U.S. patent application number 13/988020 was filed with the patent office on 2014-01-30 for method and system for determination of one or more limbs of one or more toy devices.
The applicant listed for this patent is Alexey Vladimirovich Chechendaev, Vladimir Anatolevich Chechendaev, Ivan Nikolaevich Manilenko, Evgeny Nikolayevich Smetanin. Invention is credited to Alexey Vladimirovich Chechendaev, Vladimir Anatolevich Chechendaev, Ivan Nikolaevich Manilenko, Evgeny Nikolayevich Smetanin.
Application Number | 20140030955 13/988020 |
Document ID | / |
Family ID | 49263533 |
Filed Date | 2014-01-30 |
United States Patent
Application |
20140030955 |
Kind Code |
A1 |
Smetanin; Evgeny Nikolayevich ;
et al. |
January 30, 2014 |
METHOD AND SYSTEM FOR DETERMINATION OF ONE OR MORE LIMBS OF ONE OR
MORE TOY DEVICES
Abstract
The invention relates to gaming devices, in particular to toys
The device contains a body which moving parts are coupled with.
Inductance coils are attached to the inside of the body and the
moving parts. The device is equipped with a means of measurement of
mutual induction between the coils connected with a computing means
designed for determination of mutual position of the specified
inductance coils based on mutual induction values, and the
computing means is connected to a means designed for creating
effects perceivable by the user based on information on mutual
position of inductance coils. The gaming device in another variant
is physically divided into a controlling part which includes the
said body and moving parts in which coils and a means of
measurement of mutual induction between coils are located, and a
controlled part which includes a means designed for creation of
effects perceivable by the user.
Inventors: |
Smetanin; Evgeny Nikolayevich;
(Moscow, RU) ; Chechendaev; Alexey Vladimirovich;
(Moscow, RU) ; Chechendaev; Vladimir Anatolevich;
(Vladimir, RU) ; Manilenko; Ivan Nikolaevich;
(Vladimir, RU) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
Smetanin; Evgeny Nikolayevich
Chechendaev; Alexey Vladimirovich
Chechendaev; Vladimir Anatolevich
Manilenko; Ivan Nikolaevich |
Moscow
Moscow
Vladimir
Vladimir |
|
RU
RU
RU
RU |
|
|
Family ID: |
49263533 |
Appl. No.: |
13/988020 |
Filed: |
November 17, 2011 |
PCT Filed: |
November 17, 2011 |
PCT NO: |
PCT/RU11/00907 |
371 Date: |
May 17, 2013 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
|
|
61414792 |
Nov 17, 2010 |
|
|
|
Current U.S.
Class: |
446/268 |
Current CPC
Class: |
A63H 2200/00 20130101;
A63H 3/36 20130101 |
Class at
Publication: |
446/268 |
International
Class: |
A63H 3/36 20060101
A63H003/36 |
Foreign Application Data
Date |
Code |
Application Number |
Jun 24, 2011 |
RU |
2011126009 |
Claims
1. A gaming device which includes a body and at least one moving
part coupled with the body, a computing means, and a device
controlled by the computing means which provides the effect
perceivable by the user, distinguished by the fact that in the said
at least one moving part there is at least one inductance coil
attached to it; also at least one inductance coil is attached in
the body; the device is equipped with a means of measurement of
mutual induction between the coils which is connected to the
computing means which is designed for determination of mutual
position of the specified inductance coils based on mutual
induction values received from the specified measurement means, and
which is connected with a device designed for creation of effects
perceivable by the user and based on information on mutual position
of inductance coils.
2. A gaming device as in item 1 distinguished by the fact that it
designed with a capability to determine five degrees of freedom of
the moving part with only one coil located on the moving part and
ignoring rotation of the moving part about the coil axis.
3. A gaming device as in item 1 distinguished by the fact that it
has a double-section design of the limbs in which the first section
is connected to the body and the second section is connected to the
first section; at least one coil is installed in the second section
of the limbs, and the computing means design includes the
capability to determine the position of the first section of the
limbs based on the known position of the second section ignoring
rotation of the first section about the line connecting its two
attachment points.
4. A gaming device as in item 2 distinguished by the fact that the
moving part has an axis the rotation around which is not
significant from the point of view of formation of the effects
perceivable by the user, and the coil is positioned in such a way
that its axis coincides with or is parallel to, the said axis of
the moving part.
5-6. (canceled)
7. A gaming device as in item 1 distinguished by the fact that the
travel of the moving part relative to the body is limited in such a
way that its position can be completely determined by means of one
coil.
8. A gaming device as in item 7 distinguished by the fact that it
is designed in the shape of an anthropomorphic or zoomorphic object
where the coil is installed in the moving part--the head--in such a
way that its axis is directed from the crown to the nose, and the
mechanical construction of the neck allows rotation of the head
about this axis only together with coil travel.
9-11. (canceled)
12. A gaming device as in item 1 distinguished by the fact that the
created effects include at least one of the following: sound,
light, autonomous movement of at least one moving part, speech,
and/or mimic imitation.
13. (canceled)
14. A gaming device as in item 12 distinguished by the fact that
that its design provides the possibility to adjust the movement of
the moving part with the use of a feedback signal formed based on
the information on the position of this part.
15. A gaming device as in item 1 distinguished by the fact that it
is equipped with additional means which determine and differentiate
touching thereof by the user's hands from impact of inanimate
objects.
16. A gaming device as in item 12 distinguished by the capability
to detect initiation, adjustment, counter-action by the user in
regard to the autonomous movement of the device, with changes in
subsequent behavior applied according to the specified
algorithm.
17. (canceled)
18. A gaming device as in item 1 distinguished by the fact that its
design provides the possibility to determine the character of the
user's manipulations with the body based on the trajectory of the
movement of the moving part related to the body under the influence
of gravity and inertia.
19-24. (canceled)
25. A gaming device as in item 1 distinguished by the fact that it
is physically divided into a controlling part which includes a body
and moving parts in which coils and a means of measurement of
mutual induction between coils are located, and a controlled part
which includes a means designed for creation of effects perceivable
by the user, and a computing means is located in the controlling
part or in the controlled part; both parts contain means for
communicating with one another via communication channel.
26. A gaming device as in item 25 distinguished by the fact that
the controlled part is the means for playing the video games, and
control of one of the game characters is performed through
manipulation with the controlling part.
27-29. (canceled)
30. A system of two or more toy devices, the system comprising: a
first device comprising at least one inductance coil situated in or
on the device a signal generator coupled to the at least one
inductance coil and capable of producing a time-variable current in
the inductance coil to emit variable magnetic field a second device
that is separate from the first device, the second device
comprising: two or more inductance coils stationary fixed in or on
the device, the coils configured to have a electromotive force
induced by magnetic field emitted by the at least one inductance
coil of the first device a measurement means for measuring of
mutual inductance between the at least one inductance coil of the
first device and every of the two or more inductance coils of the
second device a computational means coupled to the said measurement
means and capable to determine spatial position of the first device
relative to the second device by determining spatial position of
the at least one inductance coil of the first device relative to
the two or more inductance coils of the second device, the position
determination based on mutual induction values measured by the said
measurement means at least one effecting means coupled to the first
toy device or to the second toy device, the effecting means capable
to produce effects perceivable by a user.
31. The system of claim 30 in which the first device comprises at
least two portions, moveably coupled to each other or to a third
portion, each of the at least two portions comprising at least one
inductance coil.
32. The system of claim 30 in which at least one moveable portion
of the first device comprises only one emitting inductance coil,
and the second device comprises five or more inductance coils
configured to enable determining spatial position of the said
moveable portion of the first device with five degrees of freedom,
while turns around the coil's axis or inversion of the coil
direction vector are not determined.
33. (canceled)
34. The system of claim 30 in which inductance coils of the first
device are switched to the same signal generator, each of the said
coils emits at the same frequency with predetermined time-variable
phase shift relative to a reference frequency, and the
computational means of the second device determines whether all
direction of coils vectors right or for all coil detects inverted
direction.
35. The system of claim 34 in which the first device comprises at
least one moveable portion, the portion comprising at least two
eccentric inductance coils with fixed position each to another, and
the second device uses information about relative position of said
two coils, to detect case then inverted direction is obtained, and
correct direction vectors of all coils.
36. (canceled)
37. The system of claim 30 in which the second device has at least
one additional portion moveably coupled to the second device, the
additional portion comprising at least one emitted inductance coil
coupled to signal generator, and the means of the second device are
capable for determining spatial position of the said additional
portion relative to the second device.
38-40. (canceled)
41. The system of claim 30 in which the second device recognizes
starting or stopping emitting by coil or switching from one
emitting coil to another one by fast changing of amplitude in
receiving signal
42-44. (canceled)
Description
RELATED APPLICATIONS
[0001] This application claims priority to, and the benefit of,
co-pending U.S. Provisional Application No. 61/414,792, filed Nov.
17, 2010, for all subject matter common to both applications. This
application also claims priority to, and the benefit of, co-pending
Russian Application No. 2011126009, filed 24 Jun. 2011, for all
subject matter common to both applications. The disclosures of said
applications are hereby incorporated by reference in their
entirety.
FIELD OF THE INVENTION
[0002] The present invention relates to gaming devices, in
particular to toys imitating moving objects, such as
anthropomorphic and zoomorphic creatures, fictional and fairy-tale
creatures, and pieces of equipment such as excavators, cranes,
robots and transformer robots, and other devices having toy forms
with individually movable parts.
BACKGROUND OF THE INVENTION
[0003] Toys for preschool children are the most fast-growing
segment of the game-and-toy market (CAGR 15-20%). However, this
segment suffers from acute shortage of interactive products and
interface solutions based on peculiarities of age psychophysiology
of little users.
[0004] It is difficult for little children to fully appreciate the
joy of using a button remote control. It is something too abstract
for them. The game-based way of mastering the reality
characteristic for a child requires considerably deeper involvement
of the child's own tactile and proprioceptive sensitivity. A child
tries everything with his or her teeth, by touch, by muscular
sense. Children have always played dolls (tin soldiers) trying to
make the toys make appropriate body movements. A child takes a
doll's hands in his or her own and the doll claps; a child takes a
horsy and the horsy skips; a child takes a knight with a sword and
makes a movement as though the knight slashes. Even when a child is
rather passively watching a cartoon while holding a toy, he or she
makes active movements with this toy which correspond to the
behavior of the character on the screen. It is a basic need
determined by the age psychophysiology.
[0005] On the other hand, today the virtual reality in the form of
cartoons, TV-shows, and computer games plays a very important part
in the life of a child. The operative connection of this reality
with the real and tangible world suggests itself and brings up the
issue of a more natural interface solution (as compared to existing
keyboards, remote controls, joysticks etc.). At the current stage
of technical development it is difficult to imagine a more suitable
object to be transformed into a universal input/output device than
an actual physical toy. This is significantly promoted by the
extent of children's toys interactivity which increases with every
year.
[0006] Traits of magical consciousness which are immanent to a
child make an interactive toy the most natural conductor and
intermediary connecting the virtual and the direct sensual worlds
of a child. Communications with a doll and through a doll are
equally natural for children communicating with each other on a
playground, as well as for their interaction with computer
characters.
[0007] This important fact has been realized by leaders of the toy
industry who have already taken certain steps towards its
commercialization. For instance the WebKinz plush doggies
introduced in 2005 had a unique identifier for entering online game
environment where they could develop and communicate. In 2007
WebKinz attracted 3.6 million unique users. A similar solution has
been offered for communication of Barbie doll users who in 2006 and
2007 created 2 million unique online accounts each year. These
instances of virtual representation of physical toys are not
exclusive. There is a whole number of similar products such as
Bratz World, Rescue Pets, Club Penguin, Web Neopets, and others
including numerous Disney characters. The next step was the FAMPS
interface dolls introduced by Mattel Company in 2010. The
innovation is that they do not require to key-in the identification
number: the doll is placed in a ring which contains a coil and is
connected by a cable with a computer USB port. Identification and
entry into the virtual environment are made automatically. However,
the founders of FAMPS have not managed to depart from the button
interface: switching of emotional conditions of a doll is made by
pressing the corresponding keys on the ring.
[0008] The basic problem of FAMPS--and certainly WebKinz which
preceded them--is their primitiveness. In fact they are nothing but
door-keys for entering virtual environment. They do not provide
true interactivity. Connection of a voice interface solves a
problem only partly. It is important--especially for little
children--that communication through virtual environment is not
limited by abstract/symbolical or verbal channels but as much as
possible involves motor activity and stimulates "muscular pleasure"
(I. P. Pavlov) beneficial the child.
[0009] The required additional--and in many applications,
basic--way of communication can be manipulation of an interface
doll. The child takes the doll and makes it make all the movements
which the child wants the virtual character to make or the virtual
opponent to react to. For example while holding the doll's hands
the child can make it clap, cover its face with the hands, beckon,
scratch the back of the head, and make many other eloquent
gestures. The interface doll can walk, jump, dance, fight--and by
doing so, control the behavior of the corresponding screen
character. Communication with the representing device should
preferably be wireless and should not require any other devices to
control the screen action except the doll itself The claimed
invention is aimed at realization of this task.
[0010] Certainly, the most expressive plastique and the most
precise action require considerable dexterity from
puppeteer/manipulator. But first of all this is exactly what we
need: we develop fine motor functions and other useful skills of
the child. Secondly, no special dexterity is required in the very
beginning: even the simplest movements of the doll's limbs and head
can be quickly mastered by a little child and provide for
considerable expressive variety especially if they are supported by
advanced interpretation and representation software. Thirdly, the
interface doll can be a motorized automatic machine ("robot") which
will make certain movements itself depending on applied
manipulations.
