Electromagnetic array structure and target control device and method applying electromagnetic array structure

Abstract

The invention provides an electromagnetic array structure and a target control device and method applying the electromagnetic array structure, and relates to the technical field of electromagnetic control moving structures, the electromagnetic array structure acts on a magnetically matched target, and the electromagnetic array structure comprises a plurality of soft magnetic structural bodies which are arranged along a preset first direction and a preset second direction to form a plurality of grids; the electromagnet structures are arranged at the grid points of the grids in the first direction and further arranged between the adjacent grid points in the first direction, and the electromagnet structures can slide in the second direction; each electromagnet structure controls the target to translate on each grid along the second direction in a power-on, power-off and sliding fit manner, and jump along the second direction with a preset stride and / or jump along the first direction with the preset stride to reach any soft magnetic structure body, and the preset stride is a half grid. And the occupied space is large.

Description

Technical Field

[0001] The present invention relates to the technical field of electromagnetically controlled mobile structures, and in particular to an electromagnetic array structure, and a target control device and method using the electromagnetic array structure. Background Art

[0002] The design and implementation of an automated chessboard involves the integration of multiple technical fields, including mechanical control, sensor technology, computer vision, artificial intelligence algorithms, and human-computer interaction systems. Traditional board games (such as chess and Go) typically require two players to manually manipulate the pieces, while an automated chessboard aims to achieve automated movement and management of the pieces.

[0003] An automated chessboard requires a mechanical system to move chess pieces quickly and without collision. Existing automated chessboards mostly use robotic arms to move chess pieces, but robotic arms move slowly, take up a lot of space, and need to be placed one by one, making it impossible to move multiple pieces simultaneously. Summary of the Invention

[0004] In order to overcome the above technical defects, the purpose of the present invention is to provide an electromagnetic array structure, a target control device and method using the electromagnetic array structure, so as to solve the problem that the existing chessboard relies on a robotic arm with low efficiency and large space occupation.

[0005] The present invention discloses an electromagnetic array structure, which acts on a magnetically matched target, comprising: A plurality of soft magnetic structures are arranged along a predetermined first direction and a predetermined second direction to form a plurality of grids; a plurality of electromagnet structures arranged at grid points of each grid along the first direction and further arranged between adjacent grid points along the first direction, each of the electromagnet structures being slidable along the second direction; Each electromagnet structure controls the target to translate along the second direction on each grid, jump along the second direction with a predetermined step and / or jump along the first direction with a predetermined step to reach any soft magnetic structure by powering on, powering off and sliding. The predetermined step is half a grid.

[0006] Preferably, a plurality of the electromagnet structures are arranged along the second direction, and the number of the electromagnet structures arranged along the second direction is less than twice the number of the soft magnetic structures arranged along the second direction.

[0007] The present invention also discloses a target control device using an electromagnetic array structure, which acts on a magnetically compatible target, comprising: a main board, having several grids; An electromagnetic array structure, comprising a soft magnetic structure built into each lattice point corresponding to the mainboard, and an electromagnet structure located below the mainboard and between each lattice point and an adjacent lattice point along the first direction, wherein each electromagnet structure is slidable along the second direction; The control module is used to obtain the starting position and the end position of the target, and control the power on, power off, and sliding of each electromagnet structure in the electromagnetic array structure, so that the target translates along the second direction on each grid, jumps along the second direction with a predetermined step length, and / or jumps along the first direction with a predetermined step length to move from the starting position to the end position, where the predetermined step length is half a grid.

[0008] Preferably, the predetermined first position and the second position are two adjacent positions along the second direction on the grid structure; The electromagnet structure that is predetermined to move from the first position to the second position along the second direction is a working electromagnet; The target is located at a first position, and the control module controls the working electromagnet to move after being powered off. When the working electromagnet reaches a second position, it is powered on instantly, so that the target jumps from the first position to the second position.

[0009] Preferably, the predetermined two adjacent electromagnet structures are respectively a first working electromagnet and a second working electromagnet; The predetermined third position and the fourth position are two adjacent positions along the first direction on the grid structure; The control module controls the first working electromagnet to move the target to the third position and then cut off the power, and controls the second working electromagnet to move to the fourth position after being cut off and then instantly powered on, so that the target jumps from the third position to the fourth position along the first direction.

[0010] Preferably, the target is controlled by the control module to move to any grid point in the grid structure, between two adjacent grid points, or within any grid; When the target is located at any grid point, it magnetically cooperates with the corresponding soft magnetic structure.

[0011] Preferably, the control module determines the moving path of the target according to the starting position and the end position; When there is an interfering object in the moving path, wherein the interfering object is another target that has been previously or pre-arranged; The control module controls the target to jump through an electromagnetic array structure, so that the target partially overlaps with the interference object and then moves horizontally to pass through the interference object to reach the end position.

[0012] Preferably, when the target jumps and partially overlaps with the interfering object, the control module controls the electromagnet structure to avoid the movement of the grid point where the interfering object is located, and drives the target to translate to pass through the interfering object.

[0013] Preferably, when there are multiple movement paths between the starting position and the end position, the control module selects the movement path with the most translation as the target movement path.

[0014] The present invention further discloses a target control method using an electromagnetic array structure, which uses the above-mentioned target control device to act on a magnetically matched target, comprising: Obtain the starting position and the end position of the target, and determine the target's moving path based on the starting position and the end position; Each electromagnet structure is powered on, powered off, and slidably engaged, so that the target translates along the second direction, jumps along the second direction with a predetermined step length, and / or jumps along the first direction with a predetermined step length on each grid, so as to move from the starting position to the end position through the movement path, wherein the predetermined step length is half a grid; When there is an interfering object in the moving path, the vehicle jumps to partially overlap with the interfering object and then moves horizontally to pass through the interfering object.

