U.S. patent application number 16/480900 was filed with the patent office on 2020-01-09 for tracking three-dimensional puzzle components using embedded signature and rotation sensors.
This patent application is currently assigned to Particula Ltd.. The applicant listed for this patent is PARTICULA LTD.. Invention is credited to Amit DOR, Udi DOR.
Application Number | 20200009451 16/480900 |
Document ID | / |
Family ID | 62979177 |
Filed Date | 2020-01-09 |
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United States Patent
Application |
20200009451 |
Kind Code |
A1 |
DOR; Udi ; et al. |
January 9, 2020 |
TRACKING THREE-DIMENSIONAL PUZZLE COMPONENTS USING EMBEDDED
SIGNATURE AND ROTATION SENSORS
Abstract
Embodiments disclosed herein include methods and apparatus for
tracking three-dimensional puzzle components using embedded
signature and rotation sensors. A system of unique signatures
enable the identification of the components by internal sensors and
rotation sensors enable tracking the components as the move around
on the puzzle surface. The system fosters greater enjoyment of the
puzzles by offering interactive feedback and guidance. Competitions
are also facilitated.
Inventors: |
DOR; Udi; (Binyamina,
IL) ; DOR; Amit; (Givat Shmuel, IL) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
PARTICULA LTD. |
Binyamina |
|
IL |
|
|
Assignee: |
Particula Ltd.
Binyamina
IL
|
Family ID: |
62979177 |
Appl. No.: |
16/480900 |
Filed: |
January 25, 2018 |
PCT Filed: |
January 25, 2018 |
PCT NO: |
PCT/IB2018/000411 |
371 Date: |
July 25, 2019 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
|
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62450087 |
Jan 25, 2017 |
|
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Current U.S.
Class: |
1/1 |
Current CPC
Class: |
A63F 2009/2442 20130101;
A63F 9/0842 20130101 |
International
Class: |
A63F 9/08 20060101
A63F009/08 |
Claims
1.-27. (canceled)
28. A three-dimensional puzzle comprising: a shell comprising at
least four faces and formed by multiple shell segments, each shell
segment being free to move relative to an adjacent shell segment; a
core within the shell, the faces being free to rotate relative to
the core about axes extending from the core toward the faces; at
least one rotation sensor associated with each of said faces,
wherein each of said rotation sensors is configured to detect a
direction and degree of rotation of its associated face; and a
processing circuitry configured to calculate, after one or more
rotations of said faces, a current pattern of said shell segments
based on (i) a known pattern of said shell segments, and (ii) said
detecting by said rotation sensors.
29. The three-dimensional puzzle of claim 28, further comprising
(i) a unique signature located in each of said shell segments, and
(ii) at least one signature sensor configured to determine an
identity and orientation of a shell segment passing within a field
of view of said signature sensor.
30. The three-dimensional puzzle of claim 29, wherein said
processing circuitry is further configured to calculate, after a
specified number of said rotations of said faces, a current pattern
of said shell segments, based on (i) said detecting by said
rotation sensors, and (ii) said determining by said at least one
signature sensor.
31. The three-dimensional puzzle of claim 29, wherein said
processing circuitry is further configured to correct an erroneous
perceived pattern of said shell segments as a result of a perceived
rotation of a puzzle face, by calculating a corrected current
pattern of said shell segments based on: (i) detecting, by said
rotation sensors, subsequent rotations of said faces as if the
perceived rotation were completed; (ii) detecting, by said rotation
sensors, subsequent rotations of said faces as if the perceived
rotation were not completed; and (iii) selecting one of (i) and
(ii) based on said determining by said at least one signature
sensor, to calculate said corrected current pattern of said shell
segments.
32. The three-dimensional puzzle of claim 28, further comprising a
communication circuitry to receive from, and transmit to, an
external client, at least one of: a pattern of said shell segments
data and usage statistics of said three-dimensional puzzle.
33. The three-dimensional puzzle of claim 28, wherein said at least
one rotation sensor is (i) located within said core, and (ii)
coupled to said associated face and rotates therewith.
34. A three-dimensional puzzle comprising: a shell comprising at
least four faces, wherein each of said faces comprises a plurality
of shell segments, and wherein each shell segment is free to move
relative to each adjacent shell segment; a core within the shell,
the faces being free to rotate relative to the core about axes
extending from the core toward the faces; at least two signature
sensors configured to determine an identity and orientation of two
respective opposite vertex shell segments of said puzzle, based on
signatures embedded in each vertex shell segment of said puzzle;
and a processing circuitry configured to calculate, after one or
more rotations of said faces, a current pattern of said shell
segment, based on (i) a known pattern of said shell segments, and
(ii) said determining by said at least two signature sensors.
35. The three-dimensional puzzle of claim 34, wherein the unique
signatures are unique color signatures, and the at least two
signature sensors are each an RGB sensor.
36. The three-dimensional puzzle of claim 34, further comprising a
communication circuitry to receive and transmit a pattern of said
shell segments data to an external client.
37. A method of determining a pattern of said shell segments in a
three-dimensional puzzle, the three-dimensional puzzle comprising
(i) a shell comprising at least four faces and formed by multiple
shell segments, each shell segment being free to move relative to
an adjacent shell segment, (ii) a core within the shell, the faces
being free to rotate relative to the core about axes extending from
the core toward the faces, and (iii) at least one sensor configured
to detect said moving with respect to at least some of said shell
segments: calculating, after one or more rotations of said faces, a
current pattern of said shell segments based on (i) a known pattern
of said shell segments, and (ii) said detecting.
