PATENT DOCUMENT

Publication Number: US-11605273-B2
Application Number: US-202117351091-A
Country: US
Kind Code: B2

Title: Self-adapting electronic device

Abstract:
Methods and apparatuses are disclosed that allow an electronic device to autonomously adapt one or more user alerts of the electronic device. For example, some embodiments may include a method for operating a haptic device including driving a haptic device using a control signal, measuring a frequency related to the operation of the haptic device and comparing the measured frequency with a target frequency. A control signal is adjusted based on the comparison to drive the haptic device to the target frequency.

Claims:
What is claimed is: 
     
       1. A smartphone, comprising:
 a housing at least partially defining an interior cavity; 
 a screen coupled to the housing; 
 a light emitter positioned within the interior cavity to emit light through the screen; 
 a light detector positioned within the interior cavity to detect a returned portion of the emitted light and output a signal indicative of the returned portion of the emitted light; and 
 a processor that:
 receives the signal from the light detector; 
 identifies, using the signal, a contact with the smartphone; and 
 transitions the smartphone from a first operating mode to a second operating mode at least partly in response to identifying the contact. 
 
 
     
     
       2. The smartphone of  claim 1 , further comprising a sensor that measures a parameter of an operating environment of the smartphone, wherein the processor further:
 compares the measurement of the parameter of the operating environment to a reference value for the parameter of the operating environment; 
 determines the operating environment of the smartphone using a result of the comparison; and 
 transitions the smartphone from the first operating mode to the second operating mode at least partly in response to the determined operating environment. 
 
     
     
       3. The smartphone of  claim 1 , wherein:
 the light emitter comprises a light emitting diode that emits infrared light; and 
 the light detector detects the infrared light. 
 
     
     
       4. The smartphone of  claim 3 , wherein the light detector comprises a charge coupled device. 
     
     
       5. The smartphone of  claim 3 , wherein the light detector comprises a photoresistor. 
     
     
       6. The smartphone of  claim 1 , wherein:
 the first operating mode disables a set of user functions; and 
 the second operating mode enables the set of user functions. 
 
     
     
       7. The smartphone of  claim 1 , wherein:
 the processor,
 uses the signal from the light detector to identify whether the contact is a user contact or a non-user contact the contact; 
 transitions the smartphone from the first operating mode to the second operating mode in response to determining that the contact is a user contact; and 
 maintains the smartphone in the first operating mode in response to determining that the contact is a non-user contact. 
 
 
     
     
       8. The smartphone of  claim 1 , further comprising a touch sensor, wherein:
 the processor,
 uses an output of the touch sensor to identify whether the contact is a user contact or a non-user contact; 
 transitions the smartphone from the first operating mode to the second operating mode in response to determining that the contact is a user contact; and 
 maintains the smartphone in the first operating mode in response to determining that the contact is a non-user contact. 
 
 
     
     
       9. The smartphone of  claim 8 , wherein the touch sensor comprises a capacitive screen sensor. 
     
     
       10. The smartphone of  claim 8 , wherein the touch sensor comprises an ambient light sensor. 
     
     
       11. An electronic device, comprising:
 a housing at least partially defining an interior cavity; 
 a screen coupled to the housing and defining a surface of the electronic device; 
 a light emitter positioned within the interior cavity and configured to emit light through the surface of the electronic device; 
 a light detector positioned within the interior cavity and configured to:
 detect at least a portion of the emitted light returned through the surface; and 
 output a signal indicative of the detected portion of the emitted light; and 
 
 a processor configured to:
 receive the signal from the light detector; 
 identify, using the signal, a proximity of a user; and 
 activate a function of the electronic device in response to identifying the proximity of the user. 
 
 
     
     
       12. The electronic device of  claim 11 , wherein identifying the proximity of the user comprises determining whether the user is within a predetermined proximity to the electronic device. 
     
     
       13. The electronic device of  claim 11 , further comprising a touch sensor, wherein identifying the proximity of a the user is further identified using an output of the touch sensor. 
     
     
       14. The electronic device of  claim 13 , wherein the touch sensor comprises a capacitive screen sensor. 
     
     
       15. The electronic device of  claim 13 , wherein the touch sensor comprises an ambient light sensor. 
     
     
       16. The electronic device of  claim 11 , wherein activating the function of the electronic device comprises activating a haptic output of the electronic device. 
     
     
       17. The electronic device of  claim 16 , wherein the haptic output corresponds to one of a light output, a tactile vibration or an auditory output.

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
     The present application is a continuation of U.S. patent application Ser. No. 16/584,661, filed Sep. 26, 2019, now U.S. Pat. No. 11,043,088, which is a continuation of U.S. patent application Ser. No. 15/897,968, filed Feb. 15, 2018, now U.S. Pat. No. 10,475,300, which is a continuation of U.S. patent application Ser. No. 15/583,938, filed May 1, 2017, now U.S. Pat. No. 9,934,661, which is a continuation of U.S. patent application Ser. No. 14/942,521, filed Nov. 16, 2015, now U.S. Pat. No. 9,640,048, which is a continuation of U.S. patent application Ser. No. 14/512,927, filed Oct. 13, 2014, now U.S. Pat. No. 9,202,355, which is a divisional of U.S. patent application Ser. No. 13/943,639, filed Jul. 16, 2013, now U.S. Pat. No. 8,860,562, which is a continuation of U.S. patent application Ser. No. 12/750,054, filed on Mar. 30, 2010, now U.S. Pat. No. 8,487,759, which is a continuation-in-part of U.S. patent application Ser. No. 12/571,326, filed on Sep. 30, 2009, now U.S. Pat. No. 8,552,859, the contents of which are incorporated by reference as if fully disclosed herein. 
    
