Transport of an object over a surface

p0001The present invention relates to the transportation of an object over a surface, such as a game character on a game board.

p0002The "classic" board game consists of a physical Schedule (board) and game characters. The pieces are placed on the board and moved by the (human) players in accordance with the rules of the game. A conventional computer does not have access to such a classic game. He knows neither the position of the game pieces on the plan nor can the characters move.

p0003In the present-day adaptation of a classic board game on a computer game board and playing pieces "virtually" built in the computer and displayed on the computer screen. The computer knows the locations of all the pieces on the virtual Schedule. Movements of the game characters are held only on this virtual Schedule. The figures can only be taken in the narrow sense "from the computer". Of course, the computer can perform the train due to a Human input. This makes it possible that computer and human "together" play on the virtual Schedule. This mechanism can also be utilized in conjunction with a network to have different people participate in a common game, when they are located at spaced locations.

p0004Since man but like a "real" game characters picks it up and moves and often the representation on a physical game board preferred, it is z. B. in chess game computers also common that, although virtually constructed and pulled Schedule and figures in computer man be but trains stalking outside the computer on a real board. About a suitable interface to humans and computers sharing each other with the conducted trains, the man then updates the position of the game pieces on the physical board.

p0005Especially with chess game computers, it is also customary to make changes in position of the game pieces on mechanical or magnetic switch for the computer directly recognizable. Here a switch sits below a predetermined pitch. If a character moves in the game, the switching mechanism is actuated when starting field of the turn and the target field of the turn. From this information, the chess game computer can capture and store the move electronically. The information about which character it is at this turn is not recognized in today's systems. This information is generated by the computer itself, the updating of all moves from a defined initial position. From computer displayed moves the computer usually the person must perform on the physical board.

p0006Solutions are also known in which the computer is directly moved by a robot gripping arm, the game character, but this is a fairly complex method and is therefore used only rarely. In addition, these solutions are typically based on a particular game, z. B. Chess specializing. Furthermore, these solutions suffer from several limitations. So can not be moved more game characters simultaneously z. B..

p0007In the <patcit id="pcit0001" dnum="DE102006009451"><text>DE102006009451.4</text></patcit> has been proposed for locating tokens to use on the board RFID technology, including an RFID reader or a reader antenna installed under the playing fields of the board and the player character is equipped with an RFID transponder. If the character set to a field, the transponder of the Reader is read and identified the pitch. The character is then associated with the position of the reader or reader coil.

p0008According to the unpublished <patcit id="pcit0002" dnum="DE102008006043"><text>DE 102008006043.7</text></patcit> becomes<ul><li>the Schedule by a lying computer display, for example in the form of an LCD, replaced, which thus can display any fixtures.</li><li>each character is provided with an optical sensor on the bottom, have an ID and are connected via a radio link to the game computer.</li></ul>

p0009In this latter method, the computer games type and position of standing on the board game pieces by suitable combination of the On Schedule information and remote sensor reading in the character automatically detect. Since this can be done very accurately and quickly, the game computer can track the position of the game pieces on the board almost continuously (tracken).

p0010After the preceding solution, it is possible to build a universal computer adaptation of a board game in which the computer is a variable Schedule on a functioning as a board screen and detects the position of a variety of physical, passive pawns automatically. An automatic and efficient movement of these physical characters by the computer, not with little technical effort, but according to the prior art possible. It would be at best a technical complex special solutions with computer-gripper or active, self-moving pawns conceivable, but have many disadvantages.

p0011But it would be desirable free on a game board distributed passive pawns to make movable, without having to use a robot gripper arm, or without the need for an active drive in the game characters efficiently and automatically by a computer.

p0012Problems of the type described above naturally occur elsewhere and are not limited to game scenarios. Moreover, the problems with the movement of the game characters vary depending on the game. For example, a game with only one character less demand on the motion generating as a game with multiple game characters, which targeted one or a proper subset of pawns to be moved relative to the other game characters over the surface or the board. Further, some game characters are rotationally symmetrical, so that the rotational orientation relative to the surface normal is unimportant, whereas this may be different with other characters and also in some games, the orientation of the character or the line of sight has meaning.

p0013The object of the present invention is to provide a concept for moving pawns on a surface, which in terms of, for example, cost and space is less expensive to implement and / or extends the applicability in that the necessary for movement generating elements with a larger number of possible detection principles for detecting movements on the playing surface are compatible.

p0014This object is achieved by an object according to claim 1, systems according to one of claims 8, 19, 20 and 24 and a method according to any one of claims 30 - dissolved 33rd

p0015A fundamental idea on which the present invention is based, is that it on the surface is possible in the case of determining a location of the object also to use transport mechanisms for transporting the object on the surface which result in less reproducible transport movements, since the control can be carried out directly on the basis of the observed movement in comparison to the desired movement.

p0016According to a first aspect of the present application, this idea is now taken up by the transport is produced by an air cushion between the object and the surface. In such a way "supported" the object can then be moved on the basis of various non-contacting devices laterally, such as by means of magnetic fields, electrostatic, or the like. In one embodiment, the generation of the air cushion below the object is effected laterally selectively at the location of the object as it is obtained by the position detection device. In this way it is possible to selectively reduce the transport friction of one or more specific objects among a plurality of objects relative to the other, so that does not accurately only for generating the force one or more specific objects, the lateral force applying means, but also the production of a field is possible, acting on all the objects together, but leads only to objects with reduced friction transport to an actual motion. In addition, the compressed air used for producing the air cushion, which is blown by the surface over which the object is to be transported, are not only used to reduce the transport of friction on the surface, but it may also for the generation of the lateral movement or generation of the lateral forces are used to move the object laterally across the surface. According to one embodiment this is done in combination with a specific embodiment of the bottom of the object, in which a plurality of air chambers are formed which are separated from one another and of which comprise one or more an opening in the side wall, through which the air of the air cushion can flow laterally, whereby the object undergoes due to the resulting recoil a lateral force. In combination with a suitable position detection device, so that determines the location of the object on the surface and can be used in combination with a dense distribution of individually controllable air nozzles for generating the air cushion in this way targeted air into a desired subset of the air chambers of the object to be blown, so that the object is moved to the desired position. Alternatively, of course, is also the provision of an opening and closing mechanism for closing and opening of the lateral holes of the air chambers of the object possible, the need would remove, to drive the air nozzles individually.

p0017According to a further aspect, the transport motion generating across the surface is carried out magnetically. distributed along the surface of individually controllable magnet coils are arranged, which are controllable separately from one another to produce magnetic dipoles with an orientation perpendicular to the surface. In providing said object with a magnetic pull-on or abstoßbaren element or a plurality of such elements, it is possible to push the object on the surface, namely on the basis of magnetic repulsion, or draw, namely on the basis of magnetic attraction.

p0018According to a further aspect, the transport movement is effected by bending waves in the surface. According to an exemplary example of this will be calculated in the surface propagating surface waves according to a wave field synthesis, such that the resultant tangential to the surface extending component of motion of surface points of the surface to the generated by the bending waves surface wave crests, on which the object rests primarily to movement of the object leads towards the desired position.

p0019is all aspects in common that no grip arms or other structures above the surface are necessary, which could otherwise interfere with either the aesthetics of the apparatus or the game, or otherwise the application. Rather, it is possible to move the necessary production according to aspects of the above components to hide beneath the transport surface. These aspects allow for this is also that the location determination is performed optically through the transport surface. According to embodiments of the present invention, this is exploited by the individual transfer mechanisms are combined with a position detection device, which uses a screen display in combination with an optical sensor in the object, as will be described in more detail below. This makes it possible to integrate the conveying surface together with the most necessary for determining the position and transport movement generating components in a component which is also able to display how any pattern on the conveying surface.

p0020Preferred embodiments of the present invention will be detailed subsequently referring to the appended drawings. Show it:<dl id="dl0001"><dt>Fig. 1</dt><dd>a schematic block diagram of a system for transport or movement of an object on a surface;</dd><dt>FIG. 2</dt><dd>a partial perspective view of a nozzle plate;</dd><dt>Fig. 3</dt><dd>a bottom view of a bottom of an object according to an embodiment;</dd><dt>FIG. 4a</dt><dd>a schematic plan view of a nozzle plate</dd><dt>and 4b</dt><dd>accordance with individually controllable air nozzles and with befindlichem on the surface of the object with a bottom <figref idrefs="f0002">Fig. 3</figref>, Wherein the <figref idrefs="f0003">FIGS. 4a and 4b</figref> cause different changes in position by different air nozzles are activated;</dd><dt>Fig. 5a</dt><dd>Top view of a nozzle according to an exemplary </dd><dt>and 5b</dt><dd>tion example in a closed or open state;</dd><dt>Fig. 6a</dt><dd>Plan views as in <figref idrefs="f0003">FIGS. 4a and 4b</figref> for air nozzles</dd><dt>and 6b</dt><dd>type to <figref idrefs="f0004">FIGS. 5a and 5b</figref>;</dd><dt>Fig. 7</dt><dd>a schematic view of a portion of the system of <figref idrefs="f0001">Fig. 1</figref> to illustrate a possible means for moving the object across the surface according to an embodiment;</dd><dt>Fig. 8</dt><dd>a bottom view of the bottom of an object according to another embodiment;</dd><dt>Fig. 9a</dt><dd>a partial perspective view of a magnetic coil array according to an embodiment;</dd><dt>Fig. 9b</dt><dd>a schematic plan view of the array of <figref idrefs="f0007">Fig. 9a</figref>;</dd><dt>Fig. 10a to 10c</dt><dd>are schematic side views of an object located on the transport surface with different magnetic modes of action between the magnet array and object according to various embodiments;</dd><dt>FIG. 11a and 11b</dt><dd>schematic plan views of an object with different magnetic tightening or magnetically abstoßbaren elements;</dd><dt>Figs. 12a and 12b</dt><dd>schematic plan views of a magnet coil array and an object located on it with a representation of examples of different patterns of activation of magnetic coils in the magnet array to produce different changes in position of the object on the surface; -</dd><dt>FIG. 13a and 13b, 12b,</dt><dd>schematic plan views as in the <figref idrefs="f0010">Fig. 12a</figref> and but using a magnetic repulsive action; </dd><dt>Fig. 14</dt><dd>is a schematic drawing illustrating the movement generating means of surface waves;</dd><dt>FIG. 15a and 15b</dt><dd>a sectional view and a top view of ntlang a peripheral edge of the transport-surface-forming plate extending bending wave generating device according to one embodiment of the present invention;</dd><dt>Fig. 16</dt><dd>a schematic side sectional view of a device for determining a position of an object on a display;</dd><dt>Fig. 17</dt><dd>a schematic diagram of a game device having a character-position-determining functionality according to an embodiment;</dd><dt>Fig. 18</dt><dd>a schematic diagram illustrating a configuration of a transmitting device from <figref idrefs="f0014">Fig. 17</figref>;</dd><dt>Fig. 19</dt><dd>a flow chart for illustrating the operation of the game apparatus of <figref idrefs="f0014">Fig. 17</figref> according to an embodiment;</dd><dt>Fig. 20</dt><dd>a schematic representation of possible patterns for detecting the position and orientation of the pawns in <figref idrefs="f0014">Fig. 17</figref> and <figref idrefs="f0015">18</figref> on a display;</dd><dt>Fig. 21</dt><dd>a flow chart for illustrating the operation of the game apparatus of <figref idrefs="f0014">Fig. 17</figref> According to a further embodiment;</dd><dt>Fig. 22</dt><dd>a schematic representation of a sequence of screen displays that gradually in the binary search within the method according to <figref idrefs="f0017">Fig. 21</figref> can be used;</dd><dt>Fig. 23</dt><dd>a sectional view of a lower part of a toy figure, arranged on a display according to an embodiment;</dd><dt>Fig. 24</dt><dd>is a schematic sectional view of a base with a transmitting device for attachment to an underside of a game character according to an embodiment;</dd><dt>Fig. 25</dt><dd>a schematic representation of a covered with a mask photo cell according to an embodiment; and</dd><dt>Fig. 26a</dt><dd>. A sectional views of a configuration of a component which forms the transporting surface and covers part of the movement generating means and the position detection device so that only outside thereof nor-addressing and evaluating units, such as a computer, are necessary;</dd><dt>Fig. 26b</dt><dd>a sectional side view of a character, of together with the component <figref idrefs="f0019">Fig. 26a</figref> can be used; and</dd><dt>Fig. 26c</dt><dd>a cross-sectional views through a configuration of a component which forms the transporting surface and covers part of the movement generating means and the position detection device according to another embodiment.</dd></dl>

p0021Subsequently, different exemplary embodiments of the present invention will be described in detail. Here are elements that occur repeatedly in different figures are given the same or similar reference numerals and repeated description thereof or its function is avoided.

