Automated multi-layer actuator system for enhanced interaction in board games

Abstract

An automated motion coordination system comprises a multi-layer (e.g., dual-layer) cable-driven architecture for independently manipulating multiple components within a shared workspace. The system includes a first actuator (A1) and a second actuator (A2) disposed on vertically offset planes, each independently driven by a dedicated set of peripheral motors and transmission strings. This vertical separation allows the transmission strings of the first and second actuators to cross in a top-down perspective without physical entanglement. A control processor is configured to execute an obstacle management protocol, enabling the first actuator to dynamically relocate obstructing elements while the second actuator performs a primary motion task. The system provides high-speed, low-noise, and collision-free interaction suitable for automated board games and robotic interfaces.

Description

CROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This application claims the benefit of U.S. Provisional Application No. 63 / 756,822, filed on Feb. 11, 2025, the entire contents of which are incorporated herein by reference.TECHNICAL FIELD

[0002] The present disclosure relates generally to the field of robotic motion control and mechanical transmission systems. More specifically, aspects of the disclosure relate to a cable-driven positioning apparatus employing a multi-layer (at least two-layer) architectural layout to coordinate the independent movement of multiple mobile components within a shared lateral coordinate space while preventing physical interference between their respective transmission lines.BACKGROUND

[0003] Conventional automated board games typically rely on a single electromagnetic actuator moved by a two-axis (X-Y) gantry. These systems are inherently limited: they cannot move two pieces at once (e.g., during a chess capture or castling), they are often noisy due to centralized motor vibration, and they require complex “zig-zag” pathfinding to avoid other pieces on a crowded board. There exists a need for a multi-layered mechanical architecture that allows for simultaneous, quiet, and collision-free piece manipulation.SUMMARY

[0004] The present invention solves these problems via a multi-layer actuator assembly (e.g., dual-layer). By placing a first actuator (A1) and a second actuator (A2) on vertically offset planes, the system allows for independent movement of pieces without the drive strings tangling. Motors are positioned at the periphery (corners) to reduce noise and thickness, and a specialized obstacle management protocol allows the board to “clear its own path” dynamically.BRIEF DESCRIPTION OF THE DRAWINGS

[0005] In example embodiments, a dual-layer assembly is illustrated. FIG. 1 is a perspective view of the dual-layer actuator assembly within the system housing. FIG. 2 is a top-down schematic view illustrating the non-interfering crossing of transmission strings between the first and second actuator layers. FIG. 3 is an exploded view of an electromagnetic actuator head. FIG. 4 is a partial top view of the sensor matrix configured for real-time piece detection and feedback. FIG. 5 is a functional flow chart illustrating the Coordinated Evasion and Motion Protocol (CEMP) for simultaneous actuator management. FIG. 6 is a sequence of top-down operational views (6A-6C) illustrating an automated obstacle relocation and target move execution.DETAILED DESCRIPTION

[0006] As illustrated in FIG. 1, the system is housed within a board platform. The mechanical drive system is split into two distinct horizontal layers. Although two layers are illustrated, in some embodiments additional actuator layers may be stacked on additional vertically offset planes to enable concurrent manipulation of more than two game pieces.

[0007] 1. The Layered Actuator Assembly: The first actuator (A1) is positioned on an upper internal plane, while the second actuator (A2) is positioned on a lower internal plane. Each actuator includes an electromagnetic head for engaging game pieces through the board surface. Because A1 and A2 are vertically offset, their respective drive strings (W11, W21, etc.) can cross one another in X-Y space without physical contact or interference.

[0008] 2. Peripheral Drive System: To minimize noise and maximize the playable area, the drive motors are positioned at the corners of the housing.

[0009] (1) Motors M11, M12, M13, and M14 are dedicated to driving actuator A1.

[0010] (2) Motors M21, M22, M23, and M24 are dedicated to driving actuator A2.

[0011] The strings are arranged in a four-corner cable-driven X-Y positioning configuration. Each actuator is coupled to four corner winches via tensioned strings, and the control processor commands coordinated winding / unwinding of the winches to set the actuator's planar position while maintaining cable tension. The processor computes desired cable-length changes for a target position in the shared workspace and distributes commands across the four winches under tension constraints (e.g., maintaining minimum tension and limiting slack).

[0012] In some embodiments, the drive network may alternatively implement a differential-drive arrangement (e.g., a Core-XY or H-bot configuration) by mechanically coupling or pairing motors and / or by routing a belt or tension member through corner-mounted pulleys and / or idlers, such that planar X- and Y-motion of the actuator is generated via differential actuation, without departing from the scope of the drive network.

[0013] 3. Coordinated Evasion and Motion Protocol (CEMP): The system further comprises a control processor in communication with a sensor matrix and the drive motors. The control processor is configured to execute a Coordinated Evasion and Motion Protocol (CEMP), which utilizes the vertical offset of the first actuator (A1) and the second actuator (A2) to perform simultaneous operations within a shared coordinate space.

