TRACKING THREE DIMENSIONAL PUZZLE COMPONENTS USING EMBEDDED IMAGE SENSORS AND CONTACTLESS ABSOLUTE POSITION ENCODERS

Abstract

Disclosed herein are embodiments of three-dimensional puzzles that implement image sensors to read signatures of individual shell segments to thereby determine shell segment patterns. Also disclosed are embodiments of systems that implement RGB sensors adjacent gradient color maps to provide contactless absolute position encoders.

Claims

1. A three-dimensional puzzle comprising: a shell having at least four faces and formed by multiple shell segments, wherein at least some of said shell segments (i) are free to move relative to adjacent shell segments and (ii) can be repositioned relative to a core within said shell, wherein the faces being free to rotate relative to the core about axes extending from the core toward the faces; a plurality of unique signatures, each located at one of said at least some of said shell segments; and at least one optical sensor configured to detect an identity and orientation of each of said at least some of said shell segments, based on said unique signatures.

2. The three-dimensional puzzle of claim 1, configured to determine a current shell segment pattern of said shell, based, at least in part, on said detecting.

3. The three-dimensional puzzle of claim 1, wherein each unique signature represents colors of all face segments of its corresponding shell segment.

4. The three-dimensional puzzle of claim 2 further comprising: a processing circuitry, wherein the processing circuitry is located within the shell and configured to perform said determining.

5. The three-dimensional puzzle of claim 1, wherein: the shell has six faces, which form a cube; the shell segments are six central cubelets, eight vertex cubelets, and twelve central edge cubelets, the central cubelets each being on a different face of the shell and each being supported by contacting a separate post extending from the core along the axis of rotation of its respective face; and wherein said at least some of said shell segments comprise said eight vertex cubelets and said twelve central edge cubelets.

6. The three-dimensional puzzle of claim 1, further comprising: at least one mirror directing images of the unique signatures toward the at least one optical sensor.

7. The three-dimensional puzzle of claim 1, further comprising: at least one lens directing images of the unique signatures toward the at least one optical sensor.

8. The three-dimensional puzzle of claim 1, further comprising: a light source directed to illuminate the unique signatures.

9. The three-dimensional puzzle of claim 1, where the optical sensor views all unique signatures simultaneously.

10. A contactless absolute position encoder comprising: an RGB sensor affixed to a first platform, the RGB sensor having a field of view; and a color map within the field of view of the RGB sensor, the color map being affixed to a second platform; wherein the RGB sensor provides output indicative of the absolute position of the first platform relative to the second platform.

11. The contactless absolute position encoder of claim 10, wherein the color map provides a transition of colors in two dimensions.

12. The contactless absolute position encoder of claim 10, wherein the color map is planar.

13. The contactless absolute position encoder of claim 10, wherein the color map is cylindrical.

14. The contactless absolute position encoder of claim 10, wherein the color map extends in three dimensions of a Cartesian coordinate system, and said output is indicative of the absolute position of the first platform relative to the second platform in three dimensions.

15. The contactless absolute position encoder of claim 10 further comprising: a light source directed to illuminate the field of view of the RGB sensor.

16. The three-dimensional puzzle of claim 1, further comprising a processing circuitry configured to determine said movement of said at least some of said shell segments.

17. The three-dimensional puzzle of claim 1, comprising a power source located at said core, wherein said power source is accessible for charging through at least one of said shell segments.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The invention is described below in the appended claims, which are read in view of the accompanying description including the following drawings, wherein:

[0018] FIG. 1 shows a 33 cube as one type of prior art three-dimensional puzzle;

[0019] FIGS. 2A and 2B show typical prior art cores for three-dimensional puzzles;

[0020] FIG. 3 illustrates the rotation of a face of a prior art three-dimensional puzzle;

[0021] FIG. 4 provides an illustration of a vertex element of a three three-dimensional puzzle in accordance with one embodiment of the invention;

[0022] FIG. 5 provides an illustration of a vertex element of a three three-dimensional puzzle in accordance with an embodiment that is an alternative to the embodiment of FIG. 4;

[0023] FIGS. 6A, 6B, 7A, and 7B illustrate outside faces and corresponding inside coded areas for alternate embodiments of the invention;

[0024] FIG. 8A provides a side view the position of a system of an image sensor and cubelets in accordance with an embodiment of the invention;

[0025] FIG. 8B an alternate view a component of the system of FIG. 8A;

[0026] FIG. 9A illustrates the inside view of a component of a three-dimensional puzzle, and

