Control method and device, terminal equipment, storage medium and computer program product

Abstract

The invention relates to a control method and device, terminal equipment, a storage medium and a computer program product. The control method comprises the steps that first vibration information generated when a vibration unit vibrates according to a first control signal is determined through a vibration information detection unit; wherein the vibration information detection unit at least comprises an acceleration sensor, a gyroscope and / or a displacement sensor; adjusting the first control signal according to the first vibration information and target vibration information to obtain a second control signal; wherein the second vibration information of the vibration unit, which vibrates according to the second control signal, approaches to the target vibration information or is the same as the target vibration information; and controlling the vibration unit to vibrate according to the second control signal. The method improves the energy density of the vibration unit and the efficiency of determining the vibration information of the vibration unit.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of control, and in particular, to a control method and device, a terminal device, a storage medium and a computer program product. BACKGROUND

[0002] Electronic devices have a wide range of applications in various fields. Electronic devices usually have a vibration unit, and feedback can be performed through the vibration unit. Generally, the vibration unit can be a motor. The motor has a coil and a magnet. During vibration, the coil generates a magnetic force to drive the magnet to move after being electrified. The magnet is fixed to the motor body through a spring, forming a simple harmonic vibration system. The magnet does forced vibration to drive the motor body to produce a cyclic reciprocating motion. SUMMARY

[0003] The present disclosure provides a control method, device, terminal device, storage medium and computer program product.

[0004] In a first aspect of the embodiments of the present disclosure, a control method is provided, including: determining, by a vibration information detection unit, first vibration information of a vibration unit vibrating according to a first control signal; wherein the vibration information detection unit at least includes an acceleration sensor, a gyroscope and / or a displacement sensor; adjusting the first control signal according to the first vibration information and target vibration information to obtain a second control signal; wherein second vibration information of the vibration unit vibrating according to the second control signal tends to be close to or the same as the target vibration information; and controlling the vibration unit to vibrate according to the second control signal.

[0005] In one embodiment, the first vibration information of the vibration unit vibrating according to the first control signal is determined by the vibration information detection unit, including: detecting, by the vibration information detection unit, acceleration, amplitude, vibration period and angular velocity of the vibration unit in each coordinate axis direction in a three-dimensional space coordinate system; and determining the acceleration, the amplitude, the vibration period and the angular velocity as the first vibration information.

[0006] In one embodiment, the first control signal is adjusted to obtain a second control signal according to the first vibration information, including: determining vibration difference information according to the first vibration information and the target vibration information; and adjusting the first control signal according to the vibration difference information to obtain the second control signal.

[0007] In one embodiment, the first vibration information and the target vibration information both include at least one of the following: acceleration, amplitude, frequency response and vibration period in each coordinate axis direction in a three-dimensional space coordinate system.

[0008] In an embodiment, the method further comprises: detecting a vibration trigger operation; and outputting the first control signal according to the vibration trigger operation; wherein the vibration trigger operation acting on different vibration trigger controls corresponds to different first control signals; and different vibration trigger controls correspond to different service events.

[0009] In an embodiment, the vibration information detection unit and the vibration unit are located at different positions of the terminal device; the number of vibration information detection units is at least one; and determining, by the vibration information detection unit, first vibration information of the vibration unit vibrating according to the first control signal comprises: detecting, by the vibration information detection unit, third vibration information of a position where the vibration information detection unit is located; determining fourth vibration information of the terminal device according to the third vibration information; and determining the first vibration information according to a preset correlation and the fourth vibration information; wherein the preset correlation represents a correlation between vibration information of the terminal device and vibration information of the vibration unit.

[0010] In a second aspect of the embodiments of the present disclosure, a control device is provided, comprising: a determination module configured to determine, by a vibration information detection unit, first vibration information of a vibration unit vibrating according to a first control signal; wherein the vibration information detection unit comprises at least an acceleration sensor and / or a displacement sensor; an adjustment module configured to adjust the first control signal to obtain a second control signal according to the first vibration information and target vibration information; wherein second vibration information of the vibration unit vibrating according to the second control signal is close to or identical to the target vibration information; and a control module configured to control the vibration unit to vibrate according to the second control signal.

[0011] In a third aspect of the embodiments of the present disclosure, a terminal device is provided, comprising: a processor and a memory for storing executable instructions capable of running on the processor, wherein when the processor runs the executable instructions, the executable instructions perform the method of any of the above embodiments.

[0012] In a fourth aspect of the embodiments of the present disclosure, a non-transitory computer readable storage medium is provided, wherein the computer readable storage medium stores computer executable instructions, and the computer executable instructions are executed by a processor to implement the method of any of the above embodiments.

[0013] In a fifth aspect of the embodiments of the present disclosure, a computer program product is provided, comprising a computer program or executable instructions, and the computer program or executable instructions are executed by a processor to implement the method of any of the above embodiments.