[0014] (1) Collision-Free Pathfinding: Unlike conventional single-actuator systems that must navigate “zig-zag” paths to avoid obstacles, the present system utilizes the dual-layer architecture to simplify pathfinding. When a move command is initiated, the control processor generates a linear vector for the target piece. Because the transmission strings of Al and A2 are vertically decoupled, the processor can calculate overlapping paths for both actuators without physical entanglement.

[0015] (2) Dynamic Obstacle Management: The control processor executes a specific logic sequence for clearing paths as follows:

[0016] Obstruction Identification: The sensor matrix identifies an obstructing piece located between the initial and final coordinates of a target piece.

[0017] Task Delegation: The processor delegates a “Clearance Task” to A1 and a “Primary Move Task” to A2.

[0018] Concurrent Execution: A1 is commanded to move the obstructing piece to a temporary “Holding Zone” outside of the target piece's trajectory. Simultaneously, A2 initiates the move of the target piece.

[0019] Sequence Completion: Once the target piece has cleared the intersection point, A1 is commanded to return the obstructing piece to its original coordinate or a new coordinate assigned by the game logic.

[0020] (3) Simultaneous Move Logic: The control system allows for the execution of complex moves, such as “Castling” in chess or “Multiple Captures” in checkers, by assigning one piece to A1 and another to A2. By executing these moves in parallel rather than sequentially, the system reduces the turn-time by at least 50% and simulates human-like interaction with the board.

[0021] 4. Sensor Feedback and Positional Alignment: The system optionally incorporates a positional sensing layer disposed within the housing to provide real-time feedback to the control processor. This sensing layer may employ various sensing modalities known in the art—such as magnetic hall-effect arrays, optical sensing matrices, or radio-frequency based sensing—to verify the coordinates of the mobile components on the board surface. The control processor utilizes this feedback to ensure that actuators A1 and A2 are precisely aligned with their respective target components. It should be noted that the specific sensing technology utilized is independent of the dual-layer mechanical architecture disclosed herein, and the system is configured to maintain synchronization even in the event of external component displacement.

Examples

Embodiment Construction

[0006]As illustrated in FIG. 1, the system is housed within a board platform. The mechanical drive system is split into two distinct horizontal layers. Although two layers are illustrated, in some embodiments additional actuator layers may be stacked on additional vertically offset planes to enable concurrent manipulation of more than two game pieces.[0007]1. The Layered Actuator Assembly: The first actuator (A1) is positioned on an upper internal plane, while the second actuator (A2) is positioned on a lower internal plane. Each actuator includes an electromagnetic head for engaging game pieces through the board surface. Because A1 and A2 are vertically offset, their respective drive strings (W11, W21, etc.) can cross one another in X-Y space without physical contact or interference.[0008]2. Peripheral Drive System: To minimize noise and maximize the playable area, the drive motors are positioned at the corners of the housing.[0009](1) Motors M11, M12, M13, and M14 are dedicated to...

CROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This application claims the benefit of U.S. Provisional Application No. 63 / 756,822, filed on Feb. 11, 2025, the entire contents of which are incorporated herein by reference.TECHNICAL FIELD

[0002] The present disclosure relates generally to the field of robotic motion control and mechanical transmission systems. More specifically, aspects of the disclosure relate to a cable-driven positioning apparatus employing a multi-layer (at least two-layer) architectural layout to coordinate the independent movement of multiple mobile components within a shared lateral coordinate space while preventing physical interference between their respective transmission lines.BACKGROUND

[0003] Conventional automated board games typically rely on a single electromagnetic actuator moved by a two-axis (X-Y) gantry. These systems are inherently limited: they cannot move two pieces at once (e.g., during a chess capture or castling), they are often noisy due to centralized motor vibration, and they require complex “zig-zag” pathfinding to avoid other pieces on a crowded board. There exists a need for a multi-layered mechanical architecture that allows for simultaneous, quiet, and collision-free piece manipulation.SUMMARY

[0004] The present invention solves these problems via a multi-layer actuator assembly (e.g., dual-layer). By placing a first actuator (A1) and a second actuator (A2) on vertically offset planes, the system allows for independent movement of pieces without the drive strings tangling. Motors are positioned at the periphery (corners) to reduce noise and thickness, and a specialized obstacle management protocol allows the board to “clear its own path” dynamically.BRIEF DESCRIPTION OF THE DRAWINGS

[0005] In example embodiments, a dual-layer assembly is illustrated. FIG. 1 is a perspective view of the dual-layer actuator assembly within the system housing. FIG. 2 is a top-down schematic view illustrating the non-interfering crossing of transmission strings between the first and second actuator layers. FIG. 3 is an exploded view of an electromagnetic actuator head. FIG. 4 is a partial top view of the sensor matrix configured for real-time piece detection and feedback. FIG. 5 is a functional flow chart illustrating the Coordinated Evasion and Motion Protocol (CEMP) for simultaneous actuator management. FIG. 6 is a sequence of top-down operational views (6A-6C) illustrating an automated obstacle relocation and target move execution.DETAILED DESCRIPTION

[0006] As illustrated in FIG. 1, the system is housed within a board platform. The mechanical drive system is split into two distinct horizontal layers. Although two layers are illustrated, in some embodiments additional actuator layers may be stacked on additional vertically offset planes to enable concurrent manipulation of more than two game pieces.