    
     TECHNICAL FIELD 
     The present invention relates generally to haptic devices in electronic systems, and more particularly to a self adapting haptic device. 
     BACKGROUND 
     Electronic devices are ubiquitous in society and can be found in everything from wristwatches to computers. Many of these electronic devices are portable and also include the ability to obtain a user&#39;s attention through the use of an alert device. For example portable electronic devices like cellular phones and watches contain alert devices such as vibrating motors, speakers, and/or lights to attract the user&#39;s attention. Because of their portable nature, many of these portable electronic devices are made as small as possible by miniaturizing the components therein. As part of this miniaturization effort, the alert devices in the electronic devices are often made as small as possible in order to conserve space. However, these miniaturized alert devices can be problematic for several reasons. 
     First, these miniaturized alert devices may be inadequate to obtain the user&#39;s attention in a variety of different situations. For example, if the user of a cell phone is in an environment where there is a great deal of ambient noise, such as a concert or live sporting event, then the user may be unable to see a visual alert from a miniaturized light on the phone, hear an auditory alert from a miniaturized speaker in the phone and/or unable to detect vibration coming from the phone&#39;s miniaturized vibration motor. 
     Additionally, because of electronic devices often contain slight variations in the way they were manufactured, the actual response of the alert device within the electronic device may vary between electronic devices. In other words, slight variations in the actual manufacturing of an electronic device may cause the electronic device to react differently to the same force driving the alert device. For example, the vibration frequency may vary between phones of the same make and model because of manufacturing tolerance, and therefore, the same amount of vibration from a vibrating motor may unintentionally produce different levels of user alerts. Furthermore, performance variation may occur over time due to bearing wear, dust, oxides on brushes, and/or temperature changes. 
     Thus, methods and systems that adaptively adjust the alert devices within electronic devices to overcome one or more of these problems are desirable. 
     SUMMARY 
     Methods and apparatuses are disclosed that allow an electronic device to autonomously adapt one or more user alerts of the electronic device. For example, some embodiments may include a method for operating a haptic device including driving a haptic device using a control signal, measuring a frequency related to the operation of the haptic device and comparing the measured frequency with a target frequency. A control signal is adjusted based on the comparison to drive the haptic device to the target frequency. 
     Other embodiments may include an electronic device that autonomously adjusts at least one operating parameter of a haptic device. The electronic device includes a haptic device and a sensor configured to monitor the haptic device during operation of the haptic device. A feedback loop is provided that includes a filter coupled to the sensor and an error detector coupled to the filter, wherein the error detector is configured to compare a measured signal with a target signal to generate an error signal. A controller configured to receive the error signal and adjust a control signal in response to the error signal to achieve a desired operational parameter is also provided. 
     Still other embodiments may include a method of adjusting user alerts in an electronic device. The method including initiating operation of a haptic device by overdriving a control signal provided to the haptic device and actively braking a motor of the haptic device to stop operation of the haptic device 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG.  1    illustrates an electronic device capable of self adapting one or more of its alert devices to obtain the attention of a user in different environments. 
         FIG.  2    illustrates one operating environment for the electronic device. 
         FIG.  3    illustrates an alternate operating environment for the electronic device. 
         FIG.  4    illustrates an alternate embodiment of an electronic device that includes a plurality of motors. 
         FIG.  5    illustrates a block diagram of an electronic device capable of self adapting one or more of its alert devices to obtain the attention of a user in different environments. 
         FIG.  6    illustrates a feedback and control system that may allow the electronic device to achieve a target frequency that is customized to the current operating environment. 
         FIG.  7    illustrates a control signal that may be generated by the feedback and control system shown in  FIG.  6   . 
         FIG.  8    illustrates operations for determining a reference value corresponding to a maximum target frequency corresponding to a current operating environment of the electronic device. 
         FIG.  9    illustrates an electronic device with a feedback and control system for adjusting operating parameters of a haptic device. 
         FIG.  10    is a flowchart illustrating operation of the electronic device of  FIG.  9    in accordance with an example embodiment. 
         FIGS.  11 - 13    illustrate example torque and angular speed curves for a haptic device. 
         FIGS.  14  and  15    illustrate drive signals and corresponding vibration amplitudes for haptic devices. 
     
    
    