[0015] Compared with the existing technology, the above technical solution has the following beneficial effects: 1. The present application provides an electromagnetic array structure that can be arranged on a chessboard to achieve automatic movement of chess pieces on the chessboard. Specifically, a soft magnetic structure forming a grid structure and at least one column / row of movable electromagnet structures are used to control chess pieces with permanent magnets to achieve translation and / or jumping (by half a grid) of chess pieces. Compared with the movement method of existing robotic arms, the electromagnetic array structure occupies less space, and the magnetic connection is used to achieve chess piece movement, which is fast and efficient, thus solving the problem that existing chessboards rely on robotic arms for low efficiency and large space occupation.

[0016] 2. Provide a target control method based on an electromagnetic array structure to achieve a combined drag and jump control method for chess piece positions. This method has better controllability, and the longitudinal magnetic drag target translation is preferred during the movement process. Jumping is used for partial position changes, such as when there is an interfering target in the longitudinal movement or when the horizontal movement occurs. This method has high stability, and the control module used for the electromagnetic structure can be equipped with a program to achieve autonomous control. It can also realize the synchronous control of multiple targets, making the control convenient and more efficient. 3. Provide a target control device that can serve as an automated chessboard, and realize the automatic movement of chess pieces on the chessboard through the above method. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1Schematic diagram of the structure of embodiments 1 and 2 of an electromagnetic array structure, a target control device and a method using the electromagnetic array structure according to the present invention; Figure 2 This is a schematic structural diagram of target jumping and translation in Embodiments 1 and 2 of an electromagnetic array structure, a target control device and method using the electromagnetic array structure according to the present invention; Figure 3 This is a structural schematic diagram of the electromagnet structure in Embodiments 1 and 2 of an electromagnetic array structure, a target control device and a method using the electromagnetic array structure according to the present invention; Figure 4 A structural schematic diagram of target movement in Embodiments 1 and 2 of an electromagnetic array structure, a target control device and a method using the electromagnetic array structure according to the present invention; Figure 5 This is another structural schematic diagram embodying target movement in Embodiments 1 and 2 of an electromagnetic array structure, a target control device and method using the electromagnetic array structure according to the present invention; Figure 6 This is another structural schematic diagram embodying target movement in Embodiments 1 and 2 of an electromagnetic array structure, a target control device and method using the electromagnetic array structure according to the present invention; Figure 7 This is a flow chart of the control method in Embodiment 2 of an electromagnetic array structure, a target control device using the electromagnetic array structure, and a method for the electromagnetic array structure described in the present invention.

[0018] Reference numerals: 1-mainboard; 2-target; 21-permanent magnet; 22-interference object; 3-soft magnetic structure; 4-electromagnet structure; 41-first electromagnet structure; 42-second electromagnet structure. DETAILED DESCRIPTION

[0019] The advantages of the present invention are further described below with reference to the accompanying drawings and specific embodiments.

[0020] Exemplary embodiments will be described in detail herein, with examples illustrated in the accompanying drawings. In the following description, when referring to the drawings, identical numerals in different figures represent identical or similar elements, unless otherwise indicated. The embodiments described in the following exemplary embodiments are not intended to represent all possible embodiments consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.

[0021] The terms used in this disclosure are for the purpose of describing specific embodiments only and are not intended to limit the disclosure. As used in this disclosure and the appended claims, the singular forms "a," "an," "the," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and / or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.

[0022] It should be understood that although the terms first, second, third, etc. may be used in this disclosure to describe various information, such information should not be limited to these terms. These terms are only used to distinguish information of the same type from each other. For example, without departing from the scope of this disclosure, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, the word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining."

[0023] In the description of the present invention, it should be understood that the terms "longitudinal", "transverse", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention.

[0024] In the description of the present invention, unless otherwise specified and limited, it should be noted that the terms "installed", "connected" and "connected" should be understood in a broad sense. For example, it can be a mechanical connection or an electrical connection, or it can be the internal communication between two components. It can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to the specific circumstances.

[0025] In the following description, the suffixes such as "module", "component" or "unit" used to represent elements are only used to facilitate the description of the present invention and have no specific meaning. Therefore, "module" and "component" can be used interchangeably.

[0026] Example 1: This embodiment provides an electromagnetic array structure that acts on a magnetically matched target. In this embodiment, the electromagnetic array structure is arranged on a chessboard, and the target is a chess piece that can magnetically match the electromagnetic array structure, such as a chess piece with a built-in permanent magnet. The electromagnetic array structure can realize the autonomous movement of the chess piece on the chessboard. Specifically, Figure 1-3 As shown, the electromagnetic array structure includes: A plurality of soft magnetic structures are arranged along a predetermined first direction and a second direction to form a plurality of grids, wherein each soft magnetic structure occupies a grid point, and after the chess piece moves (the target), it can be restricted (magnetically attracted) to a certain grid point; Specifically, in this embodiment, the electromagnetic array structure is applied to a chessboard, thereby setting the first direction to be perpendicular to the second direction, taking the horizontal and vertical directions as an example, to form a regular m×n square grid. However, it can actually also be applied to non-chessboard scenarios, and the first direction and the second direction can also have a certain angle to form a non-square grid.

[0027] The above-mentioned soft magnetic structure can be optionally arranged as a soft magnetic cylinder (such as pig iron), embedded in the chessboard table, and corresponding to each grid point on the chessboard (such as Figure 3 The chess pieces are fixed on the corresponding grid points after being moved by magnetic adsorption with the soft magnetic structure, that is, the positions where the players manually place the chess pieces on the traditional chessboard.

[0028] Several electromagnet structures are arranged along the first direction, specifically arranged as at least one row (such as Figure 3 ) or a row (longitudinal direction) in the example shown in , each electromagnet structure can slide along the second direction. Specifically, it is arranged at the grid points of each grid along the first direction and also arranged between adjacent grid points along the first direction, that is, a 2m×1 array.

[0029] It is worth noting that there are 2m electromagnet structures arranged horizontally, that is, m of them can slide to correspond to each soft magnetic structure, recorded as the first electromagnet structure, and m of them can always slide between two adjacent soft magnetic structures, recorded as the second electromagnet structure. The center / center of gravity of the second electromagnet is in the middle of the two adjacent soft magnetic structures.

