CN102714683A - 自适应触觉设备 - Google Patents
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Abstract
公开了允许电子设备自主地调整该电子设备的一个或多个用户告警的方法与装置。例如,有些实施方式可以包括用于操作触觉设备的方法,该方法包括利用控制信号来驱动触觉设备、测量与该触觉设备的操作相关的频率及将所测量出的频率与目标频率进行比较。基于所述比较来调整控制信号,以便把所述触觉设备驱动至所述目标频率。
Description
对相关申请的交叉引用
本申请要求于2009年9月30日提交、题为“Self Adapting AlertDevice”的美国专利申请第12/571,326号(’326申请)的优先权,该申请的全部内容通过引用并入于此。
本申请还要求于2010年3月30日提交、题为“Self-AdaptingHaptic Device”的美国专利申请第12/750,054号(’054申请)的优先权,该申请是’326申请的部分继续专利申请,并且其全部内容通过引用并入于此。
技术领域
本发明总体上涉及电子系统中的触觉设备,尤其涉及自适应触觉设备。
背景技术
电子设备在社会中是无处不在的,而且可以在从腕表到计算机的每样东西中找到。这些电子设备中的许多都是便携式的而且还包括通过使用告警设备取得用户注意的能力。例如,像蜂窝电话和腕表的便携式电子设备就包含诸如振动电动机、扬声器和/或灯等吸引用户注意的告警设备。因为它们的便携式本质,所以这些便携式电子设备中的许多都通过小型化其中的部件而做得尽可能小。作为这种小型化努力的一部分,电子设备中的告警设备也常常做得尽可能小,以便节省空间。然而,出于几个原因,这些小型化了的告警设备会是有问题的。
首先,在多种不同的情况下,这些小型化了的告警设备可能不足以取得用户的注意。例如,如果蜂窝电话的用户处于有大量背景噪声的环境中,例如音乐会或者现场体育赛事,那么用户可能不能够看到来自电话上小型化了的灯的可视告警、听到来自电话中小型化了的扬声器的声音告警和/或不能够检测到来自电话的小型化了的振动电动机的振动。
此外,因为电子设备在制造过程中常常包含轻微的变化,所以电子设备中告警设备的实际响应于在电子设备之间可能变化。换句话说,电子设备的实际制造中的轻微变化可能造成电子设备对驱动告警设备的相同的力有不同的反应。例如,振动频率可能由于制造容限而在相同品牌与型号的电话之间变化,因而,来自振动电动机的相同量的振动可能在无意中产生不同级别的用户告警。此外,由于轴承磨损、灰尘、电刷上的氧化物和/或温度变化,性能变化也可能随时间发生。
因而,期望适应性地调整电子设备中的告警设备以便克服这些问题中的一个或多个的方法与系统。
发明内容
公开了允许电子设备自主地调整该电子设备的一个或多个用户告警的方法与装置。例如,有些实施方式可以包括用于操作触觉设备的方法,该方法包括利用控制信号来驱动触觉设备、测量与该触觉设备的操作相关的频率及将所测量出的频率与目标频率进行比较。控制信号是基于所述比较来调整的,以便把触觉设备驱动至目标频率。
其它实施方式可以包括自主地调整触觉设备的至少一个操作参数的电子设备。该电子设备包括触觉设备和配置成在所述触觉设备的操作过程中监视该触觉设备的传感器。提供了包括耦合到所述传感器的过滤器和耦合到该过滤器的错误检测器的反馈回路,其中错误检测器配置成将所测量出的信号与目标信号进行比较,以便生成错误信号。还提供了配置成接收所述错误信号并响应于该错误信号而调整控制信号以便获得期望的操作参数的控制器。
还有其它实施方式可以包括调整电子设备中用户告警的方法。该方法包括通过超速驱动(overdrive)提供给触觉设备的控制信号来启动该触觉设备的操作,并且主动地制动该触觉设备的电动机来停止该触觉设备的操作。
附图说明
图1例示了能够在不同环境中自调整其告警设备中的一个或多个以便取得用户注意的电子设备。
图2例示了电子设备的一种操作环境。
图3例示了电子设备的另选操作环境。
图4例示了包括多个电动机的电子设备的另选实施方式。
图5例示了能够在不同环境中自调整其告警设备中的一个或多个以便取得用户注意的电子设备的框图。
图6例示了可以允许电子设备获得适于当前操作环境的目标频率的反馈与控制系统。
图7例示了可以由图6中所示的反馈与控制系统生成的控制信号。
图8例示了用于确定对应于最大目标频率的参考值的操作,该最大目标频率对应于电子设备的当前操作环境。
图9例示了具有用于调整触觉设备的操作参数的反馈与控制系统的电子设备。
图10是说明了根据示例实施方式的图9的电子设备的操作的流程图。
图11-13例示了用于触觉设备的示例扭矩和角速度曲线。
图14和15例示了用于触觉设备的驱动信号和对应的振动幅值。
不同的图中使用相同标号指示相似或完全相同的项。
具体实施方式