p0022In particular, different embodiments of the different aspects mentioned above will be described, but which are also some can be combined, whereupon also hereinafter reference is made in several places.

p0023Although the description often specifically refers to gaming applications, the present invention is of course also applicable to other applications in which objects are automatically moved over a surface, such as like in logistics applications or.

p0024<figref idrefs="f0001">Fig. 1</figref> shows quite generally to a system for moving an object 10 on a surface 12. It comprises a position detection device 14, which is able to determine the location of the object 10 on the surface 12, such as the lateral position of, for example, the center of gravity and / or the lateral viewing direction or rotation of the object to a surface normal of the surface 12 relative to a reference direction. For the position detection device 14 will hereinafter with reference to the<figref idrefs="f0014 f0015 f0016 f0017 f0018 f0019">Fig. 16 to 25</figref> described embodiments, according to which the position detection device 14 comprises an optical sensor in the object 10 as well as a display that their screen display from the back of surface 12 fro by the surface 12 in the direction of the front surface on which the object 12 is indicating. However, other location determination devices 14 are also possible and for example comprise a camera (not shown), the transport surface 12 from the front, ie in<figref idrefs="f0001">Fig. 1</figref> viewed from above, receives, or otherwise, for example, contactlessly operating distance sensors, such as two or more distance sensors, which are arranged along an edge of the transport surface 12th

p0025The system of <figref idrefs="f0001">Fig. 1</figref> further comprising means for moving the object across the surface, namely the means 16. The means 16 thus performs the actual movement, without user interaction. For the moving means 16, especially with respect to hereinafter to Figures<figref idrefs="f0002 f0003 f0004 f0005 f0006 f0007 f0008 f0009 f0010 f0011 f0012 f0013 f0014">Fig. 2-16</figref> various embodiments described. According to these embodiments, the moving means 16 is formed such that the forces to change the position of the object 10 on the surface 12 can be contactlessly applied to the object 10, such as by means of compressed air, magnetically, or by means of bending waves. However, other mechanisms or combinations thereof are also possible, after which in the following is also pointed.

p0026The position detection device 14 and the moving means 16 are coupled together. In particular, the position detection device 14 and the moving means 16 can be coupled together, for example via a control 18th The control device 18 includes, for example, a processor executing a suitable program. In particular, the driving means 18 is designed to drive based on the determined by the position detection device 14 location of the object 10 on the surface 12 and a predetermined target position of the object 10 on the surface 12 of the moving means 16 such that the object 10 to the target -Location approach, whereby a control loop that ensures that the object 10 has reached its desired position. Where the target position is supplied, may be different depending on the application. The target position can be the driving means 18 provided externally. The control device 18 may, however, fulfill its function as controlling the movement device 16 also other functions that affect the desired position of the object 10th For example, acts the control device 18 as a games machine that is either able to receive on certain input devices target position changes of the object 10 manually by a player and / or calculate desired position changes of the object 10 independently. Suitable input devices see for example, before a keyboard, a mouse, a voice input, a touch-screen of the surface 12 or the like. As already mentioned, but also other applications are conceivable in which the system, by<figref idrefs="f0001">Fig. 1</figref> can be used, such as logistic applications, in which case the control device 18, for example, simultaneously assumes logistical tasks to calculate, among other things, the desired position of the object 10th

p0027Although it is also addressed in the following several times, it is pointed out that it is possible that the position detection device 14 and the moving means 16 are formed so that they are capable of multiple objects 10 and 10 'individually to the surface 12 to handle, ie their specific situation to determine or she individually to move relative to the other objects. Accordingly, the driving device 18 may be designed such that the desired positions of the plurality of objects 10 and 10 ', or at least manages performs the arrangements of their desired positions.

p0028Referring to <figref idrefs="f0002 f0003 f0004 f0005 f0006">Fig. 2 - 8</figref> will now be described in the following embodiments, according to which the means 16 for moving the object across the surface creates an air cushion between the object and the transport surface, so that the normally occurring static and dynamic friction of the object between the bottom of the object and the transport surface in favor of a much lower friction due to the air cushion is overcome.

p0029<figref idrefs="f0002">FIG. 2</figref> exemplifies the surface 12, ie the transport surface, with an array or with a lateral distribution of air nozzles 20. In <figref idrefs="f0002">FIG. 2</figref> is shown as a regular lateral distribution in columns and rows, the lateral distribution. but other regular arrangements as well as irregular distributions of the lateral air nozzles 20 are also possible. In addition, the air nozzles 20 in<figref idrefs="f0002">FIG. 2</figref> exemplified as controlled individually or individually closable / openable by all of the openings are shown in a closed state to an opening 20a. As later with reference to<figref idrefs="f0006">Fig. 7</figref> will be described, but it is also possible that the moving means 16 constantly opened, or only together controllable air jets used twentieth In addition, the air nozzles are shown as if they were on Luftaustrittsort closable and openable, that is, as the air valves. However, it is also possible to thereby make the air nozzles can be controlled individually, that there are valves in the air valves individually associated air ducts connecting the air nozzles to a pressure source.

p0030In <figref idrefs="f0002">FIG. 2</figref> 12 has been exemplarily shown as a main face of a parallelepiped-shaped body such as a nozzle plate 22, the front, the transport surface 12 forms and which has the air nozzle 20, the transport surface. However, other shapes are also possible.

p0031Although in <figref idrefs="f0002">FIG. 2</figref> is not explicitly shown, the air nozzles 20 are of course to a pressure source fluidly connected so that in the opened state of the air nozzles, as depicted at 20a, compressed air flows from the nozzle. The compressed air leaves the nozzle 20, for example along a surface normal of the conveying surface 12. The nozzles may also be designed so, however, that the air leaves the nozzle 20 in a direction which is inclined relative to the surface normal. The lateral direction of tilting, ie tangential to the surface 12, can be different, for example, for different air nozzles 20, which will be discussed again below.

p0032Referring to <figref idrefs="f0002 f0003 f0004 f0005">FIGS. 3 to 6b</figref> An embodiment will now be described in which an array of individually controllable air jets in combination with an object whose bottom is designed accordingly, is used to produce the lateral movement of the object on the surface. <figref idrefs="f0002">Fig. 3</figref> shows an example of a way of embodiment of the bottom of the object 10. In the upper part of the <figref idrefs="f0002">Fig. 3</figref> is shown the corresponding side view of the object 10 of easy understanding sake.

p0033As in <figref idrefs="f0002">Fig. 3</figref> can be seen, a plurality of recesses in the bottom 30 of the object 10 32₁ - 32₉ educated. Otherwise, the bottom 30 is flat, ie, it has a planar support surface 34. As in<figref idrefs="f0002">Fig. 3</figref> is illustrated by way of example, the recesses 32 may₁ - 32₉ have a common depth t, up to which they extend from the support surface 34 into the interior of the object 10th As in<figref idrefs="f0002">Fig. 3</figref> As shown, the recesses 32₁ - 32₉ separated by example perpendicular to the bearing surface 34 extending inner walls 36th Further, there are among the recesses such, namely the recesses 32₂ - 32₉Adjacent to an outer side wall 38 of the object 10th In the exemplary case of<figref idrefs="f0002">Fig. 3</figref> is in the side wall 38 for each of the recesses 32₂ - 32_8th an opening 40₂ - 40₉ provided, which makes it possible that in the corresponding recess 32₂ - 32₉ Air forming the air cushion under the object 10, can flow sideways. In a 90 ° angle to each other, for example, openings 40₂, 40₄, 40₆ and 40_8th provided that are intended by the air radially in <figref idrefs="f0002">Fig. 3</figref> let example rotationally symmetrical about an axis of rotation 42 shaped object 10 to flow. To 45 ° offset this, are at 90 ° to each other four openings 40₃, 40₅, 40₇ and 40₉ provided for air from the corresponding recesses or chambers 32₃, 32₅, 32₇ and 32₉ to discharge in directions which have a tangential component. In particular, these openings are in pairs such that an opposing pair of apertures 40₃ and 40₇ or 40₅ and 40₉ the air in the same direction, that is considered counterclockwise from top or viewed clockwise from top, can flow out.

p0034As Referring now to <figref idrefs="f0003">FIGS. 4a and 4b</figref> nor is illustrated by way of example, it is possible due to the configuration of the recesses and the chambers formed by the same, to rotate by suitable selection of a subset of these chambers that are to receive compressed air from the air nozzles, the object 10 on the surface and / or into a desired direction to move, ie, any combination of translational movement and rotation about the axis to cause the 42nd Thus causes air pressure in the chamber 32₂ through the side through the opening 40₂ air flowing, that the object 42 in the side of the outflowing air moves opposite direction. This applies to the openings 40₄, 40₆ and 40_8th in a corresponding manner. Flowing pressurized air into the chambers 40₃ and 40₇ simultaneously, thus causing the air escaping into the corresponding holes, a rotation of the object in a clockwise direction (as seen in <figref idrefs="f0002">Fig. 3</figref>). A correspondingly reverse rotation is by conduction of compressed air into the chambers 32₉ and 32₅ reached. The sides by walls - in<figref idrefs="f0002">Fig. 3</figref> the inner walls 36 - enclosed chamber 32₁ effected when filled with compressed air no lateral forces on the object 10 and thus can be filled with compressed air in order to take the object 10 by means of the corresponding air cushion between the object 10 and the surface.

p0035The interaction between the control device 18, the individually controllable air nozzles 20 and the special design of the bottom 30 of the object 10 is again below with reference to the <figref idrefs="f0003">FIGS. 4a and 4b</figref> are illustrated. <figref idrefs="f0003">Fig. 4</figref> shows a portion of the transport surface 12 and individually controllable air valves 20. The in <figref idrefs="f0003">FIG. 4a</figref> indicated location of the object 10 on the surface 12 is known to the control device 18 via the position detection device fourteenth In<figref idrefs="f0003">FIG. 4a</figref> it is believed that it provides for the desired position, the object 10 in the south (in <figref idrefs="f0003">FIG. 4a</figref> below) to be moved. Accordingly, activated and opens the driving means 18 next to the air valves 20 which are respectively below and laterally aligned with the central air chamber 32₁ are, those air holes 20 to the air chamber located in the North 32₂ are aligned so that through the corresponding opening of this chamber 32₂ laterally outflowing air the object 10, which is supported by the air cushion generated by the open air nozzles 20, is moved in the desired direction, as is indicated by an arrow 50th In<figref idrefs="f0003">FIG. 4a</figref> the open air valves indicated with an oval and the closed air valves with a stroke.

p0036<figref idrefs="f0003">Fig. 4b</figref> shows the same starting position as the <figref idrefs="f0003">FIG. 4a</figref>, In this case, however, it is assumed that the control device 18 to the approach of the object 10 has to rotate to the desired position the object 10, namely, clockwise. Accordingly, it opens adjacent to the air valves 20, their air into the central chamber 32₁ bubbles, those air valves 20 that the opposing air chambers 32₃ and 32₇ opposite. The side of the chamber 32₃ escaping air produces thrust 52 in the tangential direction which is opposite to the direction of thrust 54 by the side opposite from the air chamber 32₇ outflowing air is produced, whereby the desired rotational movement of the object 10 is achieved in a clockwise direction.