38. The method of claim 37, wherein said at least one sensor
further comprises at least two signature sensors each configured to
determine an identity and orientation of a respective opposite
vertex shell segment of said puzzle, based on signatures embedded
in each of said vertex shell segment of said puzzle.
39. The method of claim 37, wherein said at least one sensor
comprises at least one rotation sensor associated with each of said
faces, wherein each of said rotation sensors is configured to
detect a direction and degree of rotation of its associated
face.
40. The method of claim 39, wherein said at least one sensor
further comprises at least one signature sensor configured to
determine an identity and orientation of a vertex shall segment,
based on a unique signature embedded in each of said vertex shell
segments.
41. The method of claim 40, wherein each of said shell segments
comprises a unique signature embedded therein, said method further
comprising calculating, after a specified number of said rotations
of said faces, a current pattern of said shell segments, based on
(i) said detecting by said rotation sensors, and (ii) said
determining by said at least one signature sensor.
42. The method of claim 40, further comprising correcting a current
pattern of said shell segments, wherein said current pattern is
calculated in error as a result of a perceived rotation of a puzzle
face, by performing said calculating to determine a corrected
current pattern of said shell segments, based on: (i) detecting, by
said rotation sensors, subsequent rotations of said faces, as if
the perceived rotation were completed; (ii) detecting, by said
rotation sensors, subsequent rotations of said faces, as if the
perceived rotation were not completed; and (iii) selecting one of
(i) and (ii) based on said determining by said at least one
signature sensor, to calculate said current pattern of said shell
segments.
43. The method of claim 37, further comprising (i) transmitting, to
an external client, through a communication circuitry associated
with said three-dimensional puzzle, usage data of said
three-dimensional puzzle; (ii) calculating usage statistics of said
three-dimensional puzzle, wherein said usage statistics comprise at
least one of: duration of usage, number of moves, rotation speed,
and personal records; and (iii) providing said statistics to a user
of said three-dimensional puzzle through a user interface
associated with said three-dimensional puzzle.
44. A method of administering online interaction of a plurality of
users of three-dimensional puzzles, each of said three-dimensional
puzzle comprising (i) a shell with at least four faces formed by
multiple shell segments, each shell segment free to move relative
to an adjacent shell segment to change a pattern of said sell
segments; and (ii) communication circuitry to receive and transmit
information with respect to a pattern of said shell segments and
usage data of said three-dimensional puzzle to an external client
associated with said three-dimensional puzzle, the method
comprising: receiving at and transmitting from, a central server,
said information from each of said external clients.
45. The method of claim 44, wherein the instructions include a
unique set of moves for said at least some of said users.
46. The method of claim 45, wherein the said unique sets of moves
are handicaps in a competition in which all users must reach s
specified pattern of said shell segments in each of said
three-dimensional puzzles.
47. The method of claim 46, wherein at least one of said
three-dimensional puzzles transmits its pattern of said shell
segments through an external client to the central server, and
wherein said central server responds to said transmission by
sending the unique set of moves to said three-dimensional
puzzle.
48. The method of claim 44, wherein the central server sends shell
segment pattern data to the external client associated with at
least one of said three-dimensional puzzles.
49. The method of claim 48, wherein the external client determines
a unique set of moves required to reach a specified pattern of said
shell segments of said three-dimensional puzzle to have the
specified pattern.
50. The method of claim 44, wherein said usage data comprises
ranking statistics with respect to all said users.
Description
RELATED APPLICATION
[0001] This application claims benefit under 35 U.S.C. .sctn.
119(e) of the Jan. 25, 2017 filing of U.S. Provisional Application
No. 62/450,087, which is hereby incorporated by reference in its
entirety.
BACKGROUND
[0002] Puzzles of various types for people of all ages are embodied
having a wide selection of shapes, sizes, and complexity. One
popular non-limiting example of a three-dimensional puzzle is known
as the Rubik's Cube (originally called the "Magic Cube"),
referenced hereinbelow as simply "cube" and illustrated in FIG. 1
as cube 30. Cube 30 has six faces 32 (three of them visible in FIG.
1), and each face 32 has a three-by-three array of nine face
segments 34 (not all labeled for clarity).
[0003] The outer surface of the cube 30 is formed by an aggregation
of what appears to be twenty-six (26) smaller component cubes,
hereinafter referred to as "cubelets," 36, 38, 40. The cubelets 36,
38, 40 are not truly cubes but appear so from outside the cube 30
because their face segments 34 on the outer surface of the cube 30
resemble the faces that true cubes would have on the outer surface
of the cube 30, if they were the components from which cube 30 were
made. That is, the six central cubelets 36 at the center positions
of faces 32 each have one face segment 34, the twelve central edge
cubelets 38 at the edges of the faces 32 but not at the vertices
(corners) of faces 32 each have two face segments 34, and the eight
vertex cubelets 40 at the vertices of the cube 30 each have three
face segments 34. Each cubelet 36, 38, 40 is free to rotate
relative to an adjacent cubelet 36, 38, 40.