[0014] The technical solutions provided by the embodiments of the present disclosure can have the following beneficial effects:

[0015] In the scheme of the embodiments of the present disclosure, since the terminal device has a sensor for detecting the spatial posture of the terminal device, such as an acceleration sensor and / or a displacement sensor, and / or an inertial measurement unit for navigation and measuring the spatial posture, the inertial measurement unit can measure the acceleration and other information of the terminal device, so when the vibration unit vibrates, the vibration information of the vibration unit can be measured by the sensor. In this way, no other device needs to be added to measure the vibration information of the vibration unit, thereby reducing the impact on the power density generated by the vibration unit in a unit volume. It also reduces the occupation of space in the terminal device, and more space can be left for other components, or the utilization rate of the overall space of the vibration unit is reduced, thereby improving the energy density of the vibration unit.

[0016] In addition, the conversion of magnetic signals and electrical signals and other processes when determining the vibration information of the vibration unit by other devices such as magnetic sensors can be reduced, thereby improving the efficiency of determining the vibration information of the vibration unit.

[0017] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present disclosure. BRIEF DESCRIPTION OF DRAWINGS

[0018] The accompanying drawings, which are incorporated into and form part of the specification, illustrate embodiments consistent with the present disclosure and, together with the specification, serve to explain the principles of the present disclosure.

[0019] Figure 1 is a schematic diagram of a control method according to an exemplary embodiment;

[0020] Figure 2 is a schematic diagram of determining first vibration information according to an exemplary embodiment;

[0021] Figure 3 is a schematic diagram of obtaining a second control signal according to an exemplary embodiment;

[0022] Figure 4 is a schematic diagram of another control method according to an exemplary embodiment;

[0023] Figure 5 is a schematic diagram of another determination of first vibration information according to an exemplary embodiment;

[0024] Figure 6 is a schematic diagram of a control device according to an exemplary embodiment;

[0025] Figure 7 is a schematic diagram of another control method according to an exemplary embodiment;

[0026] Figure 8 FIG. 1 is a schematic diagram illustrating a relationship between vibration information detected by an IMU and vibration information actually generated by a vibration unit according to an example embodiment;

[0027] Figure 9 FIG. 2 is a block diagram of a terminal device according to an example embodiment. DETAILED DESCRIPTION

[0028] The example embodiments will be described in detail below with reference to the accompanying drawings. In the following description, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementations described in the following example embodiments do not represent all implementations consistent with the present disclosure. Instead, they are merely examples of apparatuses consistent with some aspects of the present disclosure as detailed in the appended claims.

[0029] Reference Figure 1 FIG. 1 is a schematic diagram of a control method according to an example embodiment, the control method comprising:

[0030] S100: determining, by a vibration information detection unit, first vibration information of a vibration unit vibrating according to a first control signal; wherein the vibration information detection unit comprises at least an acceleration sensor, a gyroscope and / or a displacement sensor.

[0031] S200: adjusting the first control signal according to the first vibration information and target vibration information to obtain a second control signal; wherein second vibration information of the vibration unit vibrating according to the second control signal is close to or identical to the target vibration information.

[0032] S300: controlling the vibration unit to vibrate according to the second control signal.

[0033] The method can be executed at least in a terminal device having a device capable of determining vibration information of a vibration unit, such as an acceleration sensor and / or a displacement sensor. The terminal device can include a mobile terminal device and a fixed terminal device, i.e., the execution subject of the method can include at least a mobile terminal device and a fixed terminal device. The mobile terminal device can include a mobile phone, a tablet computer, a vehicle-mounted central control device, a wearable device, a smart device and an aircraft, and the smart device can include a smart office device, a smart home device and a robot.

[0034] The terminal device can include a controller, such as a Central Processing Unit (CPU) or a Micro Controller Unit (MCU), and the above steps of the example embodiment can be executed by the controller.

[0035] The terminal device also has a vibration unit, which can include a motor. The specifications and other parameters of the vibration unit are not limited and can be determined according to the use requirements.

[0036] For example, the motor can include a rotor motor and a linear motor, and the linear motor can include an X-axis motor and a Z-axis motor.

[0037] The terminal device can also have a controller and a driver. The controller is used to generate a controller signal, and the driver can drive the vibration unit to vibrate according to the controller signal generated by the controller. For example, the controller is electrically connected to the driver, and the driver is electrically connected to the vibration unit.

[0038] The vibration information detection unit in this embodiment at least includes an acceleration sensor and / or a displacement sensor. The number of vibration information detection units is not limited and can be determined according to the use requirements.

[0039] For example, the acceleration sensor and / or the displacement sensor in the vibration information detection unit can also be used to detect the spatial posture of the terminal device. The vibration information detection unit can be used to detect the vibration information of the terminal device and can also be used to detect the spatial posture of the terminal device.

[0040] For example, the vibration information detection unit can include an inertial measurement unit (IMU), which can be used to measure the acceleration of the terminal device in each direction in a three-dimensional space coordinate system.

[0041] For example, the vibration information detection unit can also include a gyroscope. The inertial measurement unit can also include a gyroscope. The gyroscope can be used to measure the angular velocity of the vibration unit, such as the angular velocity along each coordinate axis in a three-dimensional space coordinate system or a two-dimensional space coordinate system.