p0037It should be noted that the particular configuration of the floor according to <figref idrefs="f0002">Fig. 3</figref> is merely exemplary. Many modifications are possible. If, for example, rotational movements of the object 10 is not on, so has the object 10, for example, only three openings which allow the air to flow radially and are arranged, for example, in 120-degree angles to each other. If the path of the object 10, for example, otherwise fixed to the surface 12, such as by corresponding bands, is then sufficient if appropriate also only the provision of a lateral recess with a corresponding opening in the side wall 38 adjacent a further recess or chamber from which, like the chamber 32₁ does not have a lateral opening in the side wall.

p0038In the foregoing description of the <figref idrefs="f0002 f0003">Fig. 2 - 4b</figref> the air nozzles 20 have been sometimes referred to as air valves. The reason is that the individual driving the air nozzles can take place either directly to the air nozzle, in which case the same acts as an air valve, or each air nozzle is then permanently open, a valve may be associated, through which each nozzle is individually controllable , Each pair of such air nozzle and associated valve would be a corresponding air channel specially assigned, which of course requires considerable space.

p0039The <figref idrefs="f0004">FIGS. 5a and 5b</figref> show an example of a closed and opened state of an air valve 20. According to <figref idrefs="f0004">FIGS. 5a and 5b</figref> the air valves of silicon 60 are formed. For example, the whole body 22 (<figref idrefs="f0002">FIG. 2</figref>) Consists of silicone or a base carrier, such as a glass plate, has a matrix of holes, for example, have been drilled in the glass plate and in these holes, the individual valves in accordance with silicone <figref idrefs="f0004">FIGS. 5a and 5b</figref> fitted. For example, the material 60 of the valve, such as flat silicone, a refractive index which is equal to the refractive index of the material of the support plate, ie For example, glass, in which case, for example, a completely transparent appearance results from the surface 12 passes. The refractive index can be, for example 1.43. In the preferably elastic valve material 60, a slot 62 is provided, for example, of the opposite side 64 to which, for example compressed air can be applied, extends from the surface 12 passes. The slot has been cut, for example, in the elastic material 60 inside.

p0040Laterally along the slot electrodes are provided 66 and 68, to which different potentials can be applied. An inner coating 70 in the slot 62 ensures that in the closed state, in the<figref idrefs="f0004">Fig. 5a</figref> is shown, the electrodes do not contact each other 66 and 68. Of course, such inner coating 70 may be absent even when the electrodes 66 and 68 are so spaced from the slot 62, that even in the closed state of the same do not touch each other.

p0041In the case of <figref idrefs="f0004">Fig. 5a</figref> now provides the control device 18 by way of example that the air valve from <figref idrefs="f0004">Fig. 5a</figref> closed is. For this purpose, different electric potential to the electrodes 66 and 68 is applied. In<figref idrefs="f0004">Fig. 5b</figref> the case is shown that the electrodes 66 and 68 are loaded with charge carriers of the same polarity. According to the embodiment of<figref idrefs="f0004">FIGS. 5a and 5b</figref> thus the electrodes 66 and 68 of an air valve coupled to two different voltage sources, of which the electrodes 66 and 68 are each connected to the same pole. In<figref idrefs="f0004">Fig. 5b</figref> this is an example of the negative pole. The thus resulting electrostatic repulsion force between the electrodes 66 and 68 ensures that the slot 62 opens into an oval as shown in<figref idrefs="f0004">Fig. 5b</figref> is shown.

p0042The embodiment of <figref idrefs="f0004">FIGS. 5a and 5b</figref> is of course only exemplary and other configurations are also possible. In addition, the<figref idrefs="f0004">FIGS. 5a and 5b</figref> for simplicity been shown simplified in that the leads 66 and 68 are not shown to the electrodes. For individual controllability of the air valves, however, they must be connected via separate lines with the aforementioned voltage sources or separable from the same. Further, it is also noted that in<figref idrefs="f0004">FIGS. 5a and 5b</figref> the line 72 by way of example to represent the possible interface between the valve material 60 and the aforementioned carrier plate, such as the glass plate.

p0043<figref idrefs="f0005">FIGS. 6a and 6b</figref> show applied to the air valve design according <figref idrefs="f0004">FIGS. 5a and 5b</figref> the activation of a corresponding array of air valves for the production of movements, as described in <figref idrefs="f0003">FIGS. 4a and 4b</figref> are shown. In short,<figref idrefs="f0005">FIGS. 6a and 6b</figref> show a detail of the transport surface 12, the example in accordance with an array of valves 20 <figref idrefs="f0004">FIGS. 5a and 5b</figref> is provided, wherein an object 10 located on the surface 12, according to a floor design <figref idrefs="f0002">Fig. 3</figref> having. As in<figref idrefs="f0005">Fig. 6a</figref> can be seen, there are the air valves 20, which below the chamber 32₁ and 32₂ are arranged in the open state in accordance with <figref idrefs="f0004">Fig. 5b</figref>In order to obtain the movement in the south direction, as shown in <figref idrefs="f0003">FIG. 4a</figref> was the case, and in <figref idrefs="f0005">Fig. 6b</figref> There are only those air valves in the state defined <figref idrefs="f0004">Fig. 5b</figref>That underneath the chambers 32₁, 32₃ and 32₇ are arranged, while the respective other air valves in the closed state in accordance with <figref idrefs="f0004">Fig. 5a</figref> . are

p0044As later Referring to <figref idrefs="f0019">Fig. 26a</figref> and <figref idrefs="f0020">26b</figref> still describes the design of the air valves has carried on a glass plate with the same refractive index as Referring in <figref idrefs="f0004 f0005">Figure 5a -. 6b</figref> has been described, the advantage that with closed air valves of the impression of the glass plate is not disturbed by the air valves. In other words formed with closed air valves no "discontinuity" that would affect the transparency of the plate, which is of particular to the embodiments<figref idrefs="f0014 f0015 f0016 f0017 f0018 f0019">Fig. 16 to 25</figref> is advantageous, according to which even the position detection device 14 uses a located below the transport surface display to take the position determination.

p0045An average smallest distance between the air nozzles 20 is, for example, less than a lateral extent of the recesses 32_2-9, Preferably, an average minimum distance between the air nozzle 20 is less than or equal to a smallest lateral dimension of the recesses 32_2-9, Depending on the movement to be performed by the object due to its displacement from the desired position, selects the control device 18 then those nozzles for blowing out, which is below the appropriate recesses 32_2-9 lie.

p0046In the <figref idrefs="f0002 f0003 f0004 f0005">Fig. 2 - 6b</figref> are the lateral forces for changing the position of the object that is supported by the cushion of air generated by the compressed air to generate the air cushion itself by respective air chambers or vented into respective air chambers air was blown.

p0047<figref idrefs="f0006">Fig. 7</figref> shows a way of embodiment of the means 16 for moving the object across the surface, whereupon the same having an array of individually controllable air nozzles in the surface 12 for generating an air cushion 80 between the object 10 and surface 12, namely specifically at the location of the object 10, and an additional means 82 for non-contact lateral displacement and / or rotation of the object 10 on the air cushion 80. the means for non-contact lateral displacement 82 may use, for example, electrostatic forces, magnetic forces or tilting of the surface 12 relative to the gravitational field to a desired change in position of the object 10 to cause on the surface of 12th

p0048In the event that only one object 10 is to be changed under several objects on the surface 12 selectively in its position, the device 82 is not limited to such implementations that are able to be targeted against the desired object 10 influence. Rather, it allows for the targeted production of the air cushion 80 at the desired object 10 that otherwise acting between surface 12 and object 12 static and sliding friction is canceled for only this object 10 so that the lateral forces through the device 82 required only for the object 10 will cause lateral movement.

p0049One possibility of implementation of the means 82 sees, for example, provide that the object 10 is not moved on the production of corresponding fields, but that the lateral openings in the bottom chambers in the case of <figref idrefs="f0002">Fig. 3</figref> be selectively opened and closed. In addition to the configuration according<figref idrefs="f0002">Fig. 3</figref> , in the case of <figref idrefs="f0006">Fig. 8</figref> So devices 84_2-9 for selectively opening and closing the openings 40₂ - 40₉ provided, which can be controlled, for example via a wireless interface by the control device 18th In accordance with the foregoing description, the control device 18, the devices 84 on that air only through the desired openings 40 controls so₂ - 40₉ can escape laterally, which otherwise forms the air cushion 80th

p0050In the alternative, in accordance with <figref idrefs="f0006">Fig. 8</figref> it is pointed out that in the case of using the openings respectively associated means for selectively closing and opening the apertures also provides the use of air nozzles would be possible to open only be controlled together or not controllable, but constantly. Were in this case several objects 10 on the surface 12, so could for objects that are not intended to change their position, the set of devices 84₂ - 84₉ are driven so that all close their respective openings, so that the corresponding air cushion beneath it acts merely supporting. Only when the one object or those objects which are to be moved, one or more of the openings through the devices 84₂ - 84₉ open.

p0051While the above-described embodiments, the reference to the <figref idrefs="f0002 f0003 f0004 f0005 f0006">FIGS. 2-8</figref> have been described, had in common, that an air cushion between the object and the transport surface is produced, this is taking for the following with respect to the <figref idrefs="f0007 f0008 f0009 f0010 f0011">Fig. 9a - 13b</figref> only an optional measure. In accordance with the embodiments described below, the change in position of the object is generated on the surface by suitable control of a lateral distribution of individually controllable magnet coils, which are arranged distributed along the transport surface.

p0052<figref idrefs="f0007">Fig. 9a and 9b</figref> show an example of the transporting surface 12, is disposed along the an array of magnet coils 90 so that the magnetic flux generated by a current flow through solenoid coil 90, this substantially extends symmetrically to an axis which is perpendicular to the surface 12th In other words, a longitudinal axis of the magnet coil 90 is perpendicular to the surface 12. As shown in<figref idrefs="f0007">Fig. 9a</figref> is indicated, the coils 90 are, for example, embedded in a carrier material 92, which consists for example of magnetically permeable material. The individual controllability of the solenoid 90 is accomplished through appropriate lines and switches in<figref idrefs="f0007">Fig. 9a and 9b</figref> are not shown to simplify the illustration and allow for the individual magnet coils 90 individually, a current flow can be generated by the same.

p0053Depending on the embodiment, it may be that the magnetic coils 90 are either displaceable only in two states, such as a current-carrying and non current-carrying state or impinged with alternating state and an energized state, or in three states, namely a de-energized state and two other states that differ in the current flow direction. Combinations of these Ansteuerbarkeiten may be also possible, such as by the provision of an individual or the selective connectivity of the magnetic coil 90 to a voltage source, which in turn for all of the solenoid coils 90 equal depending on the setting by the control device 18 AC power, DC voltage in the one or DC voltage in the other direction provides.

p0054By the means 16 for moving the object across the surface (<figref idrefs="f0001">Fig. 1</figref>) Has a distribution of individually controllable magnet coils 90, it is the driving means 18 possible to move the object 10 from the present position obtained by the position detection device 14 in a desired position. Given the object 10 itself can either magnetically attractive and / or abstoßbaren material such as iron, are made, or the object is locally provided with one or more such magnetically attractive and / or magnetically abstoßbaren elements in an otherwise magnetically permeable material.