[0011] The toy robot (as well as other interactive toys), in turn,
can be controlled by and/or co-operate with, a manipulated
interface doll. The "Toy Story" spirit (together with its numerous
predecessors) has been knocking at the door for a long time
demanding an embodiment. The interface doll opens this door
wide.
[0012] Unlike the situation in the market of finished products,
approaches to creation of the interface doll at the level of patent
solutions go much further. The common shortcoming of these
solutions, however, is their incompleteness which probably accounts
for the fact that they have not yet been developed into end
products.
[0013] The patent U.S. Pat. No. 6,290,565 Interactive game
apparatus with game play controlled by user-modifiable toy (1999,
Nearlife, Inc.) describes a physical toy in the form of a little
fish or an anthropomorphic creature which can be composed of
different parts each of which is identified when attached to the
main part. The toy's double is shown on the computer screen; its
properties and the way it acts in the virtual environment change
depending on what parts the physical toy is composed of. The
computer connection is mentioned without a concrete determination
that some of interchangeable parts can have sensors the data send
by which can vary depending on applied manipulations.
[0014] The patent U.S. Pat. No. 5,752,880 Interactive doll (1995,
Creator Ltd.) describes an interactive doll controlled from a
computer on a radio channel; the movement of the toy or a part
thereof generated by a command coming from the computer by means of
a feedback mechanism, influences the system condition and computer
control of the doll.
[0015] The patent U.S. Pat. No. 7,137,861 Interactive
three-dimensional multimedia I/O device for a computer (2003, Carr,
Geldbauch) describes an anthropomorphic figure with moving body
parts connected to the base station which, in turn, is connected to
the computer. The figure is intended to attract the user's
attention to the system events (printer status, received email
etc.). After each of such events the figure gesticulates and makes
various sounds. The figure can be also used as an input/output
device in a computer game representing a game character.
[0016] Unlike the present invention, in none of the above-mentioned
patents U.S. Pat. No. 6,290,565, U.S. Pat. No. 5,752,880, U.S. Pat.
No. 6,159,101, U.S. Pat. No. 7,137,861 is the exact position of
moving parts relative to the doll's body determined or the
principle of mutual magnetic induction used.
[0017] In the patent U.S. Pat. No. 7,081,033 Toy figure for use
with multiple, different game systems (2000, Hasbro, Inc.) the toy
character is used primarily as a multipurpose medium for
transferring the information on the current game state and the
character itself, between different hardware game platforms. The
character can change the game status, but is not used for
operational game control. Magnetic induction can be used to
transmit information between the character and the gaming
device.
[0018] In patent U.S. Pat. No. 6,471,565 Interactive Toy (2001,
Simeray) electromagnetic induction is used for identification by an
interactive doll of its accessories. In particular, the baby doll
recognizes its pacifier or its rattle and reacts to them in
different ways.
[0019] The patent U.S. Pat. No. 7,361,073 Motion responsive toy
(2005, Mattel, Inc.) describes a toy in the body of which an
electromagnetic-field sensor and effectors--e.g. LEDs--are
installed. An electromagnetic-field source in the shape of, for
example, a magic wand, is brought close to the toy's body and
detected by the toy's sensor. Depending on the magnitude of the
detected magnetic field the output signal is changed--for example
the LED lighting modes are switched. The magical effect is that the
toy interactively reacts to the magic wand moved over it.
[0020] The patent application US 2007/0015588 A1 Game information,
information storage medium and game apparatus (2004, NAMKO, Ltd.)
offers a tablet which uses the electromagnetic induction method and
character figures with built-in coils for realization of
preinstalled communication with the use of the electromagnetic
induction method when these figures are placed on the tablet. The
tablet determines the change of the figures position and the
direction in which they move, and the computer system represents
the movement of the corresponding characters. The figures on the
tablet can collide simulating a battle and cause the computer
characters to fight.
[0021] Numerous coils are located in the tablet; the device
determines which one of them has the highest magnetic induction
with the figure; the figure is considered to be located near that
coil. A system like that allows determination of a fixed number of
positions which is determined by the number of coils which cannot
be too large; the object being detected has to be located near the
tablet surface. This method cannot be applied for determination of
the doll's limbs position.
[0022] U.S. Pat. No. 6,159,101 Interactive toy products (1998,
Tiger Electronics, Ltd.) discloses an anthropomorphic doll with a
screen on its body equipped with sensors which can detect limb
movements. The product is a video-gaming device; the game character
is controlled through manipulations with the doll's limbs; the
device provides both the game display on the integrated screen and
data transfer to external game console with the game displayed on a
big screen.
[0023] The patent describes the sensors detecting limb movement as
buttons built into a joint, or potentiometers. There is no mention
of the possibility of measurement of limb position by means of the
method based on mutual induction disclosed in the present
specification.
[0024] The sensors specified in the U.S. Pat. No. 6,159,101 patent
as well as most of other sensors known given the present state of
the art require rigid joints to be realized in the doll, which is
extremely undesirable because these joints lack the required
durability given the intensity of the child's play with the toy.
Buttons and potentiometers realize detection of only one degree of
freedom of a limb and on condition that the limb is moving as a
single unit. Realization of detection of position of a limb
consisting of an upper arm and a forearm by means of buttons or
potentiometers will be extremely bulky as opposed to the
realization disclosed in this claim.
[0025] The realistic nature of modern games involving actions in a
simulated three-dimensional world requires a new means to control
the virtual character providing effective control of the limbs. The
modern user is no longer satisfied with a schematic two-dimensional
figure capable of a few pre-drawn actions. Thanks to development of
three-dimensional graphics users expect to see a three-dimensional
game character which is also as easy to control as the user's own
body, and the solution disclosed in this claim is substantial
progress towards that goal.
SUMMARY
[0026] The present invention primarily solves the problem of
determination of position of moving parts relative to a stationary
body. The technical result of the use of this invention is
enhancement of functional features: all above-mentioned functions
realized by various devices as well as obtaining of information on
the attitude of the elements, are performed by a single gaming
device.
[0027] The technical result is achieved by the fact that the gaming
device which contains a body, at least one moving part coupled with
the body, a computing means, and a device controlled by the
computing means and creating effect perceivable by the user in at
least one designated moving part, includes at least one inductance
coil installed in the body; the device is equipped with a means for
measurement of mutual induction between coils, this means is
connected to the computing means and designed for determination of
mutual position of the said inductance coils based on mutual
induction values received from the said measurement means, and is
connected to a device designed for creation of effects perceivable
by the user based on the information on mutual position of
inductance coils.
[0028] The gaming device is capable of detection of five degrees of
freedom of the moving part given that there is only one coil on the
moving part and that the rotation of the moving part about the coil
axis is ignored.
[0029] The gaming device has a two-section limb design where the
first section is coupled with the body and the second one is
coupled with the first section; at least one coil is installed in
the second section of the limbs and the computing unit has the
capability to determine the position of the first section of the
limbs based on the known position of the second section ignoring
the rotation of the first section about the line connecting its two
attachment points.
[0030] The moving part has an axis the rotation about which is not
substantial from the point of view of formation of effects
perceivable by the user; the coil is positioned in such a way that
its axis coincides with or is parallel to, the said axis of the
moving part.
[0031] The gaming device limits the travel of the coil center to a
small area within the limits of which the position of the coil
center can be considered invariable and known; thus only the
direction of the coil axis has to be calculated.
[0032] The coil is located in the moving part in the immediate
proximity of the point where the moving part is attached to the
body.
[0033] The travel of the moving part relative to the body is
limited in such a way that its position can be completely
determined with the help of one coil located on it.
[0034] The gaming device can be made in the form of an
anthropomorphic or zoomorphic object; the coil is installed in the
moving part (head) in such a way that its axis is directed from the
crown to the nose while mechanical design of the neck is such that
rotation of the head about this axis is possible only together with
the coil travel.
[0035] The gaming device includes at least one moving part which
has six degrees of freedom in which two non-coaxial coils are
installed which allows determination of all degrees of freedom.
[0036] The controlled device is located in the body or in the
moving part.
[0037] The design of the controlled device envisages creation of
sound and/or other effects perceivable by the user. The effects
thus created include speech and/or mimic imitation; these effects
include at least one independent movement by at least one moving
part.
[0038] The gaming device design includes the capability of the
moving part movement adjustment by means of a feedback signal
generated based on information on the position of that part.
[0039] The gaming device is equipped with additional means of
determination of actions of external objects and/or the user, with
means of counter-action and/or of assistance and/or of movement
initiation in response to actions of external objects or the
user.
[0040] The gaming device design includes the capability to change
the behavior of the gaming system in accordance with a specified
algorithm in response to actions of external objects or the
user.
[0041] The gaming device design includes the capability to
determine the character of user's manipulations with the body based
on trajectory of the moving part movement caused by gravity and
inertia relative to the body.
[0042] The gaming device design includes the capability to
determine the body deviation from the vertical position based on
trajectory of the moving part movement relative to the body.
[0043] The gaming device design includes the capability to
determine the body acceleration based on trajectory of the moving
part movement relative to the body.
[0044] The gaming device includes at least one moving part coupled
with the body with a capability of this part to rotate about the
corresponding axis or point of the body, which provides the
possibility to determine rotation of the body in inertial
frame.
[0045] The gaming device includes an accelerometer connected to the
computing unit; the computing unit determines deviation of the body
from vertical position, acceleration of the body including
detection of abrupt jerks of the device, based on the accelerometer
data.
[0046] The gaming device includes an additional means for
determination of the device body travel in space.
[0047] The gaming device includes an additional means providing
determination of the body rotation in inertial frame.
[0048] The gaming device is physically divided into a controlling
part which includes the body and the moving parts with integrated
coils and the means for measurement of mutual induction between the
coils, and a controlled part which includes the device for creation
of effects perceived by the user, the computing means is located in
the controlling part or in the controlled part; both parts contain
means to communicate with one another via communication
channel.
[0049] The controlled part is a device for playing video games;
control of one of the game characters is performed by manipulations
with the controlling part.
[0050] The gaming device design includes the capability of the
video-game character to reproduce the movements of the device
moving parts.
[0051] The gaming device design includes the capability to form
commands for video-game control based on the corresponding
movements of the moving parts relative to the body.
[0052] The gaming device design includes the capability to change
the behavior of the gaming system according to the specified
algorithm in response to the actions of external objects and/or the
user.
[0053] Another aspekt of invention is a gaming system includes a
first toy device comprising at least one inductance coil situated
in or on the device for emitting variable magnetic field and a
second toy device comprising two or more inductance coils
stationary fixed in or on the device for determining spatial
position of the coil of the first toy device relative to the coils
of the second device. The position determination is based on mutual
induction values measured by the means of the second device.
Effecting means coupled to the second toy device produce effects
perceivable by a user.
BRIEF DESCRIPTION OF THE DRAWINGS
[0054] These and other characteristics of the present invention
will be more fully understood by reference to the following
detailed description in conjunction with the attached drawings, in
which:
[0055] FIG. 1 depicts a preferred embodiment of a gaming device,
according to aspects of the present invention;
[0056] FIG. 2 depicts an alternative embodiment of a simplified
gaming device, according to aspects of the present invention;
[0057] FIG. 3 depicts a gaming device in use with a gaming console
coupled to a presentation component for graphically displaying
information, according to aspects of the present invention;
[0058] FIGS. 4 through 5 depict a block diagram of alternative
embodiments of an electronic module for inclusion in gaming devices
according to the present invention, according to aspects of the
present invention;
[0059] FIG. 6 depicts a method of determination of inclination and
rotation of the gaming device, according to aspects of the present
invention;
[0060] FIG. 7 depicts a block diagram of two devices in
communication with one another, according to aspects of the present
invention;
[0061] FIG. 8 depicts the two devices of FIG. 7, further wherein
one of the two devices includes a plurality of emitting coils and
the other of the two devices includes a plurality of receiving
coils, according to aspects of the present invention;
[0062] FIG. 9 depicts the two devices of FIG. 8, further including
one or more components digital processing, transmission, and
conversion of signals, according to aspects of the present
invention;
[0063] FIG. 10 depicts a block diagram of example system of digital
processing components for processing the signal in order to
determine positions of a plurality of emitting coils based on
measurements of induced currents in a plurality of receiving coils,
according to aspects of the present invention;
[0064] FIG. 11 depicts an example method of the digital processing
functions of the system of FIG. 10, according to aspects of the
present invention;
[0065] FIG. 12 depicts two example devices each engaged in position
determination of its own limbs and position determination of limbs
of the other device, according to aspects of the present invention;
and
DETAILED DESCRIPTION
[0066] The preferred embodiment of the gaming device is depicted in
FIG. 1 includes a body 1 having a toy form to which the following
moving parts are movable coupled: a head 2, a first section of the
limbs 4 (upper arm for upper limbs, thigh for lower limbs), a
second section of the limbs 3, and an external device for creation
of effects perceivable by the user 5. In the body 1 and moving
parts 2, 3 there are inductance coils 6, 7, 8 respectively; coils 6
are the receiving ones and coils 7, 8 are the emitting ones. The
preferred number of receiving coils is six, emitting coils--one in
the head 2 and one in the second section of the limbs 3. The
electronic module 9 located in the body 1 contains a means for
measurement of mutual induction between receiving coils 6 and
emitting coils 7, 8, and a computing means for determination of
mutual position of inductance coils 7, 8 relative to coils 6 based
on mutual induction values received from the said measurement
means. These data are used for determination of position of the
moving parts 2, 3 relative to the body 1. The electronic module 9
is connected to receiving coils 6 and emitting coils 7, 8 by cables
(not shown in the drawing). The electronic module 9 and the
external device 5 which creates effect perceivable by the user are
connected by a wireless communication channel.