[0027] FIG. 9B indicates pattern information of the component of FIG. 9A;

[0028] FIGS. 10A and 10B illustrate the change in images viewed by an image sensor when a side of a three-dimensional puzzle rotates;

[0029] FIG. 11 illustrates the deployment of four image sensors relative to one face of a three-dimensional puzzle in accordance with an embodiment of the invention;

[0030] FIGS. 12A and 12B provide illustrations of alternate embodiments of the invention implementing a hemispherical mirror and fewer image sensors;

[0031] FIGS. 13A and 13B provide illustrations of alternate embodiments of linear contactless absolute position encoders in accordance with the invention;

[0032] FIGS. 14A and 14B provide illustrations of alternate embodiments of angular contactless absolute position encoders in accordance with the invention; and

[0033] FIGS. 15A, 15B, 16A, and 16B provide illustrations of alternate embodiments of two-dimensional contactless absolute position encoders.

DETAILED DESCRIPTION

[0034] Disclosed herein are implementations of optical sensing to identify the colors of the face segments of three-dimensional puzzles, their positions on the puzzles' faces, and their motion relative to other face segments. Embodiments of the invention monitor the puzzle state as well as movements executed by the player. Multiple embodiments of optical sensing configurations are described. The sensors are positioned inside the puzzle, such as at or inside the core, connected, and powered using for example the techniques used for optical sensors described in International Application WO 2018/138586. Electronic deployment inside the cube enables when desired the use of lighting sources such as LEDs to facilitate clear optical sensing. The optical readings may be further processed to evaluate the puzzle state and movements either by a companion CPU/DSP residing in the same core or by sending the raw data to external processing unit, such as that in a mobile phone. Further details of how the internal CPU and wireless device are wired and powered are provided in International Application WO 2018/138586.

[0035] Embodiments discussed below frequently reference the well-known 33 Rubik Cube, that is the puzzle with nine face segments on each of six sides. Such examples are merely illustrative and do not limit the scope of the invention to exclude different numbers of elements, and the scope of the invention further does not exclude face segments that may differ by displaying thereon differing numbers, shapes, patterns, and symbols, as non-limiting examples of ways how face segments may differ.

[0036] For discussions below, the term vertex element references the element of the cubic puzzle that has three vertex face segments (one vertex face segment from each of the three faces of the vertex). The vertex segment is marked inside (that is, not marked on or near the face segments facing outward) with a unique signature, or code, that identifies the vertex segment and its three-dimensional orientation. That is, the code indicates the colors of the three face segments and their orientation.

[0037] One example of such code for a vertex element 76 is illustrated in FIG. 4. The coded area 78 is located in the upper-right region in the illustration. The area 78 is visible from the cube's core. As FIG. 4 shows, the colors of the face segments (only face segment 80 visible in the drawing), which face outside, are the same as the colors in the coded area 78, which is visible from the core. Thus, an example orientation of the face segments red-downward 82, yellow-to-the-left 84, blue-to-the-back 86 is readily apparent from the core.

[0038] The non-vertex edge segments also have colors on the inside indicating the colors of the two outside face segments. The correspondence of the colors on the coded region matching the colors of the face segments is a natural result when the vertex elements and the non-vertex edge segments are manufactured using three and two, respectively, separate solid-colored pieces. For example, such configuration is common when manufacturing the Dayan Cube, which competes with the Rubik's Cube.

[0039] However, some cubes, such as the Rubik's Cube, are manufactured using plastic of a single color, and the face segments are later colored, for example, by placing stickers thereon. Accordingly, stickers, paints, or other visually-distinctive indicia may be applied to the inner areas for coding, such as provided for a vertex element 88 having a coded area 90 as illustrated in FIG. 5. In this example, the left-facing face segment 92 and the corresponding part 94 in the coded area 90 are each provided with stickers having the same color, as is also provided to the bottom-facing face segment 95 and its corresponding part 96 in the coded area 90. (A third face segment is not visible in FIG. 5.)

[0040] FIGS. 6A, 6B, 7A, and 7B illustrate outside faces and corresponding inside coded areas for the Dayan and Rubik's Cubes. Regarding the Dayan Cube, FIG. 6A provides the outside view of face 98, and FIG. 6B provides the corresponding inside coding (not labeled for clarity). Regarding the Rubik's Cube, FIG. 7A provides the outside view of face 100, and FIG. 7B provides the corresponding inside (not labeled for clarity) with added coloring on both the outside and inside.