[0042] Since the terminal devices such as mobile phones and tablets usually have devices such as acceleration sensors, displacement sensors, and / or gyroscopes, these devices are usually used to detect the spatial posture of the terminal device. In the scheme of this embodiment, the vibration information of the vibration unit in the terminal device is detected by using the devices in the terminal device that are used to detect the spatial posture of the terminal device.

[0043] Since the vibration unit and the vibration information detection unit are located in the terminal device, during the vibration of the vibration unit, the vibration of the vibration unit can be transmitted to the location where the vibration information detection unit is located, so that these devices vibrate together. In this way, the vibration information detection unit can detect the vibration information of the vibration unit.

[0044] The first control signal is information for controlling the vibration unit to vibrate, and can include a control signal currently controlling the vibration unit to vibrate, which is generated by the controller.

[0045] The first vibration information can include acceleration, angular velocity, vibration period and / or amplitude in each coordinate axis direction in a three-dimensional coordinate system or a two-dimensional coordinate system.

[0046] For example, the first vibration information includes vibration information detected by the vibration information detection unit, i.e., the vibration information detected by the vibration information detection unit as vibration information generated by the vibration unit.

[0047] For example, the first vibration information can include vibration information of the vibration unit determined according to the vibration information detected by the vibration information detection unit. The vibration information of the vibration unit is different from the vibration information detected by the vibration information detection unit, and the vibration information of the vibration unit and the vibration information detected by the vibration information detection unit have a correlation relationship. Since the vibration generated by the vibration unit reaches the vibration information detection unit after transmission, the vibration amount changes in this process. The distance between the vibration information detection unit and the vibration unit and the vibration transmission medium affect the transmission of the vibration amount, and different distances and / or vibration transmission media will have different effects on the vibration generated by the vibration unit.

[0048] According to the vibration information detected by the vibration information detection unit, the vibration information generated by the vibration unit can be determined, i.e., the first vibration information is determined.

[0049] The target vibration information is preset vibration information generated by the vibration unit when vibrating, the first vibration information is the real vibration information of the vibration unit in the vibration process, and the target vibration information is the reference vibration information of the vibration unit. The scheme of this embodiment can adjust the first vibration information, so that the real vibration information of the vibration unit approaches or is the same as the target vibration information.

[0050] The way to adjust the first vibration information can include adjusting the first control signal according to the first vibration information and the target vibration information to obtain a second control signal. The second vibration information of the vibration unit according to the second control signal approaches or is the same as the target vibration information.

[0051] Since the vibration of the vibration unit is controlled by the control signal generated by the controller, the adjustment of the first control signal realizes the adjustment of the vibration information of the vibration unit. After obtaining the first vibration information and the target vibration information, the first control signal can be adjusted according to the two, and the adjusted first control signal is recorded as the second control signal.

[0052] The detailed process of adjusting the first control signal is not limited, and the first control signal can be adjusted according to the first vibration information and the target vibration information.

[0053] For example, the first vibration information and the second vibration information can be in the form of a waveform, and can also be in the form of a signal.

[0054] After obtaining the second control signal, the vibration unit can be controlled to vibrate according to the second control signal. In this way, the vibration information of the vibration unit can be adjusted, so that the vibration information generated by the vibration unit is the same as or close to the target vibration information, thereby improving the vibration effect of the vibration unit. During use, the vibration generated by the vibration unit is transmitted to the terminal device, thereby improving the overall vibration experience of the terminal device.

[0055] Since the terminal device has an acceleration sensor and / or a displacement sensor for detecting the spatial posture of the terminal device, such as an inertial measurement unit for navigation and measurement of the spatial posture, the inertial measurement unit can measure the acceleration and other information of the terminal device, so that the vibration information of the vibration unit can be measured by these sensors when the vibration unit vibrates. In this way, other devices do not need to be added to measure the vibration information of the vibration unit, thereby reducing the impact on the power density generated by the vibration unit in a unit volume. It also reduces the occupation of space in the terminal device, so that more space can be left for other components, or reduces the utilization rate of the overall space of the vibration unit, thereby improving the energy density of the vibration unit.

[0056] In addition, the conversion of magnetic signals and electrical signals and other processes when determining the vibration information of the vibration unit by the magnetic sensor and other devices can be reduced, thereby improving the efficiency of determining the vibration information of the vibration unit.

[0057] In one embodiment, with reference to Figure 2 For a schematic diagram of determining the first vibration information, S100, the vibration information detection unit determines the first vibration information of the vibration unit vibrating according to the first control signal, comprising:

[0058] S101, the vibration information detection unit detects the acceleration, amplitude, vibration period and angular velocity of the vibration unit in each coordinate axis direction in the three-dimensional coordinate system.

[0059] S102, the acceleration, amplitude, vibration period and angular velocity are determined as the first vibration information.

[0060] The vibration information detection unit can include at least an accelerometer and a gyroscope. For example, the vibration information detection unit can include three single-axis accelerometers, three single-axis gyroscopes, and three displacement sensors. The three single-axis accelerometers can detect acceleration signals of the vibration unit on each coordinate axis in a three-dimensional coordinate system. The three single-axis gyroscopes can detect angular velocity signals of the vibration unit on each coordinate axis in the three-dimensional coordinate system. The three displacement sensors can detect amplitudes and vibration periods of the vibration unit on each coordinate axis in the three-dimensional coordinate system.