[0067] The external device 5 realizes the video game; the real
device consisting of the body and the moving parts is used for
control of the virtual video-game character 12. The device
functions as follows.
[0068] The electronic module 9 has two main functions: it measures
the mutual induction of each emitting coil with each receiving coil
and calculates the position of each emitting coil relative to the
receiving coils based on the measured mutual induction. The results
of these measurements and calculations allow determination of the
position of the moving part relative to the body and thus,
realization of the task set by this invention.
[0069] Two main embodiments are envisaged for the use of
information on position of the moving parts. First, the toy capable
of determination of its moving parts position can be an interface
for control of a character in computer and video games as shown in
FIG. 3 where a child is playing a video game using the toy 13 to
control the video-game character 12. Second, an intellectual doll
or a robot can use this information in order to select its response
(e.g. in case of a talking doll to select the phrase to
pronounce).
[0070] Let us consider the first embodiment of the use of the
information on the position of the limbs with the help of two
examples: the preferred one (FIG. 1) and the simplified one (FIG.
2).
[0071] The electronic module 9 goes over emitting coils 7, 8 one
after another measuring their mutual induction with each receiving
coil 6. At any moment of time the mutual induction of one emitting
coil and one of receiving coils is measured. As stated above in the
preferred device embodiment under consideration six receiving coils
6 are installed in the body 1, whereas five emitting coils 7, 8 are
installed on the moving parts 2, 3. Measurement of six mutual
inductions of emitting coils 7, 8 with all receiving coils 6 allows
calculation of the position of these emitting coils 7, 8 relative
to emitting coils 6. Determination of the position of emitting
coils 7, 8 relative to receiving coils 6 ensures determination of
the position of the moving parts 2 and 3 relative to the body
1.
[0072] Determination of the position of a coil means determination
of three co-ordinates of its center and the two co-ordinates which
set the coil orientation in space. Thus five of the six possible
degrees of freedom of a solid body position in space are
determined; the sixth degree of freedom which is the coil rotation
about its own axis is not determined. Rotation of coil 8 and
accordingly of the second section of the limbs 3 about own axis 10
is not detected because during the coil rotation about its own axis
its mutual induction with any other coil does not change in the
first approximation.
[0073] In determination of positions of the moving parts 2, 3, 4
the forthright approach is the obvious one. It is based on two
non-coaxial coils installed on each moving part. However, one coil
on the moving part can be enough. First, if the moving part is
sufficiently symmetrical to the axis--as is the second section of
the limbs 3--the coil can be located coaxially with the axis 10 of
the moving part. In this case the rotation of the second section of
the limbs 3 about the symmetry axis 10 will not be detected, which
will not be negatively perceived by the user because such rotation
is considerably less informative as compared to other movements of
a limb, it does not represent important gestures, often is not
physiological, and can be ignored.
[0074] Another approach is to restrict the movement of a solid body
and to reduce the number of degrees of freedom to five or less. For
that the rotation about own axis has to be inevitably connected
with the travel of the coil center. In terms of mechanics such
restriction is called coupling. With such coupling one coil will
allow complete determination of the position of this moving part
because rotation without travel of the center is impossible, and
this travel of the center can be determined. In the preferred
embodiment this approach is used for determination of the position
of the head 2. The emitting coil 7 is located in the moving part
(the head 2) in such a way that the coil axis goes from the crown
to the nose. The mechanical design of the neck restricts the
rotation of the head 2 about this axis but does not restrict the
head 2 tilts to the left or to the right (which are detected based
on the coil 7 travel). As the result the head 2 position including
nods and tilts is determined based on position of coil 7.
[0075] Manufacture of toys usually involves simple mechanical
solutions and the coupling of the head with the body can be rather
weak. In this case some rotation of the coil about its axis without
any travel is possible; such rotation will not be detected. Since
this rotation matches the rotation of the head about the axis
passing from the crown to the nose, such limitation does not make
the product worse from the user's point of view as long as it is
kept within reasonable limits by the coupling.
[0076] In the preferred embodiment the device contains one emitting
coil 8 installed in the second section of the limbs 3 which allows
determination of the position of the first section of the limbs 4.
Thus knowing the position of the coil 8 it is possible to determine
the position of the second section of the limbs 3, and knowing the
position of the limbs 3 it is possible to determine the position of
the first section of the limbs 4 because this section 4 connects
the second section of the limbs 3 with the body 1. The rotation of
the first section 4 about the axis 11 connecting the points where
this section is attached to the body and to the second section 3,
is not determined. These rotations are not informative and can be
ignored similar to the rotations of the second section 3 relative
to the axis 10.
[0077] Thus the emitting coils 7, 8 ensure determination of the
position of all moving parts 2, 3, 4. In the example under
consideration the possibility of determination of the limbs of the
third section (hands and feet) is not shown but for a skilled in
the art this is obvious based on the above.
[0078] In toys containing a large number of moving parts additional
emitting coils are used for determination of position of these
parts. For instance, in a toy imitating an animal a coil can be
installed in the tail for determination of its position. The only
requirement is the wired connection of the emitting coil with the
electronic module in the body. The way the moving part is attached
to the body may vary depending on the specific embodiment.
[0079] Shape, dimensions, and location of the coils play an
important role in ensuring the possibility to determine the
position of the emitting coils and measurement accuracy. In the
example under consideration six receiving coils 6 are grouped in
two blocks each including three coils coiled orthogonally to each
other on a cube with 6-cm edges. When the toy is in the vertical
position, the top and bottom edges of the cube are horizontal. One
cube is placed above the other and rotated relative to the first
one about the vertical axis (FIG. 1) by 45 degrees; there is a 1-cm
gap between the cubes.
[0080] Shape, dimensions, and location of the coils can be selected
by a skilled in the art in the field of physics of variable
magnetic fields or be selected with satisfactory results by an
electronics engineer.
[0081] After determination of the position of the moving parts 2,
3, 4 relative to the body 1 the electronic module 9 by means of a
wireless communication channel transmits the information on the
position of the moving parts 2, 3, 4 relative to the body 1 to the
external device 5.
[0082] The mutual induction is measured as follows.
[0083] The block diagram of the electronic module is given in FIG.
4. The emitting coil (EC) is energized by a sinusoidal signal; in
the preferred embodiment the sinusoidal signal is generated by a
circuit consisting of a DAC and a bandpass filter (F). DAC
generates a signal with the selected frequency; the band filter
tuned to the same frequency suppresses culprit frequencies present
on the DAC output, primarily multiple frequencies. In the preferred
embodiment such signal is amplified and is directed to
demultiplexer (DM) which connects the amplifier output to the
selected emitting coil. The signal frequency in the preferred
embodiment is in the 100-500 KHz range; however it can be selected
out of this range as well.
[0084] The selected energizing frequency of the transmitting coil
is different for each toy model and in the preferred embodiment of
the device is fixed at the factory. It allows the user to have a
set of toys and to play with them simultaneously. Since the
frequencies are different the toys will not jam one another even
when placed together.
[0085] The alternating current in the emitting coil creates a
variable magnetic field which, in turn, induces a variable
electromotive force EMF in the receiving coil (RC). The signal from
coil is amplified in block (A) and directed to the ADC input to be
transformed into the digital format. Then the information is
processed in the digital computing means (C). The digital computing
means performs the control of induction measurement, transmits the
required digital data to the ADC, receives data from the ADC and
performs the calculations to determine the position of the coils.
The received data on the position of the moving parts are
transmitted by the computing means C to the device which creates
effects perceived by the user, by means of the connection unit (not
shown in FIG. 4).
[0086] In the preferred embodiment one ADC is used to measure the
signal from of all coils. For this purpose between the coils and
the amplifier a multiplexer (M) is installed which connects one of
the coils to the amplifier. The measurement cycle is performed by
turns for each receiving coil.
[0087] The ADC captures the signal from the receiving coil and
converts it to the digital format. In the preferred embodiment the
ADC sampling rate is four times higher than the frequency fed to
the emitting coil. Both frequencies are bound to the frequency of
the common clock generator. The DAC clock frequency and the ADC
clock frequency are the frequency of the common clock generator
divided by the corresponding coefficient. It ensures the strict
synchronicity of the frequency of the signal fed to the coil and
the ADC working frequency.
[0088] Calculation of quadrature components of the incoming
harmonious signal is performed during mutual induction measurement.
For improvement of the signal/noise ratio the data from ADC are
accumulated for numerous periods. This operation is described in
more detail below.
[0089] Let's designate the accumulated data as S(n) where n is the
indication number which can vary from 1 to M*4 where M is the
number of accumulated periods of the signal.
[0090] The following calculations are made according to these
data:
R=.SIGMA.(S(i*4)-S(i*4+2))/2*M, for i from 1 to M
I=.SIGMA. S(i*4+1)-S(i*4+3))/2*M, for i from 1 to M (1)
[0091] The incoming signal phase .phi. can be calculated from the
ratio
R=L cos(.phi.) (2)
I=-L sin(.phi.) where L is the value proportional to the required
mutual induction.
[0092] The mutual induction magnitude A can be calculated according
to the formula
A=sqrt(R 2+I 2) (3)
[0093] Indeed, let's assume that
S(t)=L*cos(2*pi*t/T+.phi.), (4)
[0094] where T is the period of the emitted frequency. In this
formula T is strictly fixed and will be cancelled later; L depends
on the mutual position of the coils, and .phi. depends on the
device design and not on the coil position.
[0095] Since the ADC working frequency is four times higher than
the emitted frequency the indication which has the number i is
performed in time i*T/4, which leads to the following:
S(i)=L cos(pi*i/2+.phi.),
[0096] Substituting it into the formulae (1) we get the
following:
R=L cos(.phi.)
[0097] I=-L sin(.phi.), i.e. formula (2).
[0098] Substituting the obtained forms for R and I into the formula
(3) we get A=sqrt(L 2), i.e. A is an absolute value of L, and this
value does not depend on the .phi. phase.
[0099] It is not possible to determine the sign of L from these
formulae when the .phi. phase is unknown, because both changing the
sign of L and shifting of .phi. by 180 degrees have the same
effect: the received signal is inverted. In order to determine the
sign of L it is necessary to limit the possible range of .phi..
[0100] As it has already been mentioned .phi. is determined only by
the device design and does not depend on the position of the coils.
Let us assume that the signal fed to the DAC has the following
form:
T(t)=A cos(2*pi*t/T+.theta.),
[0101] then .phi. is the sum
.phi.=.theta.+.DELTA.
[0102] In this sum .DELTA. is determined by the design of the
electronic circuitry of the device and includes for example such
components as the output filter shift, the .pi./2 shift of the EMF
in the receiving coil relative to the current in the emitting coil,
the phase shift of the amplifier before the ADC etc. These values
can vary from one device to another or for one device during
operation; they can also vary for one device on different receiving
coils. .theta. is set by the software and therefore in the
preferred embodiment .theta. is set equal in value to the typical
.DELTA. and with the opposite sign which leads to
.phi.=.theta.+.DELTA. being close to zero. By methods known in the
field of design it can be ensured that in the worst case the
deviation of .phi. from zero does not exceed n/2 on any device of
the series under any operation conditions intended for the toy.
[0103] In this case cos(.phi.) is always bigger than zero. It means
that the sign of the mutual induction matches the sign of R. The
mutual induction magnitude is calculated according to formula (3);
the possible deviations of the .phi. phase do not influence the
accuracy of L calculation because the .phi. phase is not included
in formula (3).
[0104] As a result the mutual induction magnitude equals the A
value obtained according to formula (3), and the sign is the same
as the sign of the R value calculated according to formula (2).
[0105] In order to obtain the result in conventional units e.g. in
C the induction calculated by this method has to be multiplied by a
certain coefficient which in its turn can be calculated based on
the device design. However, this is not required because the
preferred algorithm given in this claim uses a calibration
procedure, and calibration coefficients are saved in the same units
which are provided by the above method.
[0106] During the development of the tract which receives the
signal from the coil it is necessary to take into account that the
amplitude of the signal on the coil can vary significantly; it is
caused by the considerable decrease of the mutual induction with
distance. For geometry given in FIG. 1 the signal on the receiving
coil varies more than 100 times depending on the limb position.
Therefore it is necessary to ensure a wide dynamic range of the
tract which receives the signal from the coil. In the preferred
embodiment it is realized by using an amplifier with discretely
controlled gain before ADC. The computing means which analyzes the
value of the signal coming from the ADC controls the amplification
coefficient of this amplifier.
[0107] Mutual induction of each pair of emitting and receiving
coils is measured similarly. The set of mutual inductions of a
specified emitting coil with all receiving coils constitutes the
result of this procedure.
[0108] The algorithm of calculation of the position of the coils
located on the moving parts, receives a set of mutual induction
values Lij where i is the number of the emitting coil and j is the
number of the receiving coil, as initial data.