p0055The <figref idrefs="f0008">Figure 10a -. 10c</figref> show embodiments in which the object 10 is made from an otherwise magnetically permeable material, but in the area of ​​the bottom of the object 10 is a magnetically attractable and / or magnetically abstoßbares element is arranged such, for example, poured into the magnetically permeable material , The magnetically permeable material may be for example plastic. According to<figref idrefs="f0008">Figs. 10a and 10b</figref> the element 100, for example, a permanent magnet. According to the embodiment of<figref idrefs="f0008">Fig. 10c</figref> is the element such as a coil 110. As will be described below, of course, several elements may be 100 or 110 disposed at laterally different points along the contact surface of the object 10 in an object. In the case of<figref idrefs="f0008">Figs. 10a and 10b</figref> the magnetic poles of the permanent magnet 100 are exemplary 12 disposed along a surface normal of the transport surface, in the case of <figref idrefs="f0008">Fig. 10c</figref> the coil axis along the surface normal.

p0056<figref idrefs="f0008">Fig. 10a</figref> illustrates how the control device 18 may utilize a magnetic repulsive force to to move the object 10 along the surface of the 12th For this purpose the driving means 18 is activated, for example, one of the coils 90 along the surface 12 so that their magnetic north pole is the north pole of the permanent magnet facing 100 over the surface 12, namely the one solenoid 90, among the plurality of magnetic coils relative to the location of the permanent magnet is offset 100 in a direction which is opposite to the direction 112 in which the object 10 is to be moved. The magnetic repulsion between the permanent magnet 100 and the energized coil 90 is namely the force in the desired direction 112th

p0057Conversely, it is the control device 18 possible, a solenoid 90, which is formed into the desired direction of displacement 112 is arranged to the permanent magnet 100, to drive so that their magnetic north / south orientation corresponds to that of the permanent magnet, so that opposing poles of the coil 90 and the permanent magnet 100 each over the surface 12 opposite one another and the resulting magnetic attraction for a lateral displacement of the object 10 in the desired direction 112 provides. In the case of<figref idrefs="f0008">Fig. 10b</figref> energizes the driving means 19 that the solenoid coil 90 of the plurality of magnetic coils which is arranged offset relative to the location of the permanent magnet 100 in a direction which is the same direction of the direction 112 in which the object 10 is to be moved.

p0058In the case of <figref idrefs="f0008">Fig. 10c</figref> There are different control options. If necessary, in the object 10 in a<figref idrefs="f0008">Fig. 10c</figref> current generating means not shown, such as a battery or an accumulator arranged, which produces a current flow in the solenoid coil 110 of the object 10 so that the latter in turn acts in this state as one of the permanent magnets 100th In this case, the driving means 18, the driving as shown in<figref idrefs="f0008">Figs. 10a and 10b</figref> described perform.

p0059However, the solenoid coil 110 need not be driven externally by, for example, an object-internal battery or the like to be current flowing through it and thus to behave like a permanent magnet. The solenoid coil 110 may be short-circuited via a parallel branch to the coil 110 at their ends or connected electrically to each other via an impedance. In this case a by the excitation coil 90 building under construction or dismantling the magnetic field induces a current through the solenoid coil 110 of the object 10, in turn, a magnetic field change generated reverse magnetic field, ie a counter-directed magnetic field in the case of a widening produced by the exciting coils 90 magnetic field and a rectified magnetic field in the case of a decreasing generated by the excitation coil 90 the magnetic field. The control device 18 can take advantage of this effect in that it is arranged to the coil 110 those magnet coils 90 ', the offset in the desired direction 112 opposite direction, so controls as to produce at the coil 110 a-increasing magnetic field which due to the induced current object 10 pushes away in the magnetic coil 110 in the desired direction 112, and those magnet coils 90, the offset in the desired direction 112 are arranged to the coil 110 so controls as to produce a weakening magnetic field which an attraction the solenoid 110 and thus the object 10 causes toward 112th The drive means can this example so accomplished, for example, the excitation coil 90 or 90 'below or be driven around the solenoid coil 110 of the object 10 in the direction 112 sequentially so that the excitation coils towards 112 before the solenoid 110 initially to a cause increase of the magnetic field at the location of the solenoid 110, whereupon the solenoid lead towards 112 after the solenoid 110 to a decrease of the magnetic field at the location of the magnet coil 110th Unlike in the embodiments of<figref idrefs="f0008">Figs. 10a and 10b</figref> thus pushes the Erregungsort at which the excitation coils 90 are activated by the control device 18, the object 10 is not in front of it or pulling it along behind him, but the Erregungsort cycles through the floor space on which the object 10 is currently located in the desired direction of 112th

p0060A shift over long distances, ie more than one inter-coil distance, said driving effected by selectively activating the coils so that a place within which the activated coils are 90, the current or specified by means 14 place the object 10, is ahead or lagging to - as just described - "move here behind" the object or "heart uschi just right".

p0061<figref idrefs="f0009">FIG. 11a and 11b</figref> show once again the possibility of the object 10 with staggered to each other magnetically attractive and / or magnetically abstoßbaren elements in an otherwise magnetically permeable material of the object to provide 10th In particular, in the case of<figref idrefs="f0009">Fig. 11a</figref> two coil windings 110a and 110b are laterally offset from one another, while in the case of <figref idrefs="f0009">Fig. 11b</figref> in the base of the object 10 has two mutually offset permanent magnets 100a and 100b are provided, the magnetic north and south poles are arranged by way of example the same and along a surface normal of a contact surface of the object 10th The longitudinal axis of the coils 110a and 110b also extend perpendicular to a support surface of the object 10th

p0062<figref idrefs="f0010">Figs. 12a and 12b</figref> are intended to illustrate how the control device 18 may generate a translational movement and a rotational movement of the object 10 when the object 10 in accordance with <figref idrefs="f0009">Fig. 11a</figref> and <figref idrefs="f0008">Fig. 10c</figref> a passive coil or under <figref idrefs="f0009">Fig. 11b</figref> having magnets, wherein magnetic attraction force between this magnet and the magnetic coils of the array is used along the surface 12th

p0063<figref idrefs="f0010">Fig. 12a</figref> shows the object 10 in a certain starting position, wherein the drive device 18 wants to move the object 10 in translation in the direction of the arrows. <figref idrefs="f0010">Fig. 12a</figref> assumes that the object 10 is either four permanent magnets 100a - 100d having, or two solenoid coils 110a and 110b. The distance between the solenoid coils 110a and 110b or between the four permanent magnets 100a - 100d is selected so that it corresponds to the distances of the regularly arranged magnetic coils 90th For example, the four permanent magnets 100a - 100d arranged example, that they are in<figref idrefs="f0010">Fig. 12a</figref> illustrated position exactly corresponding four solenoids 90 are opposite. By 90 ° rotation of the object 10, such a situation with the other magnetic coil 90. To again yields now the movement in the desired direction to produce, relocates the driving means 18 as indicated by the arrows and their numbering, the activation of the magnetic coils 90 from those which is below the permanent magnets 100a - are arranged 100d or the coils 110a and 110b, to those who are arranged offset thereto in the desired direction, ie it will initially excite those solenoids, to the arrows with the number 1, then which, on the arrows with the number 2 show, etc. the excitation of the respective solenoids 90 of course depends on whether there is an object 10 with coils 110a and 110b or permanent magnets 100a - is 100b, wherein depending on the excitement that applying a voltage change to the appropriate solenoid coils 90 or the application of a DC voltage includes, as Referring to<figref idrefs="f0008">Figure 10a -. 10c</figref> has been described, ie strictly draw the excitation locations in the case of permanent magnets in the object 10, the object 10 just behind him, while in the case of magnetic coils in the object 10, the excitation coils are driven in time so that the magnetic field reduction of local solenoids of the object 10 to an attractive force in the desired direction (top right, <figref idrefs="f0010">Fig. 12a</figref>) leads. The more forward in the intended direction of excitation coils are in the latter case this time previously been 90, for example, already driven so that at the location of the magnet coils of the object 10 a magnetic field amplification revealed the top to a repulsive force in the desired direction (right,<figref idrefs="f0010">Fig. 12a</figref>) Led.

p0064In <figref idrefs="f0010">Fig. 12b</figref> is the same starting position as in <figref idrefs="f0010">Fig. 12a</figref> illustrated, but the control device 18 to leave this position and to achieve a rotational movement of the object is energized 10 other solenoids 90th As the excitation is changed from the currently excited magnetic coils on the next time, is in<figref idrefs="f0010">Fig. 12b</figref> again indicated by arrows with a # 1. As can be seen, results in a rotating movement anticlockwise.

p0065<figref idrefs="f0011">FIG. 13a and 13b</figref> again access to the case, as in <figref idrefs="f0008">Fig. 10a</figref> has been indicated, namely the movement of an object through utilization of the magnetic repulsion. In the case of<figref idrefs="f0011">FIG. 13a and 13b</figref> the object has only two permanent magnets 100a and 100b, as well as in <figref idrefs="f0009">Fig. 11b</figref> the case was. The magnetic polarity corresponds to that of<figref idrefs="f0008">Fig. 10a</figref>, Ie energized, the solenoid coils 90 are polarized in the opposite direction to the permanent magnets 100a and 100b. Again in<figref idrefs="f0011">FIG. 13a and 13b</figref> indicated the direction in which the place of the energized solenoid 90 travels to "heart uschi just right" the permanent magnets 100a and 100b.

p0066Referring to <figref idrefs="f0012 f0013">Fig. 14 - 15b</figref> An exemplary embodiment for the means 16 for moving the object in the following on the surface (<figref idrefs="f0001">Fig. 1</figref>), According to which the means for movement generating bending waves and surface waves in the surface 12 generated. The following remarks thus represent an alternative to the magnetic Lateralbewegungserzeugung according to<figref idrefs="f0007 f0008 f0009 f0010 f0011">Fig. 9a - 13b</figref> represents optional and is only combined with a measure, according to which an air cushion is used to reduce the weight of the object.

p0067The principle on which this embodiment is based is in <figref idrefs="f0012">Fig. 14</figref> shown. A along the transport surface 12 of spreading or bending surface wave, which is generated by a bending wave generating device 141, causes an elliptical motion 114 of the surface points of the surface 12, when considering their location over time. It is therefore once again pointed out that in<figref idrefs="f0012">Fig. 14</figref> the state of the surface 12 is drawn at a fixed time in its lateral extent, and for a particular surface point 140 whose position curve is shown over time, namely, the ellipse and the arrows at 140. In the case of <figref idrefs="f0012">Fig. 14</figref> Browsing the running direction of the bending wave along the arrow 142. As can be seen, the surface points of the surface 12 move to the respective wave crests 144, on which rests the object 10, ie, the direction of the line 140 at the highest point, in a direction 146 which is opposite to the bending direction of wave propagation 142nd The object 10, which indeed on the wave crests 144 rests at least predominantly, therefore moved due to the bending waves in the same direction 148 as the surface points of the wave peaks, that is, the direction of 146th

p0068According to the embodiment of <figref idrefs="f0012">Fig. 14</figref> therefore includes the means 16 for moving the object across the surface (<figref idrefs="f0001">Fig. 1</figref>) A means for generating bending waves in the surface 12. The control device 18 generates the flexural waves so that, as in <figref idrefs="f0012">Fig. 14</figref> described, the object 10 is moved in the desired direction. The control device 18 may submit any make known calculation methods of the wave field synthesis for Use to calculate the bending wave generation accordingly.

