Tiling device

Abstract

The tiling device has a tiling area comprising an active area in which a plurality of tile assemblies are translatable across the active area, the active area having a first lane in a first direction and a second lane in a second direction different to the first direction, each intersection of a lane in the first direction and a lane in the second direction defining a tile position, each lane further comprising a tile position at each end of said lane, the tile assemblies configured to move between tile positions along the lanes. Each lane in the active area contains at least one tile position unoccupied by a tile assembly. When a first tile assembly located in the first lane in the first direction is translated in the first direction, all tile assemblies in the first lane translate in synchrony with the first tile assembly.

Description

[0001] Tiling Device

[0002] Field of the Invention

[0003] The present invention relates to a tiling device, external tiles for the same, as well as a method of manufacturing the same. The present invention also relates to a storage device and method for manufacturing the same. The present invention more specifically relates to a tiling device and storage device in which tile assemblies and storage units, respectively, are configured to translate in synchrony.

[0004] Background of the Invention

[0005] Tiling devices are devices in which tiles are translatable across a plane (often a two- dimensional plane) in two different directions. They may also be referred to as spatial logic puzzles or spatial logic toys. One such device is the "15-puzzle" in which 15 square tiles are independently translatable across a square-shaped active tiling area which has space for exactly 16 of said tiles (see, e.g., US patent 207,124). There is one unoccupied tile position, into which a neighboring tile can be translated. Each tile is able to move independently of each other tile. The tiles are often held in position by a tongue and groove arrangement, in which two sides (or edges) of each tile have a tongue and the other two sides (or edges) of each tile have a groove. Tongues of neighboring tiles are accommodated by grooves in a given tile, and vice-versa. Similar tongues and grooves are usually provided in a housing surrounding the active area to retain the tiles in place. US 4,471,959 and GB 2,101,897 relate to other examples of puzzles involving translatable tiles.

[0006] Storage devices are used to store items (boxes and such like). They often comprise shelving units or drawers in front of which a gangway is needed for human or mechanical access (e.g., gangways for robots or forklift trucks in warehouses, or an area in front of drawers to open the drawer in to, to access its contents). Such gangways encroach on the space usable for storage.

[0007] Alternative tiling and storage devices are required.

[0008] Summary of the Invention

[0009] According to an aspect there is described a tiling device comprising: a tiling area comprising an active area in which a plurality of tile assemblies are translatable across the active area, the active area having a first lane in a first direction and a second lane in a second direction different to the first direction, each intersection of a lane in the first direction and a lane in the second direction defining a tile position, each lane further comprising a tile position at each end of said lane, the tile assemblies configured to move between tile positions along the lanes; wherein each of the first lane in the first direction and the second lane in the second direction in the active area contains at least one tile position unoccupied by a tile assembly; wherein when a first tile assembly located at an intersection of the first lane in the first direction and the second lane in the second direction is translated in the first direction, all tile assemblies in the first lane translate in synchrony with the first tile assembly.

[0010] A tile assembly preferably comprises an internal tile, a means for attachment of an external tile, a link bar and, optionally, an alignment stud. Preferably, the means for attachment of an external tile is external to the tiling device and is connected to the internal tile of a tile assembly by a link bar. In this preferred configuration, a tile assembly has both a component which is external to the tiling device (the means for attachment of an external tile) and a component which is internal to the tiling device (the internal tile).

[0011] Synchronous translation, or translation in synchrony, may describe translation of two, or more, tile assemblies at the same time, in the same direction, and by the same distance (translate in synchrony may be referred to as tile assemblies in a lane move or slide together).

[0012] Tile assemblies that are adjacent in the same lane in the first direction, or are adjacent in the same lane in the second direction, may be translated in synchrony because corresponding pairs of parallel edges of two adjacent tile assemblies can align, effectively forming a single pair of parallel edges, which enables two adjacent tile assemblies to move as if they were a single object. This allows one tile assembly to slide out of a tile position while an adjacent tile assembly simultaneously slides into the same tile position, without either tile assembly overlapping the other.

[0013] Translation in synchrony enables a series of adjacent tile assemblies to be translated, simultaneously, to adjacent tile positions, even though the lane in which they are being translated may contain only a single unoccupied tile position. Translation in synchrony can allow a tile assembly to move into an adjacent tile position, even when all adjacent tile positions are occupied.

[0014] The existence of a single unoccupied tile position in a lane in the first direction is sufficient to allow a series of tile assemblies that are adjacent in the same lane to be translated in synchrony within their shared lane. Similarly, the existence of a single unoccupied tile position in a lane in the second direction is sufficient to allow a series of tile assemblies that are adjacent in the same lane to be translated in synchrony within the lane. This maximises the number of tile assemblies and the number of tile assemblies that are able to translate.

[0015] The translation in synchrony may be realised by a push or a pull on the tile assemblies. In some examples, the translation in synchrony may be realised by actuation of a shuttle.

[0016] Tile positions may be positions (i.e., locations in the tiling device) at which the tile assemblies may be positioned. When a tile assembly is in a tile position, it is always able to be moved in at least one direction of the first direction and the second direction. Tile assemblies at each intersection of a lane in the first direction and a lane in the second direction are able to translate (i.e., move) in the first direction and the second direction (but not both in the same move). Tile assemblies in tile positions at each end of a lane (also referred to as end or edge tile positions) may only be able to translate in the direction of that lane. Tile positions may also be referred to as grid positions. If there are two directions, the lanes in the first direction may be exemplified as columns and the lanes in the second direction may be referred to as rows.

[0017] The first direction and the second direction may be considered to have different orientations. In some cases, the angle between the first and second direction may be equivalent to an internal angle of a tile in the tile assembly. In some cases, they may be perpendicular.

[0018] The tiling device may also be configured such that when a first tile assembly located at an intersection of the first lane in the first direction and the second lane in the second direction is translated in the second direction, all tile assemblies in the second lane translate in synchrony with the first tile assembly.

[0019] The tiling device may form the basis of a spatial logic device or spatial logic puzzle, in which tile assemblies are moved to solve a spatial puzzle.

[0020] In an example, there are a plurality of lanes in the first direction, the plurality of lanes in the first direction including the first lane, and each of the plurality of lanes in the first direction comprise at least one tile position unoccupied by a tile assembly. Similarly, in an example there are a plurality of lanes in the second direction, the plurality of lanes in the second direction including the second lane, and each of the plurality of lanes in the second direction comprise at least one tile position unoccupied by a tile assembly. In an example, each intersection of a lane of the plurality of lanes in the first direction and a lane of the plurality of lanes in the second direction define a tile position. Increasing the number of lanes in the first and / or second direction increases the number of available tile positions and thereby increases the number of possible tile assemblies.

[0021] Tile positions at each end of said lane (also referred to as an end or edge tile position) may be an equivalent distance from a neighboring tile position in the same lane as the distance between intersections of lanes in the first direction and the second direction.

[0022] In an example, there may be provided a tiling device comprising a tiling area comprising an active area in which a plurality of tile assemblies are translatable across the active area, the active area having a first plurality of lanes in a first direction and a second plurality of lanes in a second direction different to the first direction, each intersection of a lane in the first direction and a lane in the second direction defining a tile position, the tile assemblies configured to move between tile positions along the lanes; wherein each of the plurality of lanes in the first direction and the plurality of lanes in the second direction in the active area contains at least one tile position unoccupied by a tile assembly; configured such that when a first tile assembly located at an intersection of a first lane in the first direction and a second lane in the second direction is translated in the first direction, all tile assemblies in the first lane translate in synchrony with the first tile assembly.

[0023] In an example, each lane may include a tile position at each end of said lane (also referred to as an end or edge tile position). In such examples, the first lane in the first direction may have an edge tile position at each end of said first lane in the first direction, a tile assembly in the first lane configured to move into an edge tile position of the first lane only by translation in the first direction. Further, the second lane in the second direction may have an edge tile position at each end of said second lane in the second direction, a tile assembly in the second lane configured to move into an edge tile position of the second lane only by translation in the second direction. In such examples, the active area may include edge tile positions, each lane comprising an edge tile position at each end of said lane, and tile assemblies only translatable into and out of an edge tile position in one direction of the first direction and the second direction.

[0024] In an example, a tile assembly occupying a tile position at an end of a lane cannot translate out of that lane. For example, a tile assembly occupying a tile position at an end of a lane in the first direction can only translate in that lane in the first direction - it cannot translate in the second direction (which typically would be parallel to the edge of the active area) to move into a neighboring lane in the first direction.

[0025] This restriction on movement of tile assemblies occupying respective tile positions at an end of a lane may ensure that each lane has at least one unoccupied tile position. This may enable tile assemblies in any lane (i.e. in any and all lanes) to be translatable in synchrony irrespective of a starting position or previous translations.

[0026] In an example, each intersection of a lane of the plurality of lanes in the first direction and a lane of the plurality of lanes in the second direction is occupied by a tile assembly. This maximises the number of tile assemblies in central tile positions (i.e., those tile positions defined by intersection of lanes).

[0027] In an example, there is one (and there may be only one) tile position unoccupied by a tile assembly in each lane, the tile position unoccupied by a tile assembly is one of the tile positions at the end of said lane. This may enable tile assemblies in any lane (i.e. in any and all lanes) to be translatable in synchrony irrespective of a starting position or previous translations.

[0028] In an example, a tile assembly in the first lane in the first direction is configured to move into and out of a tile position at the end of the first lane (i.e. an edge or end tile position) only by translation in the first direction; and a tile assembly in the second lane in the second direction is configured to move into and out of a tile position at the end of the second lane (i.e. an edge or end tile position) only by translation in the second direction. In other words, a tile assemble at an end of lane tile position cannot translate other than in the direction of that lane, it cannot move out of that lane (e.g., by translation perpendicularly). This means that at a tile position at an end of the lane or lanes in the first direction, there is no intersecting lane in the second direction. It follows, that the active area does not include tile positions at corners of the tiling area, those positions may be blank or may be provided with a fixed tile position that is not translatable into the active area, thereby forming a static area.

[0029] In an example, the active area has a cruciform-shaped perimeter. This may also be referred to as a plus or cross-shaped perimeter. In this case, corner positions are not part of the active area. This may enable tile assemblies in any lane (i.e. in any and all lanes) to be translatable in synchrony irrespective of a starting position or previous translations.

[0030] In an example, the tiling area further comprises a static area comprising means for attachment of external tiles, and the means for attachment of external tiles are not translatable into the active area. The static area may enable tile assemblies in any lane (i.e. in any and all lanes) to be translatable in synchrony irrespective of a starting position or previous translations, while also allowing puzzles whose area is regular (e.g., a rectangular area for lanes having two perpendicular lane directions).

[0031] In an example, the static area comprises (preferably consists of) a single tile position at one or each corner of the tiling area. This may result in a cruciform shape for active area and a non-cruciform shape for tiling area.

[0032] In an example, each tile assembly comprises an internal tile. Preferably, the internal tile is arranged to communicate movement between neighboring tile assemblies, and may also serve to restrict rotation of tile assemblies. The internal tile may enable translation in synchrony of the tile assemblies, by communicating translation of one tile assembly to the next. Internal tiles may have the same shape as external tiles. Each edge of an internal tile is preferably parallel to one of the directions of the lanes. Corners of internal tile may be rounded to facilitate smooth translation around corners in internal slideways. The internal tile may:

[0033] • apply a push force to, or receive a push force from, a tile control bar (TCB), and / or

[0034] • cooperate (via a side face) with a side face of a TCB, and / or

[0035] • slide (the bottom horizontal surface of the internal tile) along the horizontal surface of the internal slideway, and / or

[0036] • have bottom edges that are rounded / bevelled to reduce catching / jamming when traversing slots in the internal slideway

[0037] When there are only two different directions for the lanes, an internal tile may have a minimum of two pairs of parallel side faces and may be positioned between at least one pair of TCBs: in an edge tile position, an internal tile may be positioned between one pair of TCBs. in a central tile position, an internal tile may be positioned between two pairs ofTCBs. In an example, the tiling device has internal slideways, wherein the internal tiles translate on the internal slideways. The vertical sections (walls) of internal slideways may control movement of internal tiles (e.g., limits (yaw) rotation of internal tiles).

[0038] In an example, each tile assembly further comprises an alignment stud and the internal slideway further comprising a groove, wherein: the alignment stud protrudes from an opposite side of the internal tile to the link bar, the alignment stud penetrates the groove, and the alignment stud is configured to limit (roll) rotation of internal tiles during translation. The alignment stud and link bar may be coaxial and may centred in the plan area of the internal tile. The groove (which may also be referred to as a shuttle slideway) confines shuttles and the stud control bar of control devices to translate along their lengths. Corners of internal slideway may be rounded to facilitate smooth translation around corners thereof.

[0039] The alignment stud may:

[0040] • be a downward-facing cylindrical projection from the bottom face of an internal tile, and / or

[0041] • cooperate with stud control bars during translation by application of a push force to, or by receiving a push force from, a stud control bar (SCB), and / or

[0042] • be cylindrical to reduce catching or jamming during movement and help it go around corners, and / or

[0043] • cooperate with SCBs to limit pitch rotation of tile assemblies (thereby internal / external tiles) during translation, and / or

[0044] • cooperate with walls of shuttle slideways to: o limit unwanted lateral movement of tile assemblies during translation; and o limit roll rotation of tile assemblies during translation.

[0045] To prevent an alignment stud from catching against an underlying shuttle:

[0046] • a slight gap may be left between the end of the alignment stud and the top of the underlying shuttle, and / or

[0047] • the circular, horizontal bottom face, of an alignment stud may be convex.

[0048] In a convenient arrangement, the components of a tile assembly may be arranged coaxially, such that their central points are collinear in the same vertical axis.

[0049] In an example, a tile assembly (one or more, each, or some, or all) may include means for attachment of an external tile (means for attachment also referred to as a tile holder or external tile holder). Preferably, the internal tile and the means for attachment of an external tile are connected by a link bar. The link bar may also be referred to as a link cylinder. Translation (movement) of internal tile is transferred to the means for attachment of an external tile (and external tile attached thereto) and vice-versa by the link bar. The link bar may traverse slots in an external slideway. The internal tile, link bar, and means for attachment of an external tile (and optionally the external tile and / or alignment stud) may be coaxial. The link bar may: • be a permanent link between an internal tile and a tile holder, and / or

[0050] • cause an internal tile and a tile holder to move as a single object, and / or

[0051] • ensure that constraints imposed on translation / rotation of an internal tile are also imposed on the tile holder / external tile, and / or

[0052] • enable a user to rearrange a set of internal tiles by interacting only with a set of tile holders / external tiles, and / or

[0053] • be cylindrical to reduce catching or jamming during movement and to ease transition from movement within a lane in the first direction to movement within a lane in the second direction (i.e. going around corners), and / or

[0054] • ensure that the horizontal surfaces of a tile holder / external tile are parallel with the horizontal surfaces of the internal tile below it.

[0055] The means for attachment of an external tile, also referred to as a tile holder, may hold / carry an external tile. Preferably, a tile holder is external to the tiling device. A tile assembly may therefore comprise both an external component (a tile holder) and an internal component (an internal tile). The means for attachment of an external tile (tile holder) may:

[0056] • slide along the external slideway, allowing an external tile to be translated between tile positions, and / or

[0057] • have rounded or bevelled bottom edges to reduce catching or jamming when traversing slots in the external slideway, and / or

[0058] • be smaller than an external tile (depending on connection method) such that the external tile covers the top and sides of the means for attachment of an external tile, and / or

[0059] • provide for releasable attachment of an external tile thereto.

[0060] The tiling device may include a plurality of external tiles, one external tile attached to each tile assembly by the means for attachment, optionally including external tiles for attachment via the means for attachment in the static area. The external tiles may form an image to complete or puzzle to solve by translation of the tile assemblies in the active area.

[0061] The internal tile and the external tile are preferably the same shape. In some examples, the internal tiles and the means for attachment of external tiles are the same shape and same size.

[0062] In an example, the tiling device includes an external slideway (sometimes referred to as an external tile slideway) for translation of the means for attachment of external tiles thereon, the external slideway having tracks for the link bar to penetrate. The external slideway provides a smooth surface for external tiles or the means for attachment of external tiles to translate on, promoting smooth movement of tile assemblies. The external tile slideway may form an enclosure for one or more, preferably all, internal components (e.g., for internal tiles, alignment studs, shuttles, (mobile) control devices).

[0063] In an example, a lower surface of the external slideways limits movement of internal tile. The lower surface of the external slideway may prevent movement of internal tile in a direction perpendicular to the lanes (a normal to the plane formed by the lanes). This may prevent tile assemblies (and thereby control devices and shuttles) from detaching from the tiling device if the tiling device is inverted (internal tiles confined by lower surface of an external slideway). The external slideway may also limit (pitch and roll) rotation of internal tiles.