[0041] To read the codes, an image sensor, such as a CCD array, a CMOS array, or a camera, is placed inside the cube at or near the core, which holds the system electronics (see International Application WO 2018/138586 for details). Accordingly, the system processes the viewed codes of each piece to determine the colors of each piece and their orientations. To show a system of an image sensor and cubelet codes, FIG. 8A provides a side view the position of an image sensor, denoted by an eye symbol 102, viewing the inside of one side 104 of a cubic puzzle, and FIG. 8B shows the front view of the side 104 facing the image sensor.

[0042] The innermost region of the image that the image sensor views indicates the face segment colors of the face that shall be called the Front Face, in the context of the present discussion, and the remaining portion of the viewed image indicates the colors of the bounding face segments of the Up, Left, Right, and Down Faces. FIG. 9A illustrates the inside view of the front face, and FIG. 9B indicates, in an enlarged view of the center of the view of FIG. 9A, the particular face segments to which the colors correspond, using the notation F=Front, U=Up, L=Left, R=Right and D=Down.

[0043] Additionally, continuous image readings and image processing enable the system to compare new images to previous images to identify small movements executed by players. Such processing may be either performed by an inner controller (inside the core near the image sensor) or by streaming the raw/compressed image data to an external processing unit, such as in a mobile device, to identify small movements. For example, with reference to FIGS. 10A and 10B, the system can identify a starting pattern of cubelets from the image sensor's view illustrated in FIG. 10A and then identify a subsequent 45 degree face rotation from its view illustrated in FIG. 10B.

[0044] One exemplary embodiment of the invention tracks the movements of all face segments, that is, the face segments on the side of the cube directly in front of the image sensor discussed above and also the face segments of the other five faces, by deploying five more image sensors to view the coded regions of the additional vertex elements and non-vertex edge segments. FIG. 11 illustrates the deployment of four such image sensors 105 relative to one face 106.

[0045] The Background section of the present disclosure discusses posts of three-dimensional puzzles that extend outward from the cores and support central cubelets. (Reference is made to posts 50 of FIG. 2A and to posts 52 of FIG. 2B.) The posts supporting central face segments, if not made of transparent or mesh-type material, obscure part of the image sensors' views of the code regions. However, the obstruction produced by the post can be reduced so that enough of the coded regions become visible to the image sensors.

[0046] The alternate embodiment illustrated in FIGS. 12A and 12B (not to scale for clarity) uses fewer optical sensors and accordingly lowers costs. In this embodiment, a hemispherical mirror 108 is positioned to provide a view of the coded regions of all sides 110 of a puzzle to a single image sensor 112. Lenses (not shown for clarity) may also be used if necessary to aid the image sensor in viewing the coded regions. FIG. 12A shows the location of mirror 108, and FIG. 12B shows how four interiors of sides 110 of the cube are visible to the image sensor. FIG. 12B provides broken lines to represent the lines of sight to the left, right, upper, and bottom faces. Lines (not shown) analogous to the lines representing the upper and bottom faces, when rotated appropriately, would represent the lines of sight to the front and back faces (also not shown for clarity).

[0047] Embodiments discussed above determine the color of each face segment by viewing each face segment's corresponding coded region by an image sensor. This process can be denoted absolute sensing. This process differs from another process that determines the color of each face segment by using knowledge of the puzzle pattern's initial state, that is, the color of each face segment at a starting time, and knowledge of subsequent face rotations. This process is analogous to the use of dead reckoning for navigation, and the process is discussed in detail in International Application WO 2018/138586.

[0048] As disclosed in detail in U.S. Provisional Application No. 62/583,553 and in International Application WO 2018/138586, an RGB sensor is another type of optical sensor that can be implemented as a signature sensor to read coded regions of the shell segments of three dimensional puzzles. The coded regions have unique signatures in the form of color gradient maps. The output of an RGB sensor is a single color, represented by three components, R, G, and B, as opposed to multiple three-component values, one for each image pixel, which is the output of an image sensor. In other words, an image sensor provides many values, which result in an output of the many different colors (if the object sensed has many colors) within the image sensor's field of view. In contrast, the output of an RGB sensor is a single three-component value determined by an integration of all the colors sensed within its field of view.