[0061] In an example, the vibration information detection unit can detect acceleration, amplitude, vibration period, and angular velocity of the vibration unit on each coordinate axis in a two-dimensional coordinate system.

[0062] In an example, the vibration information detection unit can detect acceleration, amplitude, vibration period, and angular velocity of the vibration unit on each coordinate axis in a two-dimensional coordinate system.

[0063] In an example, the angular velocity of the vibration unit along an axis of the vibration unit can include acceleration along one or more coordinate axes in a two-dimensional coordinate system or a three-dimensional coordinate system.

[0064] In an example, the vibration information detection unit can detect acceleration, amplitude, vibration period, and angular velocity of the vibration unit on each coordinate axis in a two-dimensional coordinate system. Figure 3 In an example, the vibration information detection unit can detect acceleration, amplitude, vibration period, and angular velocity of the vibration unit on each coordinate axis in a two-dimensional coordinate system.

[0065] S201, determining vibration difference information based on the first vibration information and target vibration information.

[0066] S202, adjusting the first control signal based on the vibration difference information to obtain a second control signal.

[0067] Since the first vibration information is the actual vibration information of the vibration unit during vibration, and the target vibration information is the vibration information of the vibration unit that meets the service requirement, the vibration difference information can be determined based on the first vibration information and the target vibration information after the first vibration information is obtained. The vibration difference information represents the deviation between the first vibration information and the target vibration information, and is used to adjust the first control signal.

[0068] Since the vibration of the vibration unit is controlled by the first control signal, the vibration information of the vibration unit can be adjusted by adjusting the first control signal. After the vibration difference information is determined, the first control signal can be adjusted based on the vibration difference information to obtain a second control signal. The second control signal can make the vibration information of the vibration unit gradually tend to the target vibration information or be the same as the target vibration information, thereby meeting the service requirement.

[0069] The manner of adjusting the first control signal is not limited, and can include adjusting the waveform, wavelength, amplitude, frequency, vibration period, etc. of the first control signal.

[0070] Through the adjustment process of this embodiment, the first control signal can be gradually corrected, so that the first vibration information of the vibration unit tends to be the same as the target vibration information, thereby meeting the service requirements.

[0071] In one embodiment, the first vibration information and the target vibration information both include at least one of:

[0072] acceleration, amplitude, frequency response, and vibration period in each direction in a three-dimensional space.

[0073] In one embodiment, the first vibration information and the target vibration information both include at least one of:

[0074] acceleration, amplitude, frequency response, and vibration period in each direction in a two-dimensional space.

[0075] In one embodiment, with reference to Figure 4 , another control method is shown in the schematic diagram, which further includes:

[0076] S10, detecting a vibration trigger operation.

[0077] S20, outputting a first control signal according to the vibration trigger operation.

[0078] The vibration trigger operation acting on different vibration trigger controls corresponds to different first control signals, and different vibration trigger controls correspond to different service events.

[0079] The first control signal is output according to a service event, different service events correspond to different vibration trigger operations, and the terminal device has a vibration trigger control, which can be a virtual control or a physical control. Different service events can correspond to different vibration trigger controls, and the vibration trigger operation acting on different vibration trigger controls generates different first control signals. In this way, different vibration trigger controls can be used to detect vibration trigger operations according to different service requirements, thereby generating corresponding first control signals.

[0080] For example, the service event can include typing, adjusting the volume, playing audio or video, and services requiring vibration feedback in games, etc. For example, in a user interface (UI) interaction scenario of typing, the vibration trigger control can be each key in the keyboard displayed on the display screen, and the vibration trigger operation is a touch operation acting on the keyboard. After detecting the vibration trigger operation, the corresponding first control signal can be generated.

[0081] For example, the first control signals output by the vibration trigger operation on each key of the keyboard are the same or different.

[0082] For another example, in a game scenario, there are operation controls in the game interface, and game control can be performed. Some of the game controls can be vibration trigger controls. After detecting the touch operation on the vibration trigger control, the first control signal can be output, so that the vibration unit is controlled to vibrate according to the first control signal.

[0083] In an embodiment, the vibration information detection unit and the vibration unit are located at different positions of the terminal device, and the number of vibration information detection units is at least one.

[0084] The number of vibration information detection units can be one or more. The more the number of vibration information detection units, the higher the accuracy of the first vibration information determined by the vibration information detection unit.

[0085] The vibration information detection unit and the vibration unit can have a preset distance, which is greater than zero. When the vibration information detection unit includes multiple different sensors, the distances between different sensors and the vibration unit can also be different. The distances between sensors of the same type in different vibration information detection units and the vibration unit can also be different.

[0086] Because the terminal device has a certain volume, after the positions of the vibration unit and the vibration information detection unit in the terminal device are determined, the first vibration information of the vibration unit can be determined according to the vibration information detected by the vibration information detection unit.

