Motor encoder with programmable and haptic feedback and method of operation thereof

Abstract

The application provides a motor encoder with programmable and tactile feedback and an operating method thereof. The encoder comprises a rotatable knob, a motor for providing virtual stop, virtual end and virtual elastic load when the knob is rotated, and generating tactile feedback and resistance in different events, a position sensor for providing position information when the knob is started and during movement, a controller with a motor driver electrically connected with the motor and the position sensor respectively for obtaining position feedback from the position sensor and driving the motor to form closed-loop torque feedback control, and an input interface electrically connected with the controller for inputting instruction information to the controller. Compared with conventional encoders, the motor encoder of the application provides excellent user experience and improved functions, and can also be programmed to provide various tactile feedback profiles, so as to realize more intuitive and customizable user experience.

Description

Technical Field

[0001] This invention relates to the field of encoder technology, and more specifically to a motor encoder with programmable and haptic feedback and its operation method. Background Technology

[0002] An encoder is a device that encodes and converts signals or data into a signal form that can be used for communication, transmission, and storage. Encoders convert angular or linear displacement into electrical signals. Based on the readout method, encoders can be divided into contact and non-contact types; based on their working principle, they can be divided into incremental and absolute types. Incremental encoders convert displacement into periodic electrical signals, then convert these electrical signals into technical pulses, using the number of pulses to represent the magnitude of the displacement. Absolute encoders assign a unique digital code to each position; therefore, their reading depends only on the starting and ending positions of the measurement, and is independent of the intermediate steps.

[0003] Traditional encoders typically consist of a rotating shaft or disk with slots or contacts. When the shaft rotates, the slots in the disk pass through a sensor, which detects changes in the signal. These changes generate output pulses, which are then counted to determine the position and speed of the shaft.

[0004] Traditional encoders employ fixed and limited stop modes, lack adjustability, provide limited feedback to users during use (usually only visual or auditory cues), have low control accuracy, are more difficult to use for some users, occupy more space, have more moving parts, leading to potential wear, and have poor customizability. Summary of the Invention

[0005] In view of the deficiencies in the existing technology, the purpose of this invention is to provide a motor encoder with programmable and tactile feedback and its operation method.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is as follows: a motor encoder with programmable and haptic feedback, the motor encoder comprising:

[0007] Rotatable knob;

[0008] A motor is used to provide virtual stop, virtual stop and virtual elastic loading when the knob is rotated, and to generate tactile feedback and resistance in different events;

[0009] A position sensor is used to provide position information when the knob is activated and during movement;

[0010] A controller with a motor driver is electrically connected to the motor and a position sensor respectively. It is used to obtain position feedback from the position sensor and drive the motor to form a closed-loop torque feedback control.

[0011] An input interface, electrically connected to the controller, is used to input instruction information to the controller.

[0012] Furthermore, the input interface is a button / key on the knob, or a communication port that can accept external commands.

[0013] Furthermore, the motor is a brushless DC motor or a stepper motor.

[0014] The present invention also provides an operation method for the above-mentioned motor encoder with programmable and haptic feedback, wherein the operation method is as follows:

[0015] A field-oriented control method is adopted to control the torque and speed of the motor based on its electromagnetic state;

[0016] The specific operating modes are marked on the machine panel and the knob respectively;

[0017] The controller first initializes the knob position, aligns the markings on the knob with the markings on the machine panel, and then configures a dedicated operating mode with virtual stop, stop position and intensity level.

[0018] Rotating the knob will cause a change in the magnetic field sensed by the position sensor. The controller reads the position sensor to obtain the current position of the knob, and then adjusts the output of the motor driver to perform the required movement until the knob reaches the preset position.

[0019] Furthermore, the controller can also be programmed to automatically rotate the knob to a preset position based on the readings from the position sensor.

[0020] Furthermore, the operation method also includes:

[0021] The controller is configured to handle locations or events that require haptic feedback.

[0022] When the knob is moved to the preset position or a pre-execution special event is triggered, the controller controls the motor to quickly rotate forward and backward to generate tactile feedback. Finally, the knob will move back to its original position.

[0023] Furthermore, the controller can also change the intensity of tactile activity by adjusting the distance and speed of the motor's movement.

[0024] Furthermore, the controller can be programmed with different haptic patterns to provide different feedback sensations.

[0025] Another technical solution adopted by the present invention is as follows: a motor encoder with programmable and haptic feedback, the motor encoder comprising:

[0026] Rotatable knob;

[0027] A motor is used to provide virtual stop, virtual stop and virtual elastic loading when the knob is rotated, and to generate tactile feedback and resistance in different events;

[0028] A position sensor is used to provide position information when the knob is activated and during movement;

[0029] A controller with a motor driver is electrically connected to the motor and a position sensor respectively. It is used to obtain position feedback from the position sensor and drive the motor to form a closed-loop torque feedback control.