[0030] Thus, each electromagnet structure controls the target to translate along the second direction on each grid, jump along the second direction with a predetermined stride length, and / or jump along the first direction with a predetermined stride length to reach any soft magnetic structure by turning on and off the power supply and sliding. The predetermined stride length is half a grid. This stride length is achieved by arranging 2m electromagnet structures in the horizontal direction as described above. The arrangement of the electromagnetic array can be adjusted according to the actual scenario, and the target can be moved to any position on the chessboard by sliding, turning on and off the power supply of the electromagnet structure.

[0031] Specifically, each electromagnet structure can slide in the longitudinal direction, so that the target can translate in the longitudinal direction, jump in the longitudinal direction, and jump in the transverse direction, or each electromagnet structure can be set to slide in the transverse direction, so that the target can translate in the transverse direction, jump in the transverse direction, and jump in the longitudinal direction, and each jump is limited to moving half a grid; in this embodiment, based on the above, in the longitudinal direction (second direction), the electromagnet structure moves a certain distance (which can be half a grid, one grid, or multiple grids) after being energized, thereby driving the chess piece to translate a certain distance (there can be no stride limit during translation, or a stride limit consistent with jumping can be set), and the power can be turned on, off, and in coordination with sliding to control the chess piece to move a certain distance in the form of jumping half a grid each time; in the transverse direction (first direction), two adjacent electromagnets need to be energized and de-energized to control the chess piece to move a certain distance in the form of jumping half a grid each time.

[0032] Specifically, as an optional implementation, more than one (multiple) electromagnet structures may be arranged along the second direction. However, considering that the electromagnets are slidable, the number of electromagnet structures arranged along the second direction is limited to be less than twice the number of soft magnetic structures arranged along the second direction, that is, the electromagnet structures form an array structure of 2m×1, wherein Along the second direction (a longitudinal column), there is at least one empty position, allowing the electromagnet structure to slide to this empty position and drive the chess piece to translate or jump. As an example, the electromagnet structure can form a 2m×2 array structure, with two electromagnets arranged longitudinally, that is, two in a column, both of which can slide. Depending on the actual sliding position, one or two can be selected to slide simultaneously to arrange two chess pieces, as long as the two sliding positions do not interfere with each other.

[0033] However, it is worth noting that, as a preferred implementation, the soft magnetic structure forms an m×n grid structure, and the electromagnet structure forms a 2m×1 structure, that is, only one row is set. In this case, the electromagnetic array structure uses the least electromagnet structure, has the lowest cost, and is the simplest to control. Figure 3 A row of sliding electromagnets is shown. In this embodiment, a combination of a cylindrical soft magnetic element (other shapes are possible) embedded beneath the chessboard and a sliding electromagnetic array enables more complex single-piece and multi-piece movement. Where l is another integer (multiple rows, so that the electromagnets in the same column avoid each other during movement), a specific example is not provided here.

[0034] Specifically, when the electromagnet structure is energized, a magnetic force that attracts (for translation) or repels (for jumping) the chess piece can be generated. When the first electromagnet structure passes under the soft magnetic structure or the second soft magnetic structure passes between adjacent soft magnetic structures, the magnetization state of the soft magnetic structure and the magnetic field distribution of the electromagnet change. As the electromagnet moves, different parts of the soft magnetic body will be magnetized / demagnetized, thereby driving the chess piece to move as the electromagnet structure moves. When the electromagnet is powered off, the soft magnetic structure is rapidly demagnetized due to its low coercive force (the residual magnetism is extremely small), and the magnetic field disappears. If there is a chess piece at the grid point at this time, the chess piece can cooperate with the soft magnetic structure.

[0035] In this embodiment, each electromagnet structure is driven by a motor to slide longitudinally, thereby driving the chess piece to translate longitudinally along the chessboard; and jumping is achieved by powering on, powering off, and sliding. For example, when the chess piece is at a certain position, the electromagnet structure is powered off, and then powered on after moving to another position, or the electromagnet structure at another position is powered on, so that the formed magnetic field changes, thereby forming a magnetic attraction in a certain direction on the chess piece, causing the chess piece to tilt / partially hang in the air / flip / partially flip to the above-mentioned "another position", thereby achieving the "jump" of the chess piece.

[0036] Based on the above, the movement of chess pieces (targets) under the electromagnetic array structure may include: Translation: When the starting and ending positions of a chess piece are in the same column and there are no other chess pieces under that column, the chess piece can be directly dragged from the starting position to the ending position through the electromagnet structure under that column (referred to as the working electromagnet). Translation is the most preferred setting for chess piece movement, as it is fast and easy to control.

[0037] Jumping: This includes jumping in a first direction and jumping in a second direction. For illustration, a jump is a change in the magnetic field created by one or more electromagnet structures, causing the chess piece to move in the direction of the energized magnet structure. This may cause part or all of the chess piece to become airborne, thus appearing as a "jump."

[0038] For jumping along the first direction: when the starting and ending positions of a chess piece are in the same column, but the movement under the column requires passing through some grid points already occupied by other chess pieces, the electromagnet structure under the column (referred to as the working electromagnet) is energized to drive the chess piece to move to the grid point already occupied by other chess pieces. After the working electromagnet is de-energized, it continues to move half a grid. When it is energized again, it drives the chess piece to jump to other chess pieces at the already occupied grid points, and then moves horizontally to pass the grid points already occupied by other chess pieces. It is worth noting that the chess pieces that have already occupied the grid points are restricted by the soft magnetic structure. The chess pieces "jump" to partially overlap with the chess pieces that have already occupied the grid points, but cannot completely overlap. As a result, when the chess pieces move, they will not move the chess pieces that are about to occupy the grid points. The chess pieces that have already occupied the grid points can remain motionless under the attraction of the soft magnetic structure.