[0087] In an embodiment, S100, the first vibration information of the vibration unit vibrating according to the first control signal is determined by the vibration information detection unit, comprising:

[0088] The third vibration information of the position where the vibration information detection unit is located is detected by the vibration information detection unit, and the first vibration information is determined according to the third vibration information. There can be an association relationship between the third vibration information and the first vibration information, and the first vibration information can be determined according to the association relationship.

[0089] In reference Figure 5 For another example of determining the first vibration information, S100, the first vibration information of the vibration unit vibrating according to the first control signal is determined by the vibration information detection unit, comprising:

[0090] S103, the third vibration information of the position where the vibration information detection unit is located is detected by the vibration information detection unit.

[0091] S104, determine fourth vibration information of the terminal device according to the third vibration information.

[0092] S105, determine the first vibration information according to the preset correlation and the fourth vibration information; wherein, the preset correlation represents the correlation between the vibration information of the terminal device and the vibration information of the vibration unit.

[0093] S103-S105 are not related to S101 and S102, and have no sequence relationship.

[0094] Because the vibration information detection unit and the vibration unit are in different positions in the terminal device, the vibration generated by the vibration unit during the vibration process will be transmitted to the position where the vibration information detection unit is located, so that the vibration information detection unit can detect the vibration information. Here, the vibration information detected by the vibration information detection unit is recorded as the third vibration information. When the number of vibration information detection units is more than one, the vibration information detected by each vibration information detection unit can be recorded as the third vibration information. Each sensor in each vibration information detection unit can also detect the information as the third vibration information.

[0095] Because the vibration unit generates vibration, which is transmitted to the position where the vibration information detection unit is located through the medium, the vibration information will change during this process, and there will be a difference between the vibration information generated by the vibration unit and the information detected by the vibration information detection unit.

[0096] After each vibration information detection unit detects the third vibration information, the vibration information of the terminal device as a whole is determined according to the third vibration information, which is recorded as the fourth vibration information. This process can be a process of fitting the vibration information of the terminal device as a whole according to the vibration information detected by each vibration information detection unit.

[0097] The process of determining the fourth vibration information according to the third vibration information is not limited, for example, the fourth vibration information can be determined according to the average value of each dimension signal in the third vibration information, and the fourth information can also be determined according to the third vibration information detected by each vibration information detection unit and the weight, and the weight of different third vibration information can be different. Of course, it can also be determined by other ways.

[0098] After the fourth vibration information is determined, the first vibration information can be determined according to the preset correlation and the fourth vibration information. The process can be a process of fitting the vibration information generated by the vibration unit according to the vibration information of the terminal device as a whole. The vibration information generated by the vibration unit is different from the vibration information of the terminal device as a whole, and there is a correlation between them.

[0099] The preset correlation relationship can represent a correlation relationship between the vibration information of the terminal device and the vibration information of the vibration unit. The preset correlation relationship can be determined according to historical vibration information generated by the vibration unit and historical vibration information of the terminal device.

[0100] For example, the preset correlation relationship can be in the form of a mapping table, a network model, or other forms.

[0101] For example, when the preset correlation relationship is a network model, the network model can be a vibration information determination model. The vibration information determination model is a model obtained by training an initial network model using a training sample set. The training sample set includes multiple training samples. Each training sample can include at least sample vibration information detected by the vibration detection unit, a distance between the vibration detection unit and the vibration unit, a medium attribute between the vibration detection unit and the vibration unit, a number of vibration detection units, and a type of each type of sensor in the vibration detection unit. When the vibration detection unit includes multiple types of sensors, such as acceleration sensors, displacement sensors, and gyroscopes, each training sample can include a distance and a medium attribute between each sensor and the vibration unit. The medium attribute can be a medium material, such as plastic and metal. Different medium attributes can have different effects on vibration information transmission.

[0102] Each training sample has a label, which can be sample vibration information generated by the vibration unit.

[0103] In this way, a trained vibration information determination model can be obtained. The vibration information determination model can determine real first vibration information generated by the vibration unit according to input vibration information detected by the vibration detection unit.

[0104] For example, the network model can include a machine learning model, such as a neural network model and a deep learning model.

[0105] In one embodiment, with reference to Figure 6 FIG. 1 is a schematic diagram of a control device, which includes:

[0106] A determination module 1 is configured to determine, by using a vibration information detection unit, first vibration information of a vibration unit vibrating according to a first control signal. The vibration information detection unit includes at least an acceleration sensor and / or a displacement sensor.

[0107] An adjustment module 2 is configured to adjust the first control signal according to the first vibration information and target vibration information to obtain a second control signal. The second vibration information of the vibration unit vibrating according to the second control signal approaches or is the same as the target vibration information.

[0108] a control module 3, configured to control the vibration unit to vibrate according to the second control signal.

[0109] In one embodiment, the determination module 1 comprises:

[0110] a first detection sub-module, configured to detect spatial posture information of the vibration unit by the inertial measurement unit;

[0111] a first determination sub-module, configured to determine first vibration information of the vibration unit in each direction in a three-dimensional space according to the spatial posture information.