[0109] It is known from general physics that mutual induction has a
property of Lij=Lji, i.e. mutual induction measured while the
current is fed to the coil i and EMF is measured on coil j, equals
the induction measured while the current is fed to the coil j and
EMF is measured on coil i. Therefore it is not important for
calculations how the mutual induction is measured, whether the
receiving coils are located in the body and the emitting ones are
located on the moving parts or vice versa.
[0110] Let us assume that the receiving coil has coordinates x, y,
z, and a unit direction vector D=(Dx, Dy, Dz). The main postulate
which the calculations are based on is
Lij(x,y,z,Dx,Dy,Dz)=LCxij(x,y,z)*Dx+LCyij(x,y,z)*dy+LCzij(x,y,z)*Dz,
(5)
where
[0111] LCxij(x,y,z) is the mutual induction between coils i and j
on condition that the coil j is directed along the X axis,
[0112] LCyij(x,y,z) is the mutual induction between coils i and j
on condition that the coil j is directed along the Y axis,
[0113] LCzij(x,y,z) is the mutual induction between coils i and j
on condition that the coil j is directed along the Z axis.
[0114] This postulate can be substantiated more easily if we assume
that the emitting coils are located on the body and the receiving
coils are located on the moving parts.
[0115] Indeed, let the emitting coil create the field B in point x,
y, z with unit current. Then in the assumption that the field is
homogenous for characteristic coil size
.PHI.=S*(B,D)=(Sj*Bi,D), (6)
where D is the unit vector of the coil direction, and S is the
effective area of the coil which equals the area of a wind
multiplied by the number of winds.
[0116] If we determine that Lcxij=Sj*Bix, Lcyij=Sj*Biy,
LCzij=Sj*Biz and substitute into the formula 6, we get the formula
5.
[0117] This formula substantiated based on the location of the
emitting coils on the body and the location of the receiving coils
on the moving parts, is also correct in the opposite case, based on
the known property of equality of mutual inductions.
[0118] This formula is correct if we assume that the field in the
proximity of the receiving coil is homogeneous which obviously is
not the case in this instance. The distance to the emitting coil by
the order of magnitude is comparable to the emitting coil itself;
it exceeds the size of the receiving coil only by one order of
magnitude, therefore the field has to be non-homogeneous. This
inevitably leads to errors in determination of position and
direction of the coil according to the method disclosed in this
claim, as has been observed on the prototype. However,
notwithstanding the fact that the standard scientific requirements
for the use of this approximation have not been met, the errors
turned out to be acceptable for this application, and the disclosed
invention has vast capabilities in terms of its practical
application.
[0119] The functioning of this algorithm requires that the
functions Lcxij(x,y,z), Lcyij(x,y,z), LCzij(x,y,z) are known. In
the preferred embodiment we select a finite set of points (x, y, z)
for which these values are obtained by means of experimental
measurement during the calibration procedure. The points are
selected to evenly cover the area where the limb movement is
possible.
[0120] Initial data for this algorithm is a set of mutual
inductances Lij. In illustrative embodiments, this includes thirty
"variants" of data, or thirty different values Lij, one for each
combination of emitting coil and receiving coil. In alternative
embodiments, simpler systems of equations can be used, e.g., such
that fewer degrees of freedom are being determined and such that
the system of equations can be solved with a smaller set of mutual
inductances Lij.
[0121] The result of the operation of the electronic module
algorithm is the determination of the position of the coil center
coinciding with one of the points of the set, and the coil
direction Dx, Dy, Dz, with the limitation that Dx 2+Dy 2+Dz
2=1.
[0122] If simplified this algorithm consists of the following
steps: [0123] 1. All points for which the calibration procedure has
been performed are gone over; for each point step 2 is applied.
[0124] 2. For the next point (x, y, z) the most plausible direction
Dx, Dy, Dz is calculated with which the mutual inductions according
to the above formulae have the least mean-square deviation from the
ones fed to the algorithm input. The obtained direction and
mean-square deviation are saved to memory. [0125] 3. Among the
saved values the minimal mean-square deviation is sought, the
direction at which this deviation was achieved is taken out, and
the point for which it was obtained, is determined.
[0126] The result of the electronic module operation is the
determination of the direction and the coordinates obtained in step
3, i.e. the ones corresponding to the minimal mean-square deviation
obtained during all step 2 iterations.
[0127] Let us consider step 2 in more detail. During this step the
most plausible direction of the coil with the specified position
(x, y, z) is sought. The selected position is substituted into the
formula (5); into the left part of the formula we substitute the
values fed to the algorithm input (i.e. measured experimentally),
and the formula turns into the system of linear equations with
unknown Dx, Dy, Dz. Besides the linear equations the system
includes one non-linear equation Dx 2+Dy 2+Dz 2=1. The system has
fewer unknowns than equations and therefore in the general case
does not have a solution. This system is solved by the
least-squares method which provides exactly what is required in
step 2.
[0128] The actual position of the coil center certainly does not
exactly coincide with the position found by the algorithm. The
maximum coordinate error amounts to about a half of the maximum
distance between calibration points. In the preferred embodiment
the area of the possible limb movement was divided into cubes with
the edge length of 2 cm; the calibration points were selected on
the tops of the cubes. Thus the maximum distance between the coil
center and the calibration point is about 1.7 cm; the coordinate
determination error connected to the calibration grid size is
approximately equal to this value.
[0129] Besides the described embodiment of the device realization
as an anthropomorphic creature the technical solution can be
realized by other embodiments, for instance animals, exotic snakes,
octopuses, spiders, pieces of equipment (cranes, excavators,
transformer robots).
[0130] FIG. 2 shows an embodiment of the simplified device in which
only the second limb section 3 movements are imitated.
[0131] In the simplified embodiment the limbs 3 move as single
unit; there are no analogs of elbow or knee joints. All movements
of these limbs 3 can be considered as turns about a certain point
in the place where the limb 3 is attached to the body 1; the limb 3
has only three degrees of freedom. One of the degrees of freedom is
the rotation of the limb about its own axis, but it is ignored for
the same reasons as in the preferred embodiment. The coil 8 is
installed coaxially with the axis of the limb 3 as close as
possible to the point of rotation of the limb 3 related to the body
1. As the result during any movements the coil 3 stays within a
certain small area and therefore its translational movement can be
ignored; it is assumed that the coil j is always located in a
certain point xj, yj, zj. A task arises to determine the coil
orientation at the given position, i.e. to determine the
coordinates given two degrees of freedom. In order to solve this
simplified problem three coils 6 in the body 1 are used.
Theoretically the number of the receiving coils 6 can be reduced to
two. The same way as in the preferred embodiment the electronic
module 9 performs the functions of measurement of the mutual
induction of the coils 8 and 6 and the functions of a computing
means determining the position of the coils 8 relative to the coils
6 based on the measured mutual induction values. This embodiment
uses a simplified embodiment of calculations disclosed in the
description of the preferred embodiment. The set of points in which
Lcxij(x,y,z), LCyij(x,y,z), Lczij(x,y,z) are determined by
calibration is limited for the specified coil j to a single point
xj,yj,zi in the proximity of which the coil always remains. If the
set of points in the disclosed algorithm is limited to a single
point, steps 1 and 3 are not required, only step 2 is
performed.
[0132] The advantage of this embodiment is simplicity of the
design, simplification of calculations and interference immunity.
The interference immunity is ensured by the fact that the coils 8
in this embodiment do not move away from the device body 1.
[0133] Skilled in art can construct many other embodiment with
coupling which decrease degree of freedom of moving part. In such
cases number of receiving coil can be decreased too.
For example many dolls has arm with only one degree of freedom,
therefore one receiving coil can be adequate.
[0134] For each character a unique frequency is selected and fixed
at the factory. As the number of toy characters can potentially be
enormous the amount of available frequencies can be not sufficient.
Also on the frequency fixed at the factory, on location of the toy
operation there can be interference and it would be expedient to
use a different interference-free frequency. To exclude the said
shortcomings an alternative embodiment is offered which selects a
frequency free from interference hindering the toy operation.
[0135] For this purpose a time interval is reserved within the
device operation cycle during which the device only receives the
signal without emitting one. If in this interval the amplitude of
the received signal is lower than a certain threshold, then this
frequency can be used and the device continues to function using
this frequency. If in the reserved interval the amplitude of the
received signal exceeds this threshold, then the frequency cannot
be used. In this case the electronic circuitry changes the
frequency and checks whether the new one is suitable for operation.
The frequencies which are gone over are taken from a certain set of
acceptable frequencies pre-selected by the developer, this
operation goes on until a frequency is found on which the external
signal amplitude is suitable for operation. In this case the band
filter located after DAC should let through any frequency from the
range selected for the frequency change. If all frequencies from
this specified set are not suitable for operation, the device will
not function. All analogue circuits of receiving and transmitting
tracts should let through any frequency from the selected set of
acceptable frequencies.
[0136] In the preferred embodiment the device contains one ADC and
one amplifier before it; the coils are one by one connected to the
amplifier input by a multiplexer. An alternative embodiment is
possible where each coil has its own individual measuring tract and
there is one ADC for each receiving coil in the system; the block
diagram of the electronic module corresponding to this embodiment
is depicted in FIG. 5. In this embodiment the more complicated
hardware can provide for a faster measurement of all mutual
inductions which will increase the speed of the device reaction to
the user's actions. The developer can also keep the system reaction
speed unchanged but increase the duration of the signal
accumulation in order to improve signal/noise ratio.
[0137] In the preferred embodiment the functions Lcxij(x,y,z),
Lcyij(x,y,z), LCzij(x,y,z) are measured in the finite set of points
during calibration; these values are stored in the memory of the
computing means. However, an alternative embodiment is possible
when these functions are set analytically including the simplest
embodiment when the formulae for dipole approximation are used.
[0138] In some embodiments with realization of a high-quality band
filter it is possible to replace DAC with a timer which transmits a
square-wave signal of the required frequency to the filter input.
The band filter suppresses all frequencies except the basic one and
the signal close to the sinusoidal is transmitted to the
output.
[0139] As specified above in the preferred embodiment emitting
coils are placed on the moving parts and receiving coils are placed
on the body. However, it is also possible to place receiving coils
on the moving parts and emitting coils on the body.
[0140] It is known from general physics that mutual induction has a
property of Lij=Lji, i.e. mutual induction measured while the
current is fed to the coil i and EMF is measured on coil j, equals
the induction measured while the current is fed to the coil j and
EMF is measured on coil i. Therefore it is not important for
calculations how the mutual induction is measured, whether the
receiving coils are located in the body and the emitting ones are
located on the moving parts or vice versa.
[0141] Different methods can be used for mutual induction
measurement. An alternative solution can be generation of a
sinusoidal signal by the analogue method and measurement of the
amplitude of the signal from the receiving coil on principles of
synchronous detection.
[0142] Another alternative solution is signal summation according
to formula (1) using analogue method with switched capacitor
circuits. Switched capacitor circuitry is very popular in
development of microelectronic solutions on crystals though it is
not applied in practice for designing circuits with discrete
components. A jump capacitor circuit input is connected to a
receiving coil. At the specified moments of time a switched
capacitor is connected to the circuit input and the voltage present
at this moment on the input is saved in the form of the capacitor
charge. Then the circuit performs analogue summation of the
captured voltages according to formula (1), and the
analog-to-digital conversion is made over the sum. It allows
significant lowering of requirements for the analog-to-digital
conversion speed which, in turn, allows conversion accuracy to be
increased and power consumption to be reduced. In particular, a
possibility to use a sigma-delta converter appears. The advantage
of the sigma-delta converter is the wide dynamic range which is a
requirement in this application. In this case we can do without a
variable-gain amplifier.
[0143] The invention can be realized as plush toys in which the
moving parts are made of plastic or hard foam rubber; the movement
of these parts is limited. The described method is used for
determination of mutual induction.
[0144] In this embodiment of technical solution realization, in the
half of the limb located farther from the body, a part made of
material resistant to deformation is installed with an emitting
coil attached to it. This part performs functions of a moving part
imitating second sections of the limbs 3 (see FIG. 1). The first
section of the limbs does not have any hard parts and is made
according to the standard technology used for plush toys. As in the
preferred embodiment, according to the moving part position in the
second section of the limbs, the first and the second section
position is determined, except the rotation of these parts about
own axis.
[0145] This embodiment of the device as a plush toy provides unique
flexibility of the limbs which increases the toy's expressiveness
if it is used to control a video-game character. Total absence of
any rigid mechanical joints increases durability and service life
of the device.
[0146] Another embodiment of the invention is possible as a robot
capable of autonomous movement. The disclosed method of
determination of position of the moving parts can be used for
realization of feedback during control of the robot's manipulators
i.e. for determination of position thereof for adjustment of the
controlling effect on electro-mechanic component which performs
movements.
[0147] In another embodiment, the robot can be equipped with
additional sensors which make it possible to distinguish the user's
touches from touching other objects. The robot allows the user to
manipulate its limbs and tries to identify the command or the sense
of the user's actions. For instance, placing of the robot's
manipulators imitating the hands, into the boxer stance denotes the
command to fight, whereas a friendly waving of the robot's
manipulator denotes the command to be friendly with another robot.
On the appropriate level of robotic technology it will be possible
to make the robot perform dancing movements to the music.
[0148] Previously we have considered the possibility of
determination of position of the first and second sections and the
head relative to the body. Similarly it is possible to measure
inclination of the device body.