[0039] Specifically, you can Figure 4 In the example shown, when a chess piece moves longitudinally in a certain column, and the movement path needs to pass through two grid points occupied by other chess pieces, the second electromagnet structure below the chess piece controls the longitudinal movement to point B, and then controls it to jump longitudinally above the other chess pieces occupying the two grid points. The chess piece overlaps with any of the other chess pieces that have occupied the grid points by about 1 / 4 of the area, and then can be dragged by the second electromagnet structure to move horizontally above the other chess pieces to pass through the grid points occupied by other chess pieces.

[0040] like Figure 5 As shown in the movement from point 5 to point 4, when a chess piece moves longitudinally in a certain column, and the movement path needs to pass through a grid point occupied by other chess pieces, the chess piece moves to the grid point adjacent to the grid point (occupied by other chess pieces) (point 5), and then can jump horizontally again (to point 4). At this time, it can jump above the other chess pieces occupying the grid point, and the two overlap by about 1 / 2 domain. The corresponding second electromagnet structure drags it to move longitudinally above the other chess pieces occupying the grid point to avoid (pass by) the grid point occupied by other chess pieces.

[0041] For jumping along the second direction: when the starting position and the ending position of the chess piece are in the same row but different columns, two adjacent electromagnet structures (represented as two working electromagnets, the first working electromagnet and the second electromagnet) need to be energized and de-energized in coordination so that the chess piece can move between two adjacent columns by jumping half a grid point each time.

[0042] For the horizontal jump of the chess piece, at least one set of the first electromagnet structure and the second electromagnet structure (respectively serving as the first working electromagnet and the second working electromagnet) are electrically connected and disconnected, as shown in FIG. Figure 2 , Figure 2(a)-(e) reflect that the first electromagnet structure and the second electromagnet structure are arranged at intervals and cooperate with each other to realize the horizontal jumping process of the chess piece. Below them is a row of electromagnet structures distributed horizontally. Specifically, when the first electromagnet structure on the far left in Figure (a) is energized, the chess piece is located at the far left grid point. After the power is cut off, the second electromagnet structure on the far left is instantly energized, and the right part of the chess piece is suspended ("jumps") and moves to the right to between the far left grid point and the second grid point on the left (corresponding to the second electromagnet structure on the far left). The second electromagnet structure on the far left is powered off, and the first electromagnet structure on its right is powered on, and the chess piece continues to move to the right. From the left to the right, the first and second electromagnet structures are powered off and powered on in turn, and the chess piece gradually moves to the right.

[0043] according to Figure 2 The changes in the middle intuitively reflect the jumping of chess pieces. Of course, it is understandable that during the process, the soft magnet embedded in the chessboard tabletop must maintain an appropriate distance from the upper surface of the chessboard, otherwise it may affect the jumping / movement of the chess pieces. Its specific design and implementation need to be tested through simulation and physical objects. It is not a specific limitation of this embodiment and will not be described in detail here.

[0044] Regarding the movement of chess pieces, if there is interference / obstacle, such as when a chess piece moves vertically and needs to pass through some grid points already occupied by other chess pieces, the chess piece can be avoided by using the horizontal jump, vertical jump, translation, etc. mentioned above, so that the chess piece can move to any grid point on the grid.

[0045] As an illustration, the soft magnetic structure is arranged at the grid points. After the chess piece moves to the corresponding grid point, it can be fixed with the soft magnetic structure. The chess piece has a built-in ferromagnetic body, and the electromagnet structure can drive the chess piece to move. Therefore, after the chess piece moves between the grid points to reach a certain grid point, the electromagnet structure leaves, and the chess piece and the soft magnetic magnet structure still maintain magnetic cooperation, thereby restricting the chess piece to a certain grid point. At this time, even if the chess piece jumps and partially stacks with it later, as long as the electromagnet structure is not located under the grid point, the stacked chess pieces moving above it will not cause the movement of the chess piece.

[0046] In this embodiment, the automatic movement of chess pieces on the chessboard is achieved by arranging the above-mentioned electromagnetic array structure. Specifically, the chess pieces are translated in a predetermined direction and / or jump with a predetermined stride through the electromagnet structure, and are fixed at the grid points on the chessboard in conjunction with the soft magnetic structure. Compared with the movement method of the existing robotic arm, the space occupied is small, the soft magnetic structure is embedded in the chessboard, and the electromagnet structure is located below the chessboard.

[0047] It can be understood that the electromagnetic array structure can only arrange a movable row / column of electromagnet structures to realize the longitudinal translation, jumping and lateral jumping of the chess piece, so that it can move to any soft magnetic structure within the grid and cooperate with the soft magnetic structure to realize the chess piece limitation.

[0048] Embodiment 2: The present invention also discloses a target control device using an electromagnetic array structure, which uses the electromagnetic array structure described in the first embodiment to execute a corresponding target control method to achieve control of the target. Specifically, it can be applied to an automated chessboard. Similar to the first embodiment, the target is a chess piece, for example. Figure 1-7 ,in Figure 4-Figure 6 The dotted chess pieces indicate the movement of the chess pieces.

[0049] Example 3: This embodiment also provides a target control device using an electromagnetic array structure, which executes the target control method described in Example 2 above. Figures 1-6 ,include: The main board provides an area for target movement, and the area forms a structure with several grids; in the application scenario of this embodiment, the main board is arranged as a chessboard, the first direction is horizontal, and the second direction is vertical.

[0050] The electromagnetic array structure includes a soft magnetic structure built into each grid point corresponding to the main board, and an electromagnet structure located below the main board and between each grid point and adjacent grid points along the first direction, and each electromagnet structure can slide along the second direction; specifically, the soft magnetic structure is built into the chessboard, the electromagnet structure is located at the bottom of the chessboard, and the chess pieces are built with ferromagnets and can be moved or retained at any grid point by magnetic adsorption. Specifically, the specific arrangement of the electromagnetic array structure refers to the description in the above embodiment one.

[0051] The control module is used to obtain the starting position and the end position of the target, and control the power on, power off, and sliding of each electromagnet structure in the electromagnetic array structure, so that the target translates along the second direction on each grid, jumps along the second direction with a predetermined step length, and / or jumps along the first direction with a predetermined step length to move from the starting position to the end position, where the predetermined step length is half a grid.