公开了允许电子设备自主地观察其当前操作情况并相应地调整其用户告警的电子设备的实施方式。电子设备可以通过一系列传感器测量来确定其当前的操作环境(例如,室内、室外、放在提包或者袋子中,等等)。基于这些传感器测量,电子设备既可以选择和/或优化用户告警,以适合当前的操作环境。例如,有些实施方式可以利用传感器测量来确定哪种可能的用户告警最适于电子设备的当前操作环境—例如,如果当前的操作环境是会议室的室内,则声音告警可能不是这种操作环境中最合适的用户告警。其它实施方式可以利用传感器测量来优化用户告警。例如,有些实施方式可以包括,操作电动机使电子设备振动并通过触感来取得用户的注意。在这些实施方式中,传感器测量可以用于主动地调谐电动机,使得电子设备获得最佳对应于电子设备的当前操作环境的目标频率。
尽管本文中所公开的实施方式的一种或多种会参考特定的电子设备具体描述,但是所公开的实施方式不应当解释为或者以别的方式用于限制本公开的范围,包括权利要求。此外,本领域技术人员将理解,以下描述具有广泛的应用。例如,虽然本文中所公开的实施方式可能集中在诸如蜂窝电话的便携式电子设备上,但是应当认识到,本文中所公开的概念可以同等地应用到其它便携式电子设备,例如来自Apple公司的IPOD品牌的便携式音乐播放器。此外,应当认识到,本文中所公开的概念可以同等地应用到非便携式电子设备,例如计算机装备(键盘、鼠标,等等)和/或游戏设备(例如,游戏控制器)。此外,虽然本文中所公开的实施方式可以集中在优化电子设备的振动输出,但是本文中所公开的概念可以同等地应用到其它形式的用户告警,例如声音设备和/或灯设备。相应地,对任何实施方式的讨论都仅仅意味着是示例性的,而不是旨在暗示所公开的范围,包括权利要求,限定到这些实施方式。
图1例示了电子设备100,该电子设备100能够在不同环境中自主地调整其告警设备中的一个或多个以便取得电子设备100的用户的注意。为了讨论,电子设备100在图1中示出为蜂窝电话,例如来自Apple公司的IPHONE品牌的蜂窝电话。电子设备100可以包括能够取得电子设备100的用户的注意的一个或多个告警设备,包括振动电动机102、光源104和/或扬声器106。图1还显示这些告警设备102、104和106可以耦合到位于电子设备100中的一个或多个传感器108和110。如以下将更具体地讨论的,电子设备100中的传感器108和110可以包括测量关于电子设备100正在其中操作的环境的指示的设备。这些测量可以包括运动、与用户的接近度、位置、用户是否持有电子设备100、背景光等级和/或电子设备100所经历的背景噪声等级,等等。
在有些实施方式中,传感器108和110可以配置成提供一种主要功能,例如接收关于运行在该设备上的应用或程序的用户或环境输入。这些传感器可以改用于或者附加地用于为设备提供辅助功能。“辅助功能”总体上指一个或多个传感器用于除其主要目的之外的操作或者提供输入或输出。因而,配置成监视外壳热量的温度传感器还可以用于检测由于用户手的存在而造成的热量上升,作为“辅助功能”。
作为辅助功能的另一个例子,传感器可以用于确定触觉设备的操作参数。作为更具体的例子,来自加速计的测量结果常常主要用于确定设备100的朝向。然而,在有些情况下,由加速计输出的信号还可以与交互式软件(例如,视频游戏)一起使用,为用户玩游戏提供附加的输入设备,由此为加速计提供辅助功能。继续这个例子,加速计可以改用于确定触觉设备的操作。例如,当触觉设备操作时,加速计可以用于间接地测量触觉设备的操作参数(例如,频率),以确定是否存在触觉反馈的劣化。加速计可以在操作过程中将触觉设备运动的范围与所存储的简档进行比较,以确定触觉反馈是否太大或者太弱。可以提供反馈控制回路来校正与所确定操作范围的任何偏离,如以下具体描述的。
基于这些测量结果,电子设备100可以自主地决定在特定环境中取得用户注意的最有效方式。图2和3例示了用于电子设备100的两种不同的操作环境,其中用于取得用户注意的告警在这两种操作环境之间会变化。首先参考图2中所示的操作环境,电子设备100可以平放在桌子200上,例如可以是当用户在教室中或者在开会的情况。如果传感器108和110分别实现为加速计和传声器,则通过传感器108和110报告加速计没有运动和/或来自传声器的相对低的背景噪声等级,电子设备100可以检测到它处于教室中或者会议中。当检测到电子设备100操作在这种环境中时,电子设备100可以静音对用户的任何声音告警,例如当有来电呼叫时。
相反,图3例示了用户300将电子设备100携带在提包305中,电子设备100会在提包中被挤来挤去。如果传感器108和110分别实现为加速计和背景光传感器(ALS),则处于这种操作环境中的电子设备100通过ALS报告相对低的背景光等级而可以检测到它处于暗的受限空间中,而且通过加速计报告运动而可以检测到电子设备100正动来动去。这种操作环境可能需要比图2所示的情形更响的用户告警,例如,用户告警即声音和振动两者的强度在这些情形中都可以增加。