[0064] In an example, the external slideway may include a central platform which is bordered, on all sides, by slots in the external slideway. A central platform may perform similar functions to other regions of external slideway. A central platform may be affixed to or unitary with a support column. A support column connects a central platform (above the internal tile layer) to the internal tile slideway (below the internal tile layer). A support column may hold a central platform in fixed position relative to other regions of the external slideway, thus preserving the shape and size of slots in the external slideway by limiting rotation, lateral movement and vertical movement of a central platform relative to other regions of the external slideway. A central platform and its associated support column are configured to allow an internal tile of a tile assembly to translate below the central platform while simultaneously allowing the tile holder / external tile (of the same tile assembly) to translate above the central platform.

[0065] In an example, each lane is associated with a shuttle which translates all tiles assemblies in a lane in synchrony. The shuttle ensures synchronous movement in a lane. Synchronous translation of each tile assembly in a lane (from one tile position in the lane to another tile position in the same lane), together with synchronous translation of the shuttle associated with the same lane, may be described as a shuttle move. The shuttle may:

[0066] • provide a permanent, physical link between two, or more, SCBs, and / or

[0067] • enable synchronous translation of a series of SCBs, and / or

[0068] • only move forward / backward along its primary axis, and / or

[0069] • be limited in its lateral movement / yaw rotation by walls of shuttle slideways

[0070] • have (end) control bars attached at each end, and / or

[0071] • an upper shuttle may have mid-shuttle control bars attached at regular intervals along its length, and / or

[0072] • a lower shuttle may cooperate, indirectly, with Mobile Control Devices (MCDs)

[0073] Movement of a shuttle may cause synchronous translation of a series of SCBs, which causes synchronous translation of a series of alignment studs. An external tile and an alignment stud which form part of the same tile assembly move as a single object (the tile assembly). Thus, synchronous translation of SCBs associated with a shuttle of the first lane in the first direction causes synchronous translation of all external tiles in the first lane. Similarly, synchronous translation of SCBs associated with a shuttle of the second lane in the second direction causes synchronous translation of all external tiles in the second lane.

[0074] In an example, the shuttle allows tile assemblies in a lane to leave said lane of the first or second direction and translate into a neighboring lane of the same direction. This allows a tile assembly, through a sequence of translations, to move to any tile position in the active area.

[0075] In an example, the or each lane in the first direction is associated with a corresponding upper shuttle and the or each lane in the second direction is associated with a corresponding lower shuttle, wherein the upper and lower shuttles are translatable relative to one another. Similarly, a first plurality of lanes in the first direction may be associated with a corresponding plurality of upper shuttles and a second plurality of lanes in the second direction may be associated with a corresponding plurality of lower shuttles, upper and lower shuttles translatable relative to one another. Where a tile assembly is correctly aligned in a tile position that is above both an upper shuttle and a lower shuttle (a central tile position), either the upper shuttle or the lower shuttle can move the tile assembly forward / backward along their axis. However, neither shuttle has complete control over its movement. A tile assembly in a central tile position is only semi-controlled by each underlying shuttle.

[0076] In an example, the tiling device may include a plurality of control devices, preferably each comprising a tile control bar (TCB) affixed to or unitary with a stud control bar (SCB). The plurality of control devices are preferably configured to maintain consistent spacing between internal tiles and to communicate translation between tile assemblies and the shuttles. Preferably, each shuttle is associated with at least one control device positioned between neighboring tile assemblies.

[0077] The control devices may communicate translation between tile assemblies and the shuttles both in the direction of translation (e.g., along a first lane in the first direction) and out of the direction of translation (e.g., to correct misalignment with a lane in the second direction during translation in first direction). A first subset of control devices may have their tile control bars aligned with lanes in first direction and stud control bars aligned with lanes in second direction, and a second subset of control devices may have their tile control bars aligned with lanes in second direction and stud control bars aligned with lanes in first direction.

[0078] In an example, each shuttle further comprises an end tile control bar at each end of the shuttle, the end tile control bar configured to communicate translation between tile assemblies and the shuttles. The end control bars translate movement on or of one tile assembly in a lane to push other tile assemblies in the same lane as the tile assembly, resulting in synchronous movement of tile assemblies in that lane.

[0079] In an example, the (preferably the sides of the) tile control bars contact (preferably the sides of the) internal tile of neighboring tile assemblies. This communicates translation in a lane and allows translation of a tile assembly out of lane.

[0080] In an example, tile control bars translate on the internal tile slideway to support the tile control bars and ensure smooth movement thereof. In an example, stud control bars contact the alignment stud of the tile assembly. In an example, each internal tile sits on a plurality of stud control bars and the stud control bars translate in grooves of an internal slideway. This further supports the tile assemblies and assists with smooth movement of the same, while allowing tile assemblies to translate from one stud control bar to another.

[0081] In an example, the (preferably the sides of the) stud control bars contact (preferably the sides of the) alignment stud of neighboring tile assemblies. This aids in communicating translation along a lane and allows translation out of a lane.

[0082] In an example, each upper shuttle comprises a plurality of control devices attached thereto or unitary therewith, the stud control bar of said plurality of control devices aligned with said upper shuttle. The stud control bar may be positioned in a groove in internal tile slideway (also referred to as shuttle slideway), a long axis of the stud control bar may be aligned with the long axis of the upper shuttle - e.g., in first direction.

[0083] In an example, one or more of the plurality of control devices are fixed relative to the upper shuttle.

[0084] Shuttles may be arranged in parallel sets. The angle at which upper and lower shuttles are arranged, relative to each another, may determine the shape of maximal external tiles (non- maximal external tiles could be any shape, within the same boundary as a maximal external tile, but may not produce an edge-to-edge tiling). A perpendicular arrangement of upper and lower shuttles permits rectilinear maximal external tiles.

[0085] In an example, each lower shuttle is associated with one or more mobile control devices (but, e.g., not fixedly connected therewith), the stud control bar of said mobile control devices aligned with the lower shuttle, and the mobile control devices allowing the upper shuttle to pass between the mobile control devices and their associated lower shuttle (and in doing so the stud control bars of mobile control devices may pass between opposing ends of stud control bars of fixed control devices). In an example, the stud control bars of mobile control devices are positioned in shuttle slideways oriented in the second direction (as are the lower shuttles, the upper shuttles and stud control bars of their fixed control devices being positioned in shuttle slideways oriented in the first direction). In an example, the one or more mobile control devices are positioned between the end tile control bars. If, like examples of the upper shuttle, control devices were attached to a lower shuttle at regular intervals along its length, then the lower shuttle would be unable to complete a shuttle move. This is because an upper shuttle would lie across the path of a control bar attached to a lower shuttle, blocking its movement. The present invention overcomes this problem by allowing a lower shuttle to pass below an upper shuttle while, simultaneously, control devices associated with the lower shuttle pass above the same upper shuttle. This is achieved by providing mobile control devices, which are not attached to, yet are indirectly controlled by, a lower shuttle. A mobile control device (MCD) is a 'free-floating' component which is translated in synchrony with a lower shuttle but not physically connected to it. In other words, the one or more mobile control devices are distinct / separate from the lower shuttle. It is possible for an upper shuttle to have a MCD but, for manufacturing / assembly purposes, it is simplerfor mid-shuttle control bars to be directly attached to upper shuttles.

[0086] The TCB and SCB of a MCD behave like other control bars. They also perform the following functions of SCB limits yaw rotation of TCB, SCB limits upward movement of TCB, TCB limits downward movement of SCB.

[0087] In an example, each upper shuttle may be provided with a plurality of control bars spaced along its length (in the first direction) including a pair of tile control bars at opposite ends, the tile control bars oriented parallel to the second direction, the tile control bars configured to contact the internal tiles of neighboring tile assemblies to move all tile assemblies associated with the upper shuttle in the first direction.

[0088] In an example, a shuttle comprises: a boom [configured to traverse the length of a lane] a plurality of mid-shuttle control bars to divide the boom into corresponding sections, wherein the boom and mid-shuttle control bars defining receptacles into which a corresponding body may be positioned, the mid-shuttle control bars configured to translate bodies in respective receptacles in synchrony along the long axis of the boom.

[0089] In this case, the boom and mid-shuttle control bars may be configured to allow movement of a body from a receptacle wherein said movement is not parallel to the length of the boom. The shuttle may include a pair of end control bars, one at each end of the boom (these similarly define receptacles with neighboring mid-shuttle control bars). The receptacles correspond to tile locations, for receiving a tile assembly.

[0090] In an example, each lower shuttle may be provided with a pair of end control bars, one control bar at each end of the lower shuttle, the end control bars oriented parallel to the first direction, the control bars configured to contact the internal tiles of neighboring tile assemblies to move all tile assemblies associated with the lower shuttle in the second direction.

[0091] In an example, the plurality of mobile control devices associated with each lower shuttle are a split-level cruciform shape formed by a stud control bar and tile control bar connected (e.g., permanently / non-rotatably at centre), the tile control bar to contact the internal tiles of neighboring tile assemblies to move all tile assemblies associated with the lower shuttle in the second direction. The stud control bar of mobile control device may be aligned with lower shuttle to translate with lower shuttle (in shuttle slideway).

[0092] In an example, when a curved (bevelled) vertical surface of a control bar of a mid-shuttle control device associated with a moving shuttle pushes against a curved (bevelled) vertical surface of a control bar of a mid-shuttle control device associated with a transverse shuttle, a moving shuttle corrects minor misalignment of a transverse shuttle.

[0093] In an example, when a tile assembly in the first lane has translated a non-integer number of tile positions within the first lane, the shuttles, control devices, and tile assemblies (specifically, the internal tiles thereof) co-operate to prevent a shuttle move in a direction which is not parallel with the direction of lane in movement. In other words, shuttles which are not parallel with a shuttle that has started, but not completed, a shuttle move may be locked in position. For example, when (curved vertical) surfaces of control bars of two, transversely arranged (e.g., in the first and second directions), shuttles cooperate, either shuttle can potentially push the other shuttle out the way and, in doing so, correct its alignment. Once the curved vertical surface of a TCB of a moving shuttle (e.g., in the first direction) begins to slide against a (flat vertical) surface of a TCB of a transverse shuttle (e.g., in the second direction), and a (flat vertical) surface of a SCB of a moving shuttle begins to slide against the (curved vertical) surface of a SCB of a transverse shuttle, the transverse shuttle becomes locked in position. When a shuttle is locked in position, (flat vertical) surface of its TCBs effectively become additional wall sections of the internal tile slideway. This helps to limit lateral movement of tile assemblies during translation, which allows the tile assemblies controlled by the moving shuttle to be translated without catching against tile assemblies in an adjacent row or column. A transverse shuttle remains locked in position until the moving shuttle reaches a position where the curved vertical surface of a TCB of the moving shuttle no longer slides against a flat vertical surface of a TCB of a transverse shuttle, and a flat vertical surface of a SCB of a moving shuttle no longer slides against the curved vertical surface of a SCB of a transverse shuttle. A shuttle which has locked a transverse shuttle in position, but has not completed a shuttle move, may be described as an active shuttle. A shuttle may be described as having completed a shuttle move when it ceases to lock a transverse shuttle in position. At this point, a moving shuttle is no longer described as an active shuttle.

[0094] In an example, a mobile control device associated with a lower shuttle in second lane in second direction is configured to nudge a misaligned upper shuttle (via contact with control device of upper shuttle) in the first direction into alignment during translation of the lower shuttle.

[0095] In an example, a control device of upper shuttle in first lane in first direction is configured to nudge a misaligned lower shuttle (via contact with mobile control device associated with lower shuttle) in the second direction into alignment during translation of the upper shuttle.

[0096] Contact between control devices associated with upper and lower shuttles may occur simultaneously in the tile control bar layer (contact between an end of a TCB of upper shuttle and an end of a TCB of a MCD associated with a lower shuttle) and in the stud control bar layer (contact between an end of a SCB of upper shuttle and an end of a SCB of a MCD associated with a lower shuttle). In an example, each end of the stud and tile control bars of the control devices (specifically the mid-shuttle control devices of upper shuttles and the mobile control devices associated with lower shuttles) are rounded (bevelled). This assists with self-correction of misalignment.

[0097] In an example, there are lanes in only two directions. In such examples, internal and external tiles are parallelograms, and the first and second directions may be considered columns and rows. If the two directions are perpendicular, then internal and external tiles are rectangles (typically with rounded corners), and if lanes in the first direction and second direction are identically spaced, then the internal and external tiles are squares (typically with rounded corners).

[0098] Alternatively, the tiling device includes a third lane in a third direction different to the first and second directions. In an example, there are a plurality of lanes in the third direction, the plurality of lanes in the third direction including the third lane, and each of the plurality of lanes in the third direction comprise at least one tile position unoccupied by a tile assembly. In such cases, internal and external tiles may be triangular. In such examples, each intersection of a lane in the first, second and third directions may define a tile position.

[0099] In an example, the lanes lie on a flat surface or curved surface. A curved surface may be a cylindrical surface. Preferably, the tiles and / or the tiling device are in the form of a planar grid.

[0100] In an aspect there is provided a game (or spatial logic device, or spatial logic toy, or spatial logic puzzle) comprising the tiling device of any of the embodiments (aspects or examples) of the invention.

[0101] In an aspect there is provided a set of external tiles for a tiling device, each external tile in the set of external tiles comprising means for removable attachment to a tile assembly of a tiling device. A single tiling device may be used with different sets of external tiles (by use of the means for removable attachment) reducing costs and improving flexibility.

[0102] In an aspect there is provided a kit of parts comprising a set of external tiles according to any of the embodiments of the invention and a tiling device according to any of the embodiments (aspects or examples) of the invention.

[0103] In an aspect, there is provided a method of manufacture of a tiling device comprising: providing an external slideway having grooves defining a plurality of lanes, at least one lane in a first direction and at least one lane in a second direction different to the first direction; providing a plurality of tile assemblies, each tile assembly having an internal tile and means for attachment of an external tile, the internal tile and the means for attachment of an external tile connected by a link bar [aka link cylinder]; positioning the plurality of tile assemblies within the plurality of lanes, by passing the link bar through the grooves in the external slideway such that the internal tiles contact an underside of the external slideway.

[0104] In other words, the tiling device may be constructed "upside down" so that internal components are enclosed by the external slideway and do not drop out of position or fall out of the device during manufacture. The external slideway comprises an internal surface and an external surface opposite to the internal surface; and wherein the positioning of tile assemblies within the plurality of lanes is performed while the internal surface is above the external surface. Subsequently, the method may further involve manufacturing a tiling device as described above, for example by: providing and positioning mobile control devices between internal tiles, providing and positioning upper shuttles interspersed with the internal tiles, providing and positioning lower shuttles in a different orientation to and interspersed with the upper shuttles (and associated with mobile control devices), providing and positioning a base to enclose internal components, said base providing internal slideways (those having grooves forming shuttle slideways).

[0105] In an aspect there is provided a storage device comprising a tiling area comprising a storage area in which a plurality of storage units are translatable across the storage area, the storage area having a first lane in a first direction and a second lane in a second direction different to the first direction, each intersection of a lane in the first direction and a lane in the second direction defining a storage position, each lane further comprising a storage position at each end of said lane (in other words, an end or edge storage position), the storage units configured to move between storage positions along the lanes; wherein each of the first lane in the first direction and the second lane in the second direction in the storage area contains at least one storage position unoccupied by a storage unit; wherein when a first storage unit located at an intersection of the first lane in the first direction and the second lane in the second direction is translated in the first direction, all storage units in the first lane translate in synchrony with the first storage unit.

[0106] In an example, the storage device includes a guide plate spaced apart from the first tiling area, the guide plate comprising a further first lane, aligned with the first lane, and a further second lane aligned with the second lane, the plurality of storage units is positioned between the first tiling area and the guide plate; and an alignment rod configured to align the plurality of storage units with the further first lane and / or further second lane.

[0107] Such a storage device saves space relative to shelving units with gangways (for human or machine access) therebetween. In an example, the storage device includes a user interface for selection of storage unit of the plurality of storage units to access and logic to identify a sequence of translations to retrieve the selected storage unit.

[0108] In an example, the storage device includes actuation means to translate the storage units in the first lane and actuation means to translate the storage units in the second lane. The actuation means may, for example, be linear actuators or rack and pinion systems with associated motors, or may be pneumatic or hydraulic rams.

[0109] In other words, the device includes actuation means to translate the storage units along the first direction and / or to translate the storage units along the second direction.

[0110] In an example, the storage device includes a plurality of actuation means, each of which act on a respective shuttle.

[0111] In other regards the storage device is similar to the tiling device, the storage unit similar to a tile assembly, described above and may include similar features for similar reasons. In other words, any of the disclosed features of the tiling device may be applied to the storage device respectively, with due alternation of details.

[0112] According to another aspect, there is described a device comprising: a base plate comprising: a first elongate groove defining a first longitudinal direction; and a second elongate groove defining a second longitudinal direction different to the first longitudinal direction; a first shuttle configured to move along the first longitudinal direction, wherein the first shuttle comprises one or more first control devices, each of the one or more first control devices is configured to push a tile along the first longitudinal direction and to guide that tile to move along the second longitudinal direction; and a second shuttle configured to move along the second longitudinal direction, wherein the second shuttle comprises one or more second control devices, each of the one or more second control devices is configured to push a tile along the second longitudinal direction and to guide that tile to move along the first longitudinal direction, wherein one of the one or more second control devices is distinct from the second shuttle.