     The use of the same reference numerals in different drawings indicates similar or identical items. 
     DETAILED DESCRIPTION 
     Embodiments of electronic devices are disclosed that allow the electronic device to autonomously observe its current operating condition and adjust its user alerts accordingly. The electronic device may determine its current operating environment (e.g., indoors, outdoors, contained in a purse or bag, etc.) through a series of sensor measurements. Based upon these sensor measurements the electronic device may both select and/or optimize the user alerts to suit the current operating environment. For example, some embodiments may utilize the sensor measurements to determine which of the possible user alerts is best suited to the current operating environment of the electronic device—e.g., if the current operating environment is indoors in a conference room, then the auditory alerts may not be the most suitable user alert in this operating environment. Other embodiments may utilize the sensor measurements to optimize the user alerts. For example some embodiments may include operating a motor to cause the electronic device to vibrate and obtain the user&#39;s attention through tactile sensation. In these embodiments, the sensor measurements may be utilized to actively tune the motor such that the electronic device achieves a target frequency that best corresponds to the current operating environment of the electronic device. 
     Although one or more of the embodiments disclosed herein may be described in detail with reference to a particular electronic device, the embodiments disclosed should not be interpreted or otherwise used as limiting the scope of the disclosure, including the claims. In addition, one skilled in the art will understand that the following description has broad application. For example, while embodiments disclosed herein may focus on portable electronic devices such as cell phones, it should be appreciated that the concepts disclosed herein equally apply to other portable electronic devices such as the IPOD brand portable music player from Apple Inc. In addition, it should be appreciated that the concepts disclosed herein may equally apply to non-portable electronic devices, such as computer equipment (keyboard, mice, etc.) and/or gaming devices (e.g., gaming controllers). Furthermore, while embodiments disclosed herein may focus on optimizing the vibration output of the electronic devices, the concepts disclosed herein equally apply to other forms of user alerts, such as sound devices and/or light devices. Accordingly, the discussion of any embodiment is meant only to be exemplary and is not intended to suggest that the scope of the disclosure, including the claims, is limited to these embodiments. 
       FIG.  1    illustrates an electronic device  100  capable of autonomously adjusting one or more of its alert devices to obtain the attention of a user of the electronic device  100  in different environments. For the sake of discussion, the electronic device  100  is shown in  FIG.  1    as a cell phone, such as an IPHONE brand cell phone from Apple Inc. The electronic device  100  may include one or more alert devices capable of obtaining the attention of the user of the electronic device  100 , including a vibration motor  102 , a light source  104 , and/or a speaker  106 .  FIG.  1    also shows that these alert devices  102 ,  104 , and  106  may be coupled to one or more sensors  108  and  110  located within the electronic device  100 . As will be discussed in greater detail below, the sensors  108  and  110  in the electronic device  100  may include devices that measure indications about the environment in which the electronic device  100  is operating. These measurements may include the movement, proximity to the user, location, whether the user is holding the electronic device  100 , ambient light levels, and/or ambient noise levels experienced by the electronic device  100  to name just a few. 
     In some embodiments, the sensors  108  and  110  may be configured to provide a primary functionality, such as receiving user or environmental input related to applications or programs running on the device. These sensors may be repurposed or additionally used to provide secondary functionality for the device. “Secondary functionality” generally refers to the use of one or more sensors for an operation, or to provide input or output, other than their primary purpose. Thus, a temperature sensor configured to monitor the heat of a casing may also be used to detect a rise in heat from the presence of a user&#39;s hand as “secondary functionality.” 
     As another example of secondary functionality, sensor(s) may be used to determine the operating parameters of haptic devices. As a more specific example, measurements from an accelerometer are often primarily used to determine an orientation of the device  100 . However, in some instances, the signals outputted by the accelerometer may be used with interactive software (such as a video game) to provide an additional input device for user gameplay, thereby providing secondary functionality for the accelerometer. Continuing this example, the accelerometer may be repurposed for determining the operation of a haptic device. For example, when the haptic device operates, the accelerometer may be used to indirectly measure the operating parameters (such as frequency) of the haptic device to determine whether there is degradation in the haptic feedback. The accelerometer may compare the range of motion of the haptic device during operation to a stored profile to determine if the haptic feedback is too great or too weak. A feedback control loop may be provided to correct for any deviance from a determined operating range, as described in detail below. 
     Based these measurements, the electronic device  100  may autonomously decide the most effective way to obtain the user&#39;s attention in that particular environment.  FIGS.  2  and  3    illustrate two distinct operating environments for the electronic device  100 , where the alert used to obtain the user&#39;s attention may vary between these two operating environments. Referring first to the operating environment shown in  FIG.  2   , the electronic device  100  may be lying flat on a table  200  such as may be the case when the user is in a classroom or meeting. If the sensors  108  and  110  are implemented as an accelerometer and microphone respectively, then the electronic device  100  may detect that it is in a classroom or meeting by the sensors  108  and  110  reporting no movement from the accelerometer and/or a relatively low ambient noise level from the microphone. Upon detecting that it is operating in this environment, the electronic device  100  may silence any audible alerts to the user, such as when there is an incoming phone call. 
     Conversely,  FIG.  3    illustrates a user  300  carrying the electronic device  100  in a purse  305  where it may be jostled around. If the sensors  108  and  110  are implemented as an accelerometer and an ambient light sensor (ALS) respectively, then the electronic device  100  in this operating environment may detect that it is in a confined space that is dark by the ALS reporting a relatively low ambient light level and that the electronic device  100  is being moved around by the accelerometer reporting movement. This operating environment may require louder user alerts than the situation shown in  FIG.  2   , for example, the strength of user alerts, both auditory and vibrations, may be increased in these situations. 
     Referring again to the electronic device  100  shown in  FIG.  1   , the motor  102  shown includes an eccentric weight  112  coupled to a motor body  114  via a shaft  116 . When an electric signal, such as a voltage signal, is applied to the motor body  114 , the shaft  116  begins to rotate causing the weight  112  to move in a substantially orbital path. Because the weight  112  is uneven, as the weight  112  begins to be rotated in this substantially orbital path, the motor  102  begins to vibrate, and as a result, the motor  102  causes the entire electronic device  100  to vibrate. When the electronic device  100  is deployed in different operating environments, the maximum target frequency of the electronic device  100 , or frequency at which the entire electronic device  100  experiences its maximum vibration, may vary between different operating environments. For example, comparing the two operating environments shown in  FIGS.  2  and  3   , the electronic device  100  making physical contact with the table  200  will have a different target frequency than the same electronic device  100  being jostled around in the purse  305 . By monitoring the sensors  108  and  110  based upon these measured parameters, the target frequency of the electronic device in these different operating environments may be determined. Furthermore, by actively adjusting the vibration of the motor  102  based upon these measured parameters, the electronic device  100  may be adjusted to achieve this target frequency in different operating environments. That is, the electronic device  100  may actively “tune” itself to its target frequency using measurements obtained from the sensors  108  and  110  and adjusting the motor  102 . In the embodiments where the electronic device  100  is a phone, this active adjustment may occur within the period of a single ring of the phone, such that the phone is ringing at its target frequency before the end of the first ring of an incoming call to maximize the chances of obtaining the user&#39;s attention. Similarly, when the electronic device  100  is a multi-function device that includes the ability to check electronic mail, this active adjustment may occur within the period of time it takes to notify the user of a new mail event. 