p0069<figref idrefs="f0013">FIG. 15a and 15b</figref> represent one way in which bending waves could be generated in the transport surface 12th The transport surface 12 is formed by a plate 150, for example, is stiff and can be transparent, allowing for a combination with the following embodiments of a position detection device 14, after which a screen 152 is used for determining the position, the in<figref idrefs="f0013">Fig. 15a</figref> is already indicated. The plate 12 is retained along its edge 154 of cross-sectionally U-shaped bracket 156 by using a material that can serve as an adhesive and / or as a means for attenuating flexural waves in the plate 150, 158 a gap between the acting as a retaining clip carrier 156 and the plate 150 and thus occupies the same example mechanically interconnects and / or acoustically coupled or decoupled. Piezoelectric elements 160 are applied to opposite sides of the plate 150 and extend to opposite inner sides 162a and 162b of the carrier 156 there also abut, so that mechanical vibrations by the piezoelectric elements 160 in the surface normal direction of the plate 150, as shown in by the double arrows<figref idrefs="f0013">Fig. 15a</figref> is indicated, are transferred without attenuation as possible to the plate 150th The piezoelectric elements 160 150 are arranged for example along the edge 154 of the plate in a suitable example equidistant spacing.

p0070In the carrier 156 may, as in <figref idrefs="f0013">FIG. 15a and 15b</figref> can be seen, a groove may be provided 164 along the extension direction of the plate edge, into which the held on the damping material 158 plate 150, so that upon application of excessive forces on the plate 150 in the direction of the surface normal, the piezoelectric elements 160 and the damping material 158 is not damaged. In other words, limits the groove 164 translational movement of the plate 150 into the surface normal direction to a plane defined by the damping material 158 rest position so that the piezoelectric elements 160 can not be damaged.

p0071Of course, the groove 164, which is so arranged relative to the piezo elements 160 further outward, be designed so that it can no play between plate 150 and its inner side, so that the groove 164, the plate 150 holds. Depending on the circumstances, such as the rigidity and the thickness of the plate may facilitate the bending wave generation with a suitable frequency and amplitude of the latter solution.

p0072However, it is immediately noted that at the in <figref idrefs="f0013">FIG. 15a and 15b</figref> Solution represented a variety of alternatives exist that affect both the type of excitation, ie other drive mechanisms as piezo actuators, such as or by electric motor drives, as well as the fixing or non-fixing on the edge, the flexural wave attenuation at the edge by example damping material suitable shaping of the cross section of the rim, the holder of the plate, such as. by a bead instead of the groove and / or foam material, and the arrangement of the excitation means 160

p0073Although in <figref idrefs="f0013">Fig. 15a</figref> It is indicated that the piezoelectric elements 160 are arranged on both sides of the plate 150, it is also possible that the piezoelectric elements 160 are disposed on only one side, such as on the side, which forms the transporting surface 12th

p0074Through appropriate arrangements reflections of bending waves in the panel 150 can be avoided at the edge 154th For this purpose, the plate 150 along its edge 154, for example, coated or absorbing material 158 is suitably selected or the shape of the plate 150 has on its edge a tapered, or the like cross-section to one or a combination of these modes of an anti-reflection edge termination supply.

p0075Although in <figref idrefs="f0013">FIG. 15a and 15b</figref> not shown, the panel 150 may include, for example, a rectangular or square shape. but other shapes are also possible, such as a round or the like.

p0076Finally, it is noted that the bending waves may not necessarily be formed in a plate. Optionally, surface waves can also be generated in a voluminous body, one side of which serves as the transport level.

p0077Having now described embodiments of the present invention for the means 16 for moving the object across the surface (<figref idrefs="f0001">Fig. 1</figref>) Have been described, is first below with reference to <figref idrefs="f0014 f0015 f0016 f0017 f0018 f0019">Fig. 16 - 25</figref> a plurality of embodiments for the position detection device 14 (<figref idrefs="f0001">Fig. 1</figref>), According to which the position detection device 14 includes a display and an optical sensor in the object.

p0078<figref idrefs="f0014">Fig. 16</figref> shows a device for determining a position or position of an object 601 on a display 602. The device includes a driver 603a for driving the display 602 such that the same information indicating a laterally varying at a front side 602a, and an optical sensor 603b for accommodating in or on the object 601 and for the optical scanning of a support surface 602a 'of the front panel 602a, on which the object rests 601 or is to obtain a scanning result with respect to the laterally varying information. Moreover, the apparatus comprises a determining means 604, 604 'for determining the position of the object 601 on the display 602 depending on the scanning result that, as shown in<figref idrefs="f0014">Fig. 16</figref> is indicated by dashed lines, may be disposed in or on the object and / or outside DES and isolated to the same.

p0079As will be explained in more detail in the following embodiments, there are various possibilities for the laterally varying information indicating the display 602 to be driven by a driving means 603a toward. For example, the display device could 603a control the display 602 to retrieve sequentially potential sites or positions of the object 601 on the display 602 sequentially by driving the display 602 such that the same optical, by an instantaneous wallpaper display 602 distinct, spatially limited characteristics, such as a fully illuminated pixel, a switched off pixel or a flickering pixels than the laterally varying information sequentially displays at various locations on the front 602a. These scans the characteristic example the whole screen 602 in a zig-zag path such as line by line, from. Based on a synchronization between the sequential display of the characteristic at the potential locations, on the one hand and the determination device 604 or 604 'on the other hand may then said determination means 604 or 604' of a time ratio between the sequential display of the characteristic on the display 602 on the one hand and the time since the optical sensor 603b detects the characteristic, namely at the time, since the characteristic within the bearing surface 602a 'is located in, close to the position of the object 601 on the display 602nd If the determination device 604 or 604 'located externally to the object 601, as at 604' is shown, the common time base and the synchronization between determination means 604 'and driving means 603a, in a simple manner, for example by a common clocking done , This case will be in more detail, reference may be taking, explains to the following figures in the following. It would of course also possible that the determining means is informed in the object 601 of the control device 603a only on the start of sequential display of characteristic, which then in a predetermined speed, for example cyclically passes through the possible locations or positions. To maintain synchronization can be provided a further adjustment. It is also possible that the determination device 604 or 604 'and the driving means 603a cooperate so that the 603b by the optical sensor detected brightness value after each shift of the characteristic is actively scanned at the next potential location, after which only moved the characteristic turn further and the next brightness value is polled, etc.

p0080In addition to the aforementioned possibility of the possible locations of the object 601 by sequentially passing through these locations and sequentially displaying a characteristic in these locations query sequentially or even cyclically, is another way to determine the location that the display device 603a, the display 602 controls such that same one gradually refining binary subdivision indicates that makes it possible to locate the object 601 in n steps with an accuracy that a 2^-n-tel the expansion of the display 602 corresponds. For example, halving the display device 603a, the expansion of the display 602 initially into two halves by a half in the otherwise indicates as in the other or in one half of the wallpaper with something else superimposed as in the other. Based on the scanning result by the optical sensor 603b may then said determining means determining 604, in which the halves to the object 601, at which time they this half halved again in the next step in a corresponding manner and determined based on the re-sampling result, in which quarter screens the display 602, the object 601 is, etc. in the case of multiple objects on the display 602 is also possible that the control device 603a all current ranges halved again, where there is an object at a particular step, which is why the just described gradually refining binary division of the display 602, a localization of multiple objects at the same time in the same resolution possible. This type of localization is explained in more detail in the following embodiments. A common time base between the determination device 604 or 604 'and the driving means 603a, so that the determining means may assign the scanning result of the optical sensor 603b of the right step in the progressive refining binary subdivision may be carried out as in the previous scanning queries of the display screen, such as for example by consulting the or the brightness values ​​per step.

p0081Finally, it would be possible that the control device 603a, the display 602 controls such that the same indicating a laterally varying information that varies laterally such that using a section of this information with an extension corresponding to that which is scanned by the optical sensor 603b , corresponds, can be clearly deduced the location within the ad 602nd An example of this would be a checkered pattern on the display 602, the interval width changes monotonically from one corner to an opposite corner of the display 602nd In this case, there would be no need or no synchronization common time base between the determination device 604 and the driving device 603a.

p0082An advantage of placing the determiner 604 'outside the object 601 is that the requirements is less to the pro to lokalisierendem object 601 to be provided performance. In the case of a wireless transmission from the optical sensor 603b to the determination means 604 'may be, for example, that immediately captured by the optical sensor 603b brightness information to the determination means 604' are transmitted, the same then examined for the laterally varying information out which has been displayed on the display 602nd However, it is also possible that an in-the object 601 part 604, the determining means already pre-processing of the pure luminance information of the optical sensor 603b performs in order to the other arm 604 'of the brightness information extracted information to transmit, such as a time of occurrence, the display 602 sequentially passing characteristic in the area of ​​the support surface 602a '. Various other options are still discussed below.

p0083Having now described a device for determining of an object on a display has been roughly described above, will hereinafter with reference to the <figref idrefs="f0014 f0015 f0016">Fig. 17 to 20</figref> describes a game apparatus such. as chess or the like, in which a character or more pawns are located on a display of the game device, so that the statements below quasi also a possible application for the in <figref idrefs="f0014">Fig. 16</figref> representing device described.

p0084Although hereinafter such a game device will be described, however, the position determination, as it is used there for the game character, in other applications applicable for corresponding objects, as the following description of the figures <figref idrefs="f0014 f0015 f0016">Fig. 16-20</figref> will be discussed.

p0085The game device of <figref idrefs="f0014">Fig. 17</figref>Which is generally indicated at 605, includes a display 610, a computer 612, a receiver 614 and a character 616. The computer 612 is connected to the display 610 and includes a driver 618 for driving the display 610 such. B. a graphics card of the computer 612, and a processing device 620, such as. for example, a CPU of the computer 612 in conjunction with a program running on the same program, which is responsible for the game features the game device 605, as will be discussed in more detail below. The computer 612 and the processing device 620 is further connected to the receiver 614th

p0086The player character 616 has a footprint 622, which is intended to rest during the game on the display 610 in order to cover a portion of the screen content of the display 610, ie the contact surface.

p0087Inside the game character 616 is a transmitting device 624, which also is in communication with the receiver 614 and in a position to a time when the player character 616 is placed on the display 610, to capture a portion of the screen content, which is below the footprint 622 is.

p0088The game device also has the ability, the player character to move without any user interaction, including the computer 612 and the processing device 620 accepts, for example, the function of the driver 18, and has a moving means 16, which is coupled via the driver 18 and the position detection device which latter is formed by the display 610, the processing device 620, the control device 618 and the optical sensor in the object 616th

p0089As in <figref idrefs="f0015">Fig. 18</figref> shown, 624 B. includes the transmission device in particular a transmitter 626, which is able to transmit a response signal to the receiver 614, will be discussed in more detail below, and an optical sensor 628, such. a photocell or a photo array, which is or aligned such that it detects on the footprint 622 incident radiation or light. In addition, the transmission device 624 may even comprise a processing means 630, via which the transmitter 626 is coupled to the optical sensor 628, but also a direct coupling between the transmitter 626 and optical sensor 628 would be alternatively possible.

p0090Having now described the individual components of the game device 605 have been described above, is below with reference to <figref idrefs="f0015">Fig. 19</figref> the operation of the game device during a game described. The game can be, for example, chess or the like, but with the following discussion with reference to<figref idrefs="f0015">Fig. 19</figref> limited to describe the functionality of the processing device 620 in the context of determining the position of the player character 616 on the display 610, which is then used for example the processing device 620, record moves to determine or the like moves a computer opponent.

p0091In the ground state, ie, in an initial state of the process by <figref idrefs="f0015">Fig. 19</figref>, Causes the processing device 620, the control device 618, the display 610 to control so that the display 610 displays a pitch. The processing device 620 therefore has knowledge of the game displayed on the display 610th In<figref idrefs="f0014">Fig. 17</figref> is an example of a game shown, which has three playing fields 632 to which the player character may be submitted in accordance with Rules 616. The display of the background image is performed in step 634th Thereafter, the control device 618 controls the display 610 so that the background image or the board is superimposed on the possible playing fields 632 of a specific pattern that seen apart from the background image. In particular, the control device 618, the display 610 controls in step 636 such that the playing fields are 632 and for example through succession cyclically to each sequentially in succession to display the special pattern. The display of the pattern in the playing fields 632 may for example be limited to a portion 638 inside the Fields 632, such as a pixel of the display 610. The particular pattern may be one of the other game board representing the background by a specific color or different temporal variation in brightness or color, yet different embodiments are provided below it.