[0004] Within the cube 30 is an inner core, which may be embodied,
as non-limiting examples, as the core 42 of cube 44 in FIG. 2A or
the core 46 of cube 48 in FIG. 2B. In the embodiment of FIG. 2A,
the core 42 resembles a point in space from which six posts 50
extend outward. In the embodiment of FIG. 2B, the core 46 takes a
spherical form with posts 52 mounted thereon. In both examples,
each post 50 or 52 contacts one of the six central cubelets 54, 56
on a different face of the cube 44, 48. The posts 50, 52 are free
to rotate relative to the core 42, 46 or relative to the central
cubelets 54, 56 they contact, thereby enabling each face of the
cube 44, 48 to rotate relative to the core 42, 46 about the axis of
the post 50, 52 it contacts. The posts 50, 52 for these cube 44, 48
constrain the central cubelets 54, 56 from axial movement along the
posts 50, 52 and away from the core 42, 46.
[0005] The central edge cubelets and the vertex cubelets (not shown
in FIGS. 2A and 2B) do not contact the posts 50, 52. They however
do not separate from the cube 44, 48 due to elaborate shapes of
their bases. These bases enable the cubelets to slide relative to
each other and to return to form the cube shape at the completion
of ninety-degree rotations (discussed below). The bases also
constrain the central cubelets 54, 56 from axial movement along the
posts 50, 52 toward the core 42, 46. The sophisticated details of
the base construction are known and thus beyond the scope of the
present disclosure.
[0006] Within a single face 32, each face segment 34 is free to
move relative to the others. As illustrated in FIG. 1, two adjacent
faces 32 share a common edge 58, and a face segment 34 sharing an
edge with a face segment 34 of an adjacent face 32 is constrained
not to move relative to that face segment 34 of the adjacent face
32. As alluded above, for each vertex face segment 34 there are
three face segments 34, in which each face segment 34 is adjacent
to the other two face segments 34, sharing a common vertex 60, and
the three face segments 34 adjacent the common vertex 60 are
constrained not to move relative to each other. As also alluded
above, for each non-vertex edge face segment 34 there is another
non-vertex edge face segments 34 on an adjacent face 32, and the
two non-vertex edge face segments 34 are constrained not to move
relative to each other. Accordingly, each face 32 has a center face
segment 34, four vertex face segments 34, and four non-vertex edge
face segments 34.
[0007] With reference to the cube 62 in FIG. 3, edge face segments
64 on one face 66 may be repositioned to an adjacent face 68 by
rotating them ninety degrees relative to the rest of the cube 62.
The axis 70 of rotation is parallel to both the face 66 containing
the edge face segments 64 before the rotation and the face 68
containing the edge face segments 64 after the rotation. This
rotation repositions nine cubelets 72 relative to the rest of the
cube 62. Accordingly, the rotating face segments consist of those
on one face 74 plus the edge face segments from the adjacent faces
that share an edge with that one face 74.
[0008] Cubes 30 and 62 of FIGS. 1 and 3 are often referred as
"3.times.3 cubes," as they have 3.times.3 arrays of cubelets at
each face. Three-dimensional puzzles of this nature are not limited
to 3.times.3 cubes, though. The cubes can have different amounts of
cubelets on a face, and two examples are the 2.times.2 and
4.times.4 cubes. The shells of the three-dimensional puzzles are
also not limited to cubical form, and the shell segments are not
limited to cubelets. Two examples are three-dimensional puzzles
having spherical or pyramidal shells. Accordingly, features of the
invention disclosed herein are not limited to implementations on
3.times.3 cubes.
[0009] With respect to cubes such as those of FIGS. 1 and 3, the
face segments may have one of six colors, such as white, red, blue,
orange, green, and yellow. One typical way of playing a game with
cube 30, 62 is to rearrange the cubelets of the cube 30, 62 so that
each face has face segments of only one color. Three-dimensional
puzzles of other shapes and numbers of shell segments are
constructed and played analogously. Also, neither the prior art nor
applications of inventive concepts discussed below are limited to
face segments distinguished by colors. Instead, the face segments
may differ by displaying thereon differing numbers, shapes,
patterns, and symbols, as non-limiting examples.
[0010] For beginners, arranging all face segments accordingly is
both complicated and challenging, and many players seek assistance
through a variety of text and/or video guides. These guides present
solution algorithms that many players can find difficult to
understand. The present inventor knows of no prior-developed system
of interactive feedback to guide a new user more easily to a
solution.
[0011] More advanced players can regard quickly solving these
puzzles as a type of competition, sometimes referred to as
"speedcubing" and "speedsolving," Leagues and tournaments are
available in which the players strive to solve the puzzles as fast
as possible. Participants constantly strive to improve their
performance, and such training needs some type of measurement of
time and some type of monitoring of face segments relative to each
other. Accordingly, there is an unmet need for interactive feedback
and guidance to both new and advanced players based on the relative
positions of the face segments of a cube.
SUMMARY
[0012] Embodiments of the present invention three-dimensional
puzzle, a method of determining patterns on a three-dimensional
puzzle, a method of correcting errors in the determination of
patterns on a three-dimensional puzzle, and methods of tracking
patterns on a three-dimensional puzzle.