       FIG.  4    illustrates an alternate embodiment of an electronic device  400 , which includes a plurality of motors  402 - 408  coupled to the sensors  409  and  410 . As shown, in this embodiment, the plurality of motors  402 - 408  may be in different locations within the electronic device  400  so as to vibrate different portions of the electronic device  400 . In this embodiment, the target frequency of the electronic device  400  may be achieved by actuating the plurality of motors  402 - 408  in different patterns, where the pattern of actuating the plurality of motors  402 - 408  varies according to the different operating environments of the electronic device  400 . For example, if the electronic device  400  is located within the purse  305  as shown in  FIG.  3    and the sensors  409  and  410  indicate that one end  412  of the electronic device is touching the bottom of the purse  305  and the other end  414  is not touching the bottom of the purse  305 , then the motors  402  and  408  may be actuated to achieve the target frequency of the electronic device  400  while the other motors in the plurality  404  and  406  are not actuated. Thus, the electronic device  400  may be tuned to its target frequency in different environments by selectively actuating one or more of the motors within the plurality of motors  402 - 408 . 
       FIG.  5    illustrates a block diagram of an electronic device  500  that may be employed in the embodiments shown above. As shown, the electronic device  500  includes a plurality of sensors  502 - 512  that couple to a processor  516 . These sensors  502 - 512  may be used alone or in combination to determine the current operating environment of the electronic device  500 . The microprocessor  516  may be further coupled to one or more alert devices  518 - 522 . 
     As was mentioned above, the ALS  502  senses the ambient light of the environment that the electronic device  500  is in and reports this information to the processor  516 . When the processor  516  receives this ambient light information, it can modify alert operations of the electronic device  500  accordingly. Thus, in the embodiments where the electronic device  500  is a phone, if ambient light measurements indicate that the level of ambient light is relatively high, then alert mechanisms other than the light  518  may be used to obtain the user&#39;s attention, such as the motor  520  and/or speaker  522 , because the light  518  may be unperceivable to the user because the ambient light conditions. As was mentioned above, the information from the sensors may be combined such that the ambient light measurement from the ALS  502  may be used in conjunction with other measurements, such as ambient noise level, to detect a current operating environment of the electronic device  500 . 
     The microphone  504  may sample the ambient noise level of the environment that the electronic device  500  is in and report this information to the processor  516 . Thus, the microphone  504  may indicate that the ambient noise level is too high for the speaker  522  to obtain the user&#39;s attention, and therefore, alert mechanisms other than the speaker  522  may be used to obtain the user&#39;s attention, such as the motor  520  and/or the light  518 . In the embodiments where the electronic device  500  is a phone, then the microphone  504  may be the microphone used by the user of the electronic device  500  when using the phone. 
     The infrared (IR) detector  506  may detect a user&#39;s proximity to the electronic device  500  and report this information to the processor  516 . In some embodiments, the IR detector  506  may include one or more solid state sensors, such as pyroelectric materials, which detect heat from a user&#39;s body being near the electronic device  500 . In other embodiments, the IR sensor may include a light emitting diode (LED) that emits infrared light which bounces off a user in close proximity to the electronic device  500  and is detected by an IR sensor that is based upon a charge coupled device (CCD), where the CCD may detect reflected IR light emitted by the LEDs. In still other embodiments, a photoresistor may be used in place of or in conjunction with the CCD. Regardless of the actual implementation of the IR detector  506 , the IR detector  506  may convey its signal to the processor  516  as an indication of a user&#39;s presence near the electronic device  500 , and this indication may be used in conjunction with one or more of the other sensors to determine the current operating environment of the electronic device  500 . 
     The camera  508  may capture certain visual cues for use in determining the operating environment of the electronic device  500 . In some embodiments, the camera  508  may be integrated within the ALS  502 . In other embodiments, the camera  508  may be located on a separate portion of the electronic device  500  and may be used to confirm measurements from one of the other sensors, such as the ALS  502 . For example, in the event that the electronic device  500  is implemented as a phone and the ALS  502  is positioned on one side of the phone, such as the face side that the user positions against their head when using the phone, and the camera  508  is positioned on the opposite side of the electronic device  500  as the ALS  502 , then the camera  508  may be used to confirm measurements indicating that the phone is in a certain operating environment. 
     Furthermore, in some embodiments, measurements from the camera  508  may be used to provide additional information regarding the operating environment of the electronic device  500 . For example, if the electronic device  500  is implemented as the phone shown in  FIG.  2   , where the phone is lying face down, and the ALS  502  is located on the face of the phone while the camera  508  is located on the opposite side of the phone, then by the ALS  502  indicating that it is receiving substantially no light while the camera  508  indicates that it is receiving light, then may indicate that the phone is lying face down on the table. 
     The accelerometer  510  may indicate the general orientation of the electronic device  500 . In some embodiments, this indication may be through measurement of a damped mass on an integrated circuit, such as a micro electro-mechanical system (MEMS) For example, the accelerometer  510  may include one or more “in-plane” MEMS accelerometers, which are sensitive in a plane that is parallel to the sensing element (such as the damped mass), and therefore multiple dimension (such as two and three dimension accelerometers) may be formed by combining two or more in-plane accelerometers orthogonal to each other. Other embodiments may utilize out-of-plane MEMS accelerometers, which are sensitive to positional movements in a direction that is in a plane that is perpendicular to the sensing element (sometimes referred to as Coriolis movement). Some embodiments may combine one or more in-plane MEMS sensors with one or more out-of-plane MEMS sensors to form the accelerometer  510 . As mentioned above, the accelerometer  510  may be used to determine orientation of the electronic device  500  (such as face up, face down, tilted, etc.) and/or whether the electronic device  500  is being jostled about by the user (such as inside of the purse  305  shown in  FIG.  3   ). By providing the measurements from the accelerometer  510  to the processor  516  in addition to measurements from other sensors, the processor  516  may combine the measurements and confirm of the other sensors. For example, if the combination of the ALS  502  and the camera  508  indicate that the electronic device  500  is lying face down (as discussed above with regard to  FIG.  2   ), then the processor  516  may utilize measurements from the accelerometer  510  to confirm this positional information. 
     The global positioning system (GPS) sensor  511  may indicate the position of the electronic device  500  with respect to the latitude and longitude coordinates of the Earth as determined by signals from a plurality of geosynchronous satellites orbiting the Earth. Since the GPS sensor  511  may be unable to receive satellite signals while indoors, the GPS sensor  511  may be used to detect whether the electronic device  500  is indoors or outdoors, and the processor  516  may adjust the alerts accordingly. 
     The capacitive screen sensor  512  may detect whether the user is making contact with the electronic device  500 , and/or how much contact the user is making with the electronic device. For example, if the user is holding the electronic device  500  in their pocket, then the capacitive screen sensor  512  may indicate a certain capacitance level associated with the user&#39;s body. On the other hand, in the event that the electronic device  500  is located the purse  305  as shown in  FIG.  3   , then the capacitive screen sensor  512  may indicate a different capacitance associated with the fabric of the purse  305 . Also, when the capacitive screen sensor  512  senses substantially no capacitance value, then the electronic device  500  may be on a table  200  as shown in  FIG.  2   . 
     Table 1 illustrates how values from the capacitive screen sensor  512  may be confirmed by the other sensors, such as the ALS  502 . For example, when the ALS indicates that the ambient light level is low, such as when the phone may be in a pocket or in the purse  305 , then the capacitive screen sensor  512  may be consulted by the processor  516  to determine if the capacitance value corresponds to human versus non-human capacitance so that the processor  516  may determine the operating environment an adjust the user alerts accordingly. Similarly, in the event that the capacitive screen sensor  512  indicates that substantially no capacitance is measured, then the ALS  502  may be consulted to determine if the light level is high indicating that the operating environment is on the table  200  in a bright room or, if the light level is low, indicating that the operating environment is on the table  200  in a dark room, such as a night stand. The processor  516  then may adjust the alerts accordingly, such as by silencing alerts from the speaker  522  in the event that the electronic device  500  is on a night stand. 
     