再次参考图1中所示的电子设备100,所示电动机102包括经轴116耦合到电动机主体114的偏心重物112。当诸如电压信号的电信号施加到电动机主体114时,轴116开始旋转,使得重物112在大体轨道路径中移动。因为重物112是不均匀的,所以当重物112开始在这个大体轨道路径中旋转时,电动机102开始振动,并且因此,电动机102使整个电子设备100振动。当电子设备100用在不同的操作环境中时,电子设备100的最大目标频率,或者说整个电子设备100经历其最大振动的频率,可以在不同的操作环境之间变化。例如,比较图2和3中所示的两种操作环境,与桌子200有物理接触的电子设备100与在提包305中被推挤的相同电子设备100相比将具有不同的目标频率。通过基于这些测量参数监视传感器108和110,可以确定这些不同操作环境中电子设备的目标频率。此外,通过基于这些测量参数主动地调整电动机102的振动,电子设备100可以被调整成在不同的操作环境中获得这种目标频率。即,电子设备100可以使用从传感器108和110获得的测量结果并调整电动机102而主动地把自己“调谐”到目标频率。在电子设备100是电话的实施方式中,这种主动调整可以在电话的单次响铃期间出现,使得该电话在来电呼叫的第一次响铃结束之前电话以其目标频率响铃,以便最大化取得用户注意的机会。类似地,当电子设备100是包括检查电子邮件的能力的多功能设备时,这种主动调整可以在其通知用户新邮件事件期间出现。
图4例示了电子设备的另选实施方式400,其中该电子设备包括耦合到传感器409和410的多个电动机402-408。如图所示,在这种实施方式中,多个传感器402-408可以位于电子设备400中的不同位置,从而振动电子设备400的不同部分。在这种实施方式中,电子设备400的目标频率可以通过以不同模式致动多个电动机402-408来获得,其中致动多个电动机402-408的模式根据电子设备400的不同操作环境而变。例如,如果电子设备400如图3所示放在提包305中,而且传感器409和410指示电子设备的一端412接触提包305的底部而另一端414不接触提包305的底部,则电动机402和408可以被致动以获得电子设备400的目标频率,而多个电动机中的其它电动机404和406不被致动。因而,通过选择性地致动多个电动机402-408中的一个或多个,电子设备400可以在不同环境中被调谐到其目标频率。
图5例示了可以在以上所示实施方式中采用的电子设备500的框图。如图所示,电子设备500包括耦合到处理器516的多个传感器502-512。这些传感器502-512可以单独地或者组合使用,来确定电子设备500的当前操作环境。微处理器516可以进一步耦合到一个或多个告警设备518-522。
如以上所提到的,ALS 502感测电子设备500所处环境的背景光并把这种信息报告给处理器516。当处理器516接收到这种背景光信息时,它可以相应地修改电子设备500的告警操作。因而,在电子设备500是电话的实施方式中,如果背景光测量结果指示背景光的等级相对高,则可以采用除灯518之外的其他告警机构取得用户的注意,例如电动机520和/或扬声器522,因为,由于背景光条件,灯518可能不容易被用户察觉。如以上所提到的,来自传感器的信息可以组合,使得来自ALS 502的背景光测量结果可以与诸如背景噪声等级的其它测量结果结合使用,来检测电子设备500的当前操作环境。
传声器504可以对电子设备500所处环境的背景噪声等级进行采样并把这种信息报告给处理器516。因而,传声器504可以指示背景噪声等级对于扬声器522来说太高了以至于不能取得用户的注意,因此,可以采用除扬声器522之外的其他告警机构取得用户的注意,例如电动机520和/或灯518。在电子设备500是电话的实施方式中,传声器504可以是当使用该电话时由电子设备500的用户使用的传声器。
红外线(IR)检测器506可以检测用户与电子设备500的接近度并把这种信息报告给处理器516。在有些实施方式中,IR检测器506可以包括从靠近电子设备500的用户身体检测热量的一个或多个固态传感器,例如热电材料。在其它实施方式中,IR传感器可以包括发光二极管(LED),其中LED发射的红外光从紧靠电子设备500的用户反弹并且被基于电荷耦合设备(CCD)的IR传感器检测,其中CCD可以检测反射的由LED所发射的IR光。在还有其它实施方式中,光阻器可以代替或者结合CCD使用。不管IR检测器506的实际实现如何,IR检测器506都可以把其信号传送给处理器516,作为用户在电子设备500附近存在的指示,而且这种指示可以结合其它传感器中的一个或多个来使用,以确定电子设备500的当前操作环境。
照相机508可以捕捉用于确定电子设备500的操作环境的某些视觉队列(visual queue)。在有些实施方式中,照相机508可以集成在ALS 502中。在其它实施方式中,照相机508可以位于电子设备500的单独的部分上,而且可以用于确认来自例如ALS 502的其它传感器中的一个的测量。例如,在电子设备500实现为电话而且ALS 502位于该电话的一侧(例如用户在使用电话时靠着其头部放置的脸侧),而且照相机508放在电子设备500上与ALS 502相对的一侧的情况下,照相机508可以用于确认指示电话处于某个操作环境的测量。