[0013] More specifically, the invention may be embodied as a
three-dimensional puzzle having a shell, a core, multiple unique
signatures, and at least one signature sensor. The shell has at
least four faces and is formed by multiple shell segments, each
shell segment being free to move relative to an adjacent shell
segment. The core within the shell, the faces being free to rotate
relative to the core about axes extending from the core toward the
faces. The multiple unique signatures are located at the shell
segments. At least one signature sensor within the shell provides
data to processing circuitry based on sensed signatures to
determine shell segment patterns.
[0014] The invention may also be embodied as a method of
determining patterns on a three-dimensional puzzle, the puzzle
having a shell formed by multiple shell segments, each shell
segment being free to move relative to an adjacent shell segment,
and multiple unique signatures located at the shell segments. The
method including: from within the shell using at least one
signature sensor to sense the unique signatures of proximate shell
segments and determining their identities based on the sensed
unique signatures; rotating a puzzle face to bring other shell
segments proximate the at least one signature sensor for sensing
other unique signatures and determining the identities of the other
proximate shell segments based on the other sensed unique
signatures; using rotation sensors to determine the new location of
the earlier identified shell segments after the rotation; and
continuing to rotate puzzle faces to determine identities of other
shell segments and continuing to determine new locations of rotated
shell segments until all shell segments are identified.
[0015] The invention may further be embodied as a method of
correcting errors in the determination of patterns on a
three-dimensional puzzle, the puzzle having a shell formed by
multiple shell segments, each shell segment being free to move
relative to an adjacent shell segment, and multiple unique
signatures located at the shell segments. The method includes:
after a perceived rotation of a puzzle face, (1) tracking the
rotation of shell segments as if the rotation were completed and
(2) tracking the rotation of shell segments as if the rotation were
not completed; from within the shell using at least one signature
sensor to sense the unique signatures of proximate shell segments
and determining their identities based on the sensed unique
signatures; dismissing a tracking controverted by the
identification of the proximate shell segments; and confirming the
tracking that is not dismissed.
[0016] The invention may additionally be embodied as a method of
tracking patterns on a three-dimensional puzzle, the puzzle having
a shell formed by multiple shell segments, each shell segment being
free to move relative to an adjacent shell segment, and multiple
unique signatures located at the shell segments. The method
includes: obtaining an initial pattern; from within the shell using
at least two signature sensors to sense the unique signatures of
shell segments moving into proximity; and providing data to
processing circuitry based on the sensed signatures; wherein the
processing circuitry determines from the data the identification of
the proximate shell segments to determine a new shell segment
pattern.
[0017] The invention may also be embodied as a method of tracking
patterns on a three-dimensional puzzle, the puzzle having a shell
that has at least four faces and is formed by multiple shell
segments, each shell segment being free to move relative to an
adjacent shell segment, and the faces being free to rotate about
axes extending from a core toward the faces. The method includes:
obtaining an initial pattern; sensing rotation of the faces; and
providing data to processing circuitry based on the rotation of the
faces; wherein the processing circuitry determines from the face
rotation data the movement of the shell segments to determine a new
shell segment pattern.
[0018] Embodiments of the present invention are described in detail
below with reference to the accompanying drawings, which are
briefly described as follows:
BRIEF DESCRIPTION OF THE DRAWINGS
[0019] The invention is described below in the appended claims,
which are read in view of the accompanying description including
the following drawings, wherein:
[0020] FIG. 1 shows a 3.times.3 cube as one type of prior art
three-dimensional puzzle;
[0021] FIGS. 2A and 2B show typical prior art cores for
three-dimensional puzzles;
[0022] FIG. 3 illustrates the rotation of a face of a prior art
three-dimensional puzzle;
[0023] FIG. 4 provides a cross-sectional illustration of a cubical
puzzle according to one embodiment of the invention;
[0024] FIGS. 5-8, 9A, and 9B illustrate multiple alternate
embodiments of rotation sensors in accordance with the
invention;
[0025] FIG. 10 illustrates a specific shade of color as a unique
signature;
[0026] FIG. 11A illustrates a face of an example type of cube;
[0027] FIG. 11B illustrates the side of the face of FIG. 11A that
faces the core;
[0028] FIG. 12 illustrates an alternate to the way illustrated in
FIG. 10 to provide a specific shade of color as a unique
signature;
[0029] FIG. 13A illustrates a face of an example type of cube that
is an alternate to the type of FIG. 11A;
[0030] FIG. 13B illustrates the side of the face of FIG. 13A that
faces the core;
[0031] FIGS. 14A and 15B illustrate an optical sensor's field of
view in an embodiment of the invention;
[0032] FIGS. 15A and 15B illustrate an optical sensor's view when
facing a vertex cubelet;
[0033] FIG. 15C illustrates an optical sensor's field of view of a
vertex cubelet's region of unique signatures;
[0034] FIG. 16 illustrates an RGB sensor's field of view of a
vertex cubelet's region of unique signatures;
[0035] FIGS. 17A and 17B illustrate tracking during
reset/initialization operations;
[0036] FIG. 18 illustrates a different embodiment of tracking
during reset/initialization operations;
[0037] FIG. 19 illustrates a scenario for the error correction;
and
[0038] FIGS. 20 and 21 provide flow charts representing embodiments
of pattern tracking.