       
         
           
               
               
             
               
                 TABLE 1 
               
             
            
               
                   
               
               
                 Capacitive Screen 
                 ALS 502 
               
            
           
           
               
               
               
            
               
                 Sensor 512 
                 High 
                 Low 
               
               
                   
               
               
                 Full screen, 
                   
                 In pocket 
               
               
                 human 
                   
                   
               
               
                 Full screen, 
                   
                 In purse 
               
               
                 non-human 
                   
                   
               
               
                 Nothing 
                 On conference table 
                 On night-stand 
               
               
                   
               
            
           
         
       
     
     Referring still to  FIG.  5   , each of the sensors  502 - 512  may be used by the processor to optimize the performance of the light  518 , the motor  520  and/or the speaker  522  to the operating environment of the electronic device  500 .  FIG.  6    depicts a block diagram of an illustrative feedback and control system  600  that may be implemented by the electronic device  500  to control the motor  520  such that its movement allows the electronic device  500  to achieve a target frequency that is customized to the operating environment. As shown in block  605  of  FIG.  6   , the control system  600  may include a storage unit  605  that includes a reference value that is reported to other items in the control system  600 . For the sake of discussion, this disclosure will discuss the reference value as based upon an accelerometer measurement, although it should be appreciated that this measurement may be based upon a wide variety of sensors, such as one or more of the sensors  502 - 512 . Also, the reference value in the storage unit  605  may be a combination of measurements from more than one of the sensors  502 - 512 . 
     The control system  600  may include an error detector  610  coupled to the storage unit  605  and the accelerometer  510 . The accelerometer  510  may report its measurements to the error detector  610  in the same form as the reference measurements stored in the storage unit  605 . As was mentioned above, measurements from the accelerometer  510  may represent movement of the electronic device  500  in the current operating environment of the electronic device  500 , and as a result, the measurements from the accelerometer  510  may be used to measure the target frequency of the electronic device  500 . During operation, the error detector  610  may compare the reference value stored in the storage unit  605  with the current measurement from the accelerometer  510  and output an error signal E s . 
     The error detector  610  may couple to a motor controller  615  and thereby provide the error signal E s  to the controller  615 . The controller  615  may utilize the error signal E s  in controlling the input signals to the motor  520 , such as by generating a control signal that is proportional to the difference between the reference value stored in the storage unit  605  and the accelerometer  510 . As mentioned above, the electrical signal applied to the motor  520  may be a voltage, and therefore, the control signal generated by the motor controller  615  may vary one or more aspects of the voltage that is applied to the motor  520 . For example, control of the motor  520  may be accomplished by varying the amplitude, frequency, and/or duty cycle of the voltage that is applied to the motor  520 . 
     In some embodiments, the motor  520  may be controlled using a pulse width modulated (PWM) signal. This PWM signal may allow more robust control of the motor  520  than conventional methods, such as an on/off control. In these embodiments, the PWM signal may be used to initially overdrive the motor  520  to reduce the rise time or ‘spin up’ for the motor  520  thereby producing a sharper turn on of the motor  520 . Similarly, in these embodiments, the PWM signal may be used to underdrive the motor  520 , or inductively brake the motor  520 , so as to achieve a sharper turn off of the motor  520 . This sharper on and off action of the motor  520  may result in more noticeable tactile sensations to a user when using the motor  520  as an alert device. 
       FIG.  7    illustrates varying the frequency of the control signal where the frequency varies with respect to time. Note that the varying frequency may be monotonically increasing during each cycle of the control system  600  (section  705 ), unchanged during each cycle of the control system  600  (section  708 ), monotonically decreasing during each iteration of the control system  600  (section  710 ), or be dithered between two or more values during each cycle of the control system  600  (section  715 ). 
     Referring back to the control system  600  shown in  FIG.  6    in conjunction with the electronic device  500  shown in  FIG.  5   , in some embodiments, the storage unit  605 , error detector  610 , and motor controller  615  may be incorporated into the microprocessor  516 . Thus, during operation, the microprocessor  516  may sample values from the accelerometer  510  (which represents movement of the electronic device  500  within its current operating environment) and actively control the motor  520  such that the error signal E s  is minimized and the reference value stored in the storage unit  605  is achieved. The reference value that is stored in the storage unit  605  may be modified autonomously by the electronic device so that the control system  600  is actively tuning itself to this changing reference value. By changing the reference value stored in the storage unit  605 , and tracking the measurements from the accelerometer  510  in response to this varying reference value, the target frequency of the electronic device  500  in its current operating environment may be calculated. For example, as the reference value is varied, the reference value that causes the electronic device  500  to achieve maximum resonance in the current operating environment (as measured by the accelerometer  510 ), may be stored in the storage unit  605 . 
       FIG.  8    illustrates operations  800  for determining a reference value corresponding to a target frequency of the electronic device. The target frequency of the electronic device may be a resonant frequency of the electronic device  500  in its current operating environment, or alternatively, may be a frequency of the device that maximizes a user&#39;s perception of the alert. It should be appreciated that the operations shown in  FIG.  8    are illustrative, and that other operations for determining a reference value may be performed in other embodiments. The operations  800  are discussed herein in the context of the electronic device  500  being a phone that is receiving an incoming call, however, the operations  800  may be applied in other contexts, such as in the context of a personal digital assistant (PDA) alerting a user to an appointment for example. 
     Referring now to  FIG.  8   , block  805  shows the electronic device  500  receiving an incoming call. Generally, the duration of a single ring for an incoming call may be five seconds and the phone may ring for a total of five rings before being transferred to voicemail, or twenty five seconds. In some embodiments, the operations  800  may be triggered when the electronic device  500  beings to ring on the first ring and complete within this first ring, and therefore the block  805  occur on first ring. In other embodiments, the operations  800  may occur on a subsequent ring and complete within that subsequent, and therefore the block  805  may be a subsequent ring. In still other embodiments, the operations  800  may begin at the beginning of the first ring and complete before the phone transfers the call to voicemail. 
     Once the electronic device  500  receives an incoming call, the electronic device  500  will detect the current system state per block  810 . For example, the microprocessor  516  may observe the values of one or more of the sensors  502 - 512  to determine their values, and as was discussed above, based upon one or more of these measurements, the electronic device  500  may predict the operating environment of the electronic device (e.g., on a table as shown in  FIG.  2    versus in the purse  305  as shown in  FIG.  3   ). 
     Next, in block  815 , the initial reference value may be loaded into the storage unit  605 . The initial reference value to be stored may correspond to an initial estimation of the reference value that matches the current operating environment. For example, momentarily to  FIGS.  3  and  6   , if the processor  516  determines that the phone is in the purse  305 , then the processor  516  may consult a lookup table to determine a predetermined reference value to be stored in the storage unit  605  such that the initial target frequency achieved by the control system  600  generally corresponds to the phone being located in the purse  305 . This initial target frequency stored in the storage unit  605  may be optimized by subsequent operations. 