此外,在有些实施方式中,来自照相机508的测量结果可以用于提供关于电子设备500的操作环境的附加信息。例如,如果电子设备500实现为如图2中所示的电话,其中电话面朝下放着,而且ALS 502位于电话的该面上而照相机508位于电话相对的一侧,那么通过ALS502指示其基本上接收不到光而且照相机508指示其接收到光,则可以指示电话是面朝下放在桌子上。
加速计510可以指示电子设备500的大体朝向。在有些实施方式中,这种指示可以是通过对集成电路上阻尼质块(damped mass)的测量,例如微电机(MEMS)系统。例如,加速计510可以包括一个或多个“平面内”MEMS加速计,这些加速计在与感测元件(例如阻尼质块)平行的平面内是敏感的,而且因此多维(例如两维或三维加速计)可以通过彼此正交地组合两个或更多个平面内加速计来形成。其它实施方式可以利用平面外MEMS加速计,这些加速计对在与感测元件垂直的平面内的方向上的位置运动(有时候称为Coriolis运动)敏感。有些实施方式可以组合一个或多个平面内MEMS传感器与一个或多个平面外MEMS传感器,来形成加速计510。如上面所提到的,加速计510可以用于确定电子设备500的朝向(例如面朝上、面朝下、倾斜,等等)和/或电子设备500是否被用户推挤(例如图3所示在提包305里面)。通过除来自其它传感器的测量结果之外还把来自加速计510的测量结果提供给处理器516,处理器516可以组合这些测量结果并确认其它传感器。例如,如果ALS 502和照相机508的组合指示电子设备500面朝下放置(如以上关于图2所讨论的),则处理器516可以利用来自加速计510的测量结果来确认该位置信息。
全球定位系统(GPS)传感器511可以指示电子设备500关于地球的纬度和经度坐标的位置,如由来自围绕地球作轨道运动的多个地球同步卫星的信号所确定的。由于GPS传感器511可能不能够在室内的时候接收卫星信号,因此GPS传感器511可以用于检测电子设备500是在室内还是在室外,而且处理器516可以相应地调整告警。
电容性屏幕传感器512可以检测用户是否正在接触电子设备500,和/或用户在与电子设备做多少接触。例如,如果用户在其口袋中放有电子设备500,则电容性屏幕传感器512可以指示与用户身体关联的某个电容等级。另一方面,在电子设备500如图3所示放在提包305中的情况下,电容性屏幕传感器512可以指示与提包305的织物相关联的不同电容。而且,当电容性屏幕传感器512基本上感测不到电容值时,则电子设备500可能如图2所示放在桌子200上。
表1例示了来自电容性屏幕传感器512的值如何可以被例如ALS502的其它传感器确认。例如,当ALS指示背景光等级低时,例如当电话可能在口袋中或者提包305中时,则电容性屏幕传感器512可以被处理器516问询,以确定电容值是对应于人还是非人的电容,使得处理器516可以确定操作环境并相应地调整用户告警。类似地,在电容性屏幕传感器512指示基本上没有测量到电容的情况下,ALS 502可以被问询,以确定光等级是否为高从而指示操作环境在明亮房间内的桌子200上,或者确定光等级是否为低从而指示操作环境是在暗房间内的桌子200上,例如夜晚待机。然后,处理器516可以相应地调整告警,例如在电子设备500在夜晚待机的情况下通过对来自扬声器522的告警禁音。
表1
仍然参考图5,传感器502-512中的每一个都可以由处理器使用来针对电子设备500的操作环境优化灯518、电动机520和/或扬声器522的性能优化。图6绘出了可以由电子设备500实现的例示性反馈与控制系统600的框图,该系统控制电动机520,使得其运动允许电子设备500获得适于操作环境的目标频率。如图6的块605所示,控制系统600可以包括存储单元605,该存储单元605包括报告给控制系统600中其它项的参考值。尽管应当认识到,这种测量可以基于广泛的多种传感器,例如传感器502-512中的一个或多个,但是为了讨论,本公开将讨论基于加速计测量的参考值。而且,存储单元605中的参考值可以是来自传感器502-512中多于一个传感器的测量结果的组合。
控制系统600可以包括耦合到存储单元605与加速计510的错误检测器610。加速计510可以按照与存储单元605中所存储的参考测量结果相同的形式把其测量结果报告给错误检测器610。如以上所提到的,来自加速计510的测量结果可以代表在电子设备500的当前操作环境中电子设备500的运动,而且因此,来自加速计510的测量结果可以用于测量电子设备500的目标频率。在操作过程中,错误检测器610可以将存储单元605中所存储的参考值与来自加速计510的当前测量结果进行比较,并输出错误信号ES。
错误检测器610可以耦合到电动机控制器615,并由此把错误信号ES提供给控制器615。控制器615可以利用错误信号ES来控制到电动机520的输入信号,例如通过生成与存储单元605中所存储的参考值与加速计510之间的差成比例的控制信号。如以上所提到的,施加到电动机520的电信号可以是电压,而且因此,由电动机控制器615生成的控制信号可以改变施加到电动机520的电压的一个或多个方面。例如,对电动机520的控制可以通过改变施加到电动机520的电压的幅值、频率和/或占空比来实现。