DETAILED DESCRIPTION
[0039] The invention summarized above and defined by the claims
below will be better understood by referring to the present
detailed description of embodiments of the invention. This
description is not intended to limit the scope of claims but
instead to provide examples of the invention.
[0040] In a first exemplary embodiment of the invention, the shell
of the three-dimensional puzzle has six faces, which form a cube
resembling the 3.times.3 type illustrated in FIG. 1. Accordingly,
the shell segments for this puzzle are six central cubelets, eight
vertex cubelets, and twelve central edge cubelets, and each cubelet
is free to move relative to an adjacent cubelet. The central
cubelets are each located at a different face of the cube and are
each contact a separate post extending from a core at the center of
the cube. The individual faces of the cube are free to rotate
relative to the core about axes that extend from the core through
the posts and toward the faces.
[0041] FIG. 4 provides a cross-sectional illustration of the cube
75 of this embodiment. Visible are the four faces 76u, 76r, 76d,
761 and their associated central cubelets 78u, 78r, 78d, 781,
respectively. Central edge cubelets 80u1, 80ur, 80dr, 80d1 are
shown each in dashed lines between two central cubelets. Central
cubelets 78u, 78r, 78d, 781 contact and rotate relative to posts
82u, 82r, 82d, 821, respectively, extending from core 84. That is,
in this embodiment, the central cubelets 78u, 78r, 78d, 781 rotate
relative to the posts 82u, 82r, 82d, 821 and the core 84, but the
posts 82u, 82r, 82d, 821 do not rotate relative to the core 84.
[0042] As illustrated in FIG. 4, the central cubelets 78u, 78r,
78d, 781 ends of the posts 82u, 82r, 82d, 821 penetrate the bases
of the central cubelets 78u, 78r, 78d, 781 and have a greater
diameter than the majority of the shaft. The changing diameter
provides a shape that resembles to some extent the shape of a nail.
Accordingly, the greater diameter of the ends of the posts 82u,
82r, 82d, 821 constrains the central cubelets 78u, 78r, 78d, 781
from axial movement away from the core 84 while allowing rotational
movement of the central cubelets 78u, 78r, 78d, 781 with respect to
the core 84. The posts 82u, 82r, 82d, 821 may be made of a
low-friction plastic material to enable a smooth rotation.
[0043] The posts 82u, 82r, 82d, 821 are hollow, and leads 86 extend
within the posts 82u, 82r, 82d, 821 to connect rotation sensors
(discussed next) to processing circuitry 88 located within the core
84. In alternate implementations, the processing circuitry may be
located in the space bounded the surface of the core 84 and the
faces 76u, 76r, 76d, 761 the cube 75, for example, on the outer
surface of the core 84. The processing circuitry 88 includes a
rechargeable battery (not shown for clarity) as its power source. A
charging interface 90 located in central cubelet 78u and accessed
by opening central cubelet 78u (details of access hatch not shown
for clarity) is electrically connected to the battery by leads (not
shown for clarity), which extend through hollow post 82u. The
charging interface 90 may be a commercial off the shelf standard
socket or a custom made socket as decided by one skilled in the
art.
[0044] This embodiment has for each face 76u, 76r, 76d, 76l a
rotation sensor, respectively, that senses the rotations of the
face 76u, 76r, 76d, 761 relative to the core 84. The rotation
sensors typically comprise sensing circuitry 92 mounted at the ends
of the posts 82u, 82r, 82d, 821 and rotation indicating discs 94
mounted in the interior of the central cubelets 78u, 78r, 78d, 781
adjacent the face segments.
[0045] Rotations sensors may be implemented in a variety of ways.
The rotation sensors used in this embodiment measure the rotation
amplitude as well as the direction. Examples of such rotation
sensors include quadrature sensors (quadrature encoders) and
absolute sensors (absolute rotation angle provided relative to a
known initial state).
[0046] For example, rotation sensor 96 in FIG. 5 has as sensing
circuitry an optical sensor 98 and as a rotation indicating disc a
toothed wheel 100 (or slotted/coded disc). The toothed wheel 100 is
positioned to block or to allow light to pass from an LED to the
optical sensor 98 as the central cubelet 102 and thus the
associated face rotate, and the sensor 98 sends its readings to the
processing circuitry.
[0047] As another example, a rotation sensor may be implemented as
rotation sensor 104 in FIG. 6, in which the sensing circuitry is a
reflective optical sensor 106, and the rotation indicating disc is
a slotted disc 108. The disc 108 rotates with the cubelet 110 and
the reflective sensor 106 sends signals indicative of the rotation
to the processing circuitry.
[0048] As another example, a rotation sensor may be implemented
with the sensing circuitry being a magnetic sensor, and the
rotation indicating disc being a multi-pole disc magnet. The
multi-pole disc magnet rotates with the cubelet and the magnetic
sensor sends signals indicative of the rotation to the processing
circuitry. Other contactless sensor examples include capacitive and
inductive sensors with the rotation indicating disc being the
corresponding technology for the specific sensor, as non-limiting
examples. Contacting (mechanical) rotation sensors may be used
instead.
