Programmable motor encoder with haptic feedback and method of operating the same

Abstract

The present invention provides a programmable motor encoder with haptic feedback and a method for operating the same, the encoder comprising: a rotatable knob; a motor for providing virtual stop, virtual end and virtual elastic bias when the knob is rotated, and for generating haptic 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 to the motor and the position sensor, respectively, for acquiring position feedback from the position sensor and driving the motor to form closed-loop torque feedback control; and an input interface electrically connected to the controller for inputting command information to the controller. Compared to conventional encoders, the motor encoder of the present invention provides a superior user experience and improved functionality, and is programmable to provide various haptic feedback profiles, resulting in a more intuitive and customizable user experience.

Description

TECHNICAL FIELD

[0001] The present invention relates to the technical field of encoders, and in particular, to a programmable motor encoder with haptic feedback and an operation method thereof.

BACKGROUND ART

[0002] An encoder is a device that organizes signals or data and converts them into a signal format usable for communication, transmission and storage. The encoder converts angular displacement or linear displacement into an electrical signal. According to the readout method, encoders are divided into two types: contact type and non-contact type. According to the operating principle, encoders can be divided into two types: incremental type and absolute type. The incremental encoder converts displacement into a periodic electrical signal, then converts this electrical signal into count pulses, and indicates the magnitude of the displacement by the number of pulses. Since each position of the absolute encoder corresponds to a predetermined digital code, its displayed value is only related to the start position and end position of the measurement, and is not related to the intermediate process of the measurement.

[0003] Conventional encoders are generally composed of a rotating shaft or a disc with slots or contacts. When the shaft rotates, the slots on the disc pass through the sensor, the sensor detects a change in signal, generates an output pulse according to the change in signal, and determines the position and speed of the shaft by counting the output pulses.

[0004] Conventional encoders adopt a fixed and limited stop mode, lack adjustability, have limited feedback to users during the use process (usually presented only by vision or hearing), have low control accuracy, are difficult for some users to use, occupy more space, have many movable members, cause potential wear, and have poor customizability.

SUMMARY OF THE INVENTION

PROBLEMS TO BE SOLVED BY THE INVENTION

[0005] To address the shortcomings of the prior art, the present invention aims to provide a programmable motor encoder with tactile feedback and a method for operating the same. [Means for solving the problem]

[0006] To achieve the above objectives, the present invention employs the following technical solution: a programmable motor encoder with tactile feedback, the motor encoder comprising: a rotatable knob; a motor for providing virtual stops, virtual ends and virtual elastic bias when the knob is rotated, and for 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 to the motor and the position sensor, respectively, for obtaining position feedback from the position sensor and for driving the motor to form closed-loop torque feedback control; and an input interface electrically connected to the controller for inputting command information to the controller.

[0007] Furthermore, the input interface is a communication port capable of receiving buttons / keys on the knob or external commands.

[0008] Furthermore, the motor is either a brushless DC motor or a stepping motor.

[0009] The present invention further provides a method for operating a programmable motor encoder equipped with tactile feedback, the method employing a field-oriented control method to control the torque and speed of the motor based on its electromagnetic state, and to mark dedicated operating modes on the instrument panel and knob, respectively, the controller first initializing the position of the knob, aligning the markings on the knob with the markings on the instrument panel, and setting dedicated operating modes having a virtual stop, an end position and its intensity level, and as the knob is rotated, the magnetic field detected by the position sensor changes, the controller reads the position sensor to obtain the current position of the knob, and adjusts the output of the motor driver to perform the necessary motion until the knob reaches a preset position.

[0010] Furthermore, the controller is also programmable and automatically rotates the knob to a preset position based on the position sensor's readback.

[0011] Furthermore, the operation method further includes the controller positioning a location or event where haptic feedback is required, and when the knob moves to a preset position or transitions to a pre-execution-only event, the controller controls the motor to rotate rapidly in forward and reverse directions to generate haptic feedback, and finally the knob returns to the home position.

[0012] Furthermore, the controller can also change the intensity of tactile activity by adjusting the distance and speed of the motor's movement.

[0013] Furthermore, the controller can also be programmed with different haptic activity modes to provide different feedback sensations.

[0014] Another technical concept adopted by the present invention is a programmable motor encoder with tactile feedback, the motor encoder comprising: a rotatable knob; a motor for providing virtual stops, virtual ends and virtual elastic bias when the knob is rotated, and for 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 to the motor and the position sensor, respectively, for obtaining position feedback from the position sensor and for driving the motor to form closed-loop torque feedback control; an input interface electrically connected to the controller for inputting command information to the controller; and a display / output module electrically connected to the controller for displaying or outputting the state of the knob.