[0113] In the above, and throughout the description and claims, the term "each" means "one or more", or "some" as appropriate, and not necessarily "every" or "all".

[0114] Brief Description of the Drawings

[0115] Fig. 1 shows a schematic plan view of a tiling area having one lane in each of two different directions. Fig. 2 shows a schematic plan view of synchronous translation of tile assemblies in a lane.

[0116] Fig. 3 shows a schematic plan view of tiling areas having a cruciform-shaped perimeter.

[0117] Fig. 4 shows a schematic plan view of translation of a tile assembly across a tiling area by synchronous translation of tile assemblies in lanes.

[0118] Figs. 5 and 6 show (vertical) cross-sections through exemplary tile assemblies.

[0119] Figs. 7a and 7b show (vertical) cross-sections of a tiling device along a lane in a first direction and a lane in a second direction, respectively.

[0120] Figs. 8a, 8b and 8c show (horizontal) cross sections of a tiling device at three different vertical locations.

[0121] Fig. 8d shows a plan view of a tiling device having a cruciform-shaped active area.

[0122] Figs. 8e and 8f show plan views of a tiling device having a cruciform-shaped active area and a static area comprising a single tile position at one corner.

[0123] Fig. 9a shows an external perspective view of a tiling device according to Figs. 5-8.

[0124] Figs. 9b and 9c show perspective views of shuttles of a tiling device according to Figs. 5-9a.

[0125] Fig. 10 is a partial cross-sectional view of alignment studs and control devices associated with two shuttles during translation of one of the shuttles (and one of the control devices) relative to the other.

[0126] Figs. 11 and 12 are partial cut-away plan views of a tiling device according to Figs. 5-10.

[0127] Fig. 13a is a perspective view of upper and lower shuttles of a tiling device according to Figs. 5-12, and Figs. 13b and 13c are end views of the same along lines A-A and B-B of Fig. 13a, respectively.

[0128] Figs. 14-17 show schematic plan views of alternate tiling areas and associated lanes, and external tiles.

[0129] Fig. 18 is a method for manufacturing a tiling device.

[0130] Fig. 19a is a perspective view of a storage device and Fig. 19b is a vertical cross-sectional view of a storage unit for the storage device.

[0131] Figs. 19c-19e are vertical cross-sections of alternative storage units.

[0132] Fig. 20 is a perspective view of a guide plate.

[0133] Figs. 21a-21o show schematic top down views of translation and reordering of tile assemblies by synchronous translation of tile assemblies in lanes.

[0134] Fig. 22 is a diagram of a tree of shuttle move sequences.

[0135] Fig. 23 is a diagram of a heuristically pruned tree of shuttle move sequences. Fig. 24 is a method of selecting a sequence of shuttle moves.

[0136] Fig. 25 is another method of selecting a sequence of shuttle moves.

[0137] Detailed description

[0138] Repeat use of reference symbols in the present specification and drawings is intended to represent the same or analogous features or elements.

[0139] It will be apparent to those of ordinary skill in the art that various modifications and variations can be made in the present invention without departing from the scope of the invention. For instance, features described as part of one example can be used on another example to yield a still further example. Thus, it is intended that the present invention cover such modifications and variations as come within the scope of the appended claims and their equivalents.

[0140] In the description that follows, it will be understood that references to a (first) lane in a first or second direction are for exemplary purposes, and there may be a plurality of lanes similar to the first lane (and having similar components associated therewith) in either or both of the directions. Indeed, as will be understood, two different directions is a minimum, and examples having more than two directions are possible and described.

[0141] Referring to Figure 1, a tiling area 100 is represented in plan view. Three tile assemblies 110a, 110b, 110c are present in three (occupied) tile positions. There are two unoccupied tile positions 105a, 105b. The occupied and unoccupied tile positions together form an active area within which the tile assemblies may translate. The tile positions are arranged in two lanes, a first lane 115 in a first direction (or orientation) and a second lane 120 in a second direction (or orientation). In this case, the lanes are perpendicular to one another and the tile positions (and tile assemblies) are rectangular (represented as squares in Fig. 1), though this need not be the case. The intersection of the first lane 115 and the second lane 120 defines a tile position, which in Fig. 1 is occupied by tile assembly 110a. At such tile positions, a tile assembly (110a in Fig. 1) is a member of both a lane in the first direction and a lane in the second direction (tile assembly 110a in Fig. 1 is a member of the first lane 115 in the first direction and the second lane 120 in the second direction).

[0142] Outwith a central area in which intersection(s) define tile position(s), there is provided a further tile position at each end of each lane. These may be referred to as end or edge tile positions. In Fig. 1, an end tile position in the first lane 115 in the first direction (tile position 105b and the tile position occupied by the tile assembly 110c) is not associated with a lane in the second direction. Similarly, in Fig. 1, an end tile position in the second lane 120 in the second direction (tile position 105a and the tile position occupied by the tile assembly 110b) is not associated with a lane in the first direction. Each lane includes an unoccupied tile position. The first lane 115 includes unoccupied tile position 105b. The second lane 120 includes unoccupied tile position 105a.

[0143] Tile assemblies are able to translate along a lane, in doing so all tile assemblies in that lane translate in synchrony, all tile assemblies in a given lane move together along said lane. The tile assemblies in a lane behave as if they were a single tile assembly when translating along that lane.

[0144] For example, tile assembly 110a may be translated in the first lane 115 into unoccupied tile position 105b at the end of the first lane 115 (in an "upward" direction in Fig. 1). In doing so, tile assembly 110c translates ("translates in synchrony") with tile assembly 110a, from its original position at an end of the first lane 115 to the tile position defined by the intersection of the first lane 115 and the second lane 120 (tile assembly 110c is "pulled" along the first lane). The same translation within the first lane may also be initiated by moving tile assembly 110c towards the tile position defined by the intersection of the first lane 115 and the second lane 120, pushing tile assembly 110a into the unoccupied tile position 105b. It will be understood that similar translations may be made in the second lane 120 in the second direction, and a translation in the first lane 115 in the first direction may be followed by a translation in the second lane 120 in the second direction, and vice-versa. In this way, the three tile assemblies 110 may each be translated from any tile position to any other tile position in the active area. A translation in the first direction may be followed by a translation in the second direction once the translation in the first direction has moved an integer number of tile positions (in other words, such that each tile assembly occupies a single tile position).

[0145] Each of the tile assemblies 110 may be capped with a tile, the tiles forming a puzzle or image to complete. The tiles may have the same shape as represented for the tile assembly.

[0146] Fig. 2 exemplifies a tiling area 200 which is defined by four lanes 115 in the first direction (including first lane 115a, second lane 115b) and four lanes 120 in the second direction (including first lane 120a, second lane 120b, third lane 120c). In this case each tile position is defined by an intersection of a lane in the first direction and a lane in the second direction (but this need not be the case, as exemplified in subsequent Fig. 3). Each lane includes an unoccupied tile position 105. Since there are only two directions in the example of Fig. 2, they may be regarded as rows (equivalent to lanes 120 in the second direction, labelled R0, Rl, R2, R3) and columns (equivalent to lanes 115 in the first direction, labelled CO, Cl, C2, C3). Fig. 2 exemplifies a translation in which all tile assemblies 110 in the third lane 120c in the second direction are translated in synchrony from occupying tile positions at intersections of third lane 120c (in the second direction) with the first lane 115a, second lane 115b, and third lane (in the first direction) to tile positions at intersections of third lane 120c (in the second direction) with the second lane 115b, third lane, and fourth lane (in the first direction). In other words, the tile assemblies 110 in R2 are translated from C0,Cl,C2, to C1,C2,C3, respectively.

[0147] Fig. 3a exemplifies a tiling area 300a, whose active area 325, like Fig. 1, includes tile positions defined by intersections of lanes in differing directions (intersections of first plurality of lanes 115 in the first direction and second plurality of lanes 120 in the second direction) and end tile positions outwith the central area of tile positions defined by intersections of lanes (but still part of the active area 325). There are two lanes 115a, 115b in the first direction and two lanes 120a, 120b in the second direction, which intersect at four intersection points (in a central area) defining four tile positions. Each of those tile positions are occupied by a tile assembly 110.

[0148] Each lane has a (one) end tile position at each end. A tile assembly in an end tile position of a lane is prevented from translating (by a baffle) out of that lane into a neighboring lane. For example, a tile assembly in an end tile position of the first lane 115a in the first direction is not able to translate into a neighboring end tile position of the second lane 115b in the first direction, even if the latter tile position is unoccupied (in other words, in Fig. 3a a tile assembly at position R3,C1 cannot translate into position R3,C2). There is no lane in the second direction for end tile positions of lanes in the first direction. Similarly, there is no lane in the first direction for end tile positions of lanes in the second direction.

[0149] In each lane, one end tile position is occupied by a tile assembly 110 and one end tile position is an unoccupied tile position 105. This means that tile assemblies 110 in any lane may be translated in synchrony in that lane. Because the tile assemblies in a lane always translate in synchrony, there is always an unoccupied tile position 105 in each lane, and so, after every translation the next translation can be in any lane.

[0150] Further, because there is one end tile position at each end of each lane, and because each lane has one unoccupied tile position 105, the tile positions in the central area (in which tile positions are defined by intersections of the first lanes 115 and the second lanes 120) are occupied by a tile assembly, irrespective of translations which have been executed.

[0151] As a result of the end tile positions, the active area 325 of the tiling area 300a has a cruciform (or cross, or plus) shape - the active area does not include tile positions at extremes of the rows and columns (at R0, CO; R0,C3; R3,C0; and R3,C3). The tiling area may also include a static area having tile positions 106 that are not translatable (i.e. not movable into or out of the active area 325). One tile position 106 of the static area is shown in Fig. 3a, such that eight occupied tile positions in the active area, together with one tile position 106, may together form a rectangular (in this case square) shape which may be convenient for some puzzles. A tiling device may have multiple static areas and may include a tile position 106 at any or each corner (at R0, CO; R0,C3; R3,C0; R3,C3). Fig. 3b exemplifies a tiling area 300b. Tiling area 300b is similar to tiling area 300a of Fig. 3a except that the lanes 115a, 115b in the first direction have two unoccupied tile positions 105 and each of the lanes 115a, 115b in the first direction have two end tile positions at each end. The end tile positions having similar properties to those described above, that tile assemblies 110 in such end tile positions of a first lane can only translate in that first lane (can only move along that lane), and they cannot translate to a neigboring lane. As before, this ensures that, irrespective of previous translations, each lane has at least one unoccupied tile location (in the case of Fig. 3b, the lanes 115 in the first direction have two unoccupied tile positions and the lanes 120 in the second direction have one unoccupied tile position). In this case, the active area 326 of the tiling area has a cruciform shape which is elongated in one axis. It will be understood that a lane in the first direction may have more than two unoccupied tile positions (and have a corresponding number of end tile positions at each end).

[0152] Fig. 4a to Fig. 4g exemplifies translation of a tile assembly 110a from a first tile position (R0, Cl) to a distal tile position (R2,C2) by translations in synchrony across the active tiling area. The original shape of the set of tile assemblies is then restored. Each arrow indicates translation of tile assemblies in a lane having been executed since a previous sub-figure. It will be noted that it is possible to concurrently translate tile assemblies in two lanes having the same direction (Fig. 4f, 4g), but it is not possible to concurrently translate tile assemblies in two lanes having different directions.

[0153] Figs. 5 to 8c are partial cross-sections of a tiling device showing a mechanism by which the translations of tile assemblies described with respect to Figs. 1 to 4 may be achieved. Fig. 9a is a perspective view of the tiling device 900 whose cross-sections are shown in Figs. 5 to 8c. Figs. 5 to 7 are cross-sections in vertical planes (perpendicular to the upper faces of the external tiles 550) through the tiling device 900 of Fig. 9a. Figs. 8a to 8c are cross-sections in horizontal planes (parallel to the upper faces of the external tiles 550). Fig. 9b is a perspective view of a lower shuttle 770 and associated (mobile) control devices 775 positioned as they are in the tiling device. Fig. 9c is a perspective view of a lower shuttle 770 and associated (mobile) control devices 775 and an upper shuttle 760 positioned as they are in the tiling device, with five tile positions 105 indicated by dashed squares. In this example, there are two lanes 115 in the first direction and two lanes 120 in the second direction, however it will be appreciated that there need only be at least one lane in each direction, that there may be any number of lanes in each direction, and that there need not be the same number of lanes in each direction.

[0154] Fig. 5a is a cross-section of a tile assembly 510a. The tile assembly 510a has an internal tile 540, a link bar 535 and means for attachment 530 of an external tile. Preferably, the means for attachment of an external tile is external to the tiling device. Thus, the tile assembly 510a may have both a component which is external to the tiling device (the means for attachment 530 of an external tile) and a component which is internal to the tiling device (internal tile 540). The external and internal components of a tile assembly are connected by link bar 535. The link bar may have a smaller cross section than the internal tile 540 so that the tile assembly is retained by the external slideway 755 (Fig. 7). In this case, both the internal tile 540 and the means for attachment 530 of an external tile may have a square shape in plan view, but this is not necessarily the case. The shape of the internal tile 540 is dependent upon the orientation and spacing of the lanes 115, 120 within which it translates. The shape of the means for attachment 530 of an external tile is defined by the attachment method, albeit that it is advantageous (for smooth translation and resilience of the tiling device) for it to have an extent which is greater than that of the link bar 535 and grooves 815,820 of the external slideway. The link bar may be cylindrical to promote smooth translation of tile assemblies in the tiling device (e.g., around corners of grooves in the external slideway 755).

[0155] Fig. 5b is a cross section of tile assembly 510b, which is similar to tile assembly 510a but has an external tile 550 attached to the tile assembly 510b via the means for attachment 530. In this case, the external tile covers upper and side faces of the means for attachment 530. It will be appreciated that external tiles need not be removable; they may be permanently attached to the link bar 535, or may be unitary therewith.

[0156] Fig. 6 is a cross section of a further tile assembly 610. Tile assembly 610 is similar to tile assemblies 510a, 510b, except that it is provided with an alignment stud 645 which protrudes from an opposite surface of the internal tile 540 to the link bar 535. Alignment stud 645 promotes smooth translation of tile assemblies in the tiling device. It may limit rotation of tile assemblies and assist in communicating translation between neighboring tile assemblies. Alignment stud 645 may be cylindrical to promote smooth translation of tile assemblies in the tiling device (e.g., around corners of grooves in the internal slideway 880).

[0157] Each of the means for attachment 530, link bar 535, internal tile 540, external tile 550, and alignment stud 645 may be coaxial with one another. They may be separate components affixed (permanently or releasably) to one another, or two or more of the components may be unitary. External tiles may click on to means for attachment 530 (also referred to as tile holders) by means of a corresponding ridge and groove. If external tiles were to be manufactured from certain materials (e.g., paperboard, plastic, metal, wood), both tile holders and external tiles may have ridges, but various combinations of ridge and groove possible.

[0158] Fig. 7a is a cross-section along a lane, in this case along a first lane 115a in the first direction. A plurality of tile assemblies 510a, 610 are shown associated with an upper shuttle 760. Exemplarily tile assembly 510a is shown in one tile position and tile assemblies 610 are shown in the other two tile positions. It will be understood that such mixing of different types of tile assemblies is not typical, and usually all tile assemblies in a tiling device will be of one type. The upper shuttle 760 is associated with (parallel and coincident with) the first lane 115a in the first direction and defines tile positions to accept tile assemblies 510a, 610 (in one direction-the lower shuttle 770 defines the tile position in the other direction). The upper shuttle comprises a boom 763 oriented along the lane 115a. A pair of end tile control bars 761 are coupled to the ends of the boom 763 via an end stud control bar 762. The end tile control bars 761, boom 763, and end stud control bars 762 may be unitary or otherwise fixed to one another. One upper shuttle 760 is associated with each lane 115 in the first direction.

[0159] Positioned between neighboring tile assemblies 510a, 610a, 610b are control devices 765. Each control device 765 has a tile control bar 766 and a stud control bar 767. The tile control bar 766 and stud control bar 767 are coupled at the mid-point of their length, thus forming a split-level cross-shape when viewed in perspective (Fig. 9b, 9c). The stud control bar 767 is aligned with the upper shuttle 760 (and the first lane 115a in the first direction), whereas the tile control bar 766 is aligned (e.g., parallel) with the lower shuttle 770 (and the first lane 120a in the second direction). The control devices 765 may be fixed to the upper shuttle 760 (but they need not be), and they may be unitary with the upper shuttle 760. One or more of the plurality of control devices may be fixed relative to the upper shuttle, by means of adhesive, welding, mechanical fastening, injection moulding etc.