在有些实施方式中,电动机520可以利用脉宽调制(PWM)信号控制。这种PWM信号可以允许对电动机520比传统方法更鲁棒的控制,例如开/关控制。在这些实施方式中,PWM信号可以用于初始超速驱动电动机520,以便减少电动机520的上升时间或“起转”,由此产生电动机520的较急启动。类似地,在这些实施方式中,PWM信号可以用于低速驱动(underdrive)电动机520,或者感应性制动电动机520,从而获得电动机520的较急关闭。电动机520的这种较急启动和关闭动作可以得到,当使用电动机520作为告警设备时,用户更容易注意到的触感。
图7例示了改变控制信号的频率,其中频率随时间变化。应当指出,改变频率可以是在控制系统600的每个循环过程中单调增加(部分705)、在控制系统600的每个循环过程中不变(部分708)、在控制系统600的每个循环过程中单调减小(部分710)或者在控制系统600的每个循环过程中在两个或更多个值之间抖动(部分715)。
回过头来参考图6中所示的控制系统600并结合图5中所示的电子设备500,在有些实施方式中,存储单元605、错误检测器610和电动机控制器615可以结合到微处理器516中。因而,在操作过程中,微处理器516可以对来自加速计510的值(这个值代表电子设备500在其当前操作环境中的运动)进行采样,并主动地控制电动机520,使得错误信号ES最小化并且实现存储单元605中所存储的参考值。存储单元605中所存储的参考值可以由电子设备自主地修改,使得控制系统600把自己主动地调谐到这个变化的参考值。通过改变存储单元605中所存储的参考值,并且响应于这个变化的参考值而跟踪来自加速计510的测量结果,可以计算电子设备500在其当前操作环境中的目标频率。例如,当参考值变化时,使得电子设备500在其当前操作环境中获得最大共振的参考值(如由加速计510测量的)可以存储在存储单元605中。
图8例示了用于确定对应于电子设备的目标频率的参考值的操作800。电子设备的目标频率可以是电子设备500在其当前操作环境中的共振频率,或者作为替代,可以是最大化用户对告警感知的设备频率。应当认识到,图8中所示的操作是例示性的,而且在其它实施方式中可以执行用于确定参考值的其它操作。本文中,操作800是在电子设备500为接收到来电呼叫的电话的背景下讨论的,然而,操作800也可以在其它背景下应用,例如在提醒用户约会的个人数字助理(PDA)的背景下。
现在参考图8,块805显示电子设备500正在接收来电呼叫。一般来说,用于来电呼叫的单次响铃持续时间可以是5秒钟,而且在转移到语音信箱之前电话可以总共响铃五次,或者说25秒。在有些实施方式中,当电子设备500开始第一次响铃时,操作800可以被触发,并且在这第一次响铃之内完成,因此块805在第一次响铃时发生。在其它实施方式中,操作800可以在后续的响铃时发生并在那个后续的响铃之内完成,因此块805可以是后续的响铃。在还有其它实施方式中,操作800可以在第一次响铃开始时开始并在电话将呼叫转移到语言信箱之前完成。
一旦电子设备500接收到来电呼叫,电子设备500就将在每个块810检测当前的系统状态。例如,微处理器516可以观察传感器502-512中的一个或多个的值,以确定它们的值,而且如以上所讨论的,基于这些测量结果中的一个或多个,电子设备500可以预测电子设备的操作环境(例如,如图2所示的桌子上相对于如图3所示的提包305中)。
接下来,在块815中,初始参考值可以加载到存储单元610中。这个要存储的初始参考值可以对应于与当前操作环境匹配的参考值的初始估计。例如,考虑图3和6,如果处理器516确定电话在提包305中,则处理器516可以问询查找表,来确定要存储在存储单元605中的预定参考值,使得由控制系统600获得的初始目标频率总体上对应于位于提包305中的电话。存储在存储单元605中的这种初始目标频率可以由后续的操作进行优化。
回过头来参考图8,块820包括确定初始参考值是否要优化的判决块。在不期望优化的情况下,例如当控制系统600确定该初始参考值获得了在预定最大目标频率的阈值之内的目标频率时,则控制流可以进行到块825,在那里电动机520可以对应于该初始参考值被致动。
另一方面,在块820确定期望优化的情况下,则可以利用抖动处理来确定电子设备500的目标频率。这种抖动处理可以在块830开始,在那里提供给电动机520的控制信号可以增加,例如,通过增加如图7的部分705中所例示的频率。在块835,每次当控制信号被控制器615增加时,这个值都可以被存储以用于确定电子设备500的目标频率。接下来,在块840中,提供给电动机520的控制信号可以减小,例如,通过由控制器615减小如图7的部分710中所例示的频率。在块845中,每次当控制信号减小时,这个值都可以被存储以用于确定电子设备500的目标频率。