[0052] The above-mentioned control module controls each electromagnet structure in the electromagnetic array structure to implement the relevant content of "movement of the chess piece (target) under the electromagnetic array structure" in the above-mentioned embodiment 1, so that the chess piece moves from the starting position to the end position. It will not be elaborated here, and can also be further understood in combination with the following control method "the target can be controlled to achieve the following movement".

[0053] As a specific example, the above device can specifically perform the following control method: Specific control methods include: S10: Obtain the starting position and the end position of the target, and determine the moving path of the target based on the starting position and the end position; specifically, the end position is located at any grid point. Only for the convenience of describing the movement of the target achieved according to the control method below, at least one electromagnet structure controlling the target along the moving path is referred to as a working electromagnet.

[0054] Specifically, the working electromagnet refers to the electromagnet structure that is required to enable the target to reach the end position from the starting position. In fact, as an option, when the starting position and the end position are located in the same column, the first electromagnet structure that can move under the column is used as the working electromagnet; when the starting position and the end position are located in different columns, the first electromagnet structure that can move under each column from the starting position to the end position and the second electromagnet structure that can move between adjacent columns are used as working electromagnets respectively; when the end position is located at the grid point of a certain column and the starting position is located between the grid points of another adjacent column, this situation may occur when a predetermined chess game is pre-arranged, then the first electromagnet structure corresponding to the column where the end position is located and the second electromagnet structure under the starting position are used as the working electromagnet.

[0055] Based on the above, each working electromagnet can only move longitudinally. For example, the starting position and the end position can be reached by one working electromagnet. In fact, it can also be reached by multiple working electromagnets, that is, it is possible to reach the end position across multiple columns on the chessboard (such as Figure 6 The chess pieces AB span multiple rows. The moving path is not specifically marked in the figure, but the chess pieces drawn with dotted lines are all chess pieces in the process of moving, which is only used as an example).

[0056] It can be understood that, based on the above, the working electromagnet may include only the first electromagnet structure, or may include at least one first electromagnet structure and a second electromagnet structure, so that the target can be controlled by each working electromagnet to move to any grid point in the grid structure ( Figure 5 midpoint 5), between two adjacent grid points ( Figure 5 midpoint 2) or within any grid ( Figure 5 midpoint 3); when the target is located at any grid point, it magnetically cooperates with the corresponding soft magnetic structure.

[0057] It can be understood that the working electromagnet can control the target to achieve the following movement: 1. The target moves in the second direction: A certain electromagnet structure is predetermined as a working electromagnet, and the working electromagnet is kept energized and translated along the second direction so that the target is translated along the second direction; Specifically, when the working electromagnet is energized, it can be driven by the motor to move, specifically, in this embodiment, to drive the chess piece to translate longitudinally along the chessboard. It will be appreciated that this embodiment is applied to an automated chessboard, where the target is the chess piece, and the cross-section of the chess piece is a circular center. The center / center of the circle / center of gravity of the chess piece corresponds to / overlaps with the center of the working electromagnet (along the center of gravity direction) when the working electromagnet translates with it.

[0058] 2. The target jumps in the second direction: The longitudinal jump is achieved by a certain working electromagnet, and the working electromagnet can be the first electromagnet structure or the second electromagnet structure.

[0059] Specifically, the predetermined first position and the second position are two adjacent positions along the second direction (longitudinal direction) on the grid structure (the two adjacent positions are "half a grid" apart); the target is located at the first position, and the control module controls the working electromagnet to move after power is turned off. When the working electromagnet reaches the second position, it is instantly powered on, so that the target jumps from the first position to the second position.

[0060] It is understandable that when the electromagnet structure passes longitudinally between adjacent soft magnetic structures, the magnetization state of the soft magnetic structure and the magnetic field distribution of the electromagnet change, and as the electromagnet moves, different parts of the soft magnetic body will be magnetized / demagnetized. Therefore, when the working electromagnet is powered off and moves longitudinally to another position, the target still remains in its original position. At this time, powering on again can immediately cause the magnetic field to change, and the chess piece will be tilted toward the direction of the working electromagnet. The chess piece will be partially suspended in the air under the action of the magnetic force, thereby completing the longitudinal "jump".

[0061] 3. The target jumps along a first direction; The two predetermined adjacent working electromagnets are respectively a first working electromagnet and a second working electromagnet (one is a first electromagnet structure, and the other is a second electromagnet structure); the predetermined third position and fourth position are two adjacent positions along the first direction on the grid structure (the two adjacent positions are "half a grid" apart); the target is controlled to move to the third position by the first working electromagnet, and the control module controls the first working electromagnet to drive the target to move to the third position and then cuts off the power, and controls the second working electromagnet to move to the fourth position after cutting off the power and then instantly powers on, so that the target jumps from the third position to the fourth position along the first direction.

[0062] In this embodiment, the electromagnet structures are arranged in a row laterally, but each electromagnet structure can only move longitudinally, so the lateral jump mentioned above needs to be achieved through two adjacent electromagnet structures.

[0063] In this embodiment, a chess piece can translate or jump on or between grid points. Two adjacent grid points are separated by one grid point. The chess piece can translate or jump by half a grid point each time according to the sliding of the electromagnet structure. In this embodiment, the grid sides in the first and second directions are the same, that is, they have the same grid distance. In practice, different settings can be set. If different settings are set, the chess piece can also jump half a grid point along the first and second directions, but the actual movement distance will be different. The target can be controlled by the control module to move to any grid point in the grid structure, between two adjacent grid points, or within any grid point. When the target is located at any grid point, it magnetically cooperates with the corresponding soft magnetic structure.

[0064] Specifically, all the movements of the target from the starting position to the end position form a movement path, such as Figure 5 The arrow from point A to point B indicates Figure 6 The set of all dotted chess pieces in the game; the moving path can be determined in advance based on the starting position and the end position. The moving path can be determined independently by loading an algorithm or by presetting a database based on position matching, or a specified moving path can be given, so that instructions are issued to each working electromagnet according to the moving path to achieve the target movement from the starting position to the end position.