[0160] External slideway 755 is depicted in Fig. 7a to show its location relative to the tile assembles 510a, 610 and upper shuttle 760, however, it will be recognised that external slideway 755 is not shown in cross section in this view because the cross section in Fig. 7a is along the first lane 115a in the first direction. At such location, the external slideway 755 has a groove 815 (through which the link bar 535 of each tile assembly passes) which is aligned with the first lane 115a in the first direction to allow tile assemblies 510a, 610 to translate along the first lane 115a in the first direction.

[0161] The lower face of each tile control bar 766 sits on an upper face 881 of the internal slideway 880, as does the lower face of the internal tile 540 (the alignment stud 645, stud control bar 767, and upper shuttle 760 positioned within a groove in the internal slideway - the groove being the blank space in Fig. 8b between the faces 881 of the internal slideway). The upper face 881 of the internal slideway is depicted in Fig. 8b by dashed boxes, this face 881 being beneath the plane of the cross section, but convenient to show in Fig. 8b to depict the internal tiles 540 and the tile control bars 766, 776 (and optionally - as shown - the end tile control bars 761,771) traversing the lanes 115,120 while resting on the faces 881.

[0162] The tile control bars 766 and end tile control bars 761 are configured to apply a push force to internal tiles 540 of the tile assemblies 510a, 610 such that all tile assemblies in a lane 115 in the first direction translate in synchrony (indeed, the tile assemblies, upper shuttle 760, and control devices 765 translate in synchrony for translation in the first lane in the first direction). Neighboring faces of the internal tiles and tile control bars 766 / end tile control bars 761 are aligned (e.g., parallel) to apply said push force in the first direction (along the first lane 115a in the first direction). Said alignment also allows a tile assembly to translate out of the lane 115 in the first direction, by translation along a lane 120 in the second direction. The stud control bars 767 and end stud control bars 762 may also apply a push force to alignment studs 645 of the tile assemblies 610 such that all tile assemblies in a lane translate in synchrony (indeed, the tile assemblies, upper shuttle 760, and control devices 765 translate in synchrony for translation in the first lane in the first direction). The stud control bars 767 and end stud control bars 762 are aligned with the boom 763 of the upper shuttle, and with the first lane 115a in the first direction. This assists with smooth translation of the upper shuttle 760 in a groove of an internal slideway 880 (Fig. 8a). Said groove assists in defining the lane 115 in the first direction, and allows translations along that lane.

[0163] As described above, the end tile control bars 761 are connected to (or unitary with) the boom 763 of the upper shuttle 760. This means that translation of the upper shuttle 760 is communicated to all components associated with the upper shuttle (and the lane 115 in the first direction), irrespective of how the translation is initiated. For example, if translation is initiated by force applied to the leftmost tile assembly 510a in Fig. 7a, and that force is directed to the left, it its transferred to the end tile control bar 761a. End tile control bar 761a is connected to the other end tile control bar 761b, such that end tile control bar 761b applies a corresponding force (directed to the left in the figure) to internal tile 540 of the right-most tile assembly 610b. Said force may be communicated to the central tile assembly 610a by the internal tile 540 of the right-most tile assembly 610b via the tile control bar 766 of the control device 765 (the control device 765 positioned between the tile assemblies 610a and 610b). Alternatively or additionally, said force may be communicated directly to the central tile assembly 610a by the tile control bar 766 of the control device 765 when the control device is connected to (affixed to or unitary with) the upper shuttle 760. It will be understood that if a force is directly applied to the upper shuttle itself (e.g. via a linear actuator or similar), that force is transmitted to all tile assemblies in the lane in a similar manner. In this way, all tile assemblies in a lane 115 in the first direction are able to translate in synchrony, irrespective of how translation in the lane 115 in the first direction is initiated.

[0164] Fig. 7b is a cross-section along a lane, in this case along a first lane 120a in the second direction. A plurality of tile assemblies 610 are shown associated with a lower shuttle 770. The lower shuttle 770 is associated with (parallel and coincident with) the first lane 120a in the second direction and defines tile positions to accept tile assemblies 610 (in one direction- the upper shuttle 760 defines the tile position in the other direction). The lower shuttle comprises a boom 773 oriented along the lane 120a. A pair of end tile control bars 771 are coupled to the ends of the boom 773 via an end stud control bar 772. The end tile control bars 771, boom 773, and end stud control bars 772 may be unitary or otherwise fixed to one another. One lower shuttle 770 is associated with each lane 120 in the second direction.

[0165] Positioned between neighboring tile assemblies 610 are control devices 775, which are associated with the lower shuttle 770 but not connected thereto, and are therefore referred to as mobile control devices 775. The mobile control devices 775 may be considered to "float" relative to the lower shuttle, but a particular mobile control device 775 is always associated with the same lower shuttle 770, irrespective of translations in the tiling device. Each mobile control device 775 has a tile control bar 776 and a stud control bar 777. The control devices 775 are similar in construction and purpose to the control devices 765, except that they are not connected to their associated shuttle. The tile control bar 776 and stud control bar 777 are coupled at the mid-point of their length, thus forming a split-level crossshape when viewed in perspective (Fig. 9b, 9c). The stud control bar 777 is aligned with the lower shuttle 770 (and the first lane 120a in the second direction), whereas the tile control bar 776 is aligned with the lower shuttle 760 (and the first lane 115a in the first direction).

[0166] The mobile control devices 775 are not fixed to the lower shuttle 770 but they are configured to translate with the lower shuttle 770 (by contact with the internal tiles 540). This allows the upper shuttles 760 (specifically the boom 763 thereof) to be positioned between the mobile control devices 775 and the lower shuttle 770 (specifically the boom 773 thereof), allowing upper and lower shuttles to translate relative to one another (allowing a tile assembly at a given tile position defined by intersection of a lane 115 in the first direction and a lane 120 in the second direction to translate in either lane 115,120). The one or more mobile control devices may be distinct from the lower shuttle. In some embodiments, one or more mobile control devices may be spaced apart from the lower shuttle, e.g. the boom of the lower shuttle, thereby allowing the upper shuttle to slide therebetween. The one or more mobile control devices may be positioned between the end tile control bars. The distance between one of the mobile control devices and an end tile control bar may be the same as a size of the internal tile.

[0167] External slideway 755 is depicted in Fig. 7b to show its location relative to the tile assembles 610 and lower shuttle 770, however, it will be recognised that external slideway 755 is not shown in cross section in this view because the cross section in Fig. 7b is along the first lane 120a in the second direction. At such location, the external slideway 755 has a groove 820 (through which the link bar 535 of each tile assembly passes) which is aligned with the first lane 120a in the second direction the to allow tile assemblies 610 to translate along the first lane 120a in the second direction.

[0168] The lower face of each tile control bar 776 sits on an upper face 881 of the internal slideway 880, as does the lower face of the internal tile 540 (the alignment stud 645, stud control bar 777, and lower shuttle 770 positioned within a groove in the internal slideway - the groove being the blank space in Fig. 8b between the faces 881 of the internal slideway). An upper face 881 of the internal slideway 880 is depicted in Fig. 8b by dashed boxes, this face 881 being beneath the plane of the cross section, but convenient to show in Fig. 8b to depict the internal tiles 540 and the tile control bars 766, 776 (and optionally - as shown - the end tile control bars 761,771) traversing the lanes 115,120 while resting on the faces 881. Each end of the tile control bars 776 of the mobile control devices 775 sit on the face 881 of the internal slideway 880, which maintains the mobile control device in (vertical) position. The tile control bars 776 and end tile control bars 771 are configured to apply a push force to internal tiles 540 of the tile assemblies 610 such that all tile assemblies in a lane 120 in the second direction translate in synchrony (indeed, the tile assemblies, lower shuttle 770, and mobile control devices 775 translate in synchrony for translation in the first lane 120a in the second direction). Neighboring faces of the internal tiles 540 and tile control bars 776 / end tile control bars 771 are aligned (e.g., parallel) to apply said push force in the second direction (along the first lane 120a in the second direction). Said alignment also allows a tile assembly 610 to translate out of the lane 120 in the second direction, by translation along a lane 115 in the first direction.

[0169] The stud control bars 777 and end stud control bars 772 may also apply a push force to alignment studs 645 of the tile assemblies 610 such that all tile assemblies in a lane translate in synchrony (indeed, the tile assemblies, lower shuttle 770, and mobile control devices 775 translate in synchrony for translation in the first lane 120a in the second direction). The stud control bars 777 and end stud control bars 772 are aligned with the boom 773 of the lower shuttle 770, and with the first lane 120a in the second direction. This assists with smooth translation of the lower shuttle 770 in a groove of an internal slideway 880 (Fig. 8a). Said groove assists in defining the lane 120 in the second direction, and allows translations along that lane.

[0170] As described above, the end tile control bars 771 are connected to (or unitary with) the boom 773 of the lower shuttle 770. This means that translation of the lower shuttle 770 is communicated to all components associated with the lower shuttle (and the lane 120 in the second direction), irrespective of how the translation is initiated. For example, if translation is initiated by force applied to the leftmost tile assembly in Fig. 7b, and that force is directed to the left, it is transferred to the end tile control bar 771a. End tile control bar 771a is connected to the other end tile control bar 771b, such that end tile control bar 771b applies a corresponding force (directed to the left in the figure) to internal tile 540 of the right-most tile assembly 610. Said force is communicated to the central tile assembly 610a by the internal tile 540 of the right-most tile assembly 610 via the tile control bar 776 of the mobile control device 775 (the mobile control device 775 positioned between said tile assemblies). It will be understood that if a force is directly applied to the lower shuttle itself (e.g. via a linear actuator or similar), that force is transmitted to all tile assemblies in the lane in a similar manner. In this way, all tile assemblies in a lane 120 in the second direction are able to translate in synchrony, irrespective of how translation in the lane 120 in the second direction is initiated.

[0171] Fig. 8a is a cross-section horizontally through the tiling device of Fig. 9, in contrast to the vertical cross-sections of Figs. 5-7. The cross-section is at the level of the alignment studs 645, stud control bars 767,777, and end stud control bars 762,772 of Figs. 5-7, showing their positioning in grooves in an internal slideway 880, and positioning in lanes 115 in the first direction and lanes 120 in the second direction. Fig. 8b is a cross-section horizontally through the tiling device of Fig. 9, in contrast to the vertical cross-sections of Figs. 5-7. The cross-section is at the level of the internal tiles 540, tile control bars 766,776 and end tile control bars 761,771 of Figs. 5-7, showing their positioning on an upward face 881 of the internal slideway 880, and positioning in lanes 115 in the first direction and lanes 120 in the second direction. The upper face 881 of the internal slideway 880 is depicted in Fig. 8b by dashed boxes, this face 881 being beneath the plane of the cross section, but convenient to show in Fig. 8b to depict the internal tiles 540 and the tile control bars 766, 776 (and optionally - as shown - the end tile control bars 761,771) traversing the lanes 115,120 while resting on the faces 881.

[0172] Parts of the internal slideway 880 form baffles 880a, 880b between end of lane tile positions. The baffles 880a restrict tile assemblies 510, 610 in end of lane tile positions in the lanes 115 in the first direction from translation in the second direction. In other words, baffles 880a prevent a tile assembly 510, 610 in an end tile position of the first lane 115a in the first direction from translation (in a single move) into a neighboring end tile position of the second lane 115b in the first direction. Baffles 880b perform a similar function for tile assemblies in end of lane tile positions in the lanes 120 in the second direction. Part of the internal slideway 880 forms support column 882. Support column 882 connects central platform 883 to the internal slideway.

[0173] Each lane 115,120 is also provided with a stop position (not shown) to limit translation of a related shuttle. There may be co-operating stop positions at each end of each lane. A stop position prevents translation of its related shuttle out of the related lane. In other words, the stop position ensures that its related shuttle does not translate so far as to leave one of the tile positions in the central area (where tile positions are defined by intersection of lanes) unoccupied by a tile assembly. In this regard, Figs. 8a, 8b lanes 120 in which associated shuttles have reached related stop positions toward the left side of the Figure, and lanes 115 in which associated shuttles have reached related stop positions toward the upper end of the Figure.

[0174] Fig. 8c is a cross-section horizontally through the tiling device of Fig. 9, in contrast to the vertical cross-sections of Figs. 5-7. The cross-section is at the level of the link bars 535 of Figs. 5-7, showing their positioning in grooves 815,820 in an external slideway 755, and positioning in lanes 115 in the first direction and lanes 120 in the second direction. Central platform 883 is bordered on all sides by grooves 815,820 in external tile slideway 755.

[0175] Fig. 8d is a plan view of the tiling device of Fig. 9, showing external tiles 550, external slideway 755 and grooves 815,820 in the external slideway, and showing exemplary positioning of external tiles in lanes 115 in the first direction and lanes 120 in the second direction. Lanes 115 in the first direction and lanes 120 in the second direction form a cruciform-shaped active area. Fig. 8e is a plan view of the tiling device of Fig. 9, showing external tiles 550, external slideway 755 and grooves 815,820 in the external slideway, and showing exemplary positioning of external tiles in lanes 115 in the first direction and lanes 120 in the second direction. Lanes 115 in the first direction and lanes 120 in the second direction form a cruciform-shaped active area. Fig. 8e is similar to Fig. 8d, except that it also shows a static area comprising a single tile position at one corner. In tile position in static area, an external tile is attached to a means for attachment (not shown).

[0176] Fig. 8f is a plan view of the tiling device of Fig. 9, showing external tiles 550, external slideway 755 and grooves 815,820 in the external slideway, and showing a cruciform-shaped active area and a static area comprising a single tile position at one corner. Fig. 8f is similar to Fig. 8e, except that it shows alternative exemplary positioning of external tiles in lanes 115 in the first direction and lanes 120 in the second direction. It will be understood that translation in synchrony of external tiles / tile assemblies within lane 115b in the first direction, from their positions depicted in Fig. 8e to their positions depicted in Fig. 8f (or vice-versa) may be achieved by completion of a shuttle move in lane 115b.

[0177] Fig. 9a shows a perspective view of the tiling device described with respect to Figs. 5-8. Internal components (internal tiles 540, alignment stud 645, upper shuttle 760, lower shuttle 770, control device 765 and mobile control device 775) are enclosed by the external slideway 755, upon which the means for attachment 530 of external tiles 550 and / or the external tiles themselves may slide (but it is not necessary that they contact / slide since the internal components may serve to hold them above the external slideway 755. Grooves 815,820 in the external slideway, for the link bar 535 to penetrate are shown. These grooves 815,820 are aligned with the lanes 115,120 (respectively) and the internal components that allow for translation in synchrony along those lanes, as described above.

[0178] Fig. 9b shows a perspective view of a lower shuttle 770 and associated mobile control devices 775, as described above. Fig. 9c shows a perspective view of an upper shuttle 760 with associated control devices 765 (which may or may not be fixed thereto), and a lower shuttle 770 and associated mobile control devices 775, as described above. Tile positions 105 are depicted in Fig. 9c, these being locations at which a tile assembly may be held. When so held, the internal tile sits on the stud control bars of the control devices 765,775, the alignment stud is positioned between ends of the same stud control bars, and the internal tile is positioned between side faces of the tile control bars of the control devices 765,775.

[0179] As can be seen in Fig. 9c, when aligned as depicted, the upper shuttle 760 (and its associated control devices 765) is translatable along its lane without interference from the lower shuttle 770 (and its associated mobile control devices 775), and the lower shuttle 770 (and its associated mobile control devices 775) is translatable along its lane without interference from the upper shuttle 760 (and its associated control devices 765). If the shuttles (and associated control devices) are misaligned in one of the first or second directions, they must be moved into alignment in that one of the first or second directions before translation in the other of the first or second direction is allowed. The ends of the stud control bars and the tile control bars may be rounded (as shown in the cross-sections of Figs. 8a, 8b and perspective view of Fig. 9) to correct for misalignments which are less than a threshold in magnitude. If a misalignment is greater than the threshold in one of the first or second directions, then the shuttles are said to be "locked" and they must be moved into alignment in that one of the first or second directions before translation in the other of the first or second direction is allowed. Fig. 10 depicts such misalignments and lock positions during a shuttle move.

[0180] Fig. 10 depicts a lower shuttle 770 move along a lane in a second direction. An upper shuttle 760 is aligned with a lane in the first direction. The shuttles themselves are not depicted in Fig. 10 for clarity of the figure, since it is the control devices 765, 775 which correct misalignment and lock shuttles. Fig. 10 is a partial cross-section through the alignment studs 645 of tile assemblies and stud control bars 767,777 of control devices 765,775, respectively. Also shown, albeit outside the plane of the cross-section, are the tile control bars 766, 776 of control devices 765,775, respectively, because these also act to lock, unlock, and correct misalignment of shuttles. Figs. 10a to 10g show relative positions of these components from a state of alignment (Fig. 10a) to correctable misalignment (Fig. 10b), through lock positions (Figs. 10c to lOe) in which movement can only occur along the second direction, to correctable misalignment (Fig. lOf) and finally alignment (Fig 10g), i.e., during translation of a tile assembly from one tile position to a neighboring tile position. The arrow shows direction of translation of a (mobile) control device 775 with respect to a control device 765.