接下来,在块850中,微处理器516可以将块835和845中所存储的值进行比较,并相应地调整存储单元605中的参考值。例如,如果在块835过程中存储的值大于在块845过程中存储的值,则在每个块830增加控制信号会比在每个块840减小控制信号使得电子设备500更接近其目标频率。因而,通过在每个块855增加存储单元605中所存储的参考值,控制器615可以增加对电动机520的控制信号的频率,然后控制流可以回到块830,在块830再次开始抖动处理。
同样,如果在块845过程中存储的值大于在块835过程中存储的值,则在每个块840减小控制信号会比在每个块830增加控制信号使得电子设备500更接近其目标频率。因而,通过在每个块860增加存储单元605中所存储的参考值,控制器615可以减小对电动机520的控制信号的频率,然后控制流可以回到块830,在块830再次开始抖动处理。
块830-845中所示的抖动操作仅仅是例示在确定电子设备500在其当前操作环境中最大目标频率中可以实现的操作,而且在其它实施方式中图8所示的操作800可以变化。例如,在有些实施方式中,控制信号的增加(块830)可以有与控制信号的减小(块840)不成比例的个数,反之亦然。而且,在有些实施方式中,代替修改控制信号的频率,控制信号的其它部分(例如电压的占空比或者幅值)也可以在抖动处理中被修改。
在还有其它实施方式中,最大目标频率可以通过递增地步进参考值来确定。例如,存储单元605中所存储的参考值可以基本上为零(例如,几赫兹级级别),而且这个参考值可以从这个初始值逐步增加到最大参考值。当这个参考值被步进并且控制系统600对这个变化的参考值作出反应时,加速计510的测量结果可以由处理器516存储,以便找到电子设备500的最大目标频率。通过以这种方式步进一系列参考值,处理器516可以确定在电子设备500的目标频率频谱内是否存在多个谐波目标频率,并且确定这些谐波中哪个产生电子设备500的最大目标频率。
因为电动机520的一个或多个特性可以作为温度(例如,电动机中绕组的电阻可以随温度增加)、磨损(例如,对电动机520中绕组进行整流的电刷可以随时间具有增加的电阻)和/或摩擦(例如,电动机520的内部轴承结构可以随时间具有增加的摩擦量,造成电动机响应于所施加的电压而旋转更慢)的函数而变化。这些特性可以包括由于老化和磨损造成的宏观尺度的变化和/或由于热的车辆中暂时性发热造成的或者由于操作过程中电动机绕组中热量生成造成的微观尺度的变化。利用以上所认定的方法的一种或多种,电动机520可以按照这样一种方式操作,即,使得抵消这些影响中的一个或多个。例如,利用PWM控制信号,结合来自一个或多个传感器的测量结果,作为时间的函数的电动机520的性能的变化可以得到补偿。这种测量结果可以间接地从电动机520的电枢电阻的测量结果(例如,为补偿温度/电刷磨损)或者直接地从以已知占空比的电动机速度的测量结果(例如,使用加速计510)推断。此外,在性能中的这些劣化可以被补偿的同时,它们还可以用于触发维修或诊断历史传送到用户,或者传送到设备的制造商或者销售商。
图9例示了具有用于控制触觉设备的操作参数的反馈回路的示例电子设备900。电子设备900可以包括如所示出的存储设备902、错误检测器904、电动机控制器906、电动机908、传感器910和过滤器912中的任何一个或者全部,而且还可以包括其它部件和/或设备。电动机控制器906可以利用从错误检测器904提供的错误信号来控制提供给电动机908的操作信号。特别地,电动机控制器906可以调整PWM控制信号的频率、幅值和/或占空比,来控制电动机908的操作参数。
转向图10,示出了例示根据图9的实施方式的电子设备900的操作的流程图920。总的来说,流程图920关于利用加速计来感测触觉设备的振动。然而,应当认识到,与流程图920中所示的那些相同或相似的步骤可以利用其它传感器和其它触觉(或者其它输出)设备实现,来获得用于这种设备的期望控制等级。例如,热电偶、陀螺仪、指南针等等都可以用于监视或感测与用在风扇或硬驱中的电动机的操作相关的参数,并提供反馈信号。在有些实施方式中,测量结果可以直接取得,而在其它实施方式中,可以取得间接的测量结果。即,应当认识到,在有些实施方式中,测量的是电动机操作的效果(即,电动机的振动),而不是实际的操作参数。然而,出于这种讨论的目的,术语“操作参数”指与电动机操作相关的测量结果,而不是排它地指操作的效果或者实际的操作参数。
在有些实施方式中,一个或多个传感器可以从主要目的改用于或者附加地用于感测电动机的操作。例如,加速计可以改用于确定触觉设备的操作频率。即,来自加速计的测量结果可以总体上用于确定设备100的朝向和/或与例如视频游戏的交互式软件一起使用,作为主要目的来为用户玩游戏提供附加的输入设备。当致动触觉元件时,加速计可以改用于测量触觉元件的操作参数,例如设备100中由触觉元件感应出的振动量。由此,应当认识到,已经具有特定电子设备的传感器可以用于监视触觉元件的操作。