     Referring back to  FIG.  8   , block  820  includes a decision block to determine whether the initial reference value is to be optimized. In the event that no optimization is desired, such as when the control system  600  determines that the initial reference value achieves a target frequency that is within a threshold of a predetermined maximum target frequency, then control may flow to block  825 , where the motor  520  may be actuated corresponding to the initial reference value. 
     On the other hand, in the event that the block  820  determines that optimization is desired, then a dithering process may be utilized to determine the target frequency of the electronic device  500 . This dithering process may begin in block  830  where the control signal provided to the motor  520  may be increased, for example, by increasing the frequency as illustrated in the section  705  of  FIG.  7   . In block  835 , each time the control signal is increased by the controller  615 , this value may be stored for determination of the target frequency of the electronic device  500 . Next, in block  840  the control signal provided to the motor  520  may be decreased, for example, by decreasing the frequency with the controller  615  as illustrated in the section  710  of  FIG.  7   . In block  845 , each time the control signal is decreased, this value may be stored for determination of the target frequency of the electronic device  500 . 
     Next, in block  850 , the microprocessor  516  may compare the values stored in blocks  835  and  845  and adjust the reference value in the storage unit  605  accordingly. For example, if the value stored during block  835  is greater than the value stored during block  845 , then increasing the control signal per block  830  may result in the electronic device  500  getting closer to its target frequency than decreasing the control signal per block  840 . Thus, the controller  615  may increase the frequency of the control signal to the motor  520  by increasing the reference value stored in the storage unit  605  per block  855  and then control may flow back to block  830  where the dithering process begins again. 
     Likewise, if the value stored during block  845  is greater than the value stored during block  835 , then decreasing the control signal per block  840  may result in the electronic device  500  getting closer to its target frequency than increasing the control signal per block  830 . Thus, the controller  615  may decrease the frequency of the control signal to the motor  520  by increasing the reference value stored in the storage unit  605  per block  860  and then control may flow back to block  830  where the dithering process begins again. 
     The dithering operations shown in blocks  830 - 845  are merely illustrative of the operations that may be implemented in determining the maximum target frequency of the electronic device  500  in its current operating environment and the operations  800  shown in  FIG.  8    may vary in other embodiments. For example, in some embodiments, there may be a disproportionate number of increases (block  830 ) in the control signal compared to decreases (block  840 ) in the control signal or vice versa. Also, in some embodiments, instead of modifying the frequency of the control signal, other portions of the control signal, such as the duty cycle or amplitude of the voltage, may be modified during the dithering process. 
     In still other embodiments, the maximum target frequency may be determined by stepping through reference values incrementally. For example, the reference value stored in the storage unit  605  may be substantially zero (e.g., on the order of several hertz) and this reference value may be stepped up from this initial value to a maximum reference value. As this reference value is stepped and the control system  600  reacts to this changing reference value, the measurement of the accelerometer  510  may be stored by the processor  516  in order to find a maximum target frequency of the electronic device  500 . By stepping through a range of reference values in this manner, the processor  516  may determine if there are multiple harmonic target frequencies in the target frequency spectrum of the electronic device  500  and determine which of these harmonics produces the largest target frequency of the electronic device  500 . 
     Because one or more characteristics of the motor  520  may vary as a function of temperature (e.g., the electrical resistance of windings in the motor may increase with temperature), wear (e.g., the brushes that commutate the windings in the motor  520  may have an increasing the electrical resistance over time), and/or friction (e.g., the internal bearing structures of the motor  520  may have an increase in the amount of friction over time, causing the motor to spin more slowly in response to applied voltage). These characteristics may include macro scale changes due to aging and wear and/or micro scale changes due to temporary heating in a hot car or due to the generation of heat in the motor windings during operation. Using one or more of the above identified methods, the motor  520  may be operated in such a manner so as to counteract one or more of these effects. For example, using a PWM control signal, in conjunction with measurements from the one or more sensors, changes in performance of the motor  520  as a function of time may be compensated for. Such measurements could be inferred indirectly from measurements of the armature resistance of the motor  520  (e.g., to compensate for temperature/brush wear) or directly from measurements of motor speed at a known duty cycle (e.g., using the accelerometer  510 ). In addition, while these degradations in performance may be compensated for, they may also be used to trigger a repair or diagnostic history to be communicated to the user, or to the manufacturer or seller of the device. 
       FIG.  9    illustrates an example electronic device  900  having a feedback loop for controlling the operating parameters of a haptic device. The electronic device  900  may include any or all of a storage device  902 , an error detector  904 , a motor controller  906 , a motor  908 , a sensor  910  and a filter  912 , as shown, as well as other components and/or devices. The motor controller  906  may utilize an error signal provided from the error detector  904  to control the operating signals provided to the motor  908 . In particular, the motor controller  906  may adjust the frequency, amplitude and/or duty cycle of a PWM control signal to control the operating parameters of the motor  908 . 
     Turning to  FIG.  10   , a flowchart  920  illustrating operation of the electronic device  900  in accordance with the embodiment of  FIG.  9    is shown. Generally, the flowchart  920  relates to using an accelerometer to sense vibrations of a haptic device. However, it should be appreciated that the same or similar steps to those shown in the flowchart  920  may be implemented with other sensors and other haptic (or other output) devices to achieve a desired level of control for such devices. For example, thermocouples, gyroscopes, compasses, and so on may be used to monitor or sense parameters related to the operation of a motor used in a fan or a hard drive and provide a feedback signal. In some embodiments, the measurements may be taken directly while in other embodiments, indirect measurements may be taken. That is, it should be appreciated that in some embodiments, effects of the operation of the motor is measured (i.e., the vibration from the motor) rather than the actual operation parameters. For the purposes of this discussion, however, the term “operating parameters refers” to measurements related to the operation of the motors and is not exclusive to either the effects of operation or the actual operation parameters. 
     In some embodiments, one or more sensors may be repurposed from a primary purpose, or additionally used, to sense the operation of the motor. For example, an accelerometer may be repurposed to determine the operating frequency of a haptic device. That is, measurements from an accelerometer may generally be used to determine an orientation of the device  100  and/or may be used with interactive software, such as a video game, to provide an additional input device for user gameplay as primary purposes. Upon actuation of a haptic element, the accelerometer may be repurposed to measure the operating parameters of the haptic element, such as the amount of vibration induced in the device  100  by the haptic element. As such, it should be appreciated that a sensor(s) already provided with a particular electronic device may be used to monitor the operation of a haptic element. 