p0092During step 636, the optical sensor 628 of the transmitting device 624 scans continuously the portion of the screen content of the display 610, which is located below the footprint 622 of the pawn 616th Once in the step 636, the specific pattern is displayed in the one field 632, on which the character is 616, 628 of this special pattern for the processing device 630 is then recognized by the output of the optical sensor. After detecting the optical pattern through the processing direction 630 in step 640, the processing device 630 causes the transmitter 626 via the contactless interface 642 a response signal to the receiver 614 to the computer (step 644). The receiver 614 passes the response signal to the processing device 620 on. At the time of receipt of the response signal processing device 620 is also in knowledge over that field 632, in which in step 636, the specific pattern is displayed. Considering a possible time offset between the display of the specific pattern in each field 632 and the preservation of the knowledge of the transmission of the response signal from the transmitter 626 then determines the processing device 620 in step 646, the position of the player character 616 on the display 610th

p0093The sending of the response signal via the contactless interface 642 is possible, for example through the use of RFID technology (RFID = radio frequency identification). but there is also a (in<figref idrefs="f0014">Fig. 17</figref> not been signed) wired transmitting the transmitting device 624 possible to the processing device 618th

p0094If the signal is transmitted in step 644 from the transmitter 626 configured such that it contains a unique identification number, it may also have a unique identification of the character among a plurality of game characters are made at step 646 in addition to the position determination of a figure. This allows games such. As chess, where game characters have different meanings and therefore the processing device 620 should be able to distinguish these.

p0095In the case of a chess game the unique identification number could be, for example, an identification number between 1 and 32, to distinguish the 32 chess pieces.

p0096Since the position and type of itself present on the display 610 pawns 616 is known at any time of the game processing device 618, a fast "reverse engineering" of a particular game situation is possible without the "first leg" only from the chess starting position up to this situation takes.

p0097If the computer 612 or the processing device 620 even with a data interface 648 (such as a modem or network connection), so, the processing device 620 to send the position and identity of all game pieces and eventually the shown on the display 610 background to an external device , If further processing device 620 is designed such that it can also receive data from the data interface 648, so can thus reach a team-player mode. For example, could play chess two players play against each other, their processing facilities would be 620 networked via the data interface 648 via the Internet. Each player would only move his characters. the network-connected player's characters would be drawn from the local computer by means of the devices 14, 16 and 18th For example, would the best move of the first player locally the new position, one just moving character 616 on the board represented by the display 610 as shown in<figref idrefs="f0015">Fig. 19</figref> are detected as described. The processing device 620 would then report using the data interface 648 via the Internet, the new position of this figure to the appropriate processing device 620 of the second player, which in turn would cause the controller 618 to control the movement means so that the display 610 of the second player, the drawn 616 character (for example, runners, builders, etc.) takes up the new position. Then, the second player can detect the new game situation and his nearest train plan would in turn reported on the design according to the above method to the first player. The game 605 may thus be used as a chess game in which you play against the computer, but also against another spatially separated player and where to move the opponent's pieces automatically. The processing device 620 may in this case also check compliance with rules, and make the player (in the case of a game against a computer opponent) and the players (in the case of a game in a team-player mode) attention to the execution of a prohibited under rules action.

p0098Although the above example of the chess game of Team Player mode naturally includes only two players, it is with the game device 605 also possible to play games in which multiple players can compete against each other, such as in the case of the game "Man-anger-you-Not".

p0099Another embodiment is the implementation of games such as strategy games illustrate, in which not only is the determination of the position and the identification of the individual pawns crucial, but also the orientation of the pieces on the game board. The for some games strategically important information of the orientation of the figures, such as the advance, retreat or pincer movement of military troops could with the apparatus and methods such. B.<figref idrefs="f0004">Fig. 5</figref> describes detected. The pattern 38 illustrated sequentially in each field of display 10 would, for example, 3 x 3 pixels include. The determination of the position of a player character 16 and the ID on this figure 16 could, as the above embodiment of chess, are made. The orientation determination of the player character 16 could be so now, for example, that turned into four chronological steps a respective corner pixels of the pattern 38 (the corner pixels so would not light up) would be and therefore the transmitting device 24 would not be seen by the optical sensor 28th

p0100The corresponding optical sensor 628 at the transmitter 624 would be constructed such that a corner pixel of the also 3 x 3 pixels large field (not abtastfähig) would switch blind. In each of the four temporal steps the accommodated in the transmitting device 624 processor 630 checks the detected by the optical sensor 628 Number of dark (not bright) corner pixels. In one of the four time steps which is off corner pixel of the pattern 628 coincide with the "blind" corner pixels of the optical sensor 628, that is only one corner pixel detected as dark. At the end of the four temporal steps, the processing device 630 causes the transmitter 626 to send a response signal to the processing device 620, which contains information as to which of the four temporal steps only a dark corner pixel has been registered. If the processing device 620, the position of the dummy pixel on the optical pick 626 with respect to the figure (z. B. "rear left") known as an orientation determination of the character 616 would be possible from this response signal, since the processing device 620 from the knowledge of the four temporal steps in which the four temporal steps only a dark corner pixel has been registered with the display of the pattern 628, and the information that is given a unique orientation information of the player character 616th This type of detection would four orientation directions of the player character 616, namely "forward facing", "turned to the right", "turned to the left" and "backward" allow. A possible finer pixelation of the pattern 638 and the optical sensor 628 would allow, for example, a more accurate determination of the orientation of the character 616th

p0101Alternatively, it would also be possible to determine the orientation of the player character 616 the fact that the transmitting device 624, the detected by the optical sensor 628 pattern 638 reports to the processing device 620 as a response signal. The processing device 620 could then from this response signal and using their knowledge of the orientation of the pattern 638 on the display 610 by identifying z. B. that the image contained in the response signal of the pattern 638 "is upside down," the orientation the player character 616 determined.

p0102Although sending the response signal was always triggered in step 644 by recognizing the pattern 628 by the optical sensor 628 in the foregoing, it is also possible that the transmitting device 624 permanently the detected by the optical sensor 628 and a unique identification number to the processing device 620 sends. The processing device 620 then causes, for example, the control device 618 cyclically in each one of the fields 632 to represent the pattern 626th In this case, the positioning of the object 616 is performed by the processing device 620 registered if the password received from the transmitting device 624 includes the pattern 626, and thus a unique positioning of the object 626 in the field 632 is possible, in which the pattern 626 is produced.

p0103As mentioned above, the processing device 630 may be missing, is emitted in the case that the measured value of the sensor 628, the measured value can be a number that depends on the light striking the sensor 628th Of course, the Verabreitungseinrichtung 628 from this number can be determined prior to transmission by quantization or threshold value to another value, which is then sent to the determiner. In the case of a sensor having a plurality of pixels, the measured values ​​of all the pixels are transferred at a time to the determining device, for example. The processing device 630 could, however, be determined from the plurality of measured values ​​of the pixels by preprocessing also an example scalar value, which is then transmitted as a response signal to the determining means.

p0104Although in the foregoing only devices and methods have been described in which the processing means 620, the control device 618 causes sequentially a pattern 638 display in a respective one of the fields 632, it is also possible that simultaneously in each of the fields 632 on the display 610 different, clearly distinguishable Marks 638 are displayed. Position determination of the object 616 is then possible because the transmitter 626 continuously transmits the detected by the optical sensor 628 to the processing device 620, which is then the position of the object 616 in a comparison of the received image and all the fields 632 patterns shown the field determines 632, in which the displayed pattern 638 matches the image contained in the response signal. In this case, can alternatively be taken into account by the processing device 620 also rotations of the transferred image in order to obtain a match of the image with a pattern displayed on the display 610th

p0105In the foregoing discussion of the <figref idrefs="f0014 f0015 f0016">Fig. 16 to 20</figref> served the processing device 620 as the determination means 604 'of <figref idrefs="f0014">Fig. 16</figref> and the processing device 630 assumed responsibilities of the determiner 604 <figref idrefs="f0014">Fig. 16</figref>,

p0106Explicitly, it should again be noted that it is not necessary that the optical sensor 603b or 628 has a lateral resolution. The optical sensor may rather have only one pixel, and thus can only determine a brightness value inclusive and exclusive color information per time. In particular, the optical sensor can therefore be designed as a single photo diode. An array of photodiodes is not required. This is also again clearly from the following embodiment relates to a game with multiple characters and based on<figref idrefs="f0014">Fig. 17</figref> will be explained. For example, have in this embodiment, all game pieces 616 a passive or semi-passive RFID sensor that 626 and possibly 630 includes the device, and to a single photosensor such as a photodiode, is connected 628, for example, a photosensitive having surface which is in the expansion greater than a pixel of the display 610th Since the pawns are equipped in this exemplary case only with photodiodes, which can also be relatively large area, the cost of the game are lower than in the case of an array of photodiodes in the pawns 616th

p0107In this game scenario, the device of leads <figref idrefs="f0014">Fig. 17</figref> For example, the method of <figref idrefs="f0017">Fig. 21</figref> through to locate the game characters on the display 610 and possibly determine its orientation. As in<figref idrefs="f0017">Fig. 21</figref> As shown, the process begins when the processing device 620 in the computer 612, the display 610 instructs via the control device 618, the screen to turn dark (step 660). Then look for the processing means 20 via the transmitter / receiver 614 all reachable RFIDs 624 and all available game characters 616 and writes down or storing the status or the brightness value of each photo sensor 628, ie, whether the photo sensor of a respective achievable character as at the time of query dark or light looks (step 662). Depending on the RFID technology, which of course is merely exemplary of a wireless communication 642, for example, 100 to 1000 RFIDs and thus 100 to 1000 characters per second game for the processing device 620 can be found. The result of step 662 is a list of all located in the vicinity of the receiver 614 pawns, regardless of whether or not they are on the board or display 610th

p0108Then, the processing device 620 of the computer 612 via the control device 618 on the display 610 light (step 664) and examined in a subsequent step 66 again all reachable RFIDs 624 or listed at least the status of the photosensors 628 of reachable RFIDs 624 in step 666. From the two brightness values ​​for each reachable RFID 624 is the processing means 620 possible those game characters to identify 616, where the state or the detected brightness value of the respective optical sensor 628 by more than a predetermined amount has changed. This comparison before and brightness values ​​after the light switch in step 664 performs the processing device 620 in step 668 from. The result of step 68 are standing on the board or the display 610 game characters, as is to be assumed that pawns whose sensor status has changed, are available on the display 610, while the other game characters not on the display 610 or the board to stand.

p0109Optionally, the steps may be repeated 660-668 one or more times, to increase the security of identification in step 668, the search or the listing in the steps 662 and 666 it can be limited to the RFIDs already known, for example. Overall, that is, with or without repetition, steps 660-668 performed, for example, within a maximum of 2 seconds.

p0110Thereafter, the processing means causes 620 in the computer 612, the display 610 via the drive device 618, in half step to divide by the same example, first half 610₁ dark and another half 610₂ the display 610 light switches, in a next step in the two leftover half 610₃ dark and the other half 610₄ light switches and turn in the subsequent step, the so defined Quarter 610₃ again in a dark and a bright half divided, etc. One possible sequence of screens that appear in this way successively at each step on the display 610, is in <figref idrefs="f0018">Fig. 22</figref> indicated, in order from left to right with the example shown, only four individual partial steps 670a, 670b, 670c, 670d. While the processing device 620 at step 670 performs these binary subdivision, it logs for each step of the step 670, whether the corresponding optical sensor 628 indicates that the character is on the bright half or the dark half of the screen. In this way, the processing device 620 performs in step 670 by a "binary search" of the locations of the game characters 616th Based on the recorded feedback from the game pieces 616 or the recorded brightness values ​​for the individual partial steps 670a, 670b, 670c, 670d, etc. binary search 670 then closes the processing device 620 to the positions of the individual game characters.