[0112] In one embodiment, the adjustment module 2 comprises:

[0113] a second determination sub-module, configured to determine vibration difference information according to the first vibration information and the target vibration information;

[0114] an adjustment sub-module, configured to adjust the first control signal according to the vibration difference information to obtain the second control signal.

[0115] In one embodiment, the first vibration information and the target vibration information both comprise at least one of:

[0116] acceleration, amplitude, frequency response and vibration period in each direction in a three-dimensional space.

[0117] In one embodiment, the apparatus further comprises:

[0118] a detection module, configured to detect a vibration triggering operation;

[0119] an output module, configured to output the first control signal according to the vibration triggering operation;

[0120] wherein the vibration triggering operation on different vibration triggering controls corresponds to different first control signals; different vibration triggering controls correspond to different service events.

[0121] In one embodiment, the vibration information detection unit and the vibration unit are located at different positions of the terminal device; the number of the vibration information detection units is at least one.

[0122] the determination module 1 comprises:

[0123] a second detection sub-module, configured to detect third vibration information of a position where the vibration information detection unit is located by the vibration information detection unit;

[0124] a third determination sub-module, configured to determine fourth vibration information of the terminal device according to the third vibration information.

[0125] A fourth determining sub-module is configured to determine the first vibration information according to a preset correlation and the fourth vibration information. The preset correlation represents a correlation between the vibration information of the terminal device and the vibration information of the vibration unit.

[0126] In one embodiment, another control method is provided. Referring to Figure 7 , a schematic diagram of another control method is provided, including the following steps:

[0127] 1) A controller in a terminal device sends a first control signal, which includes a control signal in the form of a waveform. The terminal device can include a mobile phone, a tablet, etc., and the controller can be a controller specially used for controlling a motor, or a Central Processing Unit (CPU) or a Micro Controller Unit (MCU), etc. The controller can also include a Haptic Core, for example.

[0128] 2) The terminal device can also include a driver, which is connected to the controller and is configured to output a driving signal according to the first control signal output by the controller, so as to drive the vibration unit to vibrate. The vibration unit in this embodiment is a motor (LRA).

[0129] 3) The motor can vibrate according to the driving signal. The motor can include a linear vibration motor, and an internal vibrator reciprocates in a force balance position based on the driving waveform, and outputs an acceleration to the outside during the movement to generate a vibration sensation.

[0130] 4) An Inertial Measurement Unit (IMU) and the motor are located at different positions in the mobile phone. The IMU can measure the vibration signal of the whole mobile phone, including the acceleration information, amplitude, vibration period and frequency of each coordinate axis in the spatial coordinate system, so as to obtain the physical vibration information of the motor, such as the vibration waveform, as shown in Figure 7 . The IMU can generate an electrical signal according to the detected vibration information and output the electrical signal to the controller, as shown in Figure 7 .

[0131] 5) The controller is electrically connected to the IMU. The controller can adjust the first control signal according to the information measured by the IMU, such as the acceleration information and the target value of the acceleration, to obtain a second control signal. The first control signal can include a first vibration signal.

[0132] For example, the controller can adjust the first control signal in a PID control manner.

[0133] For example, the controller can also determine the vibration information of the whole mobile phone according to the information detected by the IMU, such as acceleration information, and determine the vibration information of the motor, including the attitude information, according to the vibration information of the whole mobile phone. It can be determined by a preset function, such as X=f(a) in the formula, where a can represent A(t). The controller can include an X module (such as target(t)) in Figure 7 Figure 8

[0134] 6) The motor vibrates according to the second control signal, so as to correct the vibration. Thus, the vibration of the motor can be adjusted in a cycle. The steps 4) to 6) can also be cycled until the vibration scene disappears.

[0135] The scheme of this embodiment has higher design flexibility compared with the magnetic sensing scheme design. For example, the IMU device can be anywhere in the terminal equipment (such as a smart device), and the real vibration information generated by the motor can be accurately fitted through the pre- whole machine model modeling and data processing, as shown in Figure 9 , which is a schematic diagram of the relationship between the vibration information detected by the IMU and the vibration information actually generated by the vibration unit. For example, the relationship between the two can be represented by A(t, x, y, z)=F(g, t).

[0136] For example, this scheme can be applied to the scene involving UI interaction in the daily use of mobile phone users, such as typing, adjusting the volume, game special effects, playing music, etc.

[0137] The closed-loop motor driving architecture of the present scheme does not need to add magnetic sensors or other physical devices. The present scheme can achieve physical closed-loop level vibration experience improvement for existing motors of different sizes. The scheme of the present embodiment fits the vibration amount information of the mobile phone by reading the three-axis acceleration data of the device (such as a mobile phone) in real time through the mechanical data of the IMU, and obtains the real-time attitude of the motor vibrator based on the whole machine modeling processing. The related real-time motor vibrator attitude information is combined with the target attitude for closed-loop correction, so as to obtain the accurate final vibration effect of the motor. The above-mentioned accurate motor vibration effect can meet the release of the corresponding motor limit performance while improving the consistency of the vibration effect between different mobile phones.