[0049] FIGS. 7 and 8 show two more alternate implementations of
rotation sensors. In both rotation sensors 112, 114 of FIGS. 7 and
8, respectively, the sensing circuitry 116, 118 is mounted outside
the cubelet 120, 122 and closer to the core. For rotation sensor
112 of FIG. 7, the rotation indicating disc 124 is mounted in the
interior of the cubelet 120 adjacent to its face segment, as in the
implementation of FIG. 6, but for rotation sensor 114 of FIG. 8,
the rotation indicating disc 126 is mounted still in the interior
of the cubelet 122 but closer to the sensing circuitry.
[0050] FIGS. 9A and 9B illustrate other alternate implementations
of rotation sensors 128, 130, respectively. Here, both the sensing
circuitry 132, 134 and the rotation indicating disc 136, 138 are
positioned within the core 140, 142. The sensing circuitry 132, 134
remains stationary with respect to the core 140, 142. The post 146,
cubelet 148, and rotation indicating disc 136 of rotation sensor
128 rotate together relative to the core 140. In contrast, the post
152 of rotation sensor 130 is non-rotatively fixed to the core 142.
An interior rod 156 connects the cubelet 158 to the rotation
indicating disc 138, and thus the three elements rotate
together.
[0051] Although not present in some embodiments of the invention,
the cube of the embodiment of FIG. 4 includes a signature sensor
within the cube and multiple unique signatures located at the
cubelets. As constructed, the signature sensor provides data to the
processing circuitry 88 based on sensed signatures to determine
cubelet patterns on the cube. That is, the data enables the
determination of both the identity of a cubelet and its
orientation.
[0052] An example of a signature sensor is an optical sensor, and a
corresponding example of a unique sensor is a specific shade of
color, as represented in FIG. 10. A vertex cubelet 162 has three
face segments, each having a separate color. A spherical segment
164 is the part of the cubelet 162 that is closest to the core, and
the segment 164 has colors 166, 168, 170 that each correspond to a
different color of the three face segments 172, 174, 176 that are
visible externally. The spherical segment 164 is visible from the
cube's core. An optical sensor positioned within the cube, for
example, at the core can sense the colors on the part of the
spherical segment 164 within the field of view of the optical
sensor and provide data to processing circuitry accordingly to
determine the color of the corresponding face segment(s). (Color
determination may be limited to one face segment depending on what
part of the spherical segment passed within the field of view of
the optical sensor and the type of optical sensor used.) The
central edge cubelets 80u1, 80ur, 80dr, 80d1 of the cube 75 of FIG.
4 also have colors on spherical segments that each corresponds to a
different color of the two face segments that are visible
externally. The optical sensor can sense the colors on the part of
the spherical segment of a central edge cubelet within its field of
view and provide data to the processing circuitry to determine the
color of the corresponding face segment(s).
[0053] The colors on the spherical segment matching the colors of
the face segments is a natural result, if the vertex cubelets and
the central edge cubelets are manufactured using three and two,
respectively, separate solid-colored pieces. For example, such
configuration is common when manufacturing the Dayan Cube, which
competes with the Rubik's Cube. FIG. 11A illustrates a top face 178
of such type of cube in which all face segments have the same
color, and two rows of cubelets 180,182 on the front left and front
right faces have colors that differ from the color of the top face
178 FIG. 11B illustrates the sides of these cubelets that face the
core, so it is clear that the colors on the spherical segments 180
match colors of the sides of the cubelets that form the exterior
faces.
[0054] Some cubes, though, such as the Rubik's Cube, are
manufactured using plastic of a single color, and the face segments
are later colored, for example, by placing stickers thereon. Note
the cubelet 182 in FIG. 12, which has stickers 184,186, 188 on the
face segments to provide a variety of colors. Alternately, paints
or other visually-distinctive means may be applied. The spherical
segment 190 also has applied thereon stickers 192,194,196 of colors
that correspond to the stickers 184,186,188 on the face segments.
FIG. 13A illustrates a top face 198 of such type of cube in which
all face segments have the same color, and two rows of cubelets
200,202 on the front left and front right faces have colors that
differ from the color of the top face 204. FIG. 13B illustrates the
sides of these cubelets that face the core, so it is clear that the
colors on the spherical segments 206 match colors of the sides of
the cubelets that form the exterior faces.
[0055] FIGS. 14A and 15B indicate the optical sensor's view of a
vertex element's unique signatures. The vertex element can rotate,
with a face, in three planes. Knowing which face rotates provides
an indication of the new positions (the positions after the
rotation) of each of the face segments of the rotated face and new
positions of twelve adjacent face segments that share edges with
the rotated face. Because employing one sensor enables the tracking
of the face segments of three faces, employing two sensors,
positioned at opposite vertices of the cube, enables the tracking
of the face segments of each of the six faces. Reference is made to
the following:
[0056] FIGS. 15A and 15B illustrate three face rotations that one
optical sensor can view when facing a vertex element's coded
region. Such configuration was modeled such that the optical sensor
viewed a vertex element's region of unique signatures as shown
below in FIG. 15C.
[0057] In some embodiments, the unique signatures are unique color
signatures, and the optical sensor is an RGB sensor. The ability to
distinguish between multiple colors may be used to uniquely code
any piece of the puzzle in a way that the sensor can identify the
colors of that piece and its absolute orientation. For example,
consider the sample vertex element that is coded by three unique
colors as in FIG. 16. A focused RGB sensor with a narrowly-focused
field of view (achievable by optical accessories, such as a lens
and focused light beam) integrates the colors within that field of
view to output a specific color that is associated with both a
particular puzzle element (the colors of the face segments) and the
element's particular orientation.
