Manipulation of objects

• US 8,725,292 B2
• Filed: 09/24/2009
• Issued: 05/13/2014
• Est. Priority Date: 04/17/2003
• Status: Active Grant

• Current Assignee: New York University
• Original Assignee: New York University
• Inventors: ROSENFELD, DANIEL A., Kollin, Joel S., Perlin, Kenneth
• Primary Examiner(s): Jen, Ian
• Application Number:
  US12/586,595
• Publication Number:
  US 20100042258A1
• Time in Patent Office: 1,692 Days
• Field of Search: None
• US Class Current: 700/245
• CPC Class Codes: G05D 1/0231 using optical position detecting means position-fixing by using electromagnetic waves other than radio waves, e.g. optical position detecting means G01S5/16
• CPC Class Codes: G09B 9/04 for teaching control of land vehicles

Abstract

An apparatus for locating a plurality of objects includes a planar element. The apparatus includes one or more sensors sensing the locations of a plurality of objects based on light that is transmitted through the planar element. A method for locating a plurality of objects includes the steps of moving the objects. There is the step of sensing the locations of a plurality of objects based on light that is transmitted through a planar element with one or more sensors.

Claims

1. An apparatus for locating a plurality of objects comprising:

a planar element having a surface; and

one or more sensors sensing the locations of at least two of a plurality of objects as they move based on total internal reflection of light that is transmitted through the planar element inside its surface wherein the sensor senses the location of each of the plurality of objects in a time slice.

2. The apparatus of claim 1 wherein at least one sensor is a 1-D sensor.

3. The apparatus of claim 1 wherein at least one sensor is a 2-D sensor.

4. The apparatus of claim 1 wherein the sensor detects light at an edge of the planar element.

5. The apparatus of claim 1 wherein the planar element contains reflective particles selected to facilitate the transmission of light through the planar element.

6. The apparatus of claim 1 wherein the planar element acts as a light pipe.

7. The apparatus of claim 1 wherein the planar element contains a dye.

8. The apparatus of claim 7 wherein the dye is selected to facilitate the transmission of light through the planar element.

9. The apparatus of claim 7 wherein the dye is selected to facilitate the sensing of light by the sensor.

10. The apparatus of claim 1 wherein the light is emitted by the plurality of objects.

11. The apparatus of claim 7 wherein light is emitted by the objects at a wavelength in the absorption band of the dye.

12. The apparatus of claim 1 wherein the sensor senses the locations of the plurality of objects in cycles with each object being sensed in a different time slice within the cycle.

13. The apparatus of claim 1 wherein each object emits light in its time slice to communicate its position to the sensor.

14. The apparatus of claim 1 wherein the sensor locates the plurality of objects solely on the light transmitted through the planar element.

15. The apparatus of claim 1 wherein the sensor senses a band of light and utilizes the center of the band of light to determine locations.

16. The apparatus of claim 3 wherein at least two 2-D sensors are located at corners of the planar element.

17. The apparatus of claim 15 wherein the light travels through a lens that is located between the planar element and the sensor.

18. The apparatus of claim 17 wherein the lens is a wide-angle lens.

19. The apparatus of claim 1 wherein the objects emit light relative to the planar element so as to facilitate total internal reflection of the light in the planar element.

20. The apparatus of claim 19 wherein at least two 2-D sensors with lenses are located at the corners of the planar element and the objects emit light in a distinct time slice for each object in a cycle.

23. The apparatus of claim 1 wherein the planar element is a sheet and the objects direct light into the planar sheet.

24. The apparatus of claim 23 wherein the sheet has a dye having an absorption band within the light'"'"'s wavelength.

25. The apparatus of claim 1 wherein the sensor senses the locations of the at least two of the plurality of objects as they move based on light that is transmitted through an edge of the planar element.

27. The apparatus of claim 1 wherein each object is self-propelled.

28. The apparatus of claim 1 wherein each object actively produces the light.

21. A method for locating a plurality of objects comprising the steps of:

moving the objects; and

sensing the locations of at least two of a plurality of objects based on total internal reflection of light that is transmitted inside a surface of and through a planar element with one or more sensors wherein the sensor senses the location of each of plurality of objects in a time slice.

22. The method of claim 21 wherein the sensing step includes the step of detecting light at an edge of the planar element with the sensor.

26. The method of claim 21 wherein the sensing step includes the step of detecting light that is transmitted through an edge of the planar element.

29. An apparatus for locating a plurality of objects comprising:

a planar element; and

one or more sensors sensing the locations of at least two of a plurality of objects that are self-propelled as they move based on total internal reflection of light that is transmitted through the planar element wherein the sensor senses the location of each of plurality of objects in a time slice.

30. An apparatus for locating a plurality of objects comprising:

a planar element; and

one or more sensors sensing the locations of at least two of a plurality of objects as they move based on total internal reflection of light that is actively produced by the objects that is transmitted through the planar element.