[0138] The IMU of the present case directly takes acceleration (force) signal, without physical quantity transformation from magnetic to force, and the control unit directly performs closed-loop control processing based on the real signal. The overall scheme is convenient and reliable. It enriches the device vibration experience, including: vibration amount improvement, vibration waveform start-stop time shortening, vibration consistency improvement. Without sacrificing the unit energy density of the motor, the above values can be obtained without special additional modules to modify the overall scheme architecture and the motor.

[0139] ​​It should be noted that the "first" and "second" in the embodiments of the present disclosure are only for convenience of expression and distinction, and have no other specific meaning.

[0140] Figure 9 is a block diagram of a terminal device according to an exemplary embodiment. The terminal device can be, for example, a mobile phone, a computer, a digital broadcast terminal, a messaging device, a game console, a tablet device, a medical device, a fitness device, a personal digital assistant, or the like.

[0141] Referring to ​ , the terminal device can include one or more of the following components: a processing component 902, a memory 904, a power supply component 906, a multimedia component 908, an audio component 910, an input / output (I / O) interface 912, a sensor component 914, and a communication component 916.

[0142] The processing component 902 usually controls overall operations of the terminal device, such as operations associated with displaying, making phone calls, data communications, camera operations, and recording operations. The processing component 902 can include one or more processors 920 to execute instructions to complete all or part of steps of the methods described above. In addition, the processing component 902 can include one or more modules to facilitate interaction between the processing component 902 and other components. For example, the processing component 902 can include a multimedia module to facilitate the interaction between the multimedia component 908 and the processing component 902.

[0143] The memory 904 is configured to store various types of data to support operations of the terminal device. Examples of the data include instructions for any application or method operating on the terminal device, contact data, phonebook data, messages, pictures, videos, and the like. The memory 904 can be implemented by any type of volatile or non-volatile storage devices or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read only memory (EEPROM), erasable programmable read only memory (EPROM), programmable read only memory (PROM), read only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk.

[0144] The power component 906 provides power to various components of the terminal device. The power component 906 can include a power management system, one or more power sources, and other components associated with generating, managing, and distributing power for the terminal device.

[0145] The multimedia component 908 includes a screen providing an output interface between the terminal device and the user. In some embodiments, the screen can include a Liquid Crystal Display (LCD) and a Touch Panel (TP). If the screen includes a touch panel, the screen can be implemented as a touch screen to receive input signals from the user. The touch panel includes one or more touch sensors to sense touch, swiping, and gestures on the touch panel. The touch sensor can not only sense a boundary of a touching or swiping action, but also detect duration and pressure related to the touching or swiping action. In some embodiments, the multimedia component 908 includes a front camera and / or a rear camera. When the terminal device is in an operation mode, such as a shooting mode or a video mode, the front camera and / or the rear camera can receive external multimedia data. Each of the front camera and the rear camera can be a fixed optical lens system or have a focal length and optical zoom capability.

[0146] The audio component 910 is configured to output and / or input audio signals. For example, the audio component 910 includes a microphone (MIC) configured to receive external audio signals when the terminal device is in an operation mode, such as a call mode, a recording mode, and a voice recognition mode. The received audio signals can be further stored in the memory 904 or transmitted via the communication component 916. In some embodiments, the audio component 910 also includes a speaker for outputting audio signals.

[0147] The I / O interface 912 provides an interface between the processing component 902 and peripheral interface modules, which can be a keyboard, a click wheel, a button, and the like. The buttons can include, but are not limited to, a home button, a volume button, a start button, and a lock button.

[0148] The sensor component 914 includes one or more sensors to provide various aspects of status assessment for the terminal device. For example, the sensor component 914 can detect an open / closed status of the terminal device, relative positioning of components, such as a display and keypad of the terminal device, a change in position of the terminal device or a component of the terminal device, presence or absence of user contact with the terminal device, terminal device orientation or acceleration / deceleration, and temperature changes of the terminal device. The sensor component 914 can include a proximity sensor configured to detect presence of a nearby object without any physical contact. The sensor component 914 can also include a light sensor, such as a complementary metal-oxide-semiconductor (CMOS) or charge-coupled device (CCD) image sensor, for use in imaging applications. In some embodiments, the sensor component 914 can also include an acceleration sensor, a gyroscope sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.

[0149] The communication component 916 is configured to facilitate wired or wireless communication between the terminal device and another device. The terminal device can access a wireless network based on a communication standard, such as Wi-Fi, 4G, or 5G, or a combination thereof. In an example embodiment, the communication component 916 receives a broadcast signal or broadcast-related information from an external broadcast managing system via the broadcast channel. In an example embodiment, the communication component 916 also includes a Near Field Communication (NFC) module to facilitate short-range communication. For example, the NFC module can be implemented based on Radio Frequency Identification (RFID) technology, Infrared Data Association (IrDA) technology, Ultra Wide Band (UWB) technology, Bluetooth (BT) technology, and other technologies.

[0150] In exemplary embodiments, the terminal device can be implemented by one or more Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Digital Signal Processing Devices (DSPDs), Programmable Logic Devices (PLDs), Field Programmable Gate Arrays (FPGAs), controllers, micro-controllers, microprocessors, or other electronic elements for executing the above-described methods.