[0065] It can be understood that the determination of the moving path can be achieved through the control module, or it can be achieved by separately setting up a path determination unit integrated in or connected to the control module; wherein, when determining the moving path, when there are multiple moving paths, the control module selects the moving path with the most translation as the target, which can be selected autonomously or manually through instructions, and the translation control is convenient and more efficient.

[0066] In this embodiment, in order to realize the autonomous movement of chess pieces under the control of the electromagnetic array, taking into account the possibility that other chess pieces that have previously or pre-occupied some grid points will appear in the movement path, other targets that have been previously or pre-arranged, that is, the chess pieces that already exist on the chessboard are defined as interference targets. The horizontal jumps, vertical jumps, translations, etc. of the above-mentioned chess pieces can be used to avoid / avoid to a certain extent the chess piece that has already occupied the grid point, so that the movement of the chess piece can be realized without affecting the position of the interference target.

[0067] It should be noted that each chess piece can translate or jump under the control of each working electromagnet, but when an interference target appears in the moving path, the chess piece cannot translate through the interference object. If the translation is maintained, the interference object will be driven to move, thereby causing the chess pieces that have occupied some grid points on the chessboard to move, thereby changing the existing chess piece layout, which is undesirable in the control process. Therefore, by jumping to partially overlap with the interference object, the chess piece is translated relative to the interference object, so that the interference object can be kept stationary but the chess piece can pass through the position of the interference object.

[0068] Therefore, the control method further includes S30: when there is an interfering object in the moving path, the working electromagnet controls the target to jump so that the target partially overlaps with the interfering object and then moves horizontally to pass through the interfering object to reach the end position.

[0069] Specifically, when the target jumps and partially overlaps with the interference object, the working electromagnet avoids the grid point where the interference object is located, and drives the target to translate to pass through the interference object. As an explanation, avoiding the grid point where the interference object is located means that the working electromagnet will not pass through the grid point where the interference object is located. The second electromagnet structure that always moves between the grid points can be used as the working electromagnet control, or the first electromagnet mechanism that moves below the grid point can be used to avoid the grid point where the interference object is located (such as Figure 5 For example, the chess piece jumps to between the grid point where the interfering object is located and its adjacent grid point. At this time, the chess piece partially overlaps with the interfering object. The corresponding second electromagnet structure is used to move the chess piece longitudinally. The chess piece will not continue to jump to completely overlap with the interfering object. The interfering object that has already occupied the grid point is restricted by the soft magnetic structure. Even if a chess piece jumps to partially overlap with it and then moves, the chess piece that has already occupied the grid point can remain fixed under the attraction of the soft magnetic structure.

[0070] It is understandable that when a chess piece passes through an interfering object, there may be another interfering object at an adjacent grid point of the interfering object. At this time, the movement of the chess piece needs to pass between the two interfering objects. When the target passes through two adjacent interfering grid points arranged along the second direction; when the target passes through two interfering objects arranged adjacently along the second direction; the target jumps between the two interfering objects along the second direction and partially overlaps with both interfering objects, and then translates along the second direction to pass through the interfering objects.

[0071] Specifically, the process of chess pieces moving through interference objects is shown, such as Figure 4 As shown, you need to slide the chess piece from point A to point D and perform the following steps in sequence: Step 1: Control the working electromagnet to slide from point A to point B. The electromagnet maintains magnetic force, and the upper chess piece moves horizontally from point A to point B.

[0072] Step 2: Control the working electromagnet to slide from point B to point C. The electromagnet is powered off and the upper chess piece remains stationary at the position corresponding to point B.

[0073] Step 3: When the working electromagnet reaches point C, it powers on. Within approximately 5ms, the magnetic force reaches its peak, and the upper chess piece jumps from point B to point C, partially overlapping the already placed chess pieces. The working electromagnet remains stationary for approximately 100ms until the chess piece completes its jump, and then it can begin moving toward point D.

[0074] Step 4: Control the working electromagnet to slide from point C to point D and keep the electromagnet powered on. The chess piece at the corresponding position above will be dragged (translated) to the position corresponding to point D by the magnetic force.

[0075] Specifically, based on the above, the working electromagnet is a second electromagnet structure that can move longitudinally between two interfering objects. The working electromagnet drives the chess piece to achieve longitudinal translation and jumping. After jumping, the chess piece partially overlaps with the first and second interfering objects. At this time, longitudinal movement of the second electromagnet structure drives the chess piece to translate between the first and second interfering objects, while the first and second interfering objects remain stationary due to the magnetic cooperation of the soft magnetic structure.

[0076] Specifically, to further reflect the translation and jump in this embodiment, as shown in FIG. Figure 5 As shown: The chess piece shown moves from point A to point B, with a total of five positions 1-5 (the dotted chess piece represents the positions the chess piece will reach during the movement). This process requires the cooperation of two working electromagnets, of which the first working electromagnet is located below point A and can move longitudinally, and the second working electromagnet is located below point B and can move longitudinally. The specific movement process includes: Step 1: Control the first working electromagnet to power on and maintain the magnetic force, and the upper chess piece moves horizontally from point 1 to point 2.

[0077] Step 2: Control the first working electromagnet to slide from 2 o'clock to 3 o'clock. The electromagnet is powered off, and the upper chess piece remains stationary at the position corresponding to 2 o'clock.

[0078] Step 3: Control the first working electromagnet to reach the moment of 3 o'clock, turn on the power, the upper chess piece jumps from 2 o'clock to 3 o'clock, and partially overlaps above the two arranged chess pieces.

[0079] Step 4: Control the first working electromagnet to slide from o'clock 3 to o'clock 4 and keep the electromagnet powered on. The chess piece at the corresponding position above will be dragged (translated) to the position corresponding to o'clock 4 by the magnetic force; Step 5: Control the first working electromagnet to be powered off at the position corresponding to 4 o'clock, and power on the second working electromagnet at the position corresponding to 5 o'clock. The chess piece jumps from 4 o'clock to 5 o'clock and reaches point B.