转向图10,PWM控制信号从控制器906提供给电动机908,以驱动电动机(块922)。当电压经PWM控制信号提供给电动机908时,电流上升并驱动电动机,这使得可以被用户感测到的振动/加速度输出。电动机的操作还被传感器910感测到,以产生测量信号(块924)。然后,该测量信号被处理(块926)。在一种实施方式中,利用带通或陷波滤波器912对传感器910的输出进行过滤,以允许具有与触觉元件的目标操作频率接近的频率的振动通过,用于进一步的处理,由此消除与电动机不相关的加速度测量结果(块928)。找出过滤后信号内的峰值(块930),然后确定测量信号的频率(块932)。对过滤后信号的峰值的寻找可以用于确定测量信号的周期。然后,这个周期可以转换成频率信号,例如,用于如以下关于块934具体描述的比较。总的来说,如果确定该周期比对应于目标频率的周期更长,则指示电动机操作在比目标频率更慢的速度下。
在有些实施方式中,错误检测器904可以包括软件、硬件和/或两者的组合,而且可以配置成把来自传感器910和过滤器912的过滤后的信号转换成具有指示电动机908的操作参数的单位的信号,其中的操作参数例如频率、温度、角速度等等。在其它实施方式中,除错误检测器904之外的离散部件可以用于把测量信号转换成可以指示用于电动机108的操作参数的单位。
所测量出的频率与从存储设备902提供给错误检测器904的目标频率进行比较,以便生成错误信号(块934)。所生成的错误信号提供给电动机控制器906,而且根据该错误信号对控制信号进行调整(块936)。在一种实施方式中,PWM控制信号的占空比可以由控制律(control law)908来调整,以获得目标频率。例如,为了增加电动机电枢中的电流,PWM控制信号的占空比可以增加。然后,控制信号提供给电动机908,以驱动电动机(块922)。
在有些实施方式中,电动机控制器906可以存储或者访问与目标频率相关的信息和/或扭矩和角速度曲线信息,使得其可以适当地调整控制信号,来获得目标频率。如此,在有些实施方式中,可由控制器906访问的信息可以充当用于触觉元件操作的参考点,来确定与触觉元件随时间的操作相关的变化的环境,由此允许调整操作参数来获得和/或维持处于或者接近期望操作参数的操作。
图11-13例示了示例扭矩和角速度曲线。特别地,图11例示了示例扭矩和角速度曲线1000,对于电动机908,该曲线可能是有代表性的。垂直轴1002代表可以具有例如英寸-磅等的合适单位的扭矩,而水平轴1004代表可以具有例如每分钟转(RPM)等的合适单位的角速度。在有些实施方式中,曲线1000可以总体上是线性的,如所例示的,但是在其它实施方式中该曲线也可以是非线性的。
图12例示了样本扭矩和角速度曲线1000和在电动机908经历磨损、老化和/或增加电动机的摩擦和劣化电动机908的操作的其它影响之后的样本枢转曲线1010。总体来说并如枢转曲线1010中所示出的,增加的摩擦使曲线1010沿垂直轴从一个点朝下枢转,导致较低的操作速度。图13例示了扭矩和角速度曲线1000和由高操作温度导致的移位曲线1020。如图所示,移位曲线1020也导致较低的操作速度。在图12和13中,虚线1012和1022指示当电动机操作在恒定的扭矩下时所获得的较低速度。由枢转曲线1010和移位曲线1020所例示并指示电动机916较慢操作速度的变低的速度还可能导致触觉元件较差的性能,因为它不是操作在目标频率。
为了获得在目标频率下的操作,电动机916的速度可以通过调整PWM控制信号来增加。具体而言,PWM控制信号的占空比可以被调整成增加电动机908的电枢中的电流,并由此增加电动机的速度,来获得目标频率。因而,PWM控制信号允许对电动机的操作参数进行调整,同时提供恒定的电压电平信号并充当可变电压驱动,而不实际上改变电压电平。
增大的电流增加了电动机的PWM循环,并因而移动枢转曲线1010和移位曲线1020,使得它们反映原始曲线1000,如由图12和13中的箭头1030所指示的。应当认识到,枢转曲线1010和移位曲线1020及由于增加的电流而造成的对应移位仅仅是作为例子给出的。在其它背景下,由于特定的操作条件,曲线可以在相反的方向移位和/或枢转。
除了定期地或者以随机间隔对电动机908的操作参数的进行测试与调整之外,操作参数还可以为了提供信息的目的而进行测试。即,电动机的操作可以被审查,以发现电动机执行状况如何。这对于制造商或者经销商了解电动机的安装基础执行状况如何可能是有用的。因而,与电动机操作相关的信息(即,由传感器910收集的信息)可以发送或者提供给制造商所拥有、操作或访问的计算机数据库,例如用于提供信息的目的。信息的发送可以经任何合适的模式,包括有线和无线模式。而且,发送可以是被动的,而且是设备的用户注意不到的。在有些实施方式中,信息可以提供给触觉设备在其中操作的设备的用户接口,以便通知用户任何性能问题。当例如冷却风扇不正确工作时,知道这种信息可能是有用的,使得可以在系统过热之前被修复,或者当硬盘驱动器开始故障时,知道这种信息也是有用的。