     Returning to  FIG.  10   , a PWM control signal is provided from the controller  906  to the motor  908  to drive the motor (Block  922 ). As voltage is provided to the motor  908  via the PWM control signal, current rises and drives the motor which results in a vibration/acceleration output that may be sensed by a user. The operation of the motor is also sensed by sensor  910  to generate a measured signal (Block  924 ). The measured signal is then processed (Block  926 ). In one embodiment, an output of the sensor  910  is filtered with a bandpass or notch filter  912  to allow vibrations having frequencies near the target operating frequency of the haptic element to be passed through for further processing, thus eliminating acceleration measurements unrelated to the motor (Block  928 ). Peaks within the filtered signal are found (Block  930 ) and the frequency of the measured signal is then determined (Block  932 ). The finding of peaks of the filtered signal may be used to determine a period of the measured signal. The period may then be converted into a frequency signal, for example, for a comparison as detailed below with respect to Block  934 . Generally, if the period is determined to be longer than a period corresponding to the target frequency, it indicates that the motor is operating at a speed slower than the target frequency. 
     In some embodiments, the error detector  904  may include software, hardware and/or a combination of the two and may be configured to convert the filtered signals from the sensor  910  and filter  912  into a signal having units indicative of an operating parameter of the motor  908 , such as frequency, temperature, angular velocity, and so on. In other embodiments, discrete components other than the error detector  904  may be used to convert the measured signal into units that may indicate an operating parameter for the motor  908 . 
     The measured frequency is compared with a target frequency provided from the storage device  902  to the error detector  904  to generate an error signal (Block  934 ). The generated error signal is provided to the motor controller  906  and the control signal is adjusted according to the error signal (Block  936 ). In one embodiment, a duty cycle of a PWM control signal may be adjusted by the motor controller  906  to achieve the target frequency. For example, to increase the current in the motor armature, the duty cycle of the PWM control signal may be increased. The control signal is then provided to the motor  908  to drive the motor (Block  922 ). 
     In some embodiments, the motor controller  906  may store or have access to information related to the target frequency and/or the torque and angular speed curve information so that it may appropriately adjust the control signal to achieve the target frequency. As such, in some embodiments, the information accessible by the controller  906  may serve as a reference point for the operation of the haptic element to determine changed circumstances related to the operation of the haptic element over time, thus allowing for adjustment of the operating parameters to achieve and/or maintain operations at or near desired operating parameters. 
       FIGS.  11 - 13    illustrate example torque and angular speed curves. In particular,  FIG.  11    illustrates an example torque and angular speed curve  1000  which may be representative for the motor  908 . The vertical axis  1002  represents the torque which may have suitable units such as inches pounds or the like, while the horizontal axis  1004  represents the angular speed which may have suitable units such as revolutions per min (RPMs) or the like. In some embodiments, the curve  1000  may be generally linear, as illustrated, while in other embodiments the curve may be non-linear. 
       FIG.  12    illustrates sample torque and angular speed curves  1000 , and a sample pivoted curve  1010 , after the motor  908  has experienced wear, aging, and/or other effects that increase the friction of the motor and degrade the operation of the motor  908 . Generally and as shown in the pivoted curve  1010 , the increased friction causes the curve  1010  to pivot downward from a point along the vertical axis resulting in lower operating speeds.  FIG.  13    illustrates the torque and angular speed curve  1000  and a shifted curve  1020  resulting from high operating temperatures. As shown, the shifted curve  1020  results also in lower operating speeds. In  FIGS.  12  and  13   , the dashed lines  1012  and  1022  indicate the lower speeds achieved when the motor operates at a constant torque. The lowered speeds illustrated by the pivoted curve  1010  and the shifted curve  1020  and indicative of slower operating speeds for the motor  916  may also result in poor performance of a haptic element as it is not operating at the target frequency. 
     In order to achieve operation at the target frequency, the speed of the motor  916  may be increased by adjustment of the PWM control signal. Specifically, the duty cycle of the PWM control signal can be adjusted to increase the current in the armature of the motor  908  and thereby increase the speed of the motor to achieve the target frequency. Thus, the PWM control signal allows for adjustments to be made to the operating parameters of the motor while providing a constant voltage level signal and acts as a variable voltage drive without actual varying the voltage level. 
     The increased current increases the PWM cycle of the motor, and thus moves the pivoted curve  1010  and the shifted curve  1020  so that they reflect the original curve  1000 , as indicated by arrows  1030  in  FIGS.  12  and  13   . It should be appreciated that the pivoted and shifted curves  1010  and  1020  and the corresponding shifts due to increased current are simply presented as examples. In other contexts, due to certain operating conditions, the curves may be shifted and or pivoted in an opposite direction. 
     In addition to testing and adjusting of the operating parameters of the motor  908 , periodically or at random intervals, the operating parameters may be tested for informational purposes. That is, the operation of the motor may be audited to discover how the motor is performing. This may be useful to a manufacturer or reseller to know how an installed base of motors is performing. Thus, the information related to the operation of the motor (i.e., the information collected by the sensor  910 ) may be transmitted or provided to a computer database owned, operated or accessed by a manufacturer, for example, for informational purposes. The transmittal of the information may be via any suitable mode including wired and wireless modes. Moreover, the transmittal may be passive and unnoticeable to a user of the device. In some embodiments, the information may be provided to a user interface of the device in which the haptic element is operating to inform a user of any performance issues. This may be useful for knowing when a cooling fan is not operating properly, for example, so that it may be fixed before a system overheats or to know when a hard disk drive is beginning to fail. 
     In the foregoing examples, it should be appreciated that the motion of a device is measured to control a haptic element within the device. Thus, not only is the sensor (e.g., accelerometer) being used for a secondary purpose, it also takes an indirect measurement in order to tune the haptic (or other) device. The feedback loop may include one or more sensors and the sensors implemented may take various different measurements. For example, in some embodiments, a thermocouple may be used for measuring a device temperature to infer a motor operating temperature. In another embodiment, a microphone may be used for measuring a ringtone volume or quality. In some embodiments, the microphone may also be used to determine a volume for a hard disk drive when spinning. In some embodiments, a gyroscope may be used to determine acceleration of a device when a vibrating haptic element is actuated. 
     In some embodiments, the ramp up and stopping of motors may be improved.  FIGS.  14  and  15    illustrate drive control curves with corresponding vibration amplitudes. Specifically,  FIG.  14    illustrates a traditional on/off drive control signal  1400  for the motor  908  with voltage in the vertical axis and time in the horizontal axis. A corresponding vibration amplitude curve  1402  is illustrated below the traditional drive control signal. The vibration amplitude has a sawtooth form  1404  because the mechanical time constant of the vibration motor may be long with respect to the input signal, resulting in a slow rise time and a “soft” feel to transition between on an off vibration. 
     In contrast,  FIG.  15    illustrates a drive control curve  1500  and a corresponding vibration amplitude curve  1506  achievable using PWM control signals. As illustrated, the drive control curve  1500  is overdriven in the rise  1502  and in the spin down  1504 , resulting in crisper rise time in the vibration amplitude  1508  and in the vibration spin down  1510  and  1512 . Generally, the rise time can be overdriven in a PWM control signal by increasing the duty cycle of the signal. The spin down time after an one signal can be reduced by shorting the leads of the motor to generate an inductive braking effect on the motor or by applying an opposite polarity to the leads to actively brake the motor. These techniques provide a crisper, more noticeable transient between the on and off states of a vibrating alert device. 
     Although concepts have been presented in relation to specific embodiments, it should be appreciated, that the concepts may be applicable over a number embodiments not specifically described herein but falling within the scope of the present disclosure. Accordingly, embodiments disclosed herein are not to be construed as limiting.