[0080] In the above movement process, the movement from 1 to 2 is a translation, 2 to 3 is a jump, 3 to 4 is also a translation, and 4 to 5 is a jump, meaning there are two jumps. As can be expected, the translation speed can be several times the jump speed. Therefore, compared to existing automated chessboard designs, the electromagnetic array used in this embodiment significantly reduces the overall movement time of the chess pieces and makes them more stable. If the above route is reversed, moving from B to A, two jumps are also required, but the jump locations are different. Specifically, from 5 to 4 is a jump, and from 4 to 3 there is a translation followed by a jump. However, the overall time is similar and is significantly shorter than other existing methods.

[0081] Specifically, such as Figure 5 As shown, the process of the chess piece passing through two parallel interference objects, moving from point 2 to point 3, is specifically described as follows: the grid point where the first interference object is located is defined as the first intermediate grid point X, the grid point where the second interference object is located is defined as the second intermediate grid point M, the grid point adjacent to the interference object along the first direction and toward the starting position is defined as the third intermediate grid point Y, the grid point adjacent to the second interference object along the first direction and toward the starting position is defined as the fourth intermediate grid point N, and the grid surrounded by the first intermediate grid point, the second intermediate grid point, the third intermediate grid point, and the fourth intermediate grid point is defined as the intermediate grid; the working electromagnet is energized to move the target to the middle of the third intermediate grid point and the fourth intermediate grid point ( Figure 5 After the power is turned off, the working electromagnet (the second electromagnet structure that can move longitudinally between the first and second middle grid points) continues to move. When the working electromagnet moves to the center of the middle grid, the power is turned on to make the target jump to partially overlap with the interference object ( Figure 5 midpoint 3).

[0082] In this embodiment, it is also worth noting that different situations may occur in the movement path. The end position, that is, the position where the chess piece finally reaches, must be a certain grid point, but the starting position may be a certain grid point or between two adjacent grid points; further, if the starting position is at a certain grid point, the starting position and the end position may be in the same column or in different columns. For example, when it is necessary to arrange the positions of chess pieces on the chessboard in advance, that is, in a regular endgame scenario, one or more chess pieces can be simultaneously started from between two adjacent grid points corresponding to the circumference of the chessboard. At this time, the starting position is between the two grid points; when it is necessary to realize the autonomous movement of a chess piece during the game, the starting position is at a grid point.

[0083] Specifically, the starting position is between two grid points. Figure 5 The starting position is point A, which is between two grid points. Therefore, the second electromagnet structure corresponding to it is the working electromagnet. At this time, simply powering on the working electromagnet can drive the chess piece to move horizontally, so that it moves to point 2 and then jumps.

[0084] The starting position is located at a certain grid point. Figure 5 If the starting position is point C, since the chess piece's starting position is on a grid point, the chess piece jumps horizontally half a grid point to point A by energizing and de-energizing the first electromagnet structure below the grid point (acting as the first working electromagnet) in conjunction with the adjacent second working electromagnet (acting as the second working electromagnet). The second working electromagnet then drives the chess piece to move horizontally to point 2 and then jump.

[0085] In each of the above embodiments, when the chess piece (target) reaches the end position, the soft magnetic structure can be used to keep it at the end position (corresponding to the grid point).

[0086] Specifically, in order to reflect that multiple translations or jumps can be achieved through multiple working electromagnets in this embodiment, such as Figure 6 Example shown: The starting position is at Figure 6 The midpoint A and the end point are located at Figure 6 Midpoint B, where the dotted lines represent the various positions of the chess piece, and the black chess piece represents the interference object; the chess piece can translate longitudinally and jump transversely with the cooperation of multiple working electromagnets. If there is an interference object during the longitudinal translation process, it can also jump to pass the interference object.

[0087] In this embodiment, "jump" can be used for horizontal movement, and can also be used for vertical translation to pass through some grid points occupied by other chess pieces without affecting the chess pieces that have already occupied the grid points, that is, for the chess board, except for the situation at the beginning of the game, there may be chess pieces occupying some grid points on the board in other cases. In this case, when moving a chess piece in this embodiment, it may pass through the grid points already occupied by other chess pieces. At this time, the chess piece can be moved by jumping and then translating on the other chess pieces that have already occupied the grid points, so that the chess piece will move without affecting the other chess pieces that have already occupied the grid points.

[0088] Therefore, based on the above, the interference object can be Figure 4 22 shown in Figure 5 Zhongyu Figure 4 akin, Figure 6 The black chess piece in the middle can also be other physical objects with a certain volume occupying the grid points. When an interference object is arranged on any grid point in the grid point column where the starting position and the end position are located, the interference object is passed through by the above method.

[0089] Also as an illustration, the "overlap" after the above jump is as follows Figure 5As shown, it means that the chess piece that jumps due to the action of the working electromagnet is partially located on other grid points that already exist on the grid after jumping. It is worth noting that, as described in Reference Example 1, the overlap will not be a complete overlap. If it is a complete overlap, the movement of the chess piece may cause the interfering object to move, which is not expected to happen.

[0090] As a specific example, Figure 5 The chess piece moves vertically to point 2. At this time, the chess piece jumps from point 2 to point 3. The chess piece and the two interference objects overlap by about 1 / 4 area. After translation, the overlap gradually changes from 1 / 4 to 1 / 2 to 1 / 4 to 0 area. Figure 5 When moving from point B to point A, the chess piece jumps from point 5 to point 4, causing the two to overlap by about 1 / 2. After translation, the overlap gradually decreases from 1 / 2 to 0. This jump causes the chess piece (target) to overlap the interfering object (other chess piece), and the previously arranged chess pieces are held in place by the magnetic force of the soft magnetic structure.