[0149] For measurement of the inclination of the body 1 the device
includes a special separately moving part 15 attached to the device
body by guy lines 16. The body is not shown in FIG. 6; only the
points where 17 is attached to the body are shown. This moving part
15 is placed inside the device body which excludes its exposure to
any mechanical impact coming from the user or any objects. During
inclination the moving part 15 and the coil 18 together with it are
displaced by gravity from the equilibrium point. Accordingly after
measuring the position of the coil 18 relative to the device body,
the inclination of the device body relative to the vertical line
can be determined.
[0150] To avoid mechanical oscillations of the coil 18 about the
new equilibrium point, the guy line 16 material is selected in such
a way that the mechanical energy of the coil travel is to the
greater extent absorbed by the material instead of being
accumulated in its deformation. It allows damping or considerable
reduction of the oscillation amplitude and the coil rather "flows
over" to the new position than oscillates about the new equilibrium
point. Mathematical processing of the coil position data is also
used; it determines the position of the new equilibrium point based
on the coil trajectory and accordingly, gravity direction based on
the fact that the mechanical properties of the system are known
rather precisely.
[0151] Inclination determination is negatively influenced by jerks
and other manipulations by the user. The same measured
effect--displacement of the moving part--can be caused by an
inclination as well as by a jerk. In the former case it is caused
by rotation of the gravity vector relative the device body; in the
latter case the displacement is caused by inertia. Based on the
trajectory of the moving part it is possible to calculate only the
summary force F which is the sum of two forces: gravity and inertia
F=Fg+Fa.
[0152] Therefore special mathematical processing is required to
distinguish inclinations.
[0153] The key difference between inertia and gravity is that in
conditions in which the toy is used, the inertia average value
vanishes when the averaging time is increased. Gravity has the
opposite property; it does not depend on time and with a constant
inclination the gravity average value equals the gravity value
itself.
[0154] Another effective criterion for separation of inertia and
gravity can be provided by the second time integral of the force
which caused the displacement of the moving part from the
equilibrium point. The double time integral of inertia is
proportional to displacement in space during the integration time
and for conventional operations with the toy cannot exceed several
dozen centimeters per second, whereas the double integral of
gravity is proportional to the second degree of the integration
time and therefore rapidly increases with time.
[0155] Thus for determination of inclination the second integral of
F force is calculated for the time of about one second, and it is
assumed that the Fa component in it can be neglected. Also in
assumption of a constant inclination the device inclination is
calculated based on Fg.
[0156] The method of inclination determination can be used for
detection of the device jerks (abrupt movements) for all three
dimensions. Such jerk can be a conscious act of the user (player),
and for example a jerk to the left can denote a command for the
virtual character to jump off to the left. Mathematical processing
of the coil position data can approximately determine the direction
and the force of the jerk based on the coil movement
trajectory.
[0157] The shortcoming of inclination determination and jerk
detection is probably that the same measured effect i.e.
displacement of the moving part can be caused by an inclination as
well as by a jerk.
[0158] When we take into account the specifics of application in
children's toys the differentiation between inclination and jerks
is obvious in many practically useful cases. For instance in the
embodiment of this method as an interactive doll it is required
first of all to differentiate between the vertical position and the
horizontal one whereas the time of the system reaction to
inclination being several seconds is acceptable. An inclination
close to 90 degrees within several seconds is equivalent to
acceleration of the doll to the velocity of several dozen meters
per second, and therefore it cannot be distinctly separated from
any manipulations not connected with such inclination. That said,
this method makes it possible to determine the rocking movement
used by a mother putting a baby to bed; in this case the task of
inclination/acceleration differentiation is not present. It is
required to identify periodicity of movements and depending on the
period and the amplitude of the movements, to react positively or
negatively. The disclosed method of jerk detection makes it
possible to detect the doll's falling to the floor or other
instances of rough treatment.
[0159] A specialist skilled in modern methods of video-game design
can select solutions for controlling the character which will
compensate for the shortcomings of the disclosed method of
jerk/inclination determination, and will simplify the task for the
specialist dealing with mathematical processing of the data
obtained from sensors.
[0160] Finally the jerk detection method can be used for toys
inclination of which is not possible, e.g. for cars and trucks
moved across the floor.
[0161] The described method of the body inclination angle
measurement can be expanded to provide for detection of abrupt
rotations of the body. This function can also be realized with the
use of the moving part shown on FIG. 6. To reduce the moment of
force transmitted to the line 15 during the device body rotation
the guy lines 16 are attached to the moving part 15 as close as
possible to the center of mass 19. The moment of inertia of the
suspended moving part 15 is made maximum with other limitations of
the device taken into account. It ensures that the coil 18 remains
practically motionless or moves insignificantly relative to
inertial frame at abrupt rotations of the body, therefore with a
certain approximation the rotation of the body relative to the coil
18 can be considered as a rotation relative to the surrounding
space. The coil rotation is determined by the method disclosed in
this claim.
[0162] This method of the body rotation detection can be used to
measure rotation about one, two, or three axes of the device. In
order to do this it is necessary to design a suspension which will
ensure a small moment transmitted to the moving part during
rotation about any of required axes. FIG. 6 shows a solution which
provides a small moment of force during rotation about any axis,
but the depicted coil 18 is suitable only for measurement of
rotation about any horizontal axis. With the shown position of the
coil it is impossible to determine rotation about the vertical
axis. For measurement of rotation about all three axes two coils
are installed on the suspended moving part.
[0163] If the described method is used for detection of rotation
about the horizontal axis, it supplements the described method of
inclination determination based on displacement of the moving part
from the equilibrium position by gravity. The method of
determination of the body rotation about an axis can determine
abrupt rotations well, whereas slow and long rotations are more
difficult to determine by this method. The method of inclination
determination based on displacement of the moving part from the
equilibrium position on the contrary does not determine abrupt
rotations but can well determine a medium inclination with duration
of a second and more. A combination of these methods provides
efficient monitoring of any inclinations. It is necessary to solve
a standard problem of indirect measurement of one value
(inclination) by means of two sensors which use different
principles. This problem is typical for many fields of science and
technology including processing of scientific experiment results,
and may be solved by a skilled in the art.
[0164] Information on inclination in its turn makes it possible to
determine jerks. Based on trajectory of the moving part movement
the vector of the sum of gravity and inertia is determined. The
gravity vector is known because the device inclination is known,
therefore the difference of the determined vector and the gravity
vector can be calculated, and this difference is the vector of
inertia. The possibility of determination of device inclination as
well as jerks and other manipulations connected with acceleration
has enormous practical value for control of a character in video
games and for other applications.
[0165] The described method of the body rotation detection can be
used to measure rotation about the vertical axis; it is especially
useful for controlling a character in video games where rotation of
the real gaming device is transformed into rotation of the
video-game character. The user can rotate the device about the
vertical axis any number of times including a very large one.
However, the guy lines twist during rotation and let the coil to
make only a limited number of rotations relative to the device body
(the cable going to the coil also limits the number of possible
rotations). At reaching this limit the coil will rotate together
with the body and further rotations of the body will not be
adequately detected. This feature is the extreme manifestation of
the more general shortcoming of the suggested measurement method;
this method is optimal for detection of abrupt rotations to a small
angle (up to 90 degrees) and is hardly suitable for determination
of the angle of big rotations affected by suspension imperfection.
This limitation is not that significant taking into account the
fact that it is convenient for a person to rotate the toy without
changing the grip, to an angle of several dozen of degrees.
Rotation of the toy to bigger angles requires changing of the grip
and therefore is less convenient.
[0166] Based on this the following method of game character control
can be used. Rotation of the real character to the left or to the
right corresponds to a command to rotate to the left or to the
right, i.e. a deflection to a fixed angle corresponds to the
virtual character rotation with the specified angular velocity and
not to rotation to the specified angle. It is similar to joystick
control when the joystick deflection sets the intensity of movement
in the corresponding direction. Return of the device body to the
initial position relative to the coil stops the rotation. The
possible side effects connected with the device body rotation being
detected relative to the coil inside it rather than to the room can
be eliminated by mathematical processing and selection of rules for
controlling the character in the game.
[0167] The described solution is an example of a general approach
when the travel of the real toy is not identically reproduced by
the virtual character. In this case the toy movement is just a
controlling effect on the algorithm which according to a certain
law transforms the controlling effect into the virtual character's
action. Another example of this approach can be the game in which
the control is performed by a virtual character of a magician, and
a certain manipulation with the real toy causes manifestation of
certain magic in the virtual world.
[0168] Besides the method of determination of inclinations and
jerks (jumps) disclosed in this claim these functions can be also
realized by an accelerometer, such as MEMS accelerometers by ANALOG
DEVICES. This accelerometer indicates acceleration consisting of
two components a=ag+am where am is the actual acceleration of the
accelerometer in inertial frame, and ag is the component caused by
gravity. Therefore the same problems of separation of inclination
from jerks arise, as in the disclosed method of detection of the
moving part displacement. An accelerometer provides a more accurate
acceleration measurement and will help to determine device jerks
and inclination more accurately.
[0169] The method based on measurement of the moving part
displacement from the equilibrium point can have advantage of the
lower cost price in comparison with the method which uses the
accelerometer. Another advantage of the method based on
displacement of the moving part is the possibility to determine the
device rotation on the same moving part. Accelerometer is not
enough for rotation determination; another means is required, e.g.
a gyroscope, which leads to further increase of the device cost. In
case of toys the price is rather important, and replacement of
accelerometer/gyroscope with a simple mechanical device with an
inductance coil can provide a significant competitive
advantage.
[0170] Above there is a description of the embodiments of the
disclosed device realization for games, which should not be
regarded as a limitation of the patent claims of the invention. The
described embodiments can have various changes and additions
introduced, which are obvious to skilled in the art and which
remain within the limits of protection of this invention.
[0171] Many alternatives are possible and will be appreciated by
one of skill in the art upon reading the present specification. For
example, one of skill in the art will appreciate that although in
the depicted embodiments all three coils situated on any single
block are positioned to have a common center point, it should be
appreciated that many other configurations are possible. In some
alternative embodiments, the coils are not centered on a common
point in the manner depicted in the drawings, but rather are
positioned with some distance between their center points.
[0172] In addition, other embodiments will now be described that
offer a technical solution to a problem of position determination
between multiple such toy devices, such as devices 100, 110
depicted in FIGS. 7 through 9. Such embodiments provide
determination by one electro-mechanical device (e.g., having a toy
form) of position and/or motion of travel of moving and/or
stationary parts of another electro-mechanical device, e.g.,
between which there is no galvanic connection. These additional
embodiments can be implemented with the use of emitting coils,
receiving coils, and calculations of mutual induction (as described
previously herein), or can be implemented using other forms of
signal emitters and/or response generators, as will be appreciated
by one of skill in the art upon reading the present
specification.
[0173] In the preferred embodiment both of the devices 100, 110
have toy forms and are children's toys having a head and some
number (e.g., four) of limbs. Both of the devices 100, 110 can use
the principle of mutual induction measurement for measurement of
position of their own limbs as well as of position of another toy's
limbs based on the methods described previously herein, e.g., with
reference to FIGS. 1 through 6. This can allow, for example, one
toy to determine that another toy took it by the hand or stroked
its head.
[0174] The embodiments described herein have applications in
various moving toys or toy robots. If one robot knows the position
of another robot and its limbs, interesting competitive games can
be realized such as pursuits, battles, ramming. Thanks to the
disclosed methods of determination of position of limbs of another
symbol it is possible to equip some robots with artificial
intelligence which will allow them to play a part of an opponent or
an ally of the robot controlled by a person, even without those
toys having a galvanic connection. Presently the usage of
artificial intelligence in simple toys is complicated due to
absence of cheap sensors which can provide artificial intelligence
with the necessary information on actions of an ally or an
opponent.
[0175] As an illustration of the type of applications that are
possible with embodiments of the present invention, FIG. 11 depicts
a duel between two robot dinosaurs. One of the dinosaurs attempts
to bite the other dinosaur's tail. The attacking dinosaur
determines a position of its opponent's tail and head, and adjusts
its movements based on the determined position of its attacker. For
example, the attacked robot can, based on the determination of its
attacker's positions, attempt to dodge the attack and
counteract.
[0176] In illustrative embodiments provided herein, coils or other
emitting devices of different toys are energized on different
frequencies to avoid interference with one another; all coils of a
given toy are energized on the same frequency.
[0177] In the preferred embodiment the device in addition to
measurement of position of its own limbs goes over frequencies
following a certain algorithm and searches for a frequency on which
a strong enough exterior signal is found. As soon as such frequency
is found, an attempt is made to establish synchronization and to
begin determination of movement of another device. If the attempt
succeeds the device begins to trace the movement of the detected
device, if it does not, it is assumed that the strong exterior
signal on this frequency is interference and the search of such
devices continues on other frequencies.
[0178] Besides detection of travel of moving parts of another
device the offered solution provides data transmission from one
device to another. Such data link is not just an additional useful
result of the invention; it also improves the function of position
determination. The device emitting a field can transmit some of its
parameters, for example the magnitude of the magnetic moment of
emitting coils. It eliminates the necessity to make all devices
with identical emitting coils. The receiving device at first
provides data reception from the transmitting device, then it
receives the information on coils of the transmitting device, and
finally it can determine the position of these coils.