在上述例子中,应当认识到,测量设备的运动是为了控制设备中的触觉元件。因而,传感器(例如,加速计)不仅用于辅助目的,而且传感器还可以取得间接测量结果,来调谐触觉(或者其它)设备。反馈回路可以包括一个或多个传感器,而且所实现的传感器可以采取各种不同的测量。例如,在有些实施方式中,热电偶可以用于测量设备温度,以推断电动机的操作温度。在另一种实施方式中,传声器可以用于测量铃声音量或者质量。在有些实施方式中,传声器还可以用于确定当硬盘驱动器旋转时的音量。在有些实施方式中,陀螺仪可以用于确定当致动振动的触觉元件时设备的加速度。
在有些实施方式中,可以改进电动机的斜坡上升(ramp up)和停止。图14和15例示了具有对应振动幅值的驱动控制曲线。特别地,图14例示了用于电动机908的传统开/关驱动控制信号1400,其中垂直轴表示电压而水平轴表示时间。在传统的驱动控制信号之下例示了对应的振动幅值曲线1402。振动幅值具有锯齿形1404,因为振动电动机的机械时间常量关于输入信号可以是长的,得到慢的上升时间和开与关振动之间转换的“柔和”感觉。
相反,图15例示了驱动控制曲线1500和对应的振动幅值曲线1506,该曲线可以利用PWM控制信号获得。如所例示的,驱动控制曲线1500在上升1502和旋转下降1504中超速驱动,导致振动幅值1508中及振动旋转下降1510和1512中更干脆(crisp)的上升时间。总的来说,上升时间可以在PWM控制信号中通过增加该信号的占空比被超速驱动。一个信号之后的旋转下降时间可以通过缩短电动机的引线(lead)来减少,以便在电动机上产生感应性制动效果,或者通过对引线施加相反的极性,来主动地制动电动机。这些技术提供了振动告警设备的开与关状态之间更干脆、更容易注意到的转换。
尽管已经关于具体实施方式给出概念,但是应当认识到,这些概念可以在未于本文中具体描述但属于本公开的范围之内的多种实施方式上应用。例如,而且相应地,本文中所公开的实施方式不应当解释为是限制。
Claims (20)
1.一种方法,包括以下步骤:
在电子设备中提供多个告警设备;
利用所述电子设备的传感器,确定该电子设备的操作环境;及
致动所述多个告警设备中对应于所确定的操作环境的至少一个告警设备。
2.如权利要求1所述的方法,其中,确定所述操作环境的步骤包括组合来自所述电子设备的多个传感器的读数。
3.如权利要求1所述的方法,其中,所述多个告警设备中适合所述操作环境的所述至少一个告警设备是电动机。
4.如权利要求3所述的方法,其中所述传感器包括至少一个加速计。
5.如权利要求4所述的方法,还包括响应于来自所述至少一个加速计的测量结果而修改所述电动机的控制信号的步骤。
6.如权利要求5所述的方法,其中,所述电动机使所述电子设备以对应于该电子设备的所述操作环境的目标频率振动。
7.一种自主地调整触觉设备的至少一个操作参数的电子设备,该电子设备包括:
触觉设备;
传感器,该传感器配置成在所述触觉设备的操作过程中监视所述触觉设备;
反馈回路,包括:
过滤器,该过滤器耦合到所述传感器;及
错误检测器,该错误检测器耦合到所述过滤器,其中,该错误检测器配置成将所测量出的信号与目标信号进行比较,以便生成错误信号;及
控制器,该控制器配置成接收所述错误信号,并响应于该错误信号来调整控制信号,以便获得期望的操作参数。
8.如权利要求7所述的电子设备,其中,所述传感器是加速计。
9.如权利要求8所述的电子设备,其中,来自所述加速计的值被所述电子设备迭代使用,以便调整所述控制信号。
10.如权利要求9所述的电子设备,其中,所述控制信号是脉宽调制信号。
11.如权利要求7所述的电子设备,其中,所述电子设备是电话,而且对所述控制信号的调整在所述电话的整数次响铃之内发生。
12.如权利要求7所述的电子设备,其中,所述触觉设备是振动设备。
13.一种调整电子设备中用户告警的方法,该方法包括以下步骤:
通过超速驱动提供给触觉设备的控制信号来启动该触觉设备的操作;及
主动制动所述触觉设备的电动机,以停止该触觉设备的操作。
14.如权利要求13所述的方法,其中,超速驱动控制信号包括增加脉宽调制信号的占空比。
15.如权利要求13所述的方法,其中,主动制动所述电动机包括缩短该电动机的引线,来产生感应性制动效果。
16.如权利要求13所述的方法,其中,主动制动所述电动机包括对所述电动机的引线施加相反的极性。
17.如权利要求13所述的方法,还包括:
测量与所述触觉设备的操作相关的频率;
将所测量出的频率与目标频率进行比较;及
修改所述控制信号,以便把所述触觉设备驱动至所述目标频率。
18.如权利要求17所述的方法,其中,测量所述频率的步骤包括:
隔离所述触觉设备的振动信号;
发现所述振动信号中的多个峰值;及
从所述多个峰值确定所述振动信号的周期。
19.如权利要求17所述的方法,其中,所述触觉设备包括振动电动机。
20.如权利要求17所述的方法,其中,所述控制信号包括脉宽调制信号。
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