[0007] 1. The Layered Actuator Assembly: The first actuator (A1) is positioned on an upper internal plane, while the second actuator (A2) is positioned on a lower internal plane. Each actuator includes an electromagnetic head for engaging game pieces through the board surface. Because A1 and A2 are vertically offset, their respective drive strings (W11, W21, etc.) can cross one another in X-Y space without physical contact or interference.

[0008] 2. Peripheral Drive System: To minimize noise and maximize the playable area, the drive motors are positioned at the corners of the housing.

[0009] (1) Motors M11, M12, M13, and M14 are dedicated to driving actuator A1.

[0010] (2) Motors M21, M22, M23, and M24 are dedicated to driving actuator A2.

[0011] The strings are arranged in a four-corner cable-driven X-Y positioning configuration. Each actuator is coupled to four corner winches via tensioned strings, and the control processor commands coordinated winding / unwinding of the winches to set the actuator's planar position while maintaining cable tension. The processor computes desired cable-length changes for a target position in the shared workspace and distributes commands across the four winches under tension constraints (e.g., maintaining minimum tension and limiting slack).

[0012] In some embodiments, the drive network may alternatively implement a differential-drive arrangement (e.g., a Core-XY or H-bot configuration) by mechanically coupling or pairing motors and / or by routing a belt or tension member through corner-mounted pulleys and / or idlers, such that planar X- and Y-motion of the actuator is generated via differential actuation, without departing from the scope of the drive network.

[0013] 3. Coordinated Evasion and Motion Protocol (CEMP): The system further comprises a control processor in communication with a sensor matrix and the drive motors. The control processor is configured to execute a Coordinated Evasion and Motion Protocol (CEMP), which utilizes the vertical offset of the first actuator (A1) and the second actuator (A2) to perform simultaneous operations within a shared coordinate space.

[0014] (1) Collision-Free Pathfinding: Unlike conventional single-actuator systems that must navigate “zig-zag” paths to avoid obstacles, the present system utilizes the dual-layer architecture to simplify pathfinding. When a move command is initiated, the control processor generates a linear vector for the target piece. Because the transmission strings of Al and A2 are vertically decoupled, the processor can calculate overlapping paths for both actuators without physical entanglement.

[0015] (2) Dynamic Obstacle Management: The control processor executes a specific logic sequence for clearing paths as follows:

[0016] Obstruction Identification: The sensor matrix identifies an obstructing piece located between the initial and final coordinates of a target piece.

[0017] Task Delegation: The processor delegates a “Clearance Task” to A1 and a “Primary Move Task” to A2.

[0018] Concurrent Execution: A1 is commanded to move the obstructing piece to a temporary “Holding Zone” outside of the target piece's trajectory. Simultaneously, A2 initiates the move of the target piece.

[0019] Sequence Completion: Once the target piece has cleared the intersection point, A1 is commanded to return the obstructing piece to its original coordinate or a new coordinate assigned by the game logic.

[0020] (3) Simultaneous Move Logic: The control system allows for the execution of complex moves, such as “Castling” in chess or “Multiple Captures” in checkers, by assigning one piece to A1 and another to A2. By executing these moves in parallel rather than sequentially, the system reduces the turn-time by at least 50% and simulates human-like interaction with the board.

[0021] 4. Sensor Feedback and Positional Alignment: The system optionally incorporates a positional sensing layer disposed within the housing to provide real-time feedback to the control processor. This sensing layer may employ various sensing modalities known in the art—such as magnetic hall-effect arrays, optical sensing matrices, or radio-frequency based sensing—to verify the coordinates of the mobile components on the board surface. The control processor utilizes this feedback to ensure that actuators A1 and A2 are precisely aligned with their respective target components. It should be noted that the specific sensing technology utilized is independent of the dual-layer mechanical architecture disclosed herein, and the system is configured to maintain synchronization even in the event of external component displacement.