p0111Alternatively, it is possible that the processing device 620 in the step 670, the binary search to determine which character is located where, performs with ever smaller light surfaces, namely the fact that it only a half, then a quarter, then etc one-eighth light or dark on. the screen itself and see, then light or dark Report which game characters. As must be sought per field by fewer and familiar characters, so that only areas must be dealt with in more detail, on which there are figures, the binary search in step 670 is not very time-consuming.

p0112As seen from the <figref idrefs="f0018">Fig. 22</figref> It can be seen, the area subdivision in bright and dark areas per part step in the binary search 670 is getting smaller. In particular, it is possible that this subdivision is as small as the pixel resolution itself. In particular, the division can be so fine that the individual light areas are smaller in some of step as the optical sensors 628 of the game pieces 616, so for example, smaller than the state or bottom surface of the figures 616, so that the processing device 620 or from the recorded feedback . brightness values ​​for the individual partial steps 670a - 670d and the edges of the figures 616 and, strictly speaking, can determine the edges of the light-sensitive areas of the respective optical sensors 628th

p0113The result of step 670 then, are the locations of the game characters 616 that are located on the screen 610th

p0114In a subsequent step 672, it may now be that the processing device 620 an accurate scan of the photo sensor expansion of optical photosensors 628 of the on-screen 610 pawns 616 performs at each character location from step 670th The scanning provides for example, the scanning with only a pixel or a light spot. For example, each game piece 616 is located in front of the photo sensor 628, a mask with a suitable geometric pattern that can be converted, for example, merely by rotating the screen plane by more than 90 degrees, and for example, only by a 360 degree rotation in itself. In this case, by scanning in step 672, where appropriate, not only the position but also the direction of the figure, 616 determines the looks, the respective figure or directed. For example, can be addressed separately and with high frequency or Check on the transmitting / receiving device 614, the RFIDs 626 of pawns 616th For example, more than 100 scans per second are possible, so that the accurate scanning can take place imperceptibly and quickly to the user in step 672nd In particular, the exact scanning in step 672, for example, limited to the character locations. The expenses of the pattern recognition to the lateral resolution of the mask, as described above, the computer 612 and the processing device 620 to be displaced by the sensors only transmit their brightness values. The pieces 616 only need the mask or correspondingly shaped photosensors 628. Round photosensors or round masks are possible if no orientation of the pawns must be recorded in the respective game.

p0115In <figref idrefs="f0018">Fig. 23</figref> it is shown that the player character 616, if desired, a lens 690 may have at its footprint 622, such as a plastic lens, the pixels 692 of the display 610 on the optical sensor 628 or the mask (not shown) for improving the optical properties thereof maps. For example, bridge the lens 690 a distance between the support surfaces 622 and the pixels 692 of the display 610, which is defined by a protective plate 694, to protect the screen 610 from mechanical damage or the like between the screen and the display 610 and the character 616 located and is otherwise transparent. By using the lens 690, a negative impact of soiling on the bottom surface 622 of the player character 616 might be reduced in this way, since then not the dirt is in the object plane but close to the lens plane.

p0116Of course, it should be noted that the last reference to the <figref idrefs="f0017 f0018">Fig. 21-23</figref> Described embodiment and can be carried out so that the pattern recognition described above within the pawns, that is within the processing device 630, performed.

p0117Finally it is noted that it is possible to game characters or a character on the display 610 during a movement to pursue the same on the display 610th For this, the game characters or the object, for example, scanned at a sufficiently high frequency. In this way both shifts from the central position and rotations can be detected. In this way, the game characters can be tracked, as they are drawn by the user on the pitch or the display 610th

p0118In addition to finally <figref idrefs="f0018">Fig. 24</figref> again explicitly show that it is possible that the transmitter may be 624 intended to be not permanently connected to the actual game character 616, but to be attached to the same only. According to<figref idrefs="f0018">Fig. 24</figref> 624 for example, arranged in a socket 600, may be in a game character 616 plugged, screwed or otherwise secured to the transmitting device. <figref idrefs="f0019">Fig. 25</figref> finally shows a plan view of a possible arrangement of a diaphragm 710, 628 covers a light-sensitive surface of the optical sensor, such as a photocell and an opening 712 which defines the effective effective photosensitive area of ​​the optical sensor 628, since only Duch same light of the display may hit the sensor 628th In addition, as shown by way of example, that the extension latter area 712 may be larger than the pixels that are displayed as representative of all pixels with 714th Of course, it would also be possible that the sensor itself is formed in the shape 712, in which case an aperture may be absent. In the<figref idrefs="f0019">Fig. 25</figref> shown diaphragm enables the above-described precise location and orientation determined by, for example, scanning the area around the opening 712 around with a characteristic that is only one pixel 714 large, such as a to alternating light and dark pixels. In this way, namely, the determination means those pixels determined 714 that overlap 712 more than a predetermined amount to the field. The response signal which is transmitted from the sensor 628 via the transmitter to the determining means is, for example, binary and indicates whether the detected brightness value at a time, such as the current sampling timing, exceeds a predetermined amount corresponding to the predetermined overlap amount. Of course, the response signal can also display the brightness in precise steps.

p0119In the foregoing description of the <figref idrefs="f0014 f0015 f0016 f0017 f0018 f0019">Fig. 16 - 25</figref> the existence of the motion device 16 and the drive device 18 has only been indicated schematically. That in the previous<figref idrefs="f0002 f0003 f0004 f0005 f0006 f0007 f0008 f0009 f0010 f0011 f0012 f0013 f0014">Fig. 2 - 16</figref> Described embodiments are well suited for this, with the embodiments <figref idrefs="f0014 f0015 f0016 f0017 f0018 f0019">Fig. 16 - 25</figref> to be combined, is in more time on the basis of <figref idrefs="f0019 f0020">Figure 26a -. 26b</figref> illustrated, show the embodiments, as the display of the position detection device according to embodiments of the <figref idrefs="f0014 f0015 f0016 f0017 f0018 f0019">Fig. 16 - 25</figref> be combined with the preceding embodiments for the moving means 16 and relative to each other can be arranged.

p0120As has already been described above, it is possible to drive with individually controlled nozzle valves according to embodiments of <figref idrefs="f0002 f0003 f0004 f0005 f0006">Fig. 2 - 8</figref> transparent or transparent produce. These embodiments are therefore under<figref idrefs="f0019">Fig. 26a</figref> with those of <figref idrefs="f0014 f0015 f0016 f0017 f0018 f0019">Fig. 16 - 25</figref> characterized combined, that such an air valve plate 800 is disposed above a display 802, which in turn may include a cover plate 804 and the display 610 of the embodiments of <figref idrefs="f0014 f0015 f0016 f0017 f0018 f0019">Fig. 16-25</figref> equivalent. Between the air valve plate 800 and the display 802, a gap 806 is provided, which serves as a pressure chamber, the compressed air escapes through the activated air valves in the plate 800 on the transport surface 12th The transparency of the plate 800 thus ensures that the image formed by the pixels 808 of the display 802 by the cover plate 804, which is also transparent, and through the pressure chamber 806 and through the air valve plate 800, the display 802 Rear facing the transport surface 12 forms, passing is visible to an observer. The aforementioned optical sensor in the object, according to the exemplary case of the configuration of the bottom of the object<figref idrefs="f0002">Fig. 3</figref> or <figref idrefs="f0006">Fig. 8</figref> in one of the recesses, eg. in the central recess, thus recognize the laterally varying information which is displayed by the display 802 and possibly forward the scan result via the transmitter

p0121A corresponding cross section of a possible object or a possible character is in <figref idrefs="f0020">Fig. 26b</figref> illustrated, the arrangement of the optical sensor according to <figref idrefs="f0018">Fig. 23</figref> is only an example.

p0122<figref idrefs="f0020">Fig. 26c</figref> shows that a combination of the embodiments 2 - 8, 9 - 13 b and 16 - 25 is possible. The display or the display 802 is again separated by a pressure chamber and a pressure space 806 of the air valve plate 800, the front of which the transport surface forms 12th On the side facing away from the air valve plate 800 side of the display 802 is a magnetic coil plate that according<figref idrefs="f0007">Fig. 9a</figref> may be formed. can on air cushion floating objects thus by means of the magnetic drive, as generated by the magnetic coil plate 810, to be moved, the position on the position detection device using the display 802 is determined.

p0123As already in <figref idrefs="f0013">Fig. 15a</figref> was indicated, it is possible the embodiments of <figref idrefs="f0014 f0015 f0016 f0017 f0018 f0019">Fig. 16 - 25</figref> with the embodiment of <figref idrefs="f0012 f0013">Fig. 14 - 15b</figref> thereby combine that the display is easily arranged under the bending wave plate. In this case, however, pointed out that it should be possible also to generate bending waves in a glass plate according to the embodiment of<figref idrefs="f0005">FIGS. 6a and 6b</figref> having holes for the air valves, in which case in this way, the embodiments of the <figref idrefs="f0002 f0003 f0004 f0005 f0006">Fig. 2 - 8</figref> with those of <figref idrefs="f0012 f0013">Fig. 14 - 15b</figref> could be combined, with any simultaneous combination of the embodiments of <figref idrefs="f0014 f0015 f0016">Fig. 16-20</figref>,

p0124In other words, allow the above embodiments a game computer, a passive character controlled on a game board and move "freely" with respect to position and orientation of the player character. It is also possible to selectively apply a force in this figure, position, direction and strength of this motive force can be controlled within the Schedule level within certain limits. Even turning the game pieces on the spot is possible. Given access two force vectors on the figure at containing opposing components within the Schedule level and attack at different points of the figure, as in the<figref idrefs="f0003">Fig. 4b</figref> and <figref idrefs="f0005">6b</figref> and 12b and 13b of the case was. If n characters are to be moved at the same time, must accordingly n times as many force vectors are driven, but this principle is not a problem.

p0125Under certain circumstances, the game characters have slightly differing characteristics, such as their friction on the board, their weight, etc. But this is not a problem because the drive device implements a feedback mechanism that takes into account the respective current position and orientation of the characters and where appropriate to the games computer Previous reports.

p0126So the above embodiments meet the requirement of game devices, which often requires a large amount of force vectors must be freely controlled in its position, direction and strength. The above embodiments take advantage of this is that the control of these variables does not have to be any finely resolvable. Rather quantization are allowed, such as depend on the characteristics of the game pieces used, by their size. For example, if the diameter of the smallest figure used is ten millimeters, it will suffice, this diameter, thus being able to control, for example, 2.5 mm, the position of the force vector with, for example, a resolution of 1/4. The exact values ​​depend on your implementation.

p0127The strength of the forces acting on the figures force vector can be determined by the control device. Due to the location determining device, a closed loop with the controlled variable position or velocity of the object or the player character and the manipulated variables direction and strength of the "force vector". The drive device can realize a PID controller, so that the strength of the force vector can be adapted to the most stable movement is achieved while side effects can be prevented or minimized to other game characters. For example, from a minimum value to increase the force vector as long as the control device, to a movement of the desired character enters and then maintain or even decrease due to discontinuation forming stiction this force vector. The quantization of the force is for example the connection of additional air valves in the embodiments of<figref idrefs="f0002 f0003 f0004 f0005 f0006">Fig. 2 - 8</figref>, Or even which rests on adjusting the air pressure to the air valves. The bending waves are controllable in their strength. And finally, the current through the magnet coils in the embodiments of<figref idrefs="f0007 f0008 f0009 f0010 f0011 f0012 f0013">Fig. 9a - 15b</figref> controllable.

p0128The position detection device can be used to check the positions of all not moving figures and, if necessary, the control device suitable addition to use force vectors to keep this not moving figures stable.