[0015] Furthermore, the display / output module may be a display, an LED indicator, or a communication port.

[0016] Furthermore, the input interface is the display in the display / output module.

[0017] Furthermore, the input interface is a communication port capable of receiving buttons / keys or commands from external sources.

[0018] Furthermore, the motor is either a brushless DC motor or a stepping motor.

[0019] The present invention further provides a method for operating a programmable motor encoder equipped with tactile feedback, the method employing a field-oriented control method to control the torque and speed of the motor based on the electromagnetic state of the motor, the controller first initializing the position of the knob, setting up an operating mode having a virtual stop, an end position and its intensity level, and displaying the setting and corresponding markings on the display, the magnetic field detected by the position sensor changes when the knob is rotated, the controller reads the position sensor to obtain the current position of the knob, and adjusts the output of the motor driver to perform the necessary motion until the knob reaches a preset position, and at the same time, the display further displays the current state of the knob.

[0020] Furthermore, the controller is also programmable and automatically rotates the knob to a preset position based on the position sensor's readback.

[0021] Furthermore, the operation method further includes the controller positioning a location or event where haptic feedback is required, and when the knob moves to a preset position or transitions to a pre-execution-only event, the controller controls the motor to rotate rapidly in forward and reverse directions to generate haptic feedback, and finally the knob returns to the home position.

[0022] Furthermore, the controller can also adjust the motor's travel distance and speed to change the intensity of its tactile activity.

[0023] Furthermore, the controller can also be programmed with different haptic activity modes to provide different feedback sensations. [Effects of the Invention]

[0024] The beneficial effects of the present invention are as follows. Compared with conventional encoders, the motor encoder of the present invention is provided with a dynamically programmable encoding mode, which enables the input mode to be changed in real time. In addition, the motor encoder is provided with dynamically programmable haptic feedback, which feeds back torque / repulsive force to the user in real time, thereby realizing a more intuitive and customizable user experience.

[0025] The motor encoder of the present invention has the following advantages. The programmable haptic feedback enhances the feedback to the user, achieves more precise control, is easy for some users to use, can be integrated into a single component to realize space saving, has fewer movable members, improves durability and reduces maintenance costs, and can be accurately customized for specific application scenarios or specific users. Brief Description of the Drawings

[0026] [Figure 1] It is a perspective structural view of the motor encoder of the present invention. [Figure 2] It is a top view of the motor encoder of the present invention. [Figure 3] It is a cross-sectional view of the motor encoder of the present invention. [Figure 4] It is a perspective exploded view of the motor encoder of the present invention. [Figure 5] It is a structural schematic diagram of the working principle of the motor encoder of the present invention. [Figure 6] It is a schematic flow diagram of the operation method of the motor encoder of the present invention. Detailed Description of the Embodiments

[0027] For the easy understanding by those skilled in the art, the present invention will be described in further detail below with reference to the drawings of the specification and the detailed description of the embodiments.

[0028] As shown in Figures 1 to 5, the present invention provides a programmable motor encoder with tactile feedback, the motor encoder comprising: a rotatable knob 2; a motor 5 for generating tactile feedback and resistance motor 5 that provides virtual stop, virtual end and virtual elastic bias when the knob 2 is rotated, and for 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 that is electrically connected to the motor 5 and the position sensor 6 respectively, and for obtaining position feedback from the position sensor 6 and for driving the motor 5 to form closed-loop torque feedback control; and an input interface 8 that is electrically connected to the controller 4 for inputting command information to the controller 4.

[0029] In some embodiments, the motor encoder is electrically connected to the controller 4, and a display / output module 3 may be further arranged to display or output the state of the knob 2. To better display feedback information, the display / output module 3 is a display, and the display is an LED, LCD, OLED, or AMOLED. Of course, in the course of actual application, the display / output module 3 may be an LED indicator or a communication port.

[0030] To reduce the number of moving parts, the motor encoder is mounted on an annular base 1, the controller 4 (which is a PCB in this embodiment) is fitted into 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 fitted into the cavity of the base 1, the top of the motor 5 is fitted into the cavity of the bottom of the knob 2, the position sensor 6 is mounted in the cavity of the base 1, and the display / output module 3 is mounted in the cavity of the top of the knob 2.