[0030] An input interface, electrically connected to the controller, is used to input instruction information to the controller;

[0031] The display output module is electrically connected to the controller and is used to display or output the state of the knob.

[0032] Furthermore, the display output module can be a display screen, an LED indicator, or a communication port.

[0033] Furthermore, the input interface is the display screen in the display output module.

[0034] Furthermore, the input interface is a button / key, or a communication port that can accept external commands.

[0035] Furthermore, the motor is a brushless DC motor or a stepper motor.

[0036] The present invention also provides an operation method for the above-mentioned motor encoder with programmable and haptic feedback, wherein the operation method is as follows:

[0037] A field-oriented control method is adopted to control the torque and speed of the motor based on its electromagnetic state;

[0038] The controller first initializes the knob's position and configures the operating mode with virtual stop, stop position, and intensity level, and then displays the settings and corresponding markings on the screen;

[0039] Rotating the knob will cause a change in the magnetic field sensed by the position sensor. The controller reads the position sensor to obtain the current position of the knob, and then adjusts the output of the motor driver to perform the required movement until the knob reaches the preset position. At the same time, the display screen will also show the current status of the knob.

[0040] Furthermore, the controller can also be programmed to automatically rotate the knob to a preset position based on the readings from the position sensor.

[0041] Furthermore, the operation method also includes:

[0042] The controller is configured to handle locations or events that require haptic feedback.

[0043] When the knob is moved to the preset position or a pre-execution special event is triggered, the controller controls the motor to quickly rotate forward and backward to generate tactile feedback. Finally, the knob will move back to its original position.

[0044] Furthermore, the controller can also adjust the distance and speed of the motor's movement to change the intensity of its tactile activity.

[0045] Furthermore, the controller can be programmed with different haptic patterns to provide different feedback sensations.

[0046] The beneficial effects of the present invention are as follows: Compared with traditional encoders, the motor encoder of the present invention has a dynamic programmable encoding mode, which can change the input mode in real time, and also has dynamic programmable tactile feedback, which can provide torque / repulsion force feedback to the user in real time, thereby achieving a more intuitive and customizable user experience.

[0047] The motor encoder of the present invention has the following advantages: enhanced feedback to the user through programmable tactile feedback; more precise control; easier to use for some users; space-saving by integration into a single component; fewer moving parts, thereby improving durability and reducing maintenance costs; and high customization for specific application scenarios or users. Attached Figure Description

[0048] Figure 1 This is a three-dimensional structural diagram of the motor encoder of the present invention.

[0049] Figure 2 This is a top view of the motor encoder of the present invention.

[0050] Figure 3 This is a cross-sectional view of the motor encoder of the present invention.

[0051] Figure 4 This is an exploded perspective view of the motor encoder of the present invention.

[0052] Figure 5 This is a schematic diagram illustrating the working principle of the motor encoder of the present invention.

[0053] Figure 6 This is a schematic diagram of the operation method of the motor encoder of the present invention.

[0054] In the diagram: 1-base, 2-knob, 3-display output module, 4-controller, 5-motor, 6-position sensor, 7-motor driver, 8-input interface. Detailed Implementation

[0055] To facilitate understanding by those skilled in the art, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0056] See attached document Figures 1 to 5 As shown, the present invention provides a motor encoder with programmable and tactile feedback. The motor encoder includes: a rotatable knob 2; a motor 5 for providing virtual stop, virtual termination, and virtual elastic loading when rotating the knob 2, and generating tactile feedback and resistance in different events; a position sensor 6 for providing position information when the knob 2 is started and during movement; a controller 4 with a motor driver 7, electrically connected to the motor 5 and the position sensor 6 respectively, for obtaining position feedback from the position sensor 6 and driving the motor 5 to form closed-loop torque feedback control; and an input interface 8 electrically connected to the controller 4 for inputting command information to the controller 4.

[0057] In some embodiments, the motor encoder may also be configured with a display output module 3, electrically connected to the controller 4, for displaying or outputting the state of the knob 2. For better display of feedback information, the display output module 3 is a display screen, which may be LED, LCD, OLED, or AMOLED. Of course, in practical applications, the display output module 3 may also be an LED indicator or a communication port.