[0151] In exemplary embodiments, a non-transitory computer-readable storage medium including instructions, such as a memory 904 including executable instructions or a computer program, is also provided, which can be executed by a processor 920 of an apparatus 900 to complete the above-described methods. For example, the non-transitory computer-readable storage medium can be a ROM, a Random Access Memory (RAM), a Compact Disc Read-Only Memory (CD-ROM), a magnetic tape, a floppy disk, and an optical data storage device, etc.

[0152] A non-transitory computer-readable storage medium, when instructions in the storage medium are executed by a processor of a mobile terminal, enables the mobile terminal to perform any one of the control methods according to the embodiments of the present disclosure.

[0153] The embodiments of the present disclosure provide a computer program product, which includes a computer program or executable instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer program or executable instructions from the computer-readable storage medium, and the processor executes the computer program or executable instructions, so that the computer device performs any one of the control methods according to the embodiments of the present disclosure.

[0154] Other embodiments of the present disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the aspects disclosed herein. The present disclosure is intended to cover any variations, uses, or adaptations of the present disclosure following the general principles thereof and including such departures from the present disclosure that come within known, accepted, or customary practice in the art to which the present disclosure pertains. The specification and examples are to be regarded as illustrative only, and the true scope and spirit of the present disclosure are indicated by the claims.

[0155] It should be understood that the present disclosure is not limited to the precise construction that has been described above and shown in the accompanying drawings, and that various modifications and changes can be made by those skilled in the art without departing from the scope of the present disclosure. The scope of the present disclosure is limited only by the appended claims.

Claims

1. A control method characterized by, The method comprises: determining, by a vibration information detection unit, first vibration information of a vibration unit vibrating according to a first control signal; wherein the vibration information detection unit at least comprises an acceleration sensor, a gyroscope and / or a displacement sensor; adjusting the first control signal according to the first vibration information and target vibration information to obtain a second control signal; wherein second vibration information of the vibration unit vibrating according to the second control signal is close to or identical to the target vibration information; controlling the vibration unit to vibrate according to the second control signal.

2. The method of claim 1, wherein, The method of determining, by a vibration information detection unit, first vibration information of a vibration unit vibrating according to a first control signal comprises: detecting, by the vibration information detection unit, acceleration, amplitude, vibration period and angular velocity of the vibration unit in each coordinate axis direction in a three-dimensional space coordinate system; determining the acceleration, the amplitude, the vibration period and the angular velocity as the first vibration information.

3. The method of claim 1, wherein, The method of adjusting the first control signal according to the first vibration information and target vibration information to obtain a second control signal comprises: determining vibration difference information according to the first vibration information and the target vibration information; adjusting the first control signal according to the vibration difference information to obtain the second control signal.

4. The method of claim 1, wherein, The first vibration information and the target vibration information both comprise at least one of: acceleration, amplitude, frequency response and vibration period in each coordinate axis direction in a three-dimensional space coordinate system.

5. The method of claim 1, wherein, The method further comprises: detecting a vibration triggering operation; outputting the first control signal according to the vibration triggering operation; wherein the vibration triggering operation acting on different vibration triggering controls corresponds to different first control signals; different vibration triggering controls correspond to different business events.

6. The method of claim 1, wherein, The vibration information detection unit and the vibration unit are located at different positions of a terminal device; the number of the vibration information detection units is at least one. The method of determining, by a vibration information detection unit, first vibration information of a vibration unit vibrating according to a first control signal comprises: detecting, by the vibration information detection unit, third vibration information of a position where the vibration information detection unit is located; determining fourth vibration information of the terminal device according to the third vibration information; determining the first vibration information according to a preset correlation and the fourth vibration information; wherein the preset correlation represents a correlation between vibration information of the terminal device and vibration information of the vibration unit.

7. A control device characterized by comprising: The method comprises: a determination module configured to determine, by a vibration information detection unit, first vibration information of a vibration unit vibrating according to a first control signal; wherein the vibration information detection unit at least comprises an acceleration sensor, a gyroscope and / or a displacement sensor; an adjustment module configured to adjust the first control signal according to the first vibration information and target vibration information to obtain a second control signal; wherein second vibration information of the vibration unit vibrating according to the second control signal is close to or identical to the target vibration information; and controlling the vibration unit to vibrate according to the second control signal. A control module is configured to control the vibration unit to vibrate according to the second control signal.

8. A terminal device, comprising: The method comprises: A processor and a memory for storing a computer program or executable instructions capable of running on the processor, wherein: When the processor runs the computer program or the executable instructions, the executable instructions perform the method of any one of claims 1 to 6.

9. A non-transitory computer-readable storage medium, comprising: The non-transitory computer readable storage medium stores a computer program or computer executable instructions, and the computer program or the computer executable instructions, when executed by a processor, implement the method of any one of claims 1 to 6.

10. A computer program product comprising computer programs or executable instructions, characterized in that, The computer program or executable instructions, when executed by a processor, implement the method of any one of claims 1 to 6.

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