it should be borne in mind that the principle of the synthesis of the wave field is preserved for solids and for the ultrasonic range. So, the wavelength of the bend may be less than the size of the moving game figures or objects. For example, sound sources, such as the piezoelectric elements already mentioned, create an appropriate wave field with trains of waves of sufficiently high frequency in a thin plane, along the edge of which sound sources are placed at a certain small distance from each other. According to the above explanations, it is recommended here to prevent restrictions on the cut plane of the unwanted reflections due to acoustic wave impedance. Depending on the application, a smaller number of bending wave generators installed at a larger interval from each other may be sufficient. In other words, depending on the application, a wave field formed by a reduced number of elementary waves or a smaller number of flexural wave generators may fully meet the requirements.

In FIG. 26c also reflects the possibility of placing under the display or under a thin flat panel displaying the playing field, a matrix of individually controlled small turns of the electromagnet oriented vertically relative to the playing field. Due to this, with appropriate manipulation of such electromagnet windings, a controlled magnetic field can be generated inside the playing plane. The latter can be used “quasi-statically” or, according to the principles of a linear electric motor, for moving game pieces, which was displayed as an implementation in FIG. 10c. The game figure in FIG. 26b, for example, can be used in such an implementation if it includes an element attracted or repelled by a magnet according to one of FIGS. 10a-10c.

In a quasi-static approach, for example, small permanent magnets are embedded in game pieces, and electromagnet windings mounted under the gaming table are used to apply traction or shear forces to these permanent magnets. As a result, force vectors arise, and with a sufficient raster frequency and accuracy of regulation of the turns of the solenoids, as well as providing the positioning device with the proper feedback mentioned above, it is possible to achieve the desired mobility of the figures in the game. If two or more permanent magnets are inserted into the game piece, directed in different directions of the game field, as illustrated above in the context of FIG. 12a-13b, such a figure can be freely rotated or rotated if it is exposed to it from two sides in the desired direction by a pushing or pulling magnetic field. With appropriate debugging of the game figure, the shear effect can also be used, for example, to reduce the mass of the figure resting on the sole or base, contributing to the shear or traction force applied to the figure by a magnet located below the center of gravity of the figure.

In the approach using a linear electric motor, as in FIG. 10c, small-sized electromagnetic coils acting as a “rotor winding” are mounted in game figures, where the current is induced by changes in the magnetic field. The coils of electromagnets under the gaming table are field coils that generate a moving magnetic field that affects the turns of the rotor. Properly executed excitation coils, for example, observing the required distance to the rotor windings and with sufficient “resolving power” of the matrix of excitation coils, facilitate direct mutual separation of forces on individual rotor turns to perform controlled individual movements of game figures. Another version of the implementation is to make the turns of the rotor 110 inside the game figures “switched” and thereby make the rotor winding separately activated, for example, so that a switch or adjustable resistance is connected to the branch parallel to the real winding 110. The moving magnetic field can be expanded, which facilitates the adjustment of the excitation matrix or the matrix of coils of the electromagnet. By selecting the appropriate rotary turns, you can move and rotate the desired figures.

Movable game pieces or objects can receive individual commands from the outside, for example, from the control, to open or close the corresponding switching elements or rotor windings.

The technical solutions shown in FIG. 2-8 relate to devices that operate on the principle of “hovering” on an air cushion. In accordance with this principle, air for the airbag enters through a plurality of thin holes or pneumo nozzles of the supporting plane. As mentioned above, such a plane can be a sheet of translucent material placed above the playing field, for example, above the display. The corresponding objects, for example, game pieces, hang above this plane. The air cushion under the object eliminates friction between it and the bearing surface, after which the object can be easily moved in one of the directions.

Previously described are possible options for combining the effect of an air cushion that reduces friction, with other physical phenomena and forces that provide movement. At the same time, air nozzles built into the carrier plane can act as a propulsion device, generating movement due to their individual opening and closing with air supply to the bases of game figures having a special configuration, as described when considering FIG. 2-8.

The light-transmitting material of the reference plane with integrated separately adjustable pneumatic valves, which has already been mentioned several times, may be a thin, non-conductive sheet polymer. In a sheet of such a non-conductive polymer, for example, very narrow short slits are cut with a laser, which can act as separately adjustable air valves. Due to electrostatic forces, these slots can be in open or closed state. These slots can be coated with a transparent conductive material, and subsequently with a layer of transparent non-conductive material. Thus, the walls of the slots essentially form a “plate capacitor”. Subsequently, a matrix of conductive tracks and transistors can be installed on the upper and lower surfaces of the reference plane of transparent material so that any of the walls of each of the slots can be individually monitored and charged.

If the walls of the slots are currently unipolarly charged, they mutually repel and open the air valve; if they have opposite charges, they mutually attract and keep the valve closed, as described above. If possible, it is preferable that the plane in this case be sufficiently elastic.

A solution is possible, according to which the electrostatic valves are formed by two layers of foil lying on top of each other.