[0058] To reduce moving parts, the motor encoder is mounted on the annular base 1, the controller 4 (in this embodiment, a PCB board) is embedded in the bottom of the base 1, the knob 2 is rotatably connected to the top of the base 1, the bottom of the motor 5 is embedded in the inner cavity of the base 1, the top of the motor 5 is embedded in the inner cavity of the bottom of the knob 2, the position sensor 6 is installed in the inner cavity of the base 1, and the display output module 3 is installed in the inner cavity of the top of the knob 2.

[0059] When the motor encoder is not equipped with a display output module 3, the input interface 8 is a button / key, or a communication port that can accept external commands. When the motor encoder is equipped with a display output module 3, the input interface 8, in addition to the above types, can also be a display screen (touch screen) in the display output module 3. The button / key can be located on the motor encoder, on the knob 2, or in other positions. Any obvious substitution without departing from the concept of the present invention is within the protection scope of the present invention.

[0060] In this embodiment, motor 5 is a brushless DC motor or a stepper motor. Motor 5 can also be other types of motor 5, and any obvious substitutions without departing from the concept of the invention are within the scope of protection of the invention.

[0061] See attached document Figure 6 As shown, this embodiment also provides an operation method for the above-mentioned motor encoder with programmable and tactile feedback, which varies slightly depending on whether a display output module 3 is configured.

[0062] 1. The operation method for a motor encoder without a display output module 3 is as follows: A field-oriented control method is adopted to control the torque and speed of the motor 5 according to the electromagnetic state; the special operation modes are marked on the machine panel and the knob 2 respectively; the controller 4 first initializes the position of the knob 2, aligns the mark on the knob 2 with the mark on the machine panel, and then configures the special operation mode with virtual stop, termination position and intensity level; rotating the knob 2 will cause the magnetic field sensed by the position sensor 6 to change, the controller 4 reads the position sensor 6 to obtain the current position of the knob 2, and then adjusts the output of the motor driver 7 to perform the required movement until the knob 2 reaches the preset position; the controller 4 can also be programmed to automatically rotate the knob 2 to the preset position according to the readback of the position sensor 6.

[0063] 2. The operation method of the motor encoder with display output module 3 is as follows: The magnetic field orientation control method is adopted to control the torque and speed of the motor 5 according to the electromagnetic state; the controller 4 first initializes the position of the knob 2 and configures the operation mode with virtual stop, termination position and intensity level, and then displays the settings and corresponding marks on the display screen; rotating the knob 2 will cause the magnetic field sensed by the position sensor 6 to change. The controller 4 reads the position sensor 6 to obtain the current position of the knob 2, and then adjusts the output of the motor driver 7 to perform the required movement until the knob 2 reaches the preset position. At the same time, the display screen will also display the current state of the knob 2; the controller 4 can also be programmed to automatically rotate the knob 2 to the preset position according to the readback of the position sensor 6.

[0064] 3. The above operation method also includes: the controller 4 configures the position or event that requires tactile feedback; when the knob 2 moves to the preset position or enters the pre-execution special event, the controller 4 controls the motor 5 to quickly rotate forward and backward to generate tactile feedback, and finally, the knob 2 will move back to the original position; the controller 4 can also change the intensity of tactile activity by adjusting the moving distance and speed of the motor 5; the controller 4 can also program different tactile modes to provide different feedback sensations.

[0065] In summary, compared to traditional encoders, this solution offers a superior user experience and improved functionality. It is also programmable to provide various haptic feedback profiles, enabling a more intuitive and customizable user experience. Haptic feedback profiles can be customized for specific applications, such as industrial control, smart home control, surgical robot control, and other interface applications, providing accurate and reliable user input and feedback. The integrated programmable encoding module can be used in a variety of applications to provide superior performance, ease of use, and customizability, and can be integrated into various types of devices, including home appliances, medical devices, and industrial equipment.

[0066] For example, in home appliance applications, here are some examples, but not limited to:

[0067] Oven: Can be used to control the oven's temperature or time settings. Tactile feedback can provide users with clear indications of the selected temperature or time, making it easier to use and producing a more precise cooking experience;

[0068] Washing machine: This feature allows you to control various settings on the washing machine, such as cycle type, water temperature, and spin speed. Haptic feedback provides clear indications of the selected settings, resulting in a more intuitive and user-friendly experience.

[0069] Refrigerator: Can be used to control the refrigerator's temperature settings. Multiple stop positions allow for more precise temperature control, while haptic feedback provides users with a clear indication of the selected temperature.

[0070] Air conditioning: It can be used to control the temperature and fan speed settings of the air conditioner. Haptic feedback can provide users with clear settings for the selected settings, thus bringing a more intuitive and user-friendly experience.

[0071] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention is also intended to include these modifications and variations.