[0181] It will be noted that when the curved vertical surfaces of control bars of two, transversely arranged, shuttles cooperate, either shuttle can potentially push the other shuttle out the way and, in doing so, correct its alignment. Once the curved vertical surface of a tile control bar of a moving shuttle begins to slide against a flat vertical surface of a tile control bar of a transverse shuttle, and a flat vertical surface of a stud control bar of a moving shuttle begins to slide against the curved vertical surface of a stud control bar of a transverse shuttle, the transverse shuttle becomes locked in position. When a shuttle is locked in position, flat vertical surface of its tile control bars effectively become additional wall sections of the internal tile slideway. This helps to limit lateral movement and (yaw) rotation of tile assemblies during translation, which allows the external tiles controlled by the moving shuttle to be translated without catching against external tiles in an adjacent row or column. A transverse shuttle remains locked in position until the moving shuttle reaches a position where the curved vertical surface of a tile control bar of the moving shuttle no longer slides against a flat vertical surface of a tile control bar of a transverse shuttle, and a flat vertical surface of a stud control bar of a moving shuttle no longer slides against the curved vertical surface of a stud control bar of a transverse shuttle. A shuttle which has locked a transverse shuttle in position, but has not completed a shuttle move, is described as an active shuttle. A shuttle is described as having completed a shuttle move when it ceases to lock a transverse shuttle in position. At this point, a moving shuttle is no longer described as an active shuttle. It will be noted that the alignment stud 645 is not necessary but assists with smooth translation of tile assemblies according to the above.

[0182] Fig. 11 is a partial cut-away plan view of the tiling device described above, showing the internal and external slideways, and associated grooves. Two dotted boxes indicate the area within which external slideway is not shown, in order to more clearly show the internal slideway. The translatable components are not shown for clarity of the figure. It will be noted that, in this case, corners of the groove in the internal slideway are rounded (bevelled) so the alignment stud smoothly traverses said corners, reducing or eliminating catching of the alignment stud on the same. It will be appreciated that (although not shown as being so) corners of the groove in the external slideway may similarly be rounded (bevelled) so the link bar smoothly traverses said corners, reducing or eliminating catching of the link bar on the same. Corners of the grooves in the external slideway and corners of the grooves in the internal slideway may have the same rounding radius. Also shown in Fig.11 are central platform 883 (in the active area) and an external tile 550 in a corner tile position (in the static area). The grooves in which the lower shuttles slide along may be deeper than the grooves in which the upper shuttles slide along. The depth being defined in a direction perpendicular to the surface along which the tile control devices slide. The depth of the grooves in which the upper shuttles slide may be substantially equal to the combined depth of the stud control bar and the boom of the upper shuttle. The depth of the grooves in which the lower shuttles slide may be substantially equal to the combined depth of the boom of the upper shuttle, the boom of the lower shuttle and the stud control bar associated with the mobile control device. At least part of the tile control device may be positioned within its respective groove. At least part of the tile control device may be configured to slide along the surface of the internal slideway.

[0183] Fig. 12 is a partial cut-away plan view of the tiling device described above, showing the internal and external slideways, and associated grooves. It is similar to Fig. 11 except that the central platform is cut away for clarity and the shuttles and associated control devices are in place. The one or more mobile control devices may be distinct / spaced apart from the lower shuttle. Such mobile control devices tend to allow for the upper shuttle to slide freely, between the mobile control devices and the lower shuttle, while simultaneously providing the separation of the internal tiles corresponding to the lower shuttle.

[0184] Fig. 13a is a perspective view of the upper shuttles, lower shuttles and the control devices associated with the shuttles positioned in the same manner as that in Fig. 12. For clarity of the figure, mobile control devices associated with one of the lower shuttles 770 are not shown. Fig. 13b is a view along line A-A of Fig. 13a. Fig. 13c is a view along line B-B of Fig. 13a. Fig. 13 further shows the arrangement of the two different types of shuttle in the tiling device. In the above, lanes 115 in the first direction and lanes 120 in the second direction were described as being perpendicular and equally spaced. This typically results in square internal tiles and, if the external tiles are to be maximal edge-to-edge tiles, square external tiles (square here means generally square in plan view, there may be rounding of the plan view corners of said tiles due to manufacturing processes, and the rounding may be designed to aide smooth translation of tile assemblies).

[0185] The components described above may have various interactions with one another to promote smooth translation of tile assemblies in a lane in synchrony, to allow tile assemblies to translate from a tile position in either lane of which they are a member, and to prevent translation in a lane in the second direction during translation in a lane in the first direction (and vice-versa). Some of these interactions and purposes may be as follows.

[0186] • An internal tile: can apply a push force to, or receive a push force from, a tile control bar; a side face of an internal tile may cooperate with a side face of a tile control bar; bottom horizontal surface thereof may slide along the horizontal surface (face) of the internal tile slideway; bottom edges thereof may be rounded / bevelled to reduce catching / jamming when traversing slots in the internal slideway. An internal tile may have a minimum of two pairs of parallel side faces and may be positioned between at least one pair of tile control bars: in an edge tile position, an internal tile is positioned between one pair of tile control bars (one of which is an end tile control bar); in a central tile position, an internal tile may be positioned between two pairs of tile control bars.

[0187] • A link bar: may be a permanent link between an internal tile and a means for attachment of an external tile; may cause an internal tile and a means for attachment of an external tile to move as a single object; may ensure that constraints imposed on translation / rotation of an internal tile are also imposed on the means for attachment of an external tile / external tile; may enable a user to rearrange a set of internal tiles by interacting only with a set of means for attachment of an external tile / external tiles; may be cylindrical to reduce catching or jamming during movement and to ease transition from movement within a row to movement within a column (i.e. going around corners); may ensure that the horizontal surfaces of a means for attachment of an external tile and / or external tile are parallel with the horizontal surfaces of the internal tile below it. Movement of a means for attachment of an external tile causes movement of an internal tile and vice versa. By extension, when an external tile is fitted to a tile holder, movement of an external tile causes movement of an internal tile and vice versa.

[0188] An alignment stud: may be a downward-facing cylindrical projection from the bottom face of an internal tile; may cooperate with stud control bars during translation; can apply a push force to, or receive a push force from, a stud control bar; may be cylindrical to reduce catching or jamming during movement and help it go around corners; may cooperate with stud control bars to limit pitch rotation of internal and external tiles during translation; may cooperate with shuttle slideway walls (grooves in internal slideways) to: limit unwanted lateral movement and limit roll rotation of internal and / or external tiles during translation. To prevent an alignment stud from catching against an underlying shuttle: a gap may be left between the end of the alignment stud and the top of the underlying shuttle; a circular, horizontal bottom face, of an alignment stud may be rounded (convex). The components of a tile assembly may be arranged coaxially, such that their central points are collinear in the same vertical axis.

[0189] • A tile control bar (TCB): can apply a push force to, or receive a push force from, an internal tile; each tile control bar may be associated with a specific shuttle. ATCB may have two opposite-facing side faces. A TCB positioned between two internal tiles can: apply a push force in either of two directions; receive a push force from either of two directions; receive a push force from an internal tile and, simultaneously, apply this push force to another internal tile. A TCB may cooperate with an internal tile for translation and alignment by a vertical face of the TCB cooperating with a vertical face of an internal tile. A TCB may cooperate with an internal tile to limit yaw rotation: a pair of TCBs, positioned either side of an internal tile, provide a pair of parallel faces, between which the parallel faces of an internal tile cannot rotate. This limits rotation of internal tiles (and therefore limits rotation of tile assemblies) during translation. The edges at which the vertical faces of a TCB meet may be rounded (forming a curved side face at either end). A TCB associated with a shuttle in the first direction may cooperate with a neighboring TCB associated with a shuttle in the second direction for misalignment correction and shuttle locking. A TCB may cooperate with an internal tile to limit lateral movement during translation: when a TCB is locked in position, its vertical surface temporarily acts as an additional section of slideway wall. An internal tile sliding between a pair of locked TCBs moves in the same direction as its underlying shuttle. This keeps all internal tiles controlled by active shuttle in alignment with one another, enabling a shuttle move, once initiated, to be completed without any internal tiles (or external tiles) catching or jamming. A TCB may ensure consistent spacing between internal tiles. For a support column to be provided in the internal tile layer, spacing must be provided between internal tiles. Consistent spacing between internal tiles is necessary to ensure that internal tiles do not collide with internal structures (e.g., baffle, internal slideway wall, support column) during translation, which could otherwise hinder or prevent completion of a shuttle move. Interspersion of internal tiles with TCBs may ensure consistent spacing between internal tiles, while also allowing space in the internal tile layer for provision of support column. Interspersion of internal tiles with TCBs may also ensure that internal tiles do not touch one another and thus do not catch against one another during translation.

[0190] • An end tile control bar: functions similarly to a tile control bar; can apply a push force to an internal tile in one direction only; can receive a push force from an internal tile from one direction only.

[0191] • A stud control bar (SCB): can apply a push force to, or receive a push force from, an alignment stud; the generally flat side faces of a SCB can slide against shuttle slideway walls (grooves in internal slideways), allowing a SCB to move forward / backward along the same axis as an underlying shuttle; the edges at which the vertical faces of a SCB meet may be rounded / bevelled (forming a curved side face at either end); each tile control bar may be connected to a SCB and thus a tile control bar and a SCB move together as a pair. A SCB may cooperate with an alignment stud for translation and alignment: a vertical face of a SCB may cooperate with the curved vertical face of an alignment stud, moving an alignment stud to the centre of a tile position during a shuttle move. This may ensure that the centre of an external tile is also moved to the centre of a tile position. A SCB may cooperate with an alignment stud to limit pitch rotation: a pair of SCBs, positioned either side of an alignment stud, may limit pitch rotation of an alignment stud (and therefore limit pitch rotation of a tile assembly). A SCB associated with a shuttle in the first direction may cooperate with a SCB of a (transverse) shuttle in the second direction for misalignment correction and shuttle locking.

[0192] • A shuttle: may be a permanent, physical link between two, or more, SCBs; may enable synchronous translation of a series of SCBs; may only move forward / backward along its primary axis; may have limited lateral movement / yaw rotation, limited by shuttle slideway walls (walls of grooves in internal slideway); an upper shuttle may have midshuttle control bars attached at regular intervals along its length; a lower shuttle may cooperate, indirectly, with Mobile Control Devices (MCD). A shuttle which moves external tiles left or right within a row may be described as a row shuttle. A shuttle which moves external tiles up or down within a column may be described as a column shuttle. The tiling device can be rotated and used in different orientations (e.g., portrait, landscape, inverted portrait or inverted landscape). The orientation in which it is used may determine whether: upper shuttles act as row shuttles and lower shuttles act as column shuttles; or upper shuttles act as column shuttles and lower shuttles act as row shuttles. Where an external tile is correctly aligned in a tile position that is above both a row shuttle and a column shuttle (a central tile position), either the row shuttle or the column shuttle can move the external tile forward / backward along a particular axis (direction). However, neither shuttle has complete control over its movement. An external tile in a central tile position is only semi-controlled by each underlying shuttle. • An external slideway: may be referred to as a shuttle enclosure; may contain all internal components; provide external slideways for tile holders / external tiles; may limit (pitch / roll) rotation of internal tiles / tile assemblies; may prevent internal tiles from dropping out if the shuttle enclosure is shaken or inverted.

[0193] • An internal slideway: may provide slideways for internal tiles and tile control bars; may provide internal tile slideway walls, which help control movement of internal tiles. Grooves in the internal slideway: may provide a slideway for upper and lower shuttles, alignment studs and stud control bars; may provide shuttle slideway walls, limiting yaw rotation / lateral movement of shuttles; may define the range of movement of each shuttle ('stop positions').

[0194] • A central platform: may provide external slideways in a central region of the active area. If there exist multiple upper shuttles and multiple lower shuttles, there will be at least one region at the top of the shuttle enclosure which is bordered, on all sides, by slots in the external tile slideway: this region may have an area of slideway, otherwise tile holders / external tiles may have difficulty traversing this region of grid, tile assemblies may experience pitch / roll rotation and internal tiles could drop out if the shuttle enclosure were shaken or inverted. There is provided one, or more, central platform(s), which provide an additional area of external slideway (and there may be similar central portions of internal slideway). A central platform is not directly connected to other regions of the external slideway. In other words, a central platform is disconnected from fixed structures within the same layer of the tiling device. If a central platform were a loose component, it could slide or rotate out of correct position which could hinder or prevent movement of link bars within slots in the external slideway, thereby hindering or preventing shuttle movement. To ensure that a central platform remains in a fixed position, relative to other regions of the external slideway, the central platform is connected to the internal slideway via a support column.

[0195] • Interactions may include that a stud control bar (SCB) limits yaw rotation of a tile control bar (TCB): A TCB of an upper shuttle is typically attached, via a SCB, to an underlying shuttle and is therefore not permitted to rotate. A mobile control device (MCD) may not be attached to an underlying shuttle. Therefore, an alternative method of preventing yaw rotation of the TCB of a MCD is required. The SCB of a MCD may be positioned between a pair of parallel slideway walls. The parallel sides of a SCB of a MCD can slide against, but cannot rotate between, two parallel walls of a shuttle slideway. This may limit yaw rotation of the SCB of a MCD and therefore also limits yaw rotation of the TCB which forms part of the same MCD.

[0196] Interactions may include that a stud control bar (SCB) limits upward movement of a tile control bar (TCB): SCBs of MCDs are positioned beneath internal tiles. Internal tiles are contained within the external enclosure. Thus, SCBs of MCDs are contained within the enclosure. TCBs of MCDs are connected to SCBs of MCDs and therefore TCBs of MCDs are also contained within the enclosure. Thus, in normal use, the SCB and TCB of a MCD may be prevented from falling through a slot in the external tile slideway if the shuttle enclosure is inverted or shaken. The SCB of a MCD is not supported from beneath. If it were to drop down inside the shuttle enclosure it could block the movement of other internal components. However, the SCB of a MCD is attached to a TCB, which is supported from beneath by the internal tile slideway. Both the TCB and SCB of a MCD may therefore be prevented from dropping down inside the shuttle enclosure.

[0197] • Interactions may include misalignment handling which may include one or more of the following. Misalignment of a shuttle may cause misalignment of an entire row, or column, of external tiles (ETs). If misalignment of a column shuttle causes misalignment of an entire column of ETs, then each row will contain a misaligned ET. If ETs in the same row are not in co-alignment, then synchronous translation, left or right, of all ETs in the row may not be possible. Misalignment of a single column shuttle may therefore prevent movement of multiple row shuttles. Similarly, if misalignment of a row shuttle causes misalignment of an entire row of ETs, then each column will contain a misaligned ET. If ETs in the same column are not in coalignment, then synchronous translation, up or down, of all ETs in the column may not be possible. Misalignment of a single row shuttle may therefore prevent movement of multiple column shuttles. To ensure that minor shuttle misalignment does not impair system functionality, shuttle misalignment may be corrected in one or more of the following ways. Minor shuttle misalignment may be corrected by providing one or both of each TCB and each SCB of control devices associated with upper and lower shuttles with a curved (bevelled) vertical surface at either end. A curved vertical surface of a TCB of a moving shuttle (e.g., in first lane in first direction) may apply a push force to a curved vertical surface of a TCB of a misaligned transverse shuttle (e.g., in second lane in second direction). At the same time, a curved vertical surface of a SCB of moving shuttle may apply a push force to a curved vertical surface of a SCB of misaligned transverse shuttle. Yaw rotation and lateral movement of shuttles may be limited by shuttle slideway walls (grooves in internal slideways). Thus, a shuttle may only move forward or backward along its slideway. Thus, when a curved vertical surface of a control bar of a moving shuttle pushes against a curved vertical surface of a control bar of a misaligned transverse shuttle, the misaligned transverse shuttle moves axially along its slideway. A moving shuttle may continue to push a misaligned transverse shuttle along its slideway until the transverse shuttle reaches a position in which it is correctly aligned. Once correctly aligned, a transverse shuttle is then locked in position by control bars of the moving shuttle and remains locked in position until the moving shuttle has completed its shuttle move. A moving shuttle may adjust the alignment of multiple transverse shuttles simultaneously. Bringing all transverse shuttles into alignment brings all tile assemblies in the lane controlled by a moving shuttle into co-alignment. This may enable a lane of tile assemblies to be translated in synchrony and thus may enable a shuttle move to be performed. Due to translation in synchrony of tile assemblies, achieving co-alignment of tile assemblies in the centre of one lane may also achieve co-alignment of tile assemblies in the centres of other lanes in the same direction. Thus, shuttle movement which brings a lane of tile assemblies into co-alignment in one region of the tiling area may also bring tile assemblies into co-alignment in a lane (in the same direction) in a distant region of the tiling area.