[0179] The described method of determination of position of moving
parts (limbs) of another device and of reception of the data
therefrom, is dissymmetric. One device emits alternating magnetic
field allowing determination of the position of its moving parts
(limbs), and another device perceives this field and accordingly
determines the position of the moving parts of the first one. Data
transmission is also performed only in one direction i.e. to the
device determining position. Such dissymmetric embodiments are
quite possible when one device performs only the function of the
field emission by the coils located on moving parts, and another
one only determines the position of the first one and does not have
any moving parts or emitting coils of its own at all. An example of
such embodiment can be two manikins boxing in a ring. The ring
determines the position of both manikins, keeps count, and comments
the fight, while two persons compete manipulating the manikins and
imitating a boxing match.
[0180] During interaction of two devices it is possible to apply
this method in both directions, i.e. each device will perform
functions of signal emission and reception. It will result in a
symmetric scheme in which two devices emit a variable magnetic
field each on its own frequency, and the field of each device is
used for determination of position of moving parts by both devices.
Accordingly the data are also transmitted in both directions.
[0181] Implementation of the symmetric embodiment or even of a more
general case when a number of devices interact with one another can
be fulfilled by a skilled in the art based on the disclosed
dissymmetric method.
[0182] Tracing of the travel of separately moving parts of another
device is realized similarly to tracing of the travel of the
device's own parts. The basic difference is that the emitting coils
belong to one device and the receiving coils belong to another one,
and there is no galvanic connection between the two. Therefore in
addition to that, several tasks have to be solved.
[0183] It is necessary to determine a time interval during which
the certain coil of another device is emitting. It is done by
detection of the fact of switching from one emitting coil to
another; this is based on the following fact: the distance from
receiving coils to different emitting ones is different. Therefore
considerable changes in amplitude are detected at the moment of
switching. Based on these edges on amplitude the moment of
switching of emitting coils is determined.
[0184] In the preferred embodiment the coils are switched according
to a fixed sequence and all coils emit for the same time interval.
That is, the switching from one coil to another occurs with a
specified interval. It allows calculation of the moments of
subsequent switching after one detection of switching from one coil
to another.
[0185] An example of transmission with phase modulation is shown
below in Table I. The largest unit of data
transmission--hypercycle--is shown in this picture in the form of a
table. The data is transmitted symbol-by-symbol from left to right
and from top to bottom. A hypercycle is divided into eight cycles;
each cycle makes one line in the table. A cycle is divided into
five words, which corresponds to five emitting coils in the
preferred embodiment. Each word is transmitted by the corresponding
coil and thus all coils are gone over within one cycle. A word
consists of four symbols; each symbol transmits two bits of
information because orthogonal phase modulation (QPSK) is used. An
example of coding of a bit pair by a signal phase is given in Table
I, below. The first symbol of each word contains a fixed value;
these are used for identification of the beginning of a hypercycle,
for identification of the transmitting coil. Another three symbols
contain useful information; in all words of one cycle identical
information is transmitted; i.e. only six bits of information are
transmitted within one cycle.
[0186] In case of detection of own moving parts the received signal
phase a priori is in a certain interval not exceeding 180 degrees,
and it is this restriction that allows determination of the sign of
the mutual induction. In case of detection of position of coils of
another device such aprioristic information is not present. Carrier
used for demodulation can be shifted on 180 degree from carrier on
transmitter even after carrier recovery procedure.
[0187] Result of this shift is inversion of all coil direction
vector obtained by disclosed procedure. Thus, to determine whether
the signals are all inverted, it is verified whether the determined
positions result in a physically possible or impossible
configuration. Inversion of every signal is identifiable as it
results in physically impossible configurations, whereas
non-inversion results in physically possible configurations.
[0188] When position of own moving parts is detected, for each coil
the time interval during which it emits is known, because position
determination and signal formation to the emitting coil are
performed by the same device. When position of coils of another
device is detected, it is necessary to obtain information on
emission intervals of each coil of that device. The method of
detection of interval boundaries is given above; the only remaining
task is to establish correspondence between intervals and coils. As
it was mentioned, in the preferred embodiment the time interval of
one coil emission coincides with the interval of transmission of
one word. Also, there is a known correspondence between the number
of the coil and the number of the word within the block during
transmission of which the coil emits. Thus, when the moments of
boundaries of words have been determined and the cycle beginning
has been selected, it is possible to determine the intervals of
transmission of each word and hence the time intervals of each
coil's emission. For determination of the cycle beginning, service
symbols contained in the transmission are used.
[0189] In case of determination of position of own separately
moving parts the device is designed so that at any position a
sufficiently strong mutual induction is provided for successful
determination of position. In a typical case of a toy it means that
sufficient mutual induction is provided even when the limbs are
protruded as much as possible. In case of determination of position
of moving parts of another device the typical situation is when
some of the limbs are far from the receiving device body, the
signal from the coils attached to these limbs is weak and it is
impossible to determine their position. The preferred embodiment
envisages a situation in which the position of only some of the
limbs of the transmitting device is determined. In case of toys the
most significant for the game are the limbs that are close; the
position of these limbs can be detected, whereas the position of
remote limbs is not important. Therefore each coil transmits its
number which allows its identification even if the signal from that
coil is the only one detected. In Table I, below, the service
symbols of the second and the third cycle contain the number of the
coil which emits the specified word.
[0190] Also in the preferred embodiment it is taken into account
that the data from some emitting coils can be not received because
of their remoteness, therefore all emitting coils transmit the same
useful data. The reason for this is that in the preferred
embodiment the first priority is mandatory transmission of the
minimum amount of data containing first of all the identifier of
the detected device and several numbers symbolizing its internal
state. Therefore the data transmission rate is sacrificed in favor
of realization simplicity. At the same time given the present state
of the art realization of more complicated schemes of data
transmission is possible.
[0191] In case of detection of own moving parts the synchronism
requirement is met automatically, because both the ADC receiving
the signal and the DAC producing the signal are clocked by one
common generator. In case of detection of position of coils of
another device these frequencies are received from different
generators with some deviation of frequencies from nominal ones. It
shows in the emitted signal phase drift relative to ADC counts.
This phenomenon is typical for digital data transmission with the
use of carrier modulation. As the preferred embodiment uses the
orthogonal phase modulation, one of standard solutions known in the
present state of demodulation technology, can be used. In terms of
this section of technology this operation is called carrier
recovery.
[0192] The offered technical solution provides determination by one
electronic device of position and travel of parts of another
electro-mechanical device with the use of the mutual induction
principle.
[0193] Another example embodiment according to the present
invention is depicted in FIG. 7. FIG. 7 illustrates a device 100 in
a block diagram depicting various electronic components included
therein or thereon. Although the device 100 is depicted in a block
diagram in FIG. 7, the device 100 can have a toy form, e.g., as
described herein and depicted in the example embodiments of FIGS. 1
through 3. The device 100 can include a control unit 102 and a
plurality of signal emitters 104 coupled to the control unit 102.
The control unit 102 can be coupled by a Galvanic connection to
each of the plurality of signal emitters 104. The control unit 102
can be configured to activate each of the plurality of signal
emitters 104 to generate one or more electromagnetic signals (e.g.,
waves). Accordingly, in illustrative embodiments, each of the
plurality of signal emitters 104 can be configured to assume a
transmission state (during which electromagnetic signals are not
being emitted) and a non-transmission state (during which
electromagnetic signals are being emitted).
[0194] The control unit 102 further can be configured in such a way
as to only activate one of the plurality of signal emitters 104 at
a time, and to activate all of the plurality of signal emitters 104
over a cycle (e.g., a repeating cycle). The cycle can switch
between each of the plurality of signal emitters at a switching
frequency. In illustrative embodiments, the switching frequency,
which indicates an amount of time in which any one of the signal
emitters 104 is in the transmission state (i.e., is emitting the
one or more electromagnetic fields), is substantially uniform
across the entire cycle and for all of the plurality of signal
emitters 104. Thus, in an example embodiment having five signal
emitters, the cycle occurs as follows: the control unit 102
activates a first signal emitter 104 for a predetermined amount of
time, then deactivates the first signal emitter 104 and
simultaneously activates a second signal emitter 104 for the same
predetermined amount of time, then deactivates the second signal
emitter 104 and simultaneously activates a third signal emitter 104
for the same predetermined amount of time, then deactivates the
third signal emitter 104 and simultaneously activates a fourth
signal emitter 104 for the same predetermined amount of time, then
deactivates the fourth signal emitter 104 and simultaneously
activates a fifth signal emitter 104 for the same predetermined
amount of time.
[0195] The information (e.g., electromagnetic signals) transmitted
over the cycle can be received by a second device 110. As with the
first device 100, the second device 110 similarly can have a toy
form. The second device 110 can include a response generator 112.
The response generator 112 can be configured to generate an
electrical signal in response to the electromagnetic signal
transmitted by any one of the plurality of signal emitters 104. For
instance, the electrical signal can be a voltage signal, a current
signal, or any other suitable electrical signal, as will be
appreciated by one of skill in the art upon reading the present
specification. The response generator 112 can be logically coupled
to a computing unit 114 that includes at least a processor 116 and
a non-transitory computer readable storage device 118 logically
coupled to one another. As further examples, the computing unit 114
can include at least one input device and at least one output
device (not shown in FIG. 7). The computing unit 114 can be
configured to perform one or more signal processing functions,
e.g., in response to digital input received through the at least
one input device from the response generator 112.
[0196] It should be appreciated that the computing unit 114 can be
implemented according to any number of different computing
environments utilizing a variety of combinations of hardware
components. As one illustrative example, the computing unit 114 can
be implemented according to the computing device depicted in FIG.
13 and described in greater detail herein.
[0197] For example, as depicted in FIG. 8, the control unit 102 can
include a signal generator 106 (e.g., a function generator
configured to generate a time-variable voltage signal, a
time-variable current signal, etc.). The plurality of signal
emitters 102 can include a plurality of emitting coils 108 (e.g.,
inductance coils). For example, the plurality of emitting coils 108
can be the emitting coils described previously herein with
reference to FIGS. 1 through 6. In such example embodiments, the
response generator 112 can include six receiving coils 120 (only
three is drawn).
[0198] In such example embodiments as depicted in FIG. 8, the
functions of one or more of the components in FIGS. 7 and 8 can be
performed by a computer implemented system (e.g., as described with
reference to FIG. 13 later herein). Accordingly, one or more signal
converters can be included in the devices 100, 110, e.g., to enable
conversion between analog signals and digital signals. For example,
FIG. 9 depicts one example of a further embodiment including such
signal converters and modulator units. The device 100 can include a
modulator unit 122 for performing one or more digital modulations
on a carrier signal based on a digital signal received from the
signal generator 106. The modulator unit 122 can be implemented in
the same computing environment or in a different, logically coupled
computing environment as the signal generator 106. A
digital-to-analog converter 124 can be coupled to the computing
system of the modulator unit 122 for receiving the carrier signal
having been modulated according to the input digital signal from
the signal generator 106. The digital-to-analog converter 124 can
be coupled to each of the emitting coil 108, e.g., by a
multiplexer, or another switching circuit, as will be appreciated
by one of skill in the art upon reading the present
specification.
[0199] Accordingly, carrier signal, once converted into analog
form, can be fed through one of the emitting coils 108 at a time.
In illustrative embodiments, the modulating input signal that is
received from the signal generator 106, is used by the modulator
unit 122 to modulate the carrier signal, and is converted by the
digital-to-analog converter 124 into an analog signal is a
time-varying (e.g., alternating sinusoidal) current signal. The
current signal produces a time-variable current in the emitting
coil 108 currently being activated. This produces a time-variable
(e.g., alternating) magnetic field. When the first device 100 and
the second device 110 are placed proximate one another, the
time-variable magnetic field produces a magnetic flux that induces
a current in one or more of the receiving coils 120. The second
device 110 can include analog-to-digital converters 126 (e.g., one
for each of the receiving coils 120, only three is drawn), each of
which receives an induced current signal from the receiving coils
based on the induced current and converts the induced current
signal into a digital format, which is then sent to the computing
unit 114 for processing (e.g., demodulation, amplitude and phase
determination, position determination of the emitting coil 108
producing the received induced current signal, etc.).
[0200] Accordingly, in this manner, the control unit 102 (e.g., the
signal generator 106 and one or more switching mechanisms coupling
the digital-to-analog converter 124 to the plurality of emitting
coils 108) can activate each of the emitting coils 108 in a cycle.
The cycles can be repeated a predetermined number of times, to form
a "hypercycle" of data transmission. For instance, Table I (below)
depicts an example hypercycle, in which orthogonal phase modulation
is used to transmit data from one of the emitting coils 108 at a
time.
TABLE-US-00001 TABLE I SIGNAL SIGNAL SIGNAL SIGNAL SIGNAL EMITTER 1
EMITTER 2 EMITTER 3 EMITTER 4 EMITTER 5 Cycle1 01 D D D 01 D D D 01
D D D 01 D D D 01 D D D Cycle2 01 D D D 10 D D D 11 D D D 00 D D D
01 D D D Cycle3 00 D D D 00 D D D 00 D D D 01 D D D 01 D D D Cycle4
00 D D D 00 D D D 00 D D D 00 D D D 00 D D D Cycle5 00 D D D 00 D D
D 00 D D D 00 D D D 00 D D D Cycle6 00 D D D 00 D D D 00 D D D 00 D
D D 00 D D D Cycle7 00 D D D 00 D D D 00 D D D 00 D D D 00 D D D
Cycle8 00 D D D 00 D D D 00 D D D 00 D D D 00 D D D
[0201] In this illustrative embodiment, "00" corresponds to a phase
of "0 degrees," "01" corresponds to a phase of "90 degrees," "10"
corresponds to a phase of 180 degrees," and "11" corresponds to a
phase of "270 degrees."