[0058] In yet other embodiments, three-dimensional puzzles can be
constructed such that the unique signatures are RFID or NFC codes,
and the signature sensor is an RFID or NFC sensor.
[0059] In some embodiments, the processing circuitry is located at
the core and includes sensory indicators for the user. Examples of
indicators are LEDs, lights, speakers, and/or vibration mechanism,
as non-limiting examples, to provide the user a variety of
messages, such as a low battery and time to "start playing." The
processing circuitry may also have an IMU sensor operative to sense
the orientation of the shell.
[0060] The three-dimensional puzzle may include communication
circuitry to transmit shell segment pattern data to an external
client, such as a smartphone or tablet. The shell segment pattern
data may be transmitted using Wi-Fi technology or Bluetooth
technology.
[0061] The invention may be embodied as any of the
three-dimensional puzzles disclosed herein plus the external
client. The external client may have a display to show the shell
segment pattern and/or the orientation of the shell based on data
from the IMU. The external client may have the processing circuitry
to receive the data from the signature sensor to determine shell
segment patterns. The external client may have circuitry to
transmit shell segment pattern data via the Internet.
[0062] Some embodiments of the invention may include a reset and
error correction mechanism, to respond to a situation in which a
rotation was not properly sensed. For example, if the left face
were rotated but not sensed, the determination of the resulting
face segment pattern would be incorrect, and so would any
subsequent rotation if the unsensed rotation remained unnoticed.
Accordingly, embodiments of the invention include dedicated
absolute sensors, which detect unique pieces in pre-defined
locations. A single sensor is sufficient, but additional similar
sensors may be employed for faster error correction.
[0063] Some embodiments of reset and error correction of a
3.times.3 cube position a single face segment determination sensor
in a position, such as in or on the core, where it may monitor a
corner location. Each face segment has on or near its base an
element to be sensed (such as a unique color to be sensed by an RGB
sensor) to provide to the face segment determination sensor the
unique identification of the face segment. Upon execution of a
short sequence of movements, the system may determine the entire
face segment pattern of the cube using data from the face segment
determination sensor and the face rotation sensors discussed
above.
[0064] One method of determining patterns, which is useful for
reset/initializations, is discussed with reference to FIGS. 17A and
17B. As shown, in which the up, down, left, right, front, and back
faces are shown represented by U, D, L, R, F, and B, respectively.
Initially, only the colors of the central face segments and the
face segment at the sensed corner are known. That face segment at
the corner is denoted with a check, and the face segments in which
the colors are unknown are represented as blank squares. The
initial state is shown in the top-left face segment mapping in FIG.
17A.
[0065] During a single clockwise rotation of the "Up" face, the
sensor detects the identities of the three face segments that pass
by it, while in parallel the system calculates the new location of
the face segment that was detected before the rotation.
Accordingly, the top-right face segment mapping in FIG. 17A
indicates with the check the new position of the first detected
face segment and indicates the newly detected face segments with a
"1" in each square. With the next "Up" rotation (see bottom-right
face segment mapping in FIG. 17A), three more face segments are
identified (each marked by "2"), and after the third "Up" rotation
(bottom-left face segment mapping in FIG. 17A) three more face
segments are identified (each marked by "3"). After four "Up"
rotations (not shown), the cube returns to its initial state, and
4.times.3 (twelve) face segments are identified.
[0066] Next, with reference to FIG. 17B, the "Right" face is
rotated four times, and ten additional face segments are
identified. The right face segment map indicates the newly
identified face segments by a vertical line in the square.
[0067] To identify additional face segments, the user simply needs
to continue playing the cube to eventually cause the remaining
unidentified face segment to pass by the sensor. For example, if
the user makes two "U" rotations, a subsequent clockwise "R"
rotation enables the sensor to identify three additional face
segments. After enough rotations, all face segments are
identified.
[0068] The system may be embodied so that the sensor identifies a
face passing near it and also faces sharing the same supporting
base. Such system provides information regarding the one or two
adjacent faces constrained in a fixed position relative to the one
face. (All faces to be sensed are permanently adjacent a face
sharing a common edge, and a face located at a vertex is
permanently adjacent two faces.) FIG. 18 illustrates the effect of
a system designed accordingly.
[0069] As in the preceding embodiment, the process begins with no
face segments identified beyond the fixed central face segments.
FIG. 18 shows the effect of three consecutive "Up" rotations. A
base for a vertex supports three face segments, and that is how
three face segments are initially identified and marked with checks
instead of just one face. After the first "Up" rotation, five
additional face segments are identified as shown in the upper-right
drawing. The identified faces have a "1" indicating that they were
identified during the first rotation, and "a" is used for face
segments that are not at a vertex and "b" is used for face segments
that are at a vertex.
[0070] FIG. 19 illustrates a scenario for the error correction. In
this case, the system received an unclear rotation indication, so
there is doubt as to whether a face really did rotate 90 degrees.
The system will consider two possibilities: (1) that the face
rotated 90 degrees; and (2) that the face did not rotate at all.
After enough subsequent rotations, the sensor will eventually
identify a face or base of a face that indicates whether there was
a rotation.