Examples

Embodiment Construction

[0006]As illustrated in FIG. 1, the system is housed within a board platform. The mechanical drive system is split into two distinct horizontal layers. Although two layers are illustrated, in some embodiments additional actuator layers may be stacked on additional vertically offset planes to enable concurrent manipulation of more than two game pieces.[0007]1. The Layered Actuator Assembly: The first actuator (A1) is positioned on an upper internal plane, while the second actuator (A2) is positioned on a lower internal plane. Each actuator includes an electromagnetic head for engaging game pieces through the board surface. Because A1 and A2 are vertically offset, their respective drive strings (W11, W21, etc.) can cross one another in X-Y space without physical contact or interference.[0008]2. Peripheral Drive System: To minimize noise and maximize the playable area, the drive motors are positioned at the corners of the housing.[0009](1) Motors M11, M12, M13, and M14 are dedicated to...

Claims

1. An automated board game apparatus for the simultaneous and independent manipulation of multiple game pieces, comprising:a gaming platform having an upper surface for supporting game pieces and an internal housing;a multi-layer actuator assembly disposed within said internal housing, comprising at least a first actuator (A1) situated on a first horizontal plane and a second actuator (A2) situated on a second horizontal plane, wherein said first and second planes are vertically offset to prevent mechanical interference;a drive system comprising a plurality of motors positioned at the periphery of the internal housing, wherein A1 and A2 are independently coupled to dedicated subsets of said motors via a network of tensioned strings;a magnetic interface coupled to each actuator for engaging game pieces through the upper surface; anda control processor configured to execute a motion coordination protocol for simultaneous and independent manipulation of multiple game pieces, optionally including an obstacle management routine.

2. The apparatus of claim 1, wherein the first and second actuators are configured to move across the gaming platform simultaneously with vertical separation to avoid interference.

3. The apparatus of claim 1, wherein the obstacle management protocol identifies a stationary game piece obstructing a path of a target game piece and assigns the first actuator (A1) to relocate the obstructing piece to a holding zone.

4. The apparatus of claim 1, further comprising a sensing matrix configured to provide positional data of the game pieces to the control processor, wherein the control processor executes a calibration sequence to align the first and second actuators based on said positional data.

5. The apparatus of claim 3, wherein the control processor is configured to return the obstructing piece from the holding zone to its original coordinates after the target game piece has cleared the obstruction.

6. The apparatus of claim 1, wherein the plurality of motors comprises at least eight motors, with four motors positioned at respective corners of the housing for each actuator.

7. The apparatus of claim 1, wherein the motors are stepper motors configured for micro-stepping to achieve sub-millimeter positioning accuracy of the actuators.

8. The apparatus of claim 1, further comprising a plurality of positional sensors embedded within the board to provide real-time X-Y coordinate data of every game piece to the control processor.

9. The apparatus of claim 1, further comprising a physical divider plate situated between the first horizontal plane and the second horizontal plane to provide a physical barrier against string entanglement.

10. The apparatus of claim 1, further comprising a wireless communication module configured to receive move commands from a remote digital device via a Bluetooth or Wi-Fi protocol.

11. The apparatus of claim 1, wherein the tensioned strings are comprised of a low-friction synthetic polymer to minimize operational noise during actuator translation.

12. The apparatus of claim 1, wherein the control processor is configured to perform a “fast-reset” mode by utilizing both A1 and A2 to move multiple pieces to their starting positions at the same time.

13. The apparatus of claim 1, wherein the apparatus is configured to automatically adjust actuator acceleration and velocity based on the magnetic mass of the specific game piece being manipulated.

14. The apparatus of claim 1, wherein the gaming platform comprises an orientation sensor to detect if the board has been moved or tilted, triggering a re-calibration of the actuators.

15. The apparatus of claim 1, wherein for each actuator layer the drive system comprises four corner winches coupled to the actuator via tensioned strings, and the control processor coordinates winding and unwinding of the four corner winches to position the actuator in X-Y while maintaining tension in the tensioned strings.

16. The apparatus of claim 1, wherein the internal housing has a vertical thickness of less than 5 centimeters, facilitated by the corner placement of the drive motors.

17. A method for managing piece movement on an automated board game apparatus having a multi-layer actuator assembly comprising at least a first actuator (A1) and a second actuator (A2), comprising:detecting a move command for a target piece from an initial position to a final position;identifying, via a sensor matrix, an obstructing piece located on a path between said initial and final positions;coordinating a first actuator (A1) to relocate the obstructing piece to a temporary holding zone;coordinating a second actuator (A2) to move the target piece from the initial position to the final position; andcoordinating the first actuator (A1) to return the obstructing piece to its initial position.

18. The method of claim 17, wherein the movement of the target piece by A2 occurs while the obstructing piece is being held by A1 in the holding zone.

19. The method of claim 17, further comprising calculating a collision-free path for both A1 and A2 using a shortest-path algorithm stored in the control processor.

20. The method of claim 17, further comprising automatically switching the control logic between different game rulesets, including Chess, Go, and Checkers.

Images