[0031] If the motor encoder does not have a display / output module 3, the input interface 8 may be a button / key or a communication port capable of receiving commands from an external source. If the motor encoder does have a display / output module 3, the input interface 8 may be a display (touch panel) on the display / output module 3, in addition to the above types. The button / key may be located on the motor encoder, the knob 2, or at other locations, and any substitution that can be easily conceived by a person skilled in the art without departing from the spirit of the present invention is within the scope of protection of the present invention.

[0032] In this embodiment, motor 5 is a brushless DC motor or a stepping motor. Other types of motors 5 may be used, and any substitutions that can be easily conceived by a person skilled in the art without departing from the spirit of the present invention are all within the scope of protection of the present invention.

[0033] As shown in Figure 6, this embodiment further provides a method for operating a programmable motor encoder equipped with tactile feedback, the method of operation differing slightly depending on whether or not the display / output module 3 is included.

[0034] 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 based on its electromagnetic state, and dedicated operating modes are marked on the device panel and knob 2, respectively. The controller 4 first initializes the position of knob 2, aligns the markings on knob 2 with the markings on the device panel, and sets dedicated operating modes with virtual stop, end position and intensity level. When knob 2 is rotated, the magnetic field detected by position sensor 6 changes, and the controller 4 reads position sensor 6 to obtain the current position of knob 2, and then adjusts the output of motor driver 7 to perform the necessary movement until knob 2 reaches a preset position. The controller 4 is also programmable and automatically rotates knob 2 to a preset position based on the readback from position sensor 6.

[0035] 2. The operation method of the motor encoder equipped with the display / output module 3 is as follows: A field-oriented control method is adopted, controlling the torque and speed of the motor 5 based on its electromagnetic state. The controller 4 first initializes the position of the knob 2, sets an operating mode with a virtual stop, end position and its intensity level, and displays the setting and corresponding indicators on the display. When the knob 2 is rotated, the magnetic field detected by the position sensor 6 changes, and 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 necessary movement until the knob 2 reaches a preset position. At the same time, the display further displays the current state of the knob 2. The controller 4 is also programmable and automatically rotates the knob 2 to a preset position based on the readback from the position sensor 6.

[0036] 3. The above operation method further includes the controller 4 positioning a location or event where haptic feedback is required, and when the knob 2 moves to a preset position or transitions to a pre-execution-only event, the controller 4 controls the motor 5 to rotate rapidly in forward and reverse directions to generate haptic feedback, and finally, the knob 2 returns to the home position. The controller 4 may also change the intensity of its haptic activity by adjusting the distance and speed of the motor 5, and the controller 4 may also program different haptic activity modes to provide different feedback sensations.

[0037] As described above, the novel encoder in this solution offers a superior user experience and improved functionality compared to conventional encoders, and is programmable to provide various haptic feedback profiles, resulting in a more intuitive and customizable user experience. The haptic feedback profiles can be customized to suit 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 applied to a variety of applications to provide superior performance, ease of use, and customizability, and can be integrated into various types of equipment (including consumer electronics, medical devices, and industrial equipment).

[0038] For example, the following are some examples of applications in home appliances, but they are not limited to these.

[0039] When applied to ovens, haptic feedback can be used to control the oven's temperature and time settings, providing the user with clear indications of the selected temperature or time, resulting in ease of use and a more precise cooking experience.

[0040] When applied to washing machines, haptic feedback can be used to control various settings, such as cycle type, water temperature, and rotation speed. Haptic feedback can provide users with clear instructions for the selected settings, thereby offering a more intuitive and pleasant user experience.

[0041] When applied to refrigerators, it can be used to control the refrigerator's temperature setting, allowing for more precise temperature control through multiple stop positions, and haptic feedback can provide the user with clear indication of the selected temperature.

[0042] When applied to air conditioners, haptic feedback can be used to control the temperature and fan speed settings of the air conditioner. This feedback can provide the user with clear instructions for the selected settings, thereby offering a more intuitive and pleasant user experience.

[0043] As will be apparent, those skilled in the art can make various modifications and variations to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and the equivalent art, the present invention is intended to include such modifications and variations. [Explanation of Symbols]

[0044] 1 Base 2 knobs 3. Display / Output Module 4 controllers 5 Motors 6. Position Sensor 7 Motor Driver 8 Input Interfaces

Claims

1. A programmable motor encoder with haptic feedback, wherein the motor encoder is A rotatable knob, A motor that provides virtual stop, virtual end and virtual elastic bias when the knob is rotated, and generates tactile feedback and resistance in different events, A position sensor for providing position information when the knob is activated and during its movement, A controller with a motor driver that is electrically connected to the motor and position sensor respectively, acquires position feedback from the position sensor, and drives the motor to form closed-loop torque feedback control, A programmable motor encoder with tactile feedback, characterized by including an input interface for inputting command information to the controller, which is electrically connected to the controller.