p0129In particular, the above embodiments showed three different physical ways to create the just mentioned force vectors, on the one hand by bending waves in an example transparent optionally thin plate, such as a Plexiglas plate in the case of the embodiments in excess of the Schedule, such as a screen <figref idrefs="f0014 f0015 f0016 f0017 f0018 f0019">Fig. 16 - 25</figref>may lie. Another possibility was the use of magnetic fields that are generated by a controllable matrix of electromagnets under serving as Schedule screen. Finally, compressed air was used, which escapes via controllable valves in an example transparent thin plate on the board targeted at the positions where the character is. Furthermore, other embodiments have been described, which made use more or less of the just-mentioned physical possibilities.

p0130Depending on the given boundary conditions, such as the type, the shape and size of the moving game characters, it may be advantageous, one or even more of the power sources listed above, ie bending waves, to use magnetic fields or compressed air for implementation as is also indicated in the foregoing. For example, by compressed air, the friction can be reduced selectively by a figure or a portion of the game board, namely due to the resulting air cushion effect, in order to then move through a magnetic field, in which combination, too<figref idrefs="f0020">Fig. 26c</figref> is addressed.

p0131The above embodiments are therefore readily in the field of games, especially the range of board games, applications. In particular, they are in computer games can be used, which allow a computer games, physical game pieces efficiently and automatically, ie to move on a game board without the intervention of a human being.

p0132The above embodiments are able to be combined with a screen as a game board as shown, wherein the computer the position of the game characters may automatically detect by means of the screen even, as has been described above.

p0133The above embodiments also solve the often associated with games problem that a plurality of pieces have to be moved. The above embodiments require absolutely no or almost no moving parts.

p0134To the embodiment of <figref idrefs="f0012 f0013">Fig. 14 - 15b</figref> is again noted that for the plate may preferably be a thin plate can be used. Since moving the surface points of the plate in an elliptic curve, said moving the wave crest passes in one direction and the trough in the other direction, it is possible to transport through the surface acoustic wave points on the wave crest, on which is indeed the object the is moving to, namely the fact that the object, such as a game character, which has mainly contact with the points of the wave crest, a frictional force in the direction learns to move the surface points of the wave crest.

p0135The control device can then control the waveforms in the drive with sufficient accuracy so that under each "pass through" to moving character crests of sufficient amplitude and appropriate direction or remain sufficiently small among the not moving figures any wave crests. This allows the drive means to move selectively desired objects or put in a desired target position. For a rotation of an object or a character driving means can generate, for example, opposing wave trains at opposite edges of the support surface of the object, which generate forces at these opposing edges in opposite directions or attack. The control device can for this purpose rely on the wave field synthesis to produce an almost arbitrary wave field. Such a wave-field synthesis is already known in the field of acoustic well. Accordingly, reference may, as in the foregoing now to<figref idrefs="f0015">FIG. 18a and 18b</figref> has been described, the transport surface are a large number of bending wave generating devices, such as piezoelectric elements, surrounded, each of which provides an elementary wave superimpose each other according to Huygens' principle to the desired wave field.

p0136Optionally, it is advantageous if the bending wave generating means a certain minimum distance not exceed one another. This minimum spacing may depend on the frequency with which generate the flexural wave generating devices, the bending waves. The control device 18 can utilize so that the wave field synthesis principle also works in solid bodies and the ultrasonic range. The bending waves may for instance have wavelengths less than the dimensions of the game characters and the transported object. For example, produce sound sources, such as the just-mentioned piezo elements, an appropriate wave field with wave trains sufficiently high frequency in the thin plate, the sound sources are, for example, arranged along the edge of the plate in a suitable small distance from each other. As mentioned above, while the plate can preferably be completed with an acoustic impedance in order to limit unwanted reflections at the edge. Depending on the application also less bending wave generating means may be sufficient with a larger distance from each other. In other words, depending on the application, a wave field sufficient, which has been produced with a reduced number of elementary waves or less bending wave generating means.

p0137The <figref idrefs="f0020">Fig. 26c</figref> has also shown that it is possible to provide with a display or a thin flat display as Schedule an array of individually controllable small coil whose orientation is vertical to the Schedule. In this way can be achieved by suitable control of the solenoids a controllable magnetic field in the plane of the board produce. The latter can be either "quasi-static" or also be used according to the principles of the linear motor for moving the game pieces, for which the latter<figref idrefs="f0008">Fig. 10c</figref> an embodiment was. The character of<figref idrefs="f0020">Fig. 26b</figref> can be used, for example, when according to one of the <figref idrefs="f0008">FIG. 10a-10c</figref> has a magnetic pull-on or abstoßbares element.

p0138In the quasi-static solution are in the game characters such as small permanent magnets and the coils under the board are simply used to apply tensile or shear forces on these permanent magnets. This produces the desired force vectors and with sufficiently fine pitch of the magnetic coils and appropriate control of the coils, in conjunction with the feedback described above, by the position determining means determines the desired movement of the figures to be achieved. If even two or more permanent magnets housed in the character, then as above referring to<figref idrefs="f0010 f0011">Figure 12a -. 13b</figref> has been illustrated, a are provided in one and one in the opposite side of the playing ground, whereby the figure can be rotated slightly when pulling or pushing on the two sides of the magnetic fields in the corresponding direction. With a suitable design of the character of the shear effect can also be used in order to reduce, for example, by a mounted under the center of gravity of the figure magnet, the bearing on the base weight of the figure and thus to facilitate the pushing or pulling the figure.

p0139In the linear motor according solution <figref idrefs="f0008">Fig. 10c</figref> there are small magnetic coils in the game characters, which serve as "armature coils", you can be induced by magnetic field changes in the current. The solenoids under the game board are the coils that generate the moving magnetic field that exerts forces on the rotor coils. With a suitable implementation of the exciting coils, such as a suitable distance from the rotor windings and "Aufösung" the exciting coil array, the forces can be decoupled to the individual armature coils directly enough from each other to perform the desired individual movements of the game characters. Another implementation possibility is to make the armature coils 110 in the game characters "switchable", and thus to make the armature coils can be activated individually, for example by a switch or a controllable Widertand is switched to the branch parallel to the actual coil 110th The moving magnetic field may then turn out large-scale, which may simplify the structure of the excitation matrix or the magnetic coil array. By selecting the desired rotor coils desired characters can be moved and rotated.

p0140The game characters or the object to be moved may possibly wirelessly from outside, as are individually instructed by the control device, for example, to open the corresponding switching elements of the armature coils or close.

p0141The above embodiments of <figref idrefs="f0002 f0003 f0004 f0005 f0006">Fig. 2 - 8</figref> based on a principle that an object on an air cushion "floats". The air for the air cushion such as that coming from many fine holes or air nozzles of a bottom plate. They can, as has been described above, be designed as a transparent plate which is disposed over a game board, such as provide a display. can thus the desired object on the disc, such as a game character float. The air cushion under the character removes the friction between figure and ground plate so that it can be easily moved in one direction.

p0142As has been described above, it is possible to combine the air cushion effect to reduce friction in connection with the other physical possibilities of movement or forces to the movement described. But it is just possible to generate the moving forces with the help of air jets in the bottom plate, if they can be individually opened and closed and the undersides of the game characters are suitably shaped as above referring to<figref idrefs="f0002 f0003 f0004 f0005 f0006">Fig. 2 - 8</figref> has been described.

p0143To the already mentioned several times through panel with individually controllable air valves should be noted that the same may be a thin, electrically non-conductive plastic plate. To produce the individually controllable air valves very fine short slits are cut in the non-conductive plastic sheet, for example with a laser, which can serve as valves. About electrostatic forces, these slots can be stopped or suffered. For this purpose, the slots, as described above, coated with a transparent conductive material and are provided at a later time with a non-conductive transparent cover layer. The sides of the slots form so quasi a "plate capacitor". In further steps, on top and bottom of bottom plate made of a suitable transparent material, a matrix of conductive traces and transistors are applied so that each of the sides of the slots can be individually addressed and loaded.

p0144If the sides of the slots now provided with charge of the same polarity, they repel each other, and keep the air valve open, whereas they, when they are provided with charge of different polarity, attract and keep the valve closed, as above has been described. Optionally, it is advantageous if the plate has a sufficient flexibility for this purpose.

p0145According to an alternative embodiment, two films superposed are used to form electrostatic valves.

p0146The bottom plate of the game characters can be designed such that by means of the controllable air valves suitable motion forces to the figures can be exercised, enabling them laterally. One possible shape is, as described above, is that the bottom plate of the figure is divided into several areas which are separated by small margins. Via the air valves, the elements can be separately supplied with air. In the middle of the figure, an element may be mounted, whose border is closed, and which forms a supporting air cushion. Around these elements can be arranged, whose border is not completely closed further elements. At the opening of the border creates a "exhaust nozzle", which can produce depending on the form of a thrust lengthwise or crosswise to figure, if the item is supplied with air. Reference is again made to the description of<figref idrefs="f0002">Fig. 3</figref>. <figref idrefs="f0003">4a and 4b</figref> referenced. To FIG movement therefore the central element can be supplied with air in order to activate the supporting air cushion, and thus to achieve a reduction in friction, and one or more other elements can be supplied with air, thereby producing a desired motion force in a desired direction or a desired rotational movement becomes.

p0147Through the above embodiments, it is thus not necessary to use a robot gripping arm to move objects on a surface. Active movement elements to the game characters are not necessary. The force vectors are rather produced without moving elements, except for the above embodiments of electrostatic air valves or piezo elements for the bending wave generation. Several figures can be rotated or moved by the above embodiments at once. The force vector generation can only take place "from below". The space above the board or on the transport surface can therefore be kept free. In particular, the above embodiments enable a "touchable" board game interface for a computer games. The computer can capture the properties of men, and he can carry out his features or traits of people in other places directly related to the physical game pieces. A game device is suitable for "any" games that use a game plan and game characters.

p0148Among the above-mentioned individually controllable air valves should be added that the material used, such as silicone, should advantageously have sufficient flexibility to open and close the air gap sufficient able. As mentioned above, can be used due to electric fields as executive force, an electrostatic force. The resulting capacitor plates may be transparent formed. Depending on the application it may be sufficient to make only one electrode or a plate of the capacitor plates each individually controllable valve controlled, for example when a different plate of the capacitor plates or as the other electrode, a zone with a permanent charge in the area or on one side of the slot of the individually controllable air valve is inserted. As mentioned above, the silicone air valves can sit such as glass, having holes in the size of the valves in a stable support plate. The refractive index of silicon valves and the glass can be so selected that it is identical, such as 1.43 is. This can be ensured that there are no discontinuities at the transitions of the glass plate to the silicone valves, so that transparency is not disturbed.

p0149With regard to the embodiment of <figref idrefs="f0012 f0013">Fig. 14 - 15b</figref> is noted that for a motion effect and the generation of a standing wave could be used. The control device could be the moving means 16 drive so that with a suitable shaping of the underside of the object to be moved or the character object or the player character in the "valleys" of the standing wave rests. If the standing wave then moved slowly, such as by slowly adjusting the phase of the generated wave trains, so the character would be pulled along by the wave crests. Being on the character separate zones with formations, so the character can also be rotated by two different standing waves.

p0150Depending on the circumstances, the methods described above such as the methods for localization and identification of objects on a display and the method for moving objects on a surface in hardware or in software may be implemented. The implementation may be on a digital storage medium, particularly a floppy disk, a CD or DVD with electronically readable control signals, which can cooperate with a programmable computer system such that the respective method is performed. Generally, the invention thus also in a software program product or a computer product or a program product stored on a computer readable medium program code for performing the inventive method when the software program product runs on a computer or on a processor. In other words, the invention may thus as a computer program or software program or the program can be realized with a program code for performing the method when the program runs on a processor. The processor may be formed in this case by a computer, a smart card, a game computer or another integrated circuit.