[0049] The inventors found that, by directing an RGB sensor to view a gradient color map and associating a unique color to a unique position, the RGB sensor can be utilized to provide absolute position information. Further, the inventors realized that uses for such position encoding were not limited to determining positions of shell segments of three-dimensional puzzles. Accordingly, the following embodiments are discussed:

[0050] FIG. 13A provides an illustration of another embodiment of the invention, which is a linear contactless absolute position encoder 114. Two of its primary components are an RGB sensor 116 and a gradient color map 118, both of which are affixed to its own platform (not shown for clarity). As shown in FIG. 13A, the gradient color map 118 is within the field of view 120 of the RGB sensor 116. Accordingly, the RGB sensor 116 provides output indicative of its absolute position, and hence the absolute position of its platform, relative to the gradient color map 118 and its platform. Optionally, a light source (not shown) may be added directed to illuminate the field of view 120 of the RGB sensor 116. The light source may be an LED, as a non-limiting example.

[0051] FIG. 13B provides an illustration of an alternate to the embodiment of FIG. 13A. In the embodiment of FIG. 13A, the gradient color map 118 and its platform are static and the RGB sensor 116 moves linearly, and in the embodiment of FIG. 13B, the gradient color map 122 and its platform moves linearly and the RGB sensor 124 and its platform are static.

[0052] FIGS. 14A and 14B each provide illustrations for angular contactless absolute position encoders. In FIG. 14A, an RGB sensor 126 is affixed to a rotating platform (not shown) while a gradient color map 128 and its platform (not shown) are static. In FIG. 14B, the RGB sensor 130 and its platform (not shown) are static while the gradient color map 132 and its platform (not shown) rotate. For an alternate embodiment of an angular contactless absolute position encoder, the gradient color map can be provided with a cylindrical shape and the RGB sensor repositioned to so that its field of view is properly focused thereon.

[0053] FIGS. 15A and 15B each provide illustrations of two-dimensional contactless absolute position encoders. They employ planar gradient color maps having transitions of colors in two dimensions. Accordingly, the RGB sensors provide output indicative of two dimensions of their absolute positions relative to their gradient color maps. In FIG. 15A, the RGB sensor 134 and its platform (not shown) are static while the gradient color map 136 and its platform (not shown) are free to move in two coplanar dimensions. In FIG. 15B, the RGB sensor 138 and its platform (not shown) move in two coplanar dimensions and gradient color map 140 and its platform (not shown) are static.

[0054] FIGS. 16A and 16B each provide illustrations of alternate embodiments of two-dimensional contactless absolute position encoders. In these embodiments, the gradient color maps have a spherical or segmented-spherical shape, and the respective RGB sensors provide output indicative of two dimensions, polar and azimuthal angles, of their positions relative to their respective gradient color maps. In FIG. 16A, the segmented-spherical the gradient color map 142 is free to move with two angular degrees of freedom while the RGB sensor 144 is static. In FIG. 16B, the RGB sensor 146 moves with two angular degrees of freedom and the gradient color map 148, almost a complete sphere, is static. An exemplary usage of the embodiment of FIG. 16A is to affix the gradient color map 142 to a joystick as its platform while the RGB sensor 144 is affixed to the joystick's base as its platform. Thus, the two-dimensional contactless absolute position encoder indicates the orientation of the joystick. An exemplary usage of the embodiment of FIG. 16B is to affix the gradient color map 148 to the ball of a robot ball-and-socket joint as its platform, while the RGB sensor 146 is affixed to the robot's corresponding appendage as its platform. Thus, the two-dimensional contactless absolute position encoder indicates the orientation of the appendage relative to the rest of the robot attached thereto.

[0055] The location of any point on the gradient color maps 142, 148 in FIGS. 16A and 16B can be provided by two coordinates of a spherical coordinate system, and the location of any point on a cylindrical gradient color map can be provided by two coordinates of a cylindrical coordinate system. If a Cartesian coordinate system were used instead, the same gradient color maps would be described as extending in three dimensions of a Cartesian coordinate system.

[0056] Many types of surfaces could be described as extending in three dimensions of a Cartesian coordinate system. One example is that of an automobile surface. A gradient color map can be affixed thereto, so that the car surface is the platform of the gradient color map. An RGB sensor can be affixed to an ultrasonic testing device, which becomes the platform for the RGB sensor. The color map and RGB sensor thus become a contactless absolute position encoder that indicates which part of the irregularly-shaped (that is, not flat, cylindrical, spherical, or other typical geometric shape) automobile surface the ultrasonic testing device is checking.

[0057] Having thus described exemplary embodiments of the invention, it will be apparent that various alterations, modifications, and improvements will readily occur to those skilled in the art. Alternations, modifications, and improvements of the disclosed invention, though not expressly described above, are nonetheless intended and implied to be within spirit and scope of the invention. Accordingly, the foregoing discussion is intended to be illustrative only; the invention is limited and defined only by the following claims and equivalents thereto.