2. The programmable motor encoder with tactile feedback according to claim 1, characterized in that the input interface is a button / key or a communication port capable of receiving commands from an external source.

3. The programmable motor encoder with tactile feedback according to claim 1, characterized in that the motor is a brushless DC motor or a stepping motor.

4. A programmable motor encoder with haptic feedback, wherein the motor encoder is A rotatable knob, A motor that provides virtual stop, virtual end and virtual elastic bias when the knob is rotated, and generates tactile feedback and resistance in different events, A position sensor for providing position information when the knob is activated and during its movement, A controller with a motor driver that is electrically connected to the motor and position sensor respectively, acquires position feedback from the position sensor, and drives the motor to form closed-loop torque feedback control, An input interface electrically connected to the controller for inputting command information to the controller, A programmable motor encoder with tactile feedback, characterized by including a display / output module electrically connected to the controller for displaying or outputting the state of the knob.

5. The programmable motor encoder with tactile feedback according to claim 4, characterized in that the display / output module is a display, an LED indicator, or a communication port.

6. The programmable motor encoder with tactile feedback according to claim 5, characterized in that the input interface is a display in the display / output module.

7. The programmable motor encoder with tactile feedback according to claim 4, characterized in that the input interface is a button / key or a communication port capable of receiving commands from an external source.

8. The programmable motor encoder with tactile feedback according to claim 4, characterized in that the motor is a brushless DC motor or a stepping motor.

9. A method for operating a programmable motor encoder equipped with tactile feedback as described in any one of claims 1 to 3, wherein the operating method is: A field-oriented control method is employed to control the torque and speed of the motor based on its electromagnetic state. Each dedicated operating mode is marked on the device's panel and knob, The controller first initializes the knob position, aligns the indicator on the knob with the indicator on the instrument panel, and then sets up a dedicated operating mode with a virtual stop, an end position, and its intensity level. A programmable motor encoder with haptic feedback, characterized in that when a knob is rotated, the magnetic field detected by a position sensor changes, the controller reads the position sensor to obtain the current position of the knob, and adjusts the output of the motor driver to perform the necessary motion until the knob reaches a preset position.

10. The controller is further programmable and automatically rotates a knob to a preset position based on readback from a position sensor, characterized by having tactile feedback as described in 9.

11. The aforementioned operating method is: The controller places the location or event where haptic feedback is needed, The programmable motor encoder with haptic feedback according to claim 9, further comprising the controller controlling the motor to rotate rapidly in forward and reverse directions to generate haptic feedback when the knob moves to a preset position or transitions to a pre-execution-only event, and finally the knob returns to the home position.

12. The programmable motor encoder with haptic feedback according to claim 11, further characterized in that the controller can change the intensity of haptic activity by adjusting the distance and speed of the motor.

13. The programmable motor encoder with haptic feedback according to claim 11, characterized in that the controller can also be programmed to provide different haptic modes to offer different feedback sensations.

14. A method for operating a programmable motor encoder equipped with tactile feedback according to any one of claims 4 to 8, wherein the operating method is: A field-oriented control method is employed to control the torque and speed of the motor based on its electromagnetic state. The controller first initializes the knob position, sets an operating mode with a virtual stop, an end position and its intensity level, and then displays the corresponding indicator on the display. A method for operating a programmable motor encoder with haptic feedback, characterized in that when the knob is rotated, the magnetic field detected by the position sensor changes, the controller reads the position sensor to obtain the current position of the knob, and adjusts the output of the motor driver to perform the necessary motion until the knob reaches a preset position, and at the same time, the display further displays the current state of the knob.

15. The method for operating a programmable motor encoder with tactile feedback according to claim 14, further characterized in that the controller is programmable and automatically rotates the knob to a preset position based on the readback of a position sensor.

16. The aforementioned operating method is: The controller places the location or event where haptic feedback is needed, A method for operating a programmable motor encoder with tactile feedback according to claim 14, further comprising: when the knob moves to a preset position or transitions to a pre-execution-only event, the controller controls the motor to rotate rapidly in forward and reverse directions to generate tactile feedback, and finally the knob returns to the home position.

17. The method for operating a programmable motor encoder with haptic feedback according to claim 16, characterized in that the controller can also adjust the distance and speed of the motor to change the intensity of its haptic activity.

18. A method for operating a programmable motor encoder with haptic feedback according to claim 16, characterized in that the controller can also be programmed to provide different haptic activity modes to provide different feedback sensations.

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