[0202] As depicted, data is transmitted in the hypercycle in a
symbol-by-symbol fashion over time from left to right and from top
to bottom. Accordingly, each step to the right in the sub-columns
represents the passage of some predetermined amount of time.
Similarly, each step down represents passage of some amount of
time. Each step to the right in the columns (e.g., the column
headers, "Signal Emitter 1," "Signal Emitter 2," etc.) represents
passage of a predetermined amount of time that is equal to the
switching interval for the cycle. In illustrative embodiments, the
switching interval is constant across the entire hypercycle. In the
example embodiment of Table I, the hypercycle includes eight
complete cycles. Thus, each of the eight cycles forming the
hypercycle occupies one full row in Table I. In illustrative
embodiments, each cycle is divided into five "words," each of the
five words corresponds to one of the five coils. Each of the
emitting coils 108 are activated during time interval of
corresponded word. Each word is comprised of four "symbols" (e.g.,
four pulses or tones each representing an integer number of bits).
In illustrative embodiments adapted for orthogonal phase
modulation, each symbol represents two bits of information being
transmitted from an emitting coil 108 to a receiving coil 108.
[0203] The first symbol of each word can include a fixed 2-bit
value that is recognizable by the second device 110. For instance,
the computing unit 114 of the second device 110 can include a
database containing a plurality of identification information that
can be used to match the first symbol of a word with various other
information. For instance, the various other information in the
database can enable the first symbol of each word to be recognized
by the computing unit 114 as being both (a) an identification of a
possible point at which the hypercycle can begin to be tracked by
the computing unit 114, and (b) an identification of the particular
emitting coil 108 from which the signal is originating. For
example, regarding (b), the database can be a relational database
that stores location information for each of the emitting coils 108
in the first device 100. The location information can include a
particular portion (e.g., limb) of the first device 100 in which a
particular emitting coil 108 is located, a particular position
(e.g., in x, y, and z Cartesian coordinates) relative to the
particular portion (e.g., limb) at which the emitting coil 108 is
centered, etc. The remaining three symbols can contain useful
information representing a remainder of the carrier signal as
modulated by the modulating input signal generated by the signal
generator 106.
[0204] Furthermore, in illustrative embodiments, first device
transmits information recognizable to the second device 110 as an
identification of the first device 100. For instance, consider that
the first device could be a device having an alligator form with
five limbs (two arms, two legs, and a tail) or a spider form with
eight limbs (one for each leg). These two different devices (each
of which could serve as the first device 100), have different
numbers and placement of limbs, and further can have different
placement of the emitting coils 108 within those limbs. Thus, to
improve efficiency, first device can transmit a device
identification to the second device 110 that enables the second
device 110 to determine (e.g., by looking up in a database)
information that is specific to that particular device (e.g., the
number of limbs, etc.).
[0205] In illustrative embodiments, as depicted in FIG. 9, a
separate channel is provided for each of the plurality of receiving
coils 120. Each channel can include the receiving coil 120 itself,
a signal amplifier (not shown), and an analog-to-digital converter
126. Alternatively, a multiplexer can be included for aggregating
the received signals, as would be appreciated by one of skill in
the art.
[0206] Accordingly, in illustrative embodiments, a plurality of
signal processing functions are performed digitally by the
computing unit 114 on the signals received from the plurality of
channels (e.g., from the analog-to-digital converters 126). For
example, FIG. 10 depicts a block diagram of an illustrative example
of the signal processing that can be performed, according to
certain embodiments of the present invention. As a brief overview,
the signal processing functions performed by the system of FIG. 10
result in determination of: (a) the amplitude of the mutual
inductance between each emitting coil 108 and each receiving coil
120, (b) the sign (e.g., by determining "inversion" or
"non-inversion") of each of the mutual inductances, and (c) the
position of each of emitting coils 108.
[0207] As illustrated in FIG. 10, six analog-to-digital converters
(ADCs) (e.g., the same number as the number of receiving coils 120)
feed to quadrature demodulators (DM) a stream of digital data which
in the digital form contains the induced electrical signal from
receiving coils 120. The quadrature demodulators (DM) receive this
stream at their inputs and produce quadrature components Q and I.
These two quadrature components, Q and I, sum to form a complex
number the amplitude of which reflects the amplitude of the signal
received in the receiving coil 120, and the phase of which reflects
the phase received in the receiving coil 120. Accordingly, the
amplitude information is used by each of the DM blocks in order to
generate an absolute value (i.e., an "amplitude") of the mutual
inductance between (a) the particular emitting coil 108 that
produced the induced current and (b) each of the receiving coils
120 in which the induced current was generated.
[0208] In order to obtain a demodulated signal, a regenerated
carrier signal is used which is produced by the carrier recovery
block (CR). The task of the carrier recovery block includes to
determine and output a carrier signal with a particular frequency
and phase. The determined frequency should equal the frequency
emitted by the emitting coils 108 of the device 100, the position
of which is being determined. The determined phase should be such
that the demodulated signal contains phases in multiples of 90
degrees (e.g., 0 degrees, 90 degrees, 180 degrees, 270 degrees).
This task is standard for demodulation technology and can be solved
by known methods.
[0209] The input data for the carrier recovery block (CR) includes
the demodulated signals from all demodulation blocks (DM). In that
regard, the scheme provided herein differs from classic modems in
which there is only one demodulated signal. In an illustrative
embodiment the strongest signal (with the maximum amplitude) is
selected for carrier recovery and the remainder of the received
signals are discarded. Thus, the function of the CR block is
reduced to a case that is typical for demodulation.
[0210] Demodulated signals are also fed to a synchronization
recovery block (SR). Accordingly, the task of this block (SR) is to
determine the moments in time at which a switch has occurred from
one emitting coil 108 to another emitting coil 108. Given that each
of the words in a cycle lasts for a length that is equal to the
time during which a single emitting coil 108 is in the transmission
mode, the switching frequency can be used to determine the
"boundaries" (e.g., the locations within the received signal) of
each word in a cycle. The boundaries can be determined as time
boundaries. The switching can be determined by recording and
detecting edges in the signal amplitude, e.g., which are caused by
the signal generator 106 switching from activating a first emitting
coil 108 to instead activating a second emitting coil 108.
Amplitude is different because of different position of emitting
coils.
[0211] In illustrative embodiments, the SR block is configured to
be in "synchronization established" or "synchronization absent"
state at any given time. Some of the functions of the SR block can
be performed only when the SR block has established synchronization
and thus is in the "synchronization established" state. The SR
block can be configured to switch between the two possible states
in the following way. Specifically, since switching by the signal
generator 106 from emitting coil 108 to emitting coil 108
(hereinafter referred to as "coil-to-coil switching") occurs in
fixed (i.e., constant) time intervals, detection by the SR block of
coil-to-coil switching several times in a row with constant
intervals results in the SR block switching to the "synchronization
established" state. From this point on, other instances of
switching between the emitting coils 108 can be accurately
predicted by the SR block because such switching takes place at
uniform intervals of time. When the SR block is in the
"synchronization established" state, the block can produce a signal
(22) that is output to several other blocks in FIG. 10 and which
indicates to the other blocks that switching of the emitting coils
108 is occurring.
[0212] Operation of the SR block in the "synchronization
established" state which will now be described in detail, as it
proceeds for illustrative embodiments of the present invention. The
SR block can have a self-correction mechanism. For example, if an
amplitude edge (e.g., a drastic change) is detected at a time that
is close to the time at which the SR block expects a switch in the
emitting coils 108 to occur, then the difference between (a) the
expected time of switching and (b) the detected time of switching
is used to make corresponding, small adjustments of the signal (22)
being output by the SR block. This enables the SR block to remain
synchronized even if drift, etc. occurs. On the other hand, if an
significant change in amplitude is detected by the SR block which
is relatively far in time from the expected moment of switch, then
such a change is simply ignored by the SR block with regard to
updating the signal (22) being output. Finally, if (while in the
"synchronization established" state) the CR block detects that an
edges on amplitude repeatedly does not occur at several times when
the switch was expected to have taken place, then the CR block
reenters the "synchronization absent" state.
[0213] Operation of the CR block as descried herein increases
interference immunity of the second device and enables it to
operate with a maximum signal preservation. Accordingly, in the
"synchronization established" state, neither false detection of
coil switching nor a failure to detect switching when it has
actually occurred leads to synchronization failure, as the CR block
maintains the "synchronization established" state when singular
instances of such operational failure occur. Rather, in order for
the CR block to enter the "synchronization absent" state, several
instances of such events/failures are required to be detected. When
such repeated failures do occur, the CR block enters the
"synchronization absent" state and ceases to produce a
synchronization signal (22). In addition to generating the
synchronization signal (22) that informs other blocks of the
switching times, the CR block additionally records an identifying
number of a word (hereinafter referred to as a cycle position or a
"word number") in a cycle that are received at the CR block from
the DM block. Each word number corresponds to a different emitting
cycle 108 (e.g., and can be stored as such in a database included
in and accessible to the computing unit 114). Thus, by transmitting
a combination of both (a) the synchronization signal (22)
indicating switching times (e.g., moments in time when a switch has
occurred), and (b) the identifying word number (or other suitable
identification mechanism of the numbers and hence also the emitting
coils 108), the CR block is able to indicate specifically which
emitting coil 108 is being activated by the signal generator 106 at
any given time. In illustrative embodiments, these two components
(a) and (b) are transmitted by the CR block to a decoding (DC)
block.
[0214] Accordingly, the DC block receives the synchronization
signal and the word numbers. The decoding (DC) block additionally
receives a demodulated signal (20) from each of the DM blocks. The
DC block functions to regenerate the hypercycle (e.g., of Table I)
by which the received information was transmitted from the first
device 100, in the absence of interference and data about
inversion(sign) of the current signals induced in the receiving
coils 108. The DC block can utilize typical methods of digital
information transmission that are well known in the art.
[0215] However, unlike conventional methods, illustrative
embodiments provide that different emitting coils 108 transmit
(e.g., in the form of a magnetic field that induces a current in
the receiving coils 120) a different word (which is subsequently
converted into a digital signal and demodulated). As a result of
this fact, each word that is received has a different amplitude,
some of which may be inverted. As will be appreciated based on the
foregoing description by one of skill in the art, inversion of a
received signal depends on orientation of an emitting coil 108
relative to a receiving coil 120. However, since in illustrative
embodiments each channel and each DM and DC block is dedicated to a
single receiving coil 120, whether the received signal is inverted
can be determined using additional signal processing for each of
the transmitting coils 120.
[0216] In order to obtain symbol synchronization coil switching
signal is used because it is known that a word boundary corresponds
to a symbol boundary, so start of new word is also start of new
symbol.
[0217] In order to obtain hypercycle synchronization, the DC block
analyzes the first symbol of each incoming word. If the phase
information associated with the first symbol of a word having the
same cycle position or word number in consecutive cycles coincides
more than two times, then the DC block determines that the
hypercycle is in one of the "last" cycles which only transmit six
bits of identical information allowing the device 110 to identify
the device 100. Once the DC block determines that the first symbol
of a word having the same cycle position or word number in two
consecutive cycles are separated by a y phase difference of
+90.degree., then it is determined by the DC block that the
hypercycle is in the first cycle (e.g., as depicted in Table I,
above).
[0218] As described previously herein, the first symbol in each
word has a fixed value that is known by the second device 110
(e.g., that is stored in a database contained in the computing unit
114 and retrievable). Therefore, it is possible to use this
information to eliminate phase shifts between carrier signals
emitting from the first device 100 and "received" signals induced
in the second device 110. This enables the computing unit 114 to
detect inversion for any given pair of emitting coils 108 and
receiving coils 120. In illustrative embodiments, the computing
unit 114 utilizes the stored information in order to determine
whether the "received" signal is inverted. Once inversion detection
is achieved for each combination of emitting coils 108 and
receiving coils 120, the computing unit 114 begins recording
measurements for the entire hypercycle.
[0219] However, in some embodiments, the DC block is not capable of
distinguishing that every demodulated signal is inverted, e.g., as
could potentially be caused by a shift in the carrier signal on
receiving side by 180.degree.. Such a 180.degree. shift is not
significant for data transmission, but it can pose a problem for
position detection if not properly identified and corrected. In an
illustrative embodiment, only a single carrier recovery (CR) block
is included in the device 110, which enables the following
mechanism for ensuring that such a 180.degree. shift of every
demodulated signal is properly accounted for. Specifically, in a
later step of performing position calculation/determination of the
emitting coils 108 (e.g., performed by an AD block, as described
later herein), the computing unit 114 determines whether the
determined positions result in a total positional configuration
that is physically possible or physically impossible for the device
100. It will be appreciated by one of skill in the art that a 180
degree phase shift in all of the demodulated signals from the DM
blocks will result in determined positions that are physically
impossible for the device 100, as can determined by the computing
unit 114. Thus, if the computing unit 114 so determines that, based
on the non-inverted mutual inductance amplitude values generated by
the DM blocks that the device 100 is in a physically impossible
positional configuration, then the computing unit 114 simply
inverts the sign of each of the phase values. One of skill in the
art will appreciate that there are a variety of different ways to
introduce this inversion in order to correct the sign of the
determined mutual inductance.