[0091] Therefore, based on the target control method provided in this embodiment, one row or at least one row of 2m sliding electromagnet structures is used to realize the movement control of the target in the m×n soft magnetic structure array, and can cooperate to realize the synchronous automatic control of multiple chess pieces (targets), which is faster, more stable and reliable, while greatly reducing costs and space occupancy.

[0092] Specifically, by embedding a cylindrical soft magnetic structure and a row of electromagnets that can slide in a predetermined direction under the chessboard, a control method that combines dragging and jumping of the chess piece position is realized. The controllability is better, and the movement process mostly relies on magnetic drag. Jumping is only used under some position changes (longitudinal translation, jumping when there is an interfering target in the horizontal or vertical direction). The stability is high, and the control module used for the electromagnet structure can be equipped with a program to achieve autonomous control, which is convenient and more efficient.

[0093] As can be appreciated, the electromagnets used in this embodiment slide in a predetermined direction and can be arranged in just one row or column, eliminating the need for a fully covered electromagnet structure. This reduces the number of electromagnets deployed, significantly reducing the overall solution's cost, weight, and volume. This approach can also be applied to other similar scenarios besides automated chessboards, such as controlling the autonomous placement of tags and cards.

[0094] As will be appreciated, as previously mentioned, the control of each electromagnet structure in the electromagnetic array structure is implemented by a control module. This control module may be equipped with a predetermined program, and may be used to automatically control the chess pieces by controlling the power on and off of the working electromagnets, and the direction and distance of movement. Specifically, as an example, this may be used to set up a predetermined chess game, or to automatically control chess game matches.

[0095] It is also understandable that other units / modules / devices may be integrated or coordinated to suit applications in different scenarios.

[0096] The jumps described in the above multiple places do not express being along a certain direction, and are all expressed as a general description of jumping along the first direction and the second direction.

[0097] It should be noted that the embodiments of the present invention have better practicability and do not impose any form of limitation on the present invention. Any technician familiar with the field may use the technical content disclosed above to change or modify it into an equivalent effective embodiment. However, any modification or equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention are still within the scope of the technical solution of the present invention.

Claims

1. An electromagnetic array structure, characterized in that: Objectives of magnetic mating include: A plurality of soft magnetic structures are arranged along a predetermined first direction and a predetermined second direction to form a plurality of grids; a plurality of electromagnet structures arranged at grid points of each grid along the first direction and further arranged between adjacent grid points along the first direction, each of the electromagnet structures being slidable along the second direction; Each electromagnet structure controls the target to translate along the second direction on each grid, jump along the second direction with a predetermined step and / or jump along the first direction with a predetermined step to reach any soft magnetic structure by powering on, powering off and sliding. The predetermined step is half a grid.

2. The electromagnetic array structure according to claim 1, characterized in that: A plurality of the electromagnet structures are arranged along the second direction, and the number of the electromagnet structures arranged along the second direction is less than twice the number of the soft magnetic structures arranged along the second direction.

3. A target control device using an electromagnetic array structure, characterized in that: Objectives of magnetic mating include: a main board, having several grids; An electromagnetic array structure, comprising a soft magnetic structure built into each lattice point corresponding to the mainboard, and an electromagnet structure located below the mainboard and between each lattice point and an adjacent lattice point along the first direction, wherein each electromagnet structure is slidable along the second direction; The control module is used to obtain the starting position and the end position of the target, and control the power on, power off, and sliding of each electromagnet structure in the electromagnetic array structure, so that the target translates along the second direction on each grid, jumps along the second direction with a predetermined step length, and / or jumps along the first direction with a predetermined step length to move from the starting position to the end position, where the predetermined step length is half a grid.

4. The target control device according to claim 3, characterized in that: The predetermined first position and the second position are two adjacent positions along the second direction on the grid structure; The electromagnet structure that is predetermined to move from the first position to the second position along the second direction is a working electromagnet; The target is located at a first position, and the control module controls the working electromagnet to move after being powered off. When the working electromagnet reaches a second position, it is powered on instantly, so that the target jumps from the first position to the second position.

5. The target control device according to claim 3, characterized in that: The two adjacent electromagnet structures are respectively a first working electromagnet and a second working electromagnet; The predetermined third position and the fourth position are two adjacent positions along the first direction on the grid structure; The control module controls the first working electromagnet to move the target to the third position and then cut off the power, and controls the second working electromagnet to move to the fourth position after being cut off and then instantly powered on, so that the target jumps from the third position to the fourth position along the first direction.

6. The target control device according to claim 3, characterized in that: The target is controlled by the control module to move to any grid point in the grid structure, between two adjacent grid points, or within any grid; When the target is located at any grid point, it magnetically cooperates with the corresponding soft magnetic structure.

7. The target control device according to claim 3, characterized in that: The control module determines a moving path of the target according to the starting position and the ending position; When there is an interfering object in the moving path, wherein the interfering object is another target that has been previously or pre-arranged; The control module controls the target to jump through an electromagnetic array structure, so that the target partially overlaps with the interference object and then moves horizontally to pass through the interference object to reach the end position.

8. The target control device according to claim 7, characterized in that: When the target jumps and partially overlaps with the interfering object, the control module controls the electromagnet structure to avoid the movement of the grid point where the interfering object is located, and drives the target to translate to pass through the interfering object.

9. The target control device according to claim 7, characterized in that: When there are multiple movement paths between the starting position and the end position, the control module selects the movement path with the most translation as the target movement path.

10. A target control method using an electromagnetic array structure, characterized in that: The target control device according to any one of claims 3 to 9 is applied to a magnetically compatible target, comprising: Obtain the starting position and the end position of the target, and determine the target's moving path based on the starting position and the end position; Each electromagnet structure is powered on, powered off, and slidably engaged, so that the target translates along the second direction, jumps along the second direction with a predetermined step length, and / or jumps along the first direction with a predetermined step length on each grid, so as to move from the starting position to the end position through the movement path, wherein the predetermined step length is half a grid; When there is an interfering object in the moving path, the vehicle jumps to partially overlap with the interfering object and then moves horizontally to pass through the interfering object.

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