Another variant of the reference plane can provide horizontal movement of game figures due to the driving forces generated by the controlled pneumatic valves. One of the possible structural solutions described above provides for the separation of the lower volume of the figure by partitions into isolated compartments. Through the air valves, air can be supplied to the compartments separately. In the center of the figure, a completely insulated chamber can be blocked out, due to which a carrier air cushion is formed. Around such a chamber can be compartments, the partitions of which are not continuous. The mouth of the opening in the partition forms a “jet nozzle", which, when supplied with air, depending on its geometry, can create longitudinal or transverse thrust. In this regard, reference should again be made to the description of FIG. 3, 4a and 4b. To move the figure, first the central chamber is filled with air to form a carrier air bag that weakens the friction force, then air is supplied to one or several other compartments to create a traction force in a certain direction of linear or rotational motion.

Thus, thanks to the design solutions described above, there is no need to use robotic manipulators to capture and move objects on the surface. Active movable elements for game pieces are not required. Force vectors are formed without moving elements, with the exception of the above cases with electrostatic pneumatic valves or piezoelectric elements to generate a bending wave. Using the proposed versions of execution, several figures can rotate or move simultaneously. The generation of the force vector can be performed exclusively “from below”. Due to this, the space above the playing field or above the transport surface remains free. In particular, the hardware versions presented above make the game “tangible” on the part of the gaming computer as a partner. The computer can recognize human moves and make reciprocal moves for themselves or for remote players directly with real game pieces. Any game may be embodied in which the rules provide for the presence of a playing field and players' chips.

With regard to separately controlled air valves, it is necessary to pay attention to the fact that the material used, for example, silicon (silicone), should preferably be flexible enough to effectively ensure the opening and closing of the air ducts. As mentioned earlier, the applied force can be created due to electrostatic force due to the presence of electric fields. As a result, the capacitor plate may be transparent. Depending on the practical application, one electrode or one capacitor plate for each separately adjustable valve may be sufficient if, for example, a region with a continuously charged section or with one constantly charged gap wall of an individually adjustable gap is introduced as another plate of the capacitor plate pneumatic valve. As already suggested above, the air valves can be made of silicon (silicone) and embedded in the supporting plane of a solid material, for example, sheet glass, with holes in the size of the valves. The refractive indices of silicon valves and glass are selected so that they coincide, say, 1.43. Therefore, it is possible to ensure optical smoothness of the transition between the glass and silicon valves without impairing light transmission.

From the embodiment described in the example of FIG. 14-15b, it is known that motion can also be generated by a stationary wave. The control can control the means of movement 16 so that the moved object or game figure with the proper geometry of the base were in the cavity of a standing wave. If the standing wave then begins to move slowly, suppose, due to the smooth regulation of the phase of one of the generating wave trains, the game figure will begin to move in a horizontal plane between the peaks of the waves. If separate zones of complex configurations are located near the game figure, the figure can be imparted rotational movement by means of two different standing waves.

Depending on the conditions of practical application, the methods described above can be implemented in hardware or software, in particular, in particular, algorithms for localizing and identifying objects on the display plane or techniques for moving objects on a horizontal plane. For technical performance, digital media and data storage devices can be used, such as, in particular, floppy disks, CDs, DVDs that store electronically readable control signals and interact with a programmable computer environment in such a way that the corresponding method can be implemented. Thus, in General, the invention is a software product or computer product or software with software code on a computer-readable medium for implementing the method presented in the present invention, subject to the implementation of this software product using computer or processor technology. Defining otherwise, the invention can be implemented as a variant of a digital medium for controlling components of a system with program code for implementing the present method, provided that it is performed using processor technology. As a processor, a computer, a microprocessor card, a gaming computer, or other integrated circuits can be used here.

Claims (6)

1. A system for moving an object over a surface using the attractive or repulsive forces of a magnetic field, including: a plurality of independently controlled electromagnet coils distributed over the surface, designed to form magnetic dipoles directed perpendicular to the horizontal surface; device for positioning an object on the surface; a control element for a plurality of electromagnet coils distributed over the surface, designed to bring an object closer to its intended position on the surface. 2. The system according to claim 1, in which the object is made of a magnetically permeable material and includes two elements that can be attracted or repelled by a magnetic field in any direction in the horizontal plane on the supporting surface. 3. The system of claim 1, which also includes a nozzle diaphragm acting as a transport surface and comprising a plurality of built-in nozzles through which compressed air can be supplied in a controlled manner, forming an air cushion between the object and the surface. 4. The system according to claim 1, in which the device for positioning an object on the surface, in turn, includes a display mounted (relative to the observer’s gaze) between the work surface located above it and a plurality of electromagnet coils distributed over the surface area under him, while the image on the display remains visible to the observer through the working surface; display control, controlling the image changing on a horizontal surface; an optical sensor mounted inside or outside the object for optical scanning of the bearing surface, on which the flat sole of the base of the object rests, in order to obtain visual information about changes in the image on a horizontal surface; and an orientation unit for determining the position of the object depending on the scan result. 5. A method of moving an object in which, due to magnetic attraction or repulsion, the object can move on the surface due to a plurality of electromagnet coils distributed over the entire surface area, independently adjustable to generate magnetic dipoles directed perpendicular to the surface, with the main the components of the method are positioning an object on a surface; and controlling a plurality of electromagnet coils distributed over the entire surface area to bring an object closer to its intended location on the surface. 6. A computer-readable medium containing a computer program stored thereon with program code capable of performing the method according to claim 5, when the computer program is executed by a computer or processor.

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