[0071] With reference to FIG. 19, an example is considered of
tracking a cube's patterns starting with a solved cube (mapping at
the far left). Here, the system sensed the beginning of a rotation
of the "Left" face, but due to certain circumstances it was unclear
whether the move was completed or canceled. Thus, the cube may be
positioned in one of the middle states in the above diagram, "Yes"
indicate the move was completed and "No" indicating the move was
not completed. In that state the sensor would not be able to
determine whether the move was completed, because it would see the
same White-Green-Red piece. In this embodiment, the system would
continue to track movement understanding that either of the
possibilities will eventually be proven correct.
[0072] In this example, the next move is an "Up" rotation, and the
two right side drawings show that a different trio of face segments
passes to the sensor. Accordingly, the face segments are identified
and the system knows which of the two possibilities (the left face
rotated, or it did not) is the correct one.
[0073] It is understood that, while in the simplified example above
two alternative pattern possibilities were considered, the system
can be implement to consider many more alternative
simultaneously.
[0074] In alternate embodiments, additional sensors may be
employed. Accordingly, error correction requires fewer tracked
rotations.
[0075] In a 3.times.3 cubic puzzle of FIG. 4, cube 76, there are
twelve possible rotations of one of the six faces relative to the
rest of the cube. That is, each face can rotate in two directions,
both in the same plane but opposite each other. A system that knows
the initial pattern of face segments can track the twelve possible
rotations to determine any subsequent face segment pattern based on
the initial pattern and subsequent rotations. Such a process is
analogous to dead reckoning for navigation. The inventive concept
here is not limited to the 3.times.3 size or the cubical shape. Two
exemplary non-limiting embodiments of the invention are described
next. The first is a method that does not require rotation sensors.
The second embodiment is a method that does not require cubelet
signature sensors.
[0076] The first exemplary embodiment of pattern tracking is
described with reference to the flow chart of FIG. 20. The tracking
is executed on a three-dimensional puzzle having a shell formed by
multiple shell segments. Each shell segment is free to move
relative to an adjacent shell segment, and multiple unique
signatures located at the shell segments.
[0077] The first step is to obtain the initial pattern of the shell
segments on the faces. (Step S1.) Non-limiting examples of
obtaining the initial pattern include: retrieving the pattern from
the puzzle's memory, such as when the puzzle was used last; using a
given value that results from a factory reset; manual data entry
from a peripheral device, such as a smartphone; determined data
produce by photographing the puzzle; and using the initialization
of the present invention.
[0078] The next step is to use at least two signature sensors
within the shell to sense the unique signatures of the shell
segments moving into the proximity of the sensors. (Step S2.)
[0079] The following step is to provide data to processing
circuitry based on the sensed signatures. (Step S3.) The processing
circuitry determines from the data the identification of the
proximate shell segments to determine a new shell segment
pattern.
[0080] One exemplary use of the method is on three-dimensional
puzzles in which the shell has six faces, which collectively form a
cube. In this particular case, the shell segments comprise six
central cubelets, eight vertex cubelets, and twelve central edge
cubelets. The central cubelets each are on a different face of the
shell and each contact a separate post extending from a core along
the axis of rotation of the face. The unique signatures are located
at the vertex and central edge cubelets.
[0081] The second exemplary embodiment of pattern tracking briefly
mentions above is described with reference to the flow chart of
FIG. 21. The tracking is executed on a three-dimensional puzzle
having a shell that has at least four faces and is formed by
multiple shell segments. Each shell segment is free to move
relative to an adjacent shell segment, and the faces are free to
rotate about axes extending from a core toward the faces.
[0082] The first step is to obtain an initial pattern of the shell
segments on the faces. (Step S1.) Non-limiting examples of
obtaining the initial pattern are provided above in the discussion
of the last embodiment.
[0083] The next step is to sense the rotation of the faces. (Step
S2.) Rotation sensors of the types discussed above may be used for
this sensing.
[0084] The following step is to provide data to processing
circuitry based on the rotation of the faces. (Step S3.) The
processing circuitry determines from the face rotation data the
movement of the shell segments to determine a new shell segment
pattern.
[0085] An exemplary use of this method is on a three-dimensional
puzzle in which the shell has six faces, which collectively form a
cube. The shell segments are six central cubelets, eight vertex
cubelets, and twelve central edge cubelets. The central cubelets
each are on a different face of the shell and each contact a
separate post extending from the core along the axis of rotation of
the face.
[0086] Another aspect of the invention is engaging the multiple
player's use of the puzzle for online competitions worldwide. A
central server may send unique sets of moves for the players, such
as a different sequence of rotations for each user, as handicaps to
make them all reach the same cube pattern as a "fair match" with
similar initial conditions. The information from the users may be
collected and ranking statistics provided. The statistics may
include bout duration, number of moves, rotation speed, and
personal records.
[0087] Having thus described exemplary embodiments of the
invention, it will be apparent that various alterations,
modifications, and improvements will readily occur to those skilled
in the art. Alternations, modifications, and improvements of the
disclosed invention, though not expressly described above, are
nonetheless intended and implied to be within spirit and scope of
the invention. Accordingly, the foregoing discussion is intended to
be illustrative only; the invention is limited and defined only by
the following claims and equivalents thereto.
* * * * *