Metadata:
Filing Date: 20210617
Publication Date: 20230314
Grant Date: 20230314
Priority Date: 20090930
Inventors: HILL, MATTHEW
Assignee: APPLE INC
CPC Classifications: [{"code": "H04M3/42348", "inventive": true, "first": false, "tree": "[]"}, {"code": "H04M3/42136", "inventive": true, "first": false, "tree": "[]"}, {"code": "H04M19/047", "inventive": false, "first": false, "tree": "[]"}, {"code": "G08B6/00", "inventive": true, "first": true, "tree": "[]"}, {"code": "H04M19/04", "inventive": true, "first": false, "tree": "[]"}, {"code": "H04B1/40", "inventive": true, "first": false, "tree": "[]"}, {"code": "G06F3/016", "inventive": true, "first": false, "tree": "[]"}, {"code": "H04M1/72448", "inventive": true, "first": false, "tree": "[]"}, {"code": "G08B6/00", "inventive": true, "first": true, "tree": "[]"}, {"code": "G06F3/00", "inventive": true, "first": true, "tree": "[]"}, {"code": "H04M1/72454", "inventive": true, "first": true, "tree": "[]"}, {"code": "H04M19/04", "inventive": true, "first": false, "tree": "[]"}, {"code": "G06F3/016", "inventive": true, "first": false, "tree": "[]"}, {"code": "H04M19/047", "inventive": false, "first": false, "tree": "[]"}, {"code": "H04M1/72448", "inventive": true, "first": false, "tree": "[]"}, {"code": "H04M19/047", "inventive": false, "first": false, "tree": "[]"}, {"code": "H04M19/04", "inventive": true, "first": false, "tree": "[]"}, {"code": "G06F3/016", "inventive": true, "first": false, "tree": "[]"}, {"code": "G08B6/00", "inventive": true, "first": true, "tree": "[]"}, {"code": "H04M1/72448", "inventive": true, "first": false, "tree": "[]"}]
Family ID: 43128158