[0220] The DC blocks transmit signals to the aggregation block (AG)
indicating the determined signs of the mutual inductance values, as
determined by comparing the phase information in the demodulated
signal received from the DM blocks with fixed values of some
symbols in hypercycle. More specifically, each of the DC blocks
determines whether a 180 degree phase shift exists, and thereby
determines if the amplitude of the mutual inductance value
determined by its corresponding DM block is negative or positive in
sign. So addition, the each DC block transmits a signal (24)
indicating the presence or absence of inversion to the attitude
determination block, which performs a determination of each
emitting coil's position and attitude (AD).
[0221] The aggregation block (AG) is coupled to each of the DC
blocks and combines the data from different channels. In
particular, it receives demodulated data from each channel (e.g.,
each DC block) at its input. Over the course of a single cycle,
each channel produces five variants of the received data, one for
each emitting coil 108. Thus, over one full cycle, the AG block
receives a total of thirty pieces of the data. Under ideal
circumstances, each piece of data received at the AG block is
perfectly identical to the original data transmitted at that moment
by that particular emitting coil 108. However, in actual practice,
the transmitted useful data can fail to be an accurate reflection
of the transmitted data 100% of the time (e.g., due to device
error, etc.). Moreover, many of the transmitted words or symbols
can be absent, e.g., due to the some emitting coils failing to be
in close enough proximity to induce a current in the receiving
coils 120, etc. Under such circumstances, the AG block reviews the
data and selects for aggregation only that data which is determined
to be an accurate reflection of the initial signal transmitted by
one of the emitting coils 108.
[0222] In some embodiments, the data will contain excessive amounts
of interference-resistant coding that must be decoded prior to
determining what information is and is not an accurate reflection
of the initial signals. Accordingly, the AG block can decode the
data received from the DC blocks, preferably in a non-aggregated
form. The AG block thus can be configured to compare the thirty
variants of information and discard signals that resulted in
deviant phase information from the remainder of the group of
variants. If the remaining variants have phase information that do
not match one another, then these remaining variants can be
discarded as well. On the other hand, if the remaining variants of
the received data provide phase information that is identical
(i.e., that is matching within the set of remaining variants), then
the corresponding amplitude values for these remaining variants is
utilized in subsequent calculations for determining the positions
of each of the emitting coils 108.
[0223] In addition to obtaining of transmitted data the aggregation
block performs another important function: it adjusts correctness
of count of the number of a word in a cycle by the synchronization
recovery block (SR). The synchronization recovery block cannot
determine the beginning of a cycle, thus, immediately after
entering the "synchronization established" state, the number
produced by the synchronization recovery block may not match the
actual number of a word in a cycle (i.e., may not actually match
the true cycle position or word number). As described previously
herein, the AG block obtains thirty variants from the DC blocks,
and due to the SR block tracking the cycle position or word number
of the transmitted words, each variant of the data received by the
AG block is associated with a specified or cycle position or word
number. While the payload information (e.g., determined by the DC
blocks) must to be identical in each variant, the service
information (fixed first symbols of words) is different. In
illustrative embodiments, the identification of the particular
emitting coil 108 as the originator of a particular received signal
is encoded in the first symbol of each of the second and the third
cycles in the hypercycle. Therefore, using this identifying
information, the AG block can determine the difference between (a)
the cycle position or word number of a given word as produced by
the SR block and (b) the actual cycle position or word number of
that given word as hardcoded in the signal (e.g., and as
recognizable to the computing unit 114 by searching through a
database included in the computing unit 114). This allows the AG
block to generate an adjusting signal (26) which is transmitted to
the SR block. The SR block uses the adjusting signal (26) to adjust
the signal that it outputs to accurately reflect the true cycle
positions or word numbers of words, as based on the identification
of the emitting coil 108 contained in the transmitted signal.
[0224] The attitude determination block (AD) determines the
position of emitting coils of the device 100. The following inputs
are used to conduct these position determinations: (a) the data
from demodulators (DM) containing amplitudes of mutual inductances
as determined by the demodulated quadrature components based on the
current induced in each of the receiving coils 120; (b) the signals
from the synchronization recovery block (SR) of the moments of
switching of the emitting coil 120 and the identification of the
emitting coil 120 that is emitting at any given moment; and (c) the
signal (24) containing the signs of the mutual inductances as
determined by decoding blocks. When information about the beginning
and the end of an interval of emission of a certain emitting coil
108 is received from the synchronization recovery block by the AD
block, the AD block begins averaging amplitude values being
received from each demodulator block and thus to obtain the average
signal amplitude in all receiving coils for a given emitting coil,
e.g., which is used to generate a total mutual inductance value.
Within one cycle all emitting coils 108 are one by one switched to
emit and as a result, one full cycle produces a complete set of
amplitudes of mutual inductances of each transmitting coil with
each receiving one. This set initially has no signs, but as
described herein, the signs are received from the decoding block,
and all decoding blocks in combination produce a complete set of
signs of the various mutual inductances. Based on the complete set
of mutual inductances with the complete set of signs, the position
of each emitting coil 108 can be determined, e.g., as described
previously herein, and similarly to how position determination is
performed by a single device for its own emitting coils 108.
[0225] As described previously herein, block DC provides data which
could all be correct or could all be inverted (i.e., in sign).
Thus, to determine whether the signals are all inverted, the DC
block, subsequent to determining the position of each emitting coil
108, determines whether the determined positions result in a
physically possible or impossible configuration.
[0226] Inversion of every signal is identifiable as it results in
physically impossible configurations, whereas non-inversion results
in physically possible configurations. Accordingly, if the block AD
determines that the determined positions result in a physically
impossible configuration, then the block AD inverts each of the
signs received from the DC blocks and repeats the determination of
the position of each of the emitting coils 108.
[0227] FIG. 11 depicts an overview of the method by which the
computing system 114 can perform one or more signal processing
functions described in detail with reference to of FIG. 10. The
electrical (e.g., current) signal induced in the receiving coils
120 can be converted into digital format, e.g., by the ADCs (step
200). The switching frequency can be determined, e.g., by block CR
and block SR in combination (step 202), and in so doing,
synchronization can be established. The amplitude of the mutual
inductance can be determined, e.g., by block DM (step 204). In
illustrative embodiments, a value of the amplitude is determined
for each electrical signal induced by each receiving coil 120 in
response to each emitting coil 108 being activated by the signal
generator 106. The sign of each value of the mutual inductance can
be determined, e.g., by block DC (step 206).
[0228] Finally, the positions of each of the emitting coils 108 can
be determined, e.g., by block AD (step 208). In illustrative
embodiments, the positions generated in step 208 are determined
based at least in part on the signs determined in step 206 and the
amplitudes determined in step 204.
[0229] The determined positions can be used in any of the ways
previously described herein, and as will be appreciated by one of
skill in the art. For instance, the determined positions can be
transmitted (e.g., wirelessly) to a gaming console for producing an
image on a presentation device (e.g., a television) coupled to an
output device of the gaming console. Furthermore, the determined
positions can be input into one or more reaction algorithms that
automatically generate electrical signals that activate electronic
mechanical components in such a way as to react to the determined
positions. One of skill in the art will appreciate a wide variety
of other ways to utilize the determined positions to enable other
additional features.
[0230] Many alternatives are possible. In illustrative embodiments,
the emitting coils 108 are located in movable limbs of the toy
form, and the receiving coils 120 are located in the body or
central portion of the toy form to which the movable limbs are
movably coupled. Furthermore, in illustrative embodiments, each of
the devices 100, 110 includes a set of emitting coils 108 and a set
of receiving coils 120, such that each device 100, 110 is able to
perform determinations of both (a) the positions of its own limbs
relative to its own body, and (b) the positions of the limbs of the
other device 110, 100 relative to its body. Given that both the
receiving coils 120 and the emitting coils 108 can be implemented
as inductance coils, some embodiments provide that some or all of
the receiving coils 120 (or alternatively, some or all of the
emitting coils 108) are used both emitting coils 108 and receiving
coils 120), e.g., by switching temporarily between emission mode
and reception mode.
[0231] In the preferred embodiment the emitting coils 108 are
switched to the transmission mode in turn (e.g., one at a time) and
in a cycle. However, it is also possible for more than one (e.g.,
all) of the emitting coils 108 to simultaneously emit a
time-variable (e.g., alternating) magnetic field each driven by a
time-variable (e.g., alternating) current having a different
frequency. For example, channels that are divided based on time
instead can be replaced by channels divided according to frequency,
e.g., as in a radio broadcast. Furthermore, combinations of
temporal and frequency channel division configurations are also
possible.
[0232] In the preferred embodiment orthogonal phase modulation
(QPSK) is used, as it is one of the simplest embodiments of
quadrature amplitude modulation (QAM). Given the present state of
the art, it is possible in the disclosed methods to use the general
case of the quadrature amplitude modulation. This can be effective,
for example, in providing an increase in data transmission. Such
embodiments can include additional data transmission from the DC
block to the attitude determination block, in order to supply the
AD block with both the sign of the determined mutual inductance
values and also a decoded symbol. By providing the AD block with
the decoded symbol from the DC block, the amplitude of the emitted
signal can be determined, which can enable determination of the
mutual induction, which can enable determination of position of the
emitting coils 108.
[0233] Besides the amplitude-phase modulation many other modulation
techniques can alternatively or additionally be used. Without
selection of specific modulation it is impossible to describe the
functioning of a device in detail. However, one of skill in the art
will readily appreciate a variety of changes that can be used to
implement different types of modulation, such as combining various
blocks depicted in FIG. 10. For example, the demodulator block can
be integrated with decoding block. Similarly, the tasks of decoding
a word from the ADC and decoding a signal indicating the time
boundaries of the words (e.g., the switching interval) and symbols
can be integrated. Both initial sequences output by the ADC and the
decoded words output by the decoding blocks can be fed to the
attitude determination block for additional signal processing.
Based on the decoded words, it is possible for the computing unit
114 to determine the form (e.g., modulation form) of the signal
transmitted by any given emitting coil 108 and, knowing that form,
it is possible to calculate the mutual induction value. In such
embodiments, the carrier recovery block can be excluded altogether
from the device 110, or its functions can be performed by the
integrated demodulator and decoding blocks. As yet another
possibility, the functions of the CR block instead can be modified
based on the selected modulation type.
[0234] In illustrative embodiments, each emitting coil 108
transmits identical data. However, in other embodiments, each
emitting coil 108 can transmit only its respective portion of the
data. This can be beneficial, for example, in enabling an increase
in the data transmission rate. However, this can be detrimental in
some instances, as an operational or other failure by one of the
emitting coils 108 in transmitting its portion of the data will
result in irrevocable loss of that data. However, it is necessary
to consider the fact that in the selected scheme the range of data
transmission is much larger than the range of position
determination. That is because for attitude determination the
signal/noise ratio has to be significantly higher than the one
required for stable reception of phase modulation. Therefore in
many cases it is possible to ensure that during interaction another
device stays entirely within the radius of stable reception and if
some of its moving parts are far enough for determination of their
position to become impossible, the data can still arrive
[0235] In yet another embodiment, a single set of inductance coils
switches between two modes. In a first mode, every coil transmits
identical data, and in a second mode, every coil transmits only a
portion of the data. When the two communicating devices 100, 110
are on the boundary of a stable reception zone or radius, such
embodiments can be configured to provide a small data stream (e.g.,
can automatically reconfigure into whichever of the two modes
operates at a lower transmission rate). On the other hand, when the
two devices 100, 110 are within close proximity of one another,
they can automatically reconfigure into the mode that enables
higher transmission rates, thereby allow a larger data stream to be
communicated therebetween.
[0236] FIG. 13 illustrates an example computing device 500 within
an illustrative operating environment for implementing illustrative
methods and systems of the present invention. The computing device
500 is merely an illustrative example of a suitable computing
environment and in no way limits the scope of the present
invention. A "computing device," as represented by FIG. 13, can
include a "workstation," a "server," a "laptop," a "desktop," a
"hand-held device," a "mobile device," a "tablet computer," or
other computing devices, as would be understood by those of skill
in the art. Given that the computing device 500 is depicted for
illustrative purposes, embodiments of the present invention may
utilize any number of computing devices 500 in any number of
different ways to implement a single embodiment of the present
invention. Accordingly, embodiments of the present invention are
not limited to a single computing device 500, as would be
appreciated by one with skill in the art, nor are they limited to a
single type of implementation or configuration of the example
computing device 500.
[0237] The computing device 500 can include a bus 510 that can be
coupled to one or more of the following illustrative components,
directly or indirectly: a memory 512, one or more processors 514,
one or more presentation components 516, input/output ports 518,
input/output components 520, and a power supply 524. One of skill
in the art will appreciate that the bus 510 can include one or more
busses, such as an address bus, a data bus, or any combination
thereof. One of skill in the art additionally will appreciate that,
depending on the intended applications and uses of a particular
embodiment, multiple of these components can be implemented by a
single device. Similarly, in some instances, a single component can
be implemented by multiple devices.
[0238] Numerous modifications and alternative embodiments of the
present invention will be apparent to those skilled in the art in
view of the foregoing description. Accordingly, this description is
to be construed as illustrative only and is for the purpose of
teaching those skilled in the art the best mode for carrying out
the present invention. Details of the structure may vary
substantially without departing from the spirit of the present
invention, and exclusive use of all modifications that come within
the scope of the appended claims is reserved. It is intended that
the present invention be limited only to the extent required by the
appended claims and the applicable rules of law.
[0239] It is also to be understood that the following claims are to
cover all generic and specific features of the invention described
herein, and all statements of the scope of the invention which, as
a matter of language, might be said to fall therebetween.
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