Claims

1. A motor encoder with programmable and haptic feedback, characterized in that, The motor encoder includes: Rotatable knob; A motor is used to provide virtual stop, virtual stop and virtual elastic loading when the knob is rotated, and to generate tactile feedback and resistance in different events; A position sensor is used to provide position information when the knob is activated and during movement; A controller with a motor driver is electrically connected to the motor and a position sensor respectively. It is used to obtain position feedback from the position sensor and drive the motor to form a closed-loop torque feedback control. An input interface, electrically connected to the controller, is used to input instruction information to the controller; The operation method of the motor encoder is as follows: A field-oriented control method is adopted to control the torque and speed of the motor based on its electromagnetic state; The specific operating modes are marked on the machine panel and the knob respectively; The controller first initializes the knob position, aligns the markings on the knob with the markings on the machine panel, and then configures a dedicated operating mode with virtual stop, stop position and intensity level. Rotating the knob will cause a change in the magnetic field sensed by the position sensor. The controller reads the position sensor to obtain the current position of the knob, and then adjusts the output of the motor driver to perform the required movement until the knob reaches the preset position.

2. The motor encoder with programmable and haptic feedback according to claim 1, characterized in that, The input interface is a button / key, or a communication port that can accept external commands.

3. The motor encoder with programmable and haptic feedback according to claim 1, characterized in that, The motor is a brushless DC motor or a stepper motor.

4. The motor encoder with programmable and haptic feedback according to claim 1, characterized in that, The controller can also be programmed to automatically rotate the knob to a preset position based on the readings from the position sensor.

5. The motor encoder with programmable and haptic feedback according to claim 1, characterized in that, The operation method further includes: The controller is configured to handle locations or events that require haptic feedback. When the knob is moved to the preset position or a pre-execution special event is triggered, the controller controls the motor to quickly rotate forward and backward to generate tactile feedback. Finally, the knob will move back to its original position.

6. The motor encoder with programmable and haptic feedback according to claim 5, characterized in that, The controller can also change the intensity of tactile activity by adjusting the distance and speed of the motor's movement.

7. The motor encoder with programmable and haptic feedback according to claim 5, characterized in that, The controller can also be programmed with different tactile patterns to provide different feedback sensations.

8. A motor encoder with programmable and haptic feedback, characterized in that, The motor encoder includes: Rotatable knob; A motor is used to provide virtual stop, virtual stop and virtual elastic loading when the knob is rotated, and to generate tactile feedback and resistance in different events; A position sensor is used to provide position information when the knob is activated and during movement; A controller with a motor driver is electrically connected to the motor and a position sensor respectively. It is used to obtain position feedback from the position sensor and drive the motor to form a closed-loop torque feedback control. An input interface, electrically connected to the controller, is used to input instruction information to the controller; The display output module is electrically connected to the controller and is used to display or output the state of the knob; The operation method of the motor encoder is as follows: A field-oriented control method is adopted to control the torque and speed of the motor based on its electromagnetic state; The controller first initializes the knob's position and configures the operating mode with virtual stop, stop position, and intensity level, and then displays the settings and corresponding markings on the screen; Rotating the knob will cause a change in the magnetic field sensed by the position sensor. The controller reads the position sensor to obtain the current position of the knob, and then adjusts the output of the motor driver to perform the required movement until the knob reaches the preset position. At the same time, the display screen will also show the current status of the knob.

9. The motor encoder with programmable and haptic feedback according to claim 8, characterized in that, The display output module can be a display screen, an LED indicator, or a communication port.

10. The motor encoder with programmable and haptic feedback according to claim 9, characterized in that, The input interface is the display screen in the display output module.

11. The motor encoder with programmable and haptic feedback according to claim 8, characterized in that, The input interface is a button / key, or a communication port that can accept external commands.

12. The motor encoder with programmable and haptic feedback according to claim 8, characterized in that, The motor is a brushless DC motor or a stepper motor.

13. The motor encoder with programmable and haptic feedback according to claim 8, characterized in that, The controller can also be programmed to automatically rotate the knob to a preset position based on the readings from the position sensor.

14. The motor encoder with programmable and haptic feedback according to claim 8, characterized in that, The operation method further includes: The controller is configured to handle locations or events that require haptic feedback. When the knob is moved to the preset position or a pre-execution special event is triggered, the controller controls the motor to quickly rotate forward and backward to generate tactile feedback. Finally, the knob will move back to its original position.

15. The motor encoder with programmable and haptic feedback according to claim 14, characterized in that, The controller can also adjust the distance and speed of the motor's movement to change the intensity of its tactile activity.

16. The motor encoder with programmable and haptic feedback according to claim 14, characterized in that, The controller can also be programmed with different tactile patterns to provide different feedback sensations.

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