[0198] • Rounding profile: The corners of control bars may be less rounded (smaller radius) than the corners of ETs. During a shuttle move, this may allow contact between control bars to occur prior to contact between ETs, thus allowing misalignment of tile assembles to be handled internally by control bars (TCBs and SCBs), rather than externally by external tiles. This helps to avoid a rotational force being applied to external tiles during a shuttle move, which reduces the likelihood of an external tile catching against another external tile during translation and therefore allows smoother translational movement of external tiles / tile assemblies. In some cases, it may be desirable to reduce the rounding of ETs to allow a set of tiles to display a more detailed image. In this case, the corners of control bars and the corners of ETs may have the same rounding profile. External tiles with slightly different rounding profiles could be used interchangeably on the same tile holder.

[0199] • Stop positions: When a shuttle reaches the end of its shuttle slideway (groove in internal slideway), it may be prevented from travelling any further in its current direction by an interior vertical surface of the shuttle enclosure. This position may be described as a 'stop position'. A shuttle can generally move either forward or backward along its shuttle slideway and thus has two stop positions. The spacing of SCBs along a shuttle ensures that when a shuttle reaches a stop position, the alignment stud of each tile assembly in the row / column controlled by the moving shuttle is positioned in the centre of a grid position. This may ensure that when a shuttle reaches a stop position, the ET of each tile assembly in the row / column controlled by the moving shuttle is also positioned in the centre of a grid position. If the corners of control bars are rounded, a shuttle can complete a shuttle move slightly before it reaches a stop position. A shuttle which has completed a shuttle move, but has not reached a stop position, will be slightly misaligned (correctable misalignment in Fig. 10). However, this misalignment may be corrected automatically once a transverse shuttle begins to move. Thus, if a shuttle move has been completed, a user does not necessarily have to move a shuttle all the way to a stop position before initiating the next shuttle move. This means that a user only needs to move a shuttle into a position of approximate, rather than precise, alignment to make the next shuttle move. This improves user experience by enabling smooth transition from one shuttle move to the next and by allowing a sequence of shuttle moves to be performed more rapidly.

[0200] • Rotation control: In a monohedral tiling in which all tiles have the same orientation, and each tile is correctly aligned in a grid position, a tile can be translated from one grid position to another without being rotated. Thus, if tile rotation can be prevented, then translating the centre of an ET to the centre of a grid position is sufficient to ensure that the ET is correctly aligned in its new grid position. Therefore, if an alignment stud and the centre of an ET are aligned in the same vertical axis, and tile rotation is prevented, then translation of an alignment stud to the centre of a grid position is sufficient to ensure correct alignment of an ET in its new grid position.

[0201] • Yaw rotation: Yaw rotation of an ET is undesirable because it could cause an ET to become incorrectly aligned relative to other ETs, which could cause catching, or jamming, of ETs during translation. To prevent this, yaw rotation of ETs may be limited by: limiting yaw rotation of the internal tile that forms part of the same tile assembly. This may be achieved by ensuring that each internal tile is always positioned between a pair of parallel TCBs. TCBs may not be permitted to rotate and thus a pair of parallel TCBs provides two parallel, non-rotating surfaces, between which an internal tile cannot rotate. An internal tile generally has two, or more, pairs of parallel sides. While one pair of parallel sides is positioned between a pair of TCBs, an internal tile's other pair of parallel sides may be positioned between two parallel vertical surfaces (wa lls / baff les) of internal tile slideways. This also limits yaw rotation of internal tiles. While a transverse shuttle is locked in position (described below), its associated control bars are also locked in position. An internal tile can slide between, but cannot rotate between, a pair of parallel TCBs associated with the locked transverse shuttle. A side face of a TCB of a locked transverse shuttle may effectively become a continuation of a wall of the internal tile slideway, and therefore also help to limit yaw rotation of internal tiles. Limiting yaw rotation of an internal tile limits yaw rotation of the external tile that forms part of the same tile assembly. This may reduce the degree of rounding / bevelling that ETs need to avoid catching against each another during translation. This is beneficial because it allows an arrangement of ETs to approximate an edge-to-edge monohedral tiling, thus increasing image detail where a set of tiles can be arranged to form an image.

[0202] • Pitch rotation: When a user interacts directly with an ET, he / she applies a horizontal push force to the ET but also applies a slight downward push force to it. The combination of these two forces, combined with the effect of friction between the internal tile and its slideway, could cause a tile assembly to tilt forward slightly during translation. Tilting of an object, forward or backward, is formally described as pitch rotation. Pitch rotation of a tile assembly is undesirable because it could cause an edge of the bottom face of an internal tile / a tile holder (means for attachment of an external tile) / an ET to catch against an edge of a slideway when crossing a groove (slot) in the slideway. To prevent this, pitch rotation of tile assemblies may be limited. Applying a horizontal push force to the top, middle and bottom of an object, simultaneously, can enable it to slide horizontally, without tilting forward. In this manner, pitch rotation of a tile assembly may be limited by enabling a horizontal push force to be applied to it at multiple contact points simultaneously, or near- simultaneously. These contact points may be: at the top (ET to ET); in the middle (TCB to an internal tile); at the bottom (SCB to an alignment stud). Should a tile assembly become tilted, forwards or backward, the provision of multiple contact points helps to nudge it back into a vertical position. If a tile assembly is tilted forwards, relative to the direction of translation, then the first point of contact may be between a SCB and an alignment stud. This helps to rotate the tile assembly backwards into a vertical position. If a tile assembly is tilted backwards, relative to the direction of translation, then the first point of contact may be between two ETs. This helps to rotate the tile assembly forwards into a vertical position. Once a tile assembly has been restored to a vertical position, a horizontal push force can be applied to it at multiple contact points, allowing smooth horizontal translation. When crossing a slot (groove) in the internal tile slideway, part of the bottom face of an internal tile is unsupported from beneath. This could allow the internal tile to tilt forward slightly. To prevent this, the upper horizontal surface of a SCB of a locked shuttle may act as a 'mobile bridge' to provide internal tiles and TCBs with support from beneath while crossing slots in the internal tile slideway. This helps to limit unwanted pitch rotation of internal tiles, which may enable an internal tile to slide smoothly across slots in the internal tile slideway, without an edge of its bottom face catching against an edge of the internal tile slideway. Limiting pitch rotation of an internal tile limits pitch rotation of the tile holder / ET of the same tile assembly and thus keeps the bottom face of the tile holder / ET approximately parallel with the horizontal surface of the external slideway. This enables the tile holder / ET to slide smoothly across slots in the external slideway without an edge of its bottom face catching against an edge of the external slideway. When an internal tile is translated, the SCBs of a moving shuttle move with it, and may support its leading / trailing edges during translation, helping to limit pitch rotation.

[0203] • Roll rotation: An internal tile may be 'sandwiched' between the upward-facing horizontal surface of the internal tile slideway (below it) and the downward-facing horizontal surface of the interior of the external slideway (or shuttle enclosure) (above it). This may limit pitch rotation of an internal tile. In the same manner, it may also limit roll rotation of an internal tile. During translation, the link bar (cylinder) of a tile assembly may be positioned between two vertical surfaces of the (groove in the) shuttle enclosure and the alignment stud of the same tile assembly may be positioned between two vertical surfaces of the groove in the internal slideway (shuttle slideway walls). Together, this limits roll rotation of a tile assembly during translation.

[0204] Figs. 6-13 have been described as having stud control bars. However, it will be noted that said stud control bars are not necessary (and, as described with respect to Fig. 5a, alignment studs are not necessary, but a tiling device may have neither, one or both of stud control bars and alignment studs). As will be appreciated from the above description, tile assemblies are able to translate in synchrony without stud control bars, and the locking and misalignment handling of shuttles function using the tile control bars alone. Magnets (e.g. in corresponding sides of internal or external tiles, or in some sides of said tiles and the slideway(s), or in shuttles and shuttle slideways) may be used instead or additional to the stud control bars for alignment purposes. Such magnets may be used for operation of the device in a vertical orientation, to prevent tile assemblies in lanes in a vertical direction from translation under gravity and, additionally or alternatively, a counterbalance connected to a shuttle associated with a lane in a vertical direction (e.g., by a cable via a wheel, roller or curved surface at the top of the device) may be used for the same purpose. However, inclusion of stud control bars has certain advantages, including aiding stability of tile control bars of mobile control devices by reducing lateral and twist movement (which could in extreme cases lead to a tile control bar becoming stuck). Limiting twisting (yaw rotation) of a stud control bar of a mobile control device limits twisting (yaw rotation) of the tile control bar of the same mobile control device, which in turn helps to limit yaw rotation of internal tiles by ensuring that the vertical surfaces of a pair of tile control bars either side of an internal tile remain parallel. Stud control bars improve the stability and reliability of mobile control devices by preventing tile control bars of said devices from tilting, twisting, lifting, sliding sideways or becoming caught in slots in external tile slideway. Stud control bars therefore enable a more controlled, robust and reliable system.

[0205] In some case, the external tile slideway is not necessary. The external tile slideway acts to enclose internal components, but such enclosure is not necessary in some cases. For example, it may not be possible to tip the tiling device, and so it would not be possible for tile assemblies, shuttles, and control devices to fall out. Alternatively, the internal tiles, tile control bars, shuttles, and internal slideways may be held within the tiling device by complementary tongue and groove arrangements along their side faces. In this case, instead of shuttles and neighboring walls of the internal slideway having a tongue and groove arrangement, the shuttle may be trapezoidal in cross section and sit in an internal slideway that has a corresponding trapezoidal cross section to prevent vertical movement (i.e., towards the internal tiles) of the shuttle.

[0206] The grooves in the internal slideways may have a bottom upon which the bottom face of the shuttle (specifically the boom thereof) contacts and translates. Alternatively, the shuttle may be suspended above the bottom of the groove by the end tile control bars (and, by the tile control bars for cases in which the upper shuttle has fixed control devices) contacting and traversing along the face of the internal slideway.

[0207] Typically, translation of tile assemblies (and associated shuttles) is initiated by interaction with tile assemblies themselves - usually by a user interacting with an external tile. However, the tile device may be provided with actuation means (e.g., a linear actuator, rack and pinion with motor, or handle) to operate on and translate each shuttle independently, the actuation means controlled by a user. Each shuttle of the tiling device may be provided with a handle or slider, which extends out of the wall forming the internal slideway for a user to manually translate the respective shuttle.

[0208] The lanes 115 in the first direction and lanes 120 in the second direction need not form a flat plane. They may form a curved surface. For example, if the lanes 115 in the first direction are curved (with radius perpendicular to their length), then the lanes 115 in the first direction and lanes 120 in the second direction form a cylinder (or part thereof). As will be understood, in such a case the slideways and shuttles associated with the lanes 115 will be correspondingly curved, and the internal tiles, control bars, and external tiles may be likewise curved.

[0209] Perpendicular and equally spaced lanes in two directions are not necessary. Fig. 14 shows a tiling area 1400 in which the lanes 115 in the first direction and the lanes 120 in the second direction have different spacings, while the lanes 115 in the first direction and the lanes 120 in the second direction are perpendicular. This results in a rectangular tiling arrangement, in which internal and external tiles are typically rectangle shaped. Fig. 15 shows a tiling area 1500 in which the lanes 115 in the first direction and the lanes 120 in the second direction have similar spacings, but the lanes 115 in the first direction and the lanes 120 in the second direction are not perpendicular. This results in a parallelogram tiling arrangement, in which internal and external tiles are typically parallelogram shaped.

[0210] It will be noted that lanes do not have to be arranged in parallel sets. A set of curved lanes in a first direction may intersect a set of non-parallel lanes in a second direction. In this case, tile assemblies would move apart as they move from inner to outer curved lanes.

[0211] Fig. 16 shows a tiling area 1600 in which external tiles are triangular. In this case there exist lanes in each of three different directions: lanes 115 in a first direction, lanes 120 in a second direction, and lanes 121 in a third direction. The additional lanes 121 are achieved using a third set of shuttles, similar to the lower shuttles 770 described above. Dependent upon the direction of a lane within which a tile assembly is translated, different pairs of tile assemblies move as if they were a single parallelogram tile assembly (and all tile assemblies in lane translate in synchrony). Figs. 16b to 16d illustrate this property.

[0212] It will be understood that the above examples have generally been described as edge-to- edge monohedral tiling, in which external tiles are all similar in shape and size, typically such that their edges are substantially parallel and evenly spaced (typically with a small gap therebetween to facilitate relative movement). This need not be the case. The tile positions 105 define a maximal area for each external area, and any shape or size of external tile that fits into said area is permissible, as are external tiles of varying shape, size, and location / orientation within the tile position. Such external tiles translate as if they were tiles of maximal area by the tile assemblies and shuttle system. Fig. 17 shows a tiling area 1700 and demonstrates tile positions 105 (the box representing a maximal area for an external tile), and external tiles 1750 of non-identical shape and size. Some external tiles in Fig. 17 are not coaxial with their associated tile assembly. It will be understood that if the size and shape of an external tile 1750 allow it to rotate within the boundary of a tile position 105, and a means for attachment allows such rotation, or the shape of an internal tile (e.g., circular in plan view) allows yaw rotation of internal tile between vertical surfaces of internal components (e.g., TCBs, internal slideway walls, baffles), then an external tile may be able to rotate within its tile position.

[0213] Due to the means for attachment 530 of external tiles, sets of external tiles may be swapped between a single tiling device. Different sets of external tiles may be used interchangeably with the same tiling device and a single set of external tiles may be used with multiple tiling devices. Due to the means for attachment 530, an external tile may be detached from a tiling device and then be reattached to the tiling device in a different position and / or orientation, thus increasing the number of ways of arranging a set of external tiles (i.e., increasing the number of combinatorial possibilities). The ability to detach and reattach external tiles also provides a user with an alternative method of restoring a set of external tiles to a previous or initial arrangement. This property is advantageous where external tiles together form an image. If, for example, a user were to experience difficulty in identifying a correct sequence of shuttle moves required to restore an image to an original or solved state, external tiles can simply be detached and then reattached in their respective correct tile positions, thereby allowing the user to reset the image at any time.

[0214] Method of Assembly

[0215] By way of example, one preferred method 1800 of manufacture or assembly of a tiling device will now be described with reference to Fig. 18. In general, a method of manufacture may be considered to be a method of assembly or vice versa. The method 1800 begins at operation 1805 by providing an external slideway having grooves defining a plurality of lanes, at least one lane in a first direction and at least one lane in a second direction different to the first direction. The method includes operation 1810 of providing a plurality of tile assemblies, each tile assembly having an internal tile and means for attachment of an external tile, the internal tile and the means for attachment of an external tile connected by a link bar. The method includes operation 1815 of positioning the plurality of tile assemblies within the plurality of lanes, by passing the link bar through the grooves in the external slideway such that the internal tiles contact an underside of the external slideway. The tiling device may be constructed "upside down" (from the perspective of Fig. 9a, and from the perspective of an eventual user who interacts with the external tiles) so that internal components are enclosed by the external slideway and do not drop out of position or fall out of the device during manufacture. In other words, the external slideway comprises an internal surface and an external surface opposite to the internal surface and the positioning of tile assemblies to be within the plurality of lanes is performed while the internal surface is above the external surface, i.e. with the external slideway being inverted. Subsequently, the method may further involve manufacturing a tiling device as described above, for example by one or more of: providing and positioning mobile control devices between internal tiles, providing and positioning upper shuttles interspersed with the internal tiles, providing and positioning lower shuttles in a different orientation to and interspersed with the upper shuttles (and associated with mobile control devices), providing and positioning a base to enclose internal components, said base providing internal slideways (those having grooves forming shuttle slideways).

[0216] Storage device

[0217] The tiling devices described above may also be used as the basis for a storage device 1900 as depicted in Fig. 19. Storage device 1900 (Fig. 19a) is similar to the tiling devices described above, except that the tile assembly is replaced by a storage unit 1910 (Fig. 19b).

[0218] Storage unit 1910 may have a link bar 535, internal tile 540, and alignment stud 645 as previously described for the tile assembly. Storage unit 1910 has a storage area 1950 in place of the external tile 550 of the tile assembly, said storage area may be permanently or releasably connected to the link bar 535. The storage area 1950 may be box-shaped / tray- shaped (as shown in Fig. 19b) or may be configured to accept boxes, pallets, skids, crates, barrels, storage bins or other items for storage. Storage positions are similar to tile positions.

[0219] Such a storage device saves space relative to shelving units or drawers with gangways (for human or machine access) therebetween, and provide efficient storage in locations in which only an end of lane storage (tile) location is accessible, but where there is space for the remainder of the device underneath another body, such as a floor / ceiling. The storage device may include a user interface for selection of a storage unit of the plurality of storage units to access, and logic to identify and select a shuttle move sequence which will move the selected storage unit to a target storage position (such as an access point or a collection point). In other words, logic to identify and select a sequence of translations to retrieve the selected storage unit. Data relating to the contents of each storage unit may be saved to computer memory (e.g., to a database or to an inventory management system). Thus, where an inventory item, rather than a storage unit, is selected for retrieval (via a user interface), a computer program with access to inventory data may identify which storage unit contains the selected item and then automatically select a sequence of shuttle moves which will retrieve the identified storage unit. In other words, a user may select an item for retrieval, and have it delivered to a collection point, without knowing (or needing to find out) which storage unit the selected item is contained in. Thus, a storage device may be used as an automated object retrieval system. Actuation means may translate the storage units in the first lane and actuation means may translate the storage units in the second lane. In other words, the device may include actuation means to translate the storage units along the first direction and / or to translate the storage units along the second direction. The actuation means may, for example, be linear actuators or rack and pinion systems with associated motors, or may be pneumatic or hydraulic rams, or may be hand-turned screws. The storage device typically includes a plurality of actuation means, each of which act on a respective shuttle. If storage units of the storage device are to bear heavy loads, then internal tiles and / or shuttles and / or control bars may be provided with wheels or rollers or bearings to reduce friction and promote smooth and efficient operation. Such storage devices may be stacked one upon another (with gaps therebetween for items to be stored).

[0220] A storage device may be configured to allow storage units to be removed from and / or added to the storage device (e.g., from / to a storage position, or end of lane storage position, by vertical and / or horizontal translation). It will be understood that removal of a storage unit from a storage device may result in a mobile control device failing to translate in synchrony with its associated (lower) shuttle and / or storage units failing to translate in synchrony with an underlying (lower) shuttle. This may lead to storage units becoming misaligned (i.e., not correctly aligned in a storage position), which could impair or prevent execution of some shuttle moves. This problem, however, may be averted by substituting another storage unit, or a spacing device, for a removed storage unit. A spacing device may be a tile assembly 510a, 510b, 610. Thus, a storage device may comprise both storage units and tile assemblies. In some embodiments each of the one or more storage units in a storage device may considered to be a respective tile assembly.

[0221] In other regards the storage device is similar to the tiling device, the storage unit similar to a tile assembly, described above and may include similar features for similar reasons. In other words, any of the disclosed features of the tiling device may be applied to the storage device respectively, with due alternation of details.

[0222] In storage systems generally, there is often a trade-off between speed of access and spaceefficiency. The storage device is intended for use where space-efficiency is highly important (e.g., in, or close to, urban areas), where storage space (or access to storage space) is limited and / or where it is necessary to store objects that may not need to be accessed instantly yet must still be accessible on request. In environments where speed of access is more important for some storage items than for others, a storage device may operate alongside (i.e. complement and / or cooperate with) other types of storage.

[0223] To aid integration with other systems, a storage device may optionally be configured to allow storage units / tile assemblies to be transferred to / from other equipment or devices, including (but not limited to) another storage device, industrial robots (e.g., storage and retrieval robot, autonomous mobile robot etc), material handling equipment (e.g., conveyor, industrial truck, forklift truck, pallet jack, lifter, stacker, cart, trolley etc), vehicles (e.g., automated guided vehicle etc) or conveyance means (e.g., ramp, slideway, lift, elevator etc). In other words, a storage device may cooperate with and / or be integrated with various other systems and equipment.

[0224] To utilise standard forklift and other material handling equipment, pallets and / or adapter plates (for pallets etc) may be configured to receive storage units (e.g., by providing the upper horizontal surface of pallets / adapter plates with recesses and / or slideways and / or elongate grooves to receive the alignment stud and / or internal tile and / or storage area of a storage unit). In other words, a pallet (or other transportable structure, platform, base etc) may be configured or adapted to hold a storage unit in a stable upright position.

[0225] Storage area 1950b (Fig. 19c) is similar to storage area 1950a (Fig. 19b), except that it is taller and is provided with shelving to increase storage capacity and to facilitate improved access to items.

[0226] In addition to, or instead of, being provided at the bottom of storage unit 1910 (as shown in Fig. 19b and Fig. 19c), a link bar 535, internal tile 540 and alignment stud 645 may be provided at the top of storage unit 1910 (as depicted in Fig. 19d) and may form part of a storage device positioned above storage units 1910. A storage device positioned above storage units may be inverted relative to storage device 1900 as depicted in Fig. 19a.

[0227] Where storage units are configured to cooperate with both a first storage device positioned below storage units and a second storage device positioned above storage units, corresponding shuttles in each storage device may be connected by a joining plate to enable them to translate in synchrony.

[0228] Fig. 19e shows an alternative arrangement in which an alignment stud 645 protrudes from the top horizontal surface of storage unit 1910 to translate in grooves 2015,2020 in guide plate 2000 (Fig. 20) which may be positioned above storage units 1910. Guide plate 2000 may limit pitch / roll rotation of storage units during translation. In other words, the storage device may further comprise a guide plate spaced above the first tiling area, parallel to the first tiling area the guide plate comprising a further first lane, aligned with the first lane in the first direction, and a further second lane, aligned with the second lane in the second direction, the plurality of storage units positioned between the first tiling area and the guide plate, an alignment rod within the further lanes, to align the plurality of storage units. The guide plate tends to improve alignment and / or translation of the storage units. The guide plate may be a further storage area having the same components and functions as the storage area 1950. The further storage area may be inverted relative to the storage area 1950. It will be appreciated that this arrangement may also be inverted, such that a storage device is positioned above storage units and an alignment stud protruding from the bottom horizontal surface of a storage unit translates in grooves in a guide plate positioned below storage units.

[0229] Method of selecting a shuttle move sequence

[0230] It may sometimes be necessary to identify and / or select a shuttle move sequence that will move a selected tile assembly to a target tile position (or a selected storage unit to a target storage position).

[0231] A system of notation is used to identify each translation in synchrony within a sequence of translations in synchrony (in other words, to identify individual shuttle moves within a shuttle move sequence). Where lanes in the first and second directions are referred to as columns and rows, each row or column number is prefixed by letter R or C (referring to row and column, respectively) and suffixed with letter L,R,U, or D. Looking at a tiling area in plan view from above, L means a shuttle move towards the left, R means a shuttle move towards the right, U means a shuttle move upwards, and D means a shuttle move downwards. A shuttle move which slides the shuttle associated with column 1 downwards, for example, is referred to as shuttle move CID.

[0232] A tile assembly in a tile position is always able to move to at least one adjacent tile position and this may be achieved by executing a single shuttle move. A tile assembly is also able to move, indirectly, to a diagonally adjacent tile position by executing a sequence of two shuttle moves (e.g., a shuttle move in a first direction, which moves a tile assembly to an adjacent tile position, followed by a shuttle move in a second direction). Figs. 4a-4c, for example, show the progressive movement of a tile assembly from initial tile position RO, Cl (Fig. 4a) to diagonally adjacent tile position Rl, C2 by first executing shuttle move CID, which moves the tile assembly to adjacent tile position Rl, Cl (Fig. 4b), and then executing shuttle move R1R, which moves the tile assembly to tile position Rl, C2 (Fig. 4c).

[0233] The ability of a tile assembly to move to a diagonally adjacent tile position is significant because, having moved to a diagonally adjacent tile position, a tile assembly may then move to another diagonally adjacent tile position and this process may be repeated. A selected tile assembly may, for example, move diagonally across the active area by following a 'zigzag' path in one diagonal direction and then following a zigzag path in a different diagonal direction. By following a series of zigzag diagonal paths, any tile assembly may potentially be moved to any target tile position.

[0234] Fig. 21a to Fig. 21d exemplifies a shuttle move sequence which begins with a single preparatory shuttle move. If a shuttle move cannot be executed due to a shuttle being in the 'wrong' position (e.g., if a shuttle has reached a stop position and is therefore unable to move further in the required direction), then a preparatory shuttle move may be required. As can be seen in Figs. 21a-21d, to allow tile assembly D to move from its initial tile position R2, CO to target tile position R3, Cl, preparatory shuttle move C1U is required (Fig. 21b). It will be noted that preparatory shuttle move C1U must be made before shuttle move R2R (Fig. 21c). If shuttle move C1U were to be made after shuttle move R2R, then the effect of shuttle move C1U would be to move tile assembly D away from its target tile position R3, Cl and thus shuttle move CID, when executed, would move tile assembly D to tile position R2, Cl and not to its target tile position R3 ,C1.

[0235] Fig. 21d to Fig. 21h exemplifies a shuttle move sequence which begins with a sequence of preparatory shuttle moves. As can be seen in Fig. 21d, tile assembly C is unable to move directly from initial tile position Rl, C2 to target position R2, C2 because the shuttle associated with column 2 is in the 'wrong' position to execute shuttle move C2D. Thus, preparatory shuttle move C2U is required. However, tile assembly C is initially located in column 2 and, to avoid being moved away from its target tile position, tile assembly C must move into an adjacent column to allow preparatory shuttle move C2U to be executed. Fig. 21e shows first preparatory shuttle move R1R, which moves tile assembly C out of column 2 (to adjacent tile position Rl ,C3). Fig. 21f shows second preparatory shuttle move C2U. Fig. 21g shows third preparatory shuttle move R1L, which moves tile assembly C back into column 2 (to its initial tile position Rl, C2). Fig. 21h shows shuttle move C2D (made possible by earlier preparatory shuttle move C2U), which moves tile assembly C to its target tile position R2, C2. This process (or similar processes) may be repeated, thus allowing a selected tile assembly to move progressively along a chosen lane until it reaches an end of lane tile position.

[0236] Fig. 21i to Fig. 21o exemplifies a shuttle move sequence which cycles the tile positions of a subgroup of tile assemblies. In geometry and recreational mathematics, a L-triomino (also known as a right triomino) is a type of 3-polyomino (a collection of three squares of equal size arranged with coincident edges). Where the external tiles of tile assemblies together form an edge-to-edge square tiling (square here means generally square in plan view), L- trionimoes may be identified within the tiling. For example, in Fig. 21i, tile assemblies A, B and C (in initial tile positions RO, Cl, Rl, CO and Rl, Cl, respectively) form a L-triomino. Other L-triominoes may also be identified in Fig. 21i.

[0237] L-triominoes are relevant to the rearrangement of tile assemblies in a tiling device because a sequence of shuttle moves by just two shuttles (a shuttle in the first direction and a shuttle in the second direction) allows a subgroup of tile assemblies, which together form a L- triomino, to be cycled. Importantly, the three tile assemblies of a L-triomino may be cycled, or partially cycled, while returning other tile assemblies in the active area to their initial tile positions. In other words, sequences of shuttle moves exist which will result in positional rearrangement only of the three tile assemblies which form a specific L-triomino.

[0238] Thus, where the external tiles of a set of tile assemblies together form an image, and tile assemblies have been rearranged (thereby scrambling, or partially scrambling, the image), identifying and partially cycling a L-triomino of tile assemblies is a technique that may be used to solve part of the image, without disturbing (i.e. without rearranging) other regions of the image which may already have been, or may not need to be, solved.

[0239] As can be seen in Fig. 21m, upon completion of shuttle move sequence CID (Fig. 21j), R1R (Fig. 21k), C1U (Fig. 211), R1L (Fig. 21m), tile assemblies A, B and C again form a L-triomino having the same shape and orientation as L-triomino identified in Fig. 21i but in which the tile positions of tile assemblies A, B and C have changed (i.e., have been rotated in a clockwise direction). Fig. 21m also shows that the other tile assemblies in the active area have been returned to their initial tile positions in Fig. 21i.

[0240] Executing the same sequence of shuttle moves (CID, R1R, C1U, R1L) a second time will again rotate the tile positions of tile assemblies A, B and C in a clockwise direction and again return other tile assemblies to their initial tile positions (Fig. 21n). Executing this sequence a third time (Fig. 21o) restores tile assemblies A, B and C to their respective initial tile positions in Fig. 21i, thus completing a full cycle of L-triomino formed by tile assemblies A, B and C. As before, this shuttle move sequence returns other tile assemblies in the active area to their initial tile positions in Fig. 21i. For this reason, Fig. 21i and Fig. 21o are equivalent. It will be appreciated that the subgroup of tile assemblies forming a L-triomino in this example may instead be rotated in an anticlockwise direction simply by reversing the sequence, and the direction of each shuttle move in the sequence (i.e., by executing sequence R1R, CID, R1L, C1U). Similar sequences may be reversed in a similar manner.

[0241] As shown in Figs. 4f, 4g, shuttle moves in lanes in the same direction may be executed simultaneously. It will be recognised that simultaneous shuttle moves may be either shuttle moves in the same direction (e.g., shuttle moves R1L and R2L, as in Fig. 4g) or shuttle moves in opposite directions (e.g., shuttle moves R1R and R2L). The ability to execute two or more shuttle moves at the same time may provide an opportunity to accelerate completion of some shuttle move sequences. For example, if a shuttle move sequence includes a preparatory shuttle move that is not required until later in the sequence, then an opportunity may exist to execute the preparatory shuttle move early by executing it at the same time as an earlier shuttle move (if the shuttle moves are in lanes in the same direction). A method of identifying and selecting a shuttle move sequence may therefore include the step of searching a shuttle move sequence (i.e., 'looking ahead' at later shuttle moves in the sequence) to determine, before executing a shuttle move, whether any preparatory shuttle moves can be executed at the same time.

[0242] Various basic sequences of shuttle moves have been described and these basic sequences may be combined, in many possible ways, to form composite sequences of greater length and complexity. In other words, many sequences of sequences are possible. For brevity, not all possible sequences are described.

[0243] A shuttle move sequence which, when executed, will move a selected tile assembly to a target tile position (or a selected storage unit to a target storage position) is described as a valid sequence. It will be appreciated that multiple valid sequences can exist (i.e. there may be a choice of different routes to the target tile position) and that some valid sequences may comprise fewer shuttle moves than others and thus may be quicker / more efficient to execute. To compare the length / efficiency of different sequences, different sequences must first be identified. Possible sequences of shuttle moves in a tiling device can be identified using a tree structure (or, more simply, a 'tree').

[0244] In graph theory, a tree is a type of graph (formally, a connected acyclic undirected graph) in which there is a path between any two vertices and there no closed loops (cycles). The vertices of a tree are also referred to as nodes. Nodes are connected by edges and each node is a branching point. For manipulation by a computing device, a graph (such as a tree) may be represented using an incidence matrix, an adjacency matrix or a data structure such as an adjacency list.

[0245] In computer science, a tree is a hierarchical data structure consisting of nodes connected by edges. A tree data structure typically has a single root node and can be used to store information which naturally forms a hierarchy. The number of branches from a typical node in a tree is referred to as the tree's branching factor B. The depth of a node is the number of edges present in the path from the root node to that node (i.e., the length of the unique path from the root to that node). At tree depth d, a tree with a single root node, branches of equal length and no missing branches has Bdnodes.

[0246] Fig. 22 exemplifies a tree 2200 of possible shuttle move sequences. Each node 2210, including root node 2205, is a branching point at which there is a choice of different shuttle moves. Each edge 2215 connecting two nodes corresponds to an individual shuttle move. Typically, at each node, each shuttle will be in one of its possible shuttle positions and each tile assembly will be in a tile position. This information can be saved to computer memory and be used to identify nodes at which the selected tile assembly will be in its target tile position. This information can then be used to identify valid sequences, to determine the length of each valid sequence (i.e. the number of shuttle moves required) and, by comparing the length of different valid sequences, to identify the shortest valid sequence.

[0247] A tree that is used to identify possible sequences of shuttle moves in a tiling device identifies Bdunique shuttle move sequences, where branching factor B is the number of shuttle moves to choose between at each branching point and tree depth d is the number of shuttle moves in the sequence. In tree 2200, branching factor B is equal to 4 and tree depth d is equal to 3. Thus, tree 2200 identifies 43(i.e., 64) unique shuttle move sequences (nodes at tree depth d=3).

[0248] After each shuttle move, the quantity of possible unique sequences increases by branching factor B. The number of unique shuttle move sequences therefore increases rapidly with sequence length, leading to combinatorial explosion. For example, where each shuttle move presents a choice between four different shuttle moves, ten consecutive shuttle moves generates 410(i.e., 1,048,576) unique sequences (nodes at tree depth d=10) and increasing the sequence length to fifteen shuttle moves generates 415(i.e., 1,073,741,824) unique sequences. The quantity of unique sequences will increase further if the quantity of shuttles is increased or if any shuttle has more than two possible positions. Where the quantity of unique sequences is very large, the computational cost of calculating, and saving to computer memory, the positional information of each tile assembly (and each shuttle) after each shuttle move, for each unique sequence, may be significant.

[0249] Methods of searching a body of data structured as a tree are described as tree searches. Time and space complexity of tree searches increase with tree depth. Thus, as tree depth increases, the algorithm runtime required to identify and compare all possible sequences also increases. As tree depth increases, it may become increasingly impractical, or take too long, to identify and compare all possible shuttle move sequences and the gain from doing so may become marginal. Thus, where computing resources or the available time for analysis are limited, efficient methods of selecting a reasonably efficient valid sequence of shuttle moves, in an acceptable time frame, are needed.

[0250] In some cases, an effective strategy may be to perform a partial tree search. A partial tree search disregards (or 'prunes') branches that are unlikely to contain the most efficient (e.g., shortest) valid sequence, allowing computation resources to instead be used to evaluate the remaining, more promising, branches. To choose which branch or branches of a tree to prune and which to search, a heuristic function (or, more simply, a heuristic) may be used.

[0251] In mathematical optimisation and computer science, a heuristic is a technique which may be used to find a reasonably good solution (but not necessarily the optimal solution) to a particular problem (e.g., a combinatorial optimisation problem), when other methods take too long. A heuristic which prunes certain branches of a search tree (a pruning heuristic) may be used where there is a 'trade-off' between completeness of analysis and speed of analysis. In other words, a heuristic may be used to identify a solution that is 'good enough', given the amount of time and / or computational resources available.

[0252] A pruning heuristic may, for example, disregard branches of a tree which are predicted not to contain the shortest valid sequence because they contain an inefficient partial sequence. An example of an inefficient partial sequence is a sequence which begins by moving the selected tile assembly directly away from its target tile position. Another example of an inefficient partial sequence is a two-move sequence in which the effect of one shuttle move is immediately reversed by the next shuttle move (e.g., a sequence which moves a shuttle in one direction and then immediately moves the same shuttle back in the opposite direction to its previous position (e.g., R2L followed by R2R, or C1U followed by CID)). Another example of an inefficient partial sequence is a sequence which moves the selected tile assembly through a subgroup of tile positions (none of which is the target tile position) and then returns the selected tile assembly to its original tile position, thus completing a circuit. For brevity, not all inefficient partial sequences are described.

[0253] Fig. 23 exemplifies a tree 2300 of shuttle move sequences which has been pruned heuristically. Tree 2300 is similar to tree 2200 except certain branches have been pruned. Each node 2310, including root node 2305, is a branching point at which there is a choice of different shuttle moves. Each edge 2315 connecting two nodes corresponds to an individual shuttle move. Certain nodes and branches have been removed (pruned) from tree 2300, thus removing subtrees which would otherwise have grown from the removed nodes. In Fig. 23, tree pruning has reduced the number of unique shuttle move sequences (nodes at tree depth d=3) from 64 to 27.

[0254] Where two, or more, selected tile assemblies are each required to visit (i.e. to move to but then be permitted to leave) a target tile position in the fewest overall number of shuttle moves, an optimal solution may be one in which no individual selected tile assembly moves to its target tile position using its own shortest valid sequence. In this case, an algorithm (e.g. a scheduling, queuing or sorting algorithm), optionally including a heuristic, may be used to identify an optimal, or near-optimal, sequence of shuttle moves which completes all objectives in the fewest overall number of shuttle moves. Where objectives have varying levels of urgency, each objective can be assigned a 'weighting value', allowing some objectives to be prioritised over others.

[0255] A function or algorithm which selects a shuttle move sequence may include one or more parameters, the values of which may be set, or updated, before other instructions are executed. Relevant parameters may include (but are not limited to): a minimum and a maximum quantity of sequences to analyse; a minimum and a maximum sequence length; and a minimum and a maximum calculation time (i.e., time permitted for sequence selection). In some cases, parameter values may be predefined and not need to be set or updated.

[0256] It will be noted that a selected shuttle move sequence may optionally be saved to computer memory so that, if the same positional combination (e.g., the same combination of initial tile position of a selected tile assembly, specific target tile position and specific set of shuttle positions) is encountered again, then the previously selected sequence may be executed without a tree search having to be performed. To avoid repeatedly performing identical tree searches, it may be convenient to store in computer memory selected shuttle move sequences for frequently encountered positional combinations.

[0257] To select and execute a valid sequence, it is necessary to know where the selected tile assembly (or storage unit) is. Where this information cannot easily be obtained by visual inspection, or must be obtained without user involvement, each mobile asset (e.g., a tile assembly or a storage unit) may be provided with asset identification means (e.g., a barcode, quick-response (QR) code, radio frequency identification (RFID) tag, near-field communication (NFC) tag etc) and one or more tile positions (storage positions) may be provided with an associated scanner or reader (e.g., an optical barcode scanner, QR code scanner, RFID reader, NFC reader etc) which can communicate information to a computer program. If only certain tile positions (storage positions) are provided with a scanner or reader, then a short sequence of shuttle moves may be executed which will bring each mobile asset to a location where it can be identified. Alternatively, or additionally, handheld scanners or readers may be provided. It will be recognised that tile positions / storage positions may instead be provided with asset identification means and tile assemblies / storage units may instead be provided with scanners or readers.

[0258] The location of mobile assets may therefore be identified, even if recent location data and / or information relating to a previous sequence of shuttle moves has not been stored to, or cannot be retrieved from, computer memory. This situation may arise, for example, due to a computer program closing unexpectedly, due to loss of connection to a data network or due to removal of electrical power to a computing device (e.g., if a computer is switched off or a power outage is experienced). The ability to identify the location of mobile assets, without user involvement, also allows a computer program to include an error detection and correction function (in other words, allows inaccurate location data to be corrected).

[0259] By way of example, one preferred method 2400 of selecting a sequence of translations in synchrony based on a tree pruning heuristic will now be described with reference to Fig. 24. The method 2400 begins at operation 2405 by setting parameter values. The method includes operation 2410 of selecting a tile assembly to be moved. The method includes operation 2415 of selecting a target tile position. The method includes operation 2420 of identifying inefficient partial sequences. The method includes operation 2425 of disregarding sequences containing an inefficient partial sequence. The method includes operation 2430 of identifying a set of valid sequences. The method includes operation 2435 of counting, for each identified valid sequence, the number of shuttle moves required (including any necessary preparatory shuttle moves). The method includes operation 2440 of ranking identified valid sequences in ascending order (i.e., from the lowest to the highest) by the number of shuttle moves required. The method includes operation 2445 of identifying a subset of relatively efficient valid sequences. The method includes operation 2450 of selecting the shortest valid sequence.

[0260] Alternative method of selecting a shuttle move sequence

[0261] It is possible for a shuttle move sequence to be several orders of magnitude longer than the optimal valid sequence and yet still not move a selected tile assembly to its target tile position. As each shuttle move can always be followed by a choice of further shuttle moves, there are innumerable unique sequences which may be extremely long, yet still do not move the tile assembly to its target tile position. A shuttle move sequence which moves the selected tile assembly to various tile positions, none of which is the target tile position, and then back to its original tile position is an example.

[0262] It may not always be worthwhile attempting to identify and compare a large quantity of long shuttle move sequences, especially if the time and / or computational resources available do not permit deep-level tree analysis. Thus, alternative methods of identifying and selecting a valid sequence of shuttle moves, which do not require deep-level tree analysis, are required.

[0263] Given the objective of moving a selected tile assembly to a target tile position, a human user of a tiling device is unlikely to attempt, before moving a single shuttle, to identify and analyse a tree of all possible shuttle move sequences. Instead, a human user may look for a relatively short sequence of shuttle moves that will move the selected tile assembly a short distance in 'roughly the right direction' (i.e., approximately towards the target tile position) and then simply repeat this process as many times as necessary, until the objective has been achieved. This strategy does not require deep calculations and can often be very effective.

[0264] Similarly, a machine that can run a program and process inputs to calculate results (in other words a computing device) can execute a relatively simple instruction loop to identify and select a series of short shuttle move sequences which will move the selected tile assembly progressively closer to a target tile position until the target tile position is reached. A method of selecting a shuttle move sequence based on an 'iterative pathfinding' function or algorithm will not necessarily find the optimal (e.g., shortest) valid sequence but may identify a reasonably efficient valid sequence comparatively quickly, thus saving computation time and space.

[0265] An iterative pathfinding algorithm may be regarded as a method of identifying a series of partial solutions, which together identify a valid sequence. This approach may allow an initial partial solution (i.e., a short shuttle move sequence) to be executed while, simultaneously, the other partial solutions (which will form the rest of a valid sequence) are being identified and selected. Thus, time may be saved by not having to wait for a full valid sequence to be identified before shuttles can begin moving the selected tile assembly towards its target tile position.

[0266] To determine whether a candidate short shuttle move sequence will move a selected tile assembly closer to a target tile position, a pathfinding algorithm may include a step which identifies whether each candidate short sequence satisfies a set of direction rules. The direction rules may, for example, require a candidate short sequence to move the selected tile assembly closer to the row in which the target tile position is located and / or closer to the column in which the target tile position is located. A method of selecting a shuttle move sequence may include a further step of disregarding candidate sequences which do not satisfy the direction rules. In some scenarios, the selected tile assembly may already be in the same row or column as the target tile position but need to move into an adjacent lane. This may be necessary, for example, to allow the selected tile assembly to move towards its target tile position by moving to a diagonally adjacent tile position or may be necessary to allow a preparatory shuttle move to be executed. Therefore, the direction rules may include a set of rule exceptions that allow certain short shuttle move sequences which would otherwise be disregarded.

[0267] It will be appreciated that an iterative pathfinding function may also use a tree (albeit a tree of limited depth) to identify possible shuttle move sequences and may also use a pruning heuristic to identify the most promising branches to search. In other words, a method of selecting a shuttle move sequence based on an iterative pathfinding function may also use a method of selecting a shuttle move sequence based on a tree pruning heuristic.

[0268] By way of example, one preferred method 2500 of selecting a sequence of translations in synchrony based on an iterative pathfinding function will now be described with reference to Fig. 25. The method 2500 begins at operation 2505 by setting parameter values. The method includes operation 2510 of selecting a tile assembly to be moved. The method includes operation 2515 of selecting a target tile position. The method includes operation 2520 of identifying candidate sequences. The method includes operation 2525 of identifying a subset of candidate sequences which satisfy a set of direction rules. The method includes operation 2530 of selecting a sequence. The method includes operation 2535 of executing the selected sequence and recording the new tile position of the selected tile assembly. The method includes operation 2540 of outputting a yes / no answer. The method includes operation 2545 of repeating method from operation 2520. The method includes operation 2550 of stopping.

Claims

CLAIMS1. A tiling device comprising a tiling area comprising an active area in which a plurality of tile assemblies are translatable across the active area, the active area having a first lane in a first direction and a second lane in a second direction different to the first direction, each intersection of a lane in the first direction and a lane in the second direction defining a tile position, each lane further comprising a tile position at each end of said lane, the tile assemblies configured to move between tile positions along the lanes; wherein each of the first lane in the first direction and the second lane in the second direction in the active area contains at least one tile position unoccupied by a tile assembly; wherein, when a first tile assembly located at an intersection of the first lane in the first direction and the second lane in the second direction is translated in the first direction, all tile assemblies in the first lane translate in synchrony with the first tile assembly.

2. The tiling device of claim 1, wherein each tile assembly comprises an internal tile to communicate movement between neighboring tile assemblies.

3. The tiling device of claim 2, further comprising at least one internal slideway, wherein the internal tiles translate on the internal slideway(s).

4. The tiling device of claim 3, wherein each tile assembly further comprises an alignment stud and the internal slideway further comprises a groove, wherein: the alignment stud protrudes from an opposite side of the internal tile to the link bar, the alignment stud penetrates the groove, and the alignment stud is configured to limit rotation of internal tiles during translation.

5. The tiling device of any one of claims 2 to 4, wherein each tile assembly comprises means for attachment of an external tile, the internal tile and the means for attachment of an external tile connected by a link bar.

6. The tiling device of claim 5, further comprising an external slideway for translation of the means for attachment of external tiles thereon, the external slideway having tracks for the link bar to penetrate.

7. The tiling device of claim 6, wherein a lower surface of the external slideways limits movement of the internal tiles.

8. The tiling device of any preceding claim, wherein the tiling area further comprises a static area comprising means for attachment of external tiles, and the means for attachment of external tiles are not translatable into the active area.

9. The tiling device of any preceding claim, wherein each lane is associated with a shuttle which translates all tiles assemblies in a lane in synchrony.

10. The tiling device of claim 9, wherein the shuttle allows tile assemblies in a lane to leave said lane of the first or second direction and translate into a neighboring lane of the same direction.

11. The tiling device of claim 9 or claim 10, wherein the or each lane in the first direction is associated with a corresponding upper shuttle and the or each lane in the second direction is associated with a corresponding lower shuttle, wherein the upper and lower shuttles are translatable relative to one another.

12. The tiling device of any one of claims 9 to 11, further comprising a plurality of control devices, each comprising a tile control bar affixed to or unitary with a stud control bar, the plurality of control devices configured to communicate translation between tile assemblies and the shuttles.

13. The tiling device of claim 12, wherein each shuttle further comprises an end tile control bar at each end of the shuttle, the end tile control bar configured to communicate translation between tile assemblies and the shuttles.

14. The tiling device of claim 12 or claim 13 when dependent on any one of claims 2 to 7, wherein the tile control bars contact internal tiles of neighboring tile assemblies.

15. The tiling device of claim 14, wherein each internal tile sits on a plurality of stud control bars, and the stud control bars translate on an internal slideway.

16. The tiling device of any one of claims 12 to 15 when dependent on any one of claims 4 to 7, wherein the stud control bars contact alignment stud of neighboring tile assemblies.

17. The tiling device of any one of claims 12 to 16, wherein each upper shuttle comprises a plurality of control devices attached thereto or unitary therewith, the stud control bar of said plurality of control devices aligned with said upper shuttle.

18. The tiling device of claim 17, wherein one or more of the plurality of control devices are fixed relative to the upper shuttle.

19. The tiling device of any one of claims 12 to 17, wherein each lower shuttle is associated with one or more mobile control devices, the stud control bar of said mobile control devices aligned with the lower shuttle, and the mobile control devices allowing the upper shuttle to pass between the mobile control devices and their associated lower shuttle.

20. The tiling device of claim 19, wherein the one or more mobile control devices are positioned between the end tile control bars.

21. The tiling device of claim 19 or claim 20, wherein the one or more mobile control devices are distinct from the lower shuttle.

22. The tiling device of claims 19 to 21, wherein a moving shuttle corrects minor misalignment of a transverse shuttle when a vertical surface of a control bar of a mid-shuttlecontrol device associated with a moving shuttle pushes against a vertical surface of a control bar of a mid-shuttle control device associated with a transverse shuttle.

23. The tiling device of claims 19 to 22, wherein the shuttles, control devices, and tile assemblies co-operate to prevent a shuttle move in a direction which is not parallel with the direction of lane in movement when a tile assembly in the first lane has translated a noninteger number of tile positions.

24. The tiling device of any preceding claim, further comprising a third lane in a third direction different to the first and second directions.

25. A game comprising the tiling device of any preceding claim.

26. A set of external tiles for a tiling device or game, each external tile in the set of external tiles comprising means for removable attachment to a tile assembly of a tiling device or game.

27. A kit of parts comprising a set of external tiles according to claim 26 and a tiling device or game according to any one of claims 1 to 25.

28. A method of manufacture of a tiling device comprising: providing an external slideway having grooves defining a plurality of lanes, at least one lane in a first direction and at least one lane in a second direction different to the first direction; providing a plurality of tile assemblies, each tile assembly having an internal tile and means for attachment of an external tile, the internal tile and the means for attachment of an external tile connected by a link bar; positioning the plurality of tile assemblies within the plurality of lanes, by passing the link bar through the grooves in the external slideway such that the internal tiles contact an underside of the external slideway.

29. The method of manufacture of claim 28, wherein the external slideway comprises an internal surface and an external surface opposite to the internal surface; and wherein the positioning of tile assemblies within the plurality of lanes is performed while the internal surface is above the external surface.

30. A storage device comprising a tiling area comprising a storage area in which a plurality of storage units are translatable across the storage area, the storage area having a first lane in a first direction and a second lane in a second direction different to the first direction, each intersection of a lane in the first direction and a lane in the second direction defining a storage position, each lane further comprising a storage position at each end of said lane (in other words, an end or edge storage position), the storage units configured to move between storage positions along the lanes;wherein each of the first lane in the first direction and the second lane in the second direction in the storage area contains at least one storage position unoccupied by a storage unit; wherein when a first storage unit located at an intersection of the first lane in the first direction and the second lane in the second direction is translated in the first direction, all storage units in the first lane translate in synchrony with the first storage unit.

31. The storage device of claim 30, wherein the device further comprises: a guide plate spaced apart from the first tiling area, the guide plate comprising a further first lane, aligned with the first lane, and a further second lane aligned with the second lane, the plurality of storage units is positioned between the first tiling area and the guide plate; and an alignment rod configured to align the plurality of storage units with the further first lane and / or further second lane.

32. The storage device of claim 30 or claim 31, wherein the device includes actuation means to translate the storage units along the first direction and / or to translate the storage units along the second direction.

33. A device comprising: a base plate comprising: a first elongate groove defining a first longitudinal direction; and a second elongate groove defining a second longitudinal direction different to the first longitudinal direction; a first shuttle configured to move along the first longitudinal direction, wherein the first shuttle comprises one or more first control devices, each of the one or more first control devices is configured to push a tile along the first longitudinal direction and to guide that tile to move along the second longitudinal direction; and a second shuttle configured to move along the second longitudinal direction, wherein the second shuttle comprises one or more second control devices, each of the one or more second control devices is configured to push a tile along the second longitudinal direction and to guide that tile to move along the first longitudinal direction, wherein one of the one or more second control devices is distinct from the second shuttle.

Images