U.S. patent application number 11/933119 was filed with the patent office on 2008-06-19 for capacitive sensing control and calibration for a child device.
This patent application is currently assigned to Graco Children's Products Inc.. Invention is credited to James E. Godiska.
Application Number | 20080146361 11/933119 |
Document ID | / |
Family ID | 39345096 |
Filed Date | 2008-06-19 |
United States Patent
Application |
20080146361 |
Kind Code |
A1 |
Godiska; James E. |
June 19, 2008 |
Capacitive Sensing Control and Calibration for a Child Device
Abstract
A child device includes a user interface having a capacitive
sensor element configured to reflect a capacitance change in
connection with an operator interaction with the user interface,
and a control circuit coupled to the capacitive sensor element to
detect the capacitance change resulting from the operator
interaction. The control circuit is further configured to evaluate
the capacitance change to determine whether the operator
interaction is initiated by a user authorized to control operation
of the child device. In some cases, the child device may be
configured to implement a learning routine involving capturing data
indicative of a capacitance change, and evaluating the data to
determine a threshold to be used in detection of future operator
interaction.
Inventors: |
Godiska; James E.; (Exton,
PA) |
Correspondence
Address: |
LEMPIA BRAIDWOOD LLC
223 W. JACKSON BLVD., SUITE 620
CHICAGO
IL
60606
US
|
Assignee: |
Graco Children's Products
Inc.
Exton
PA
|
Family ID: |
39345096 |
Appl. No.: |
11/933119 |
Filed: |
October 31, 2007 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
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11385260 |
Mar 20, 2006 |
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11933119 |
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60855894 |
Oct 31, 2006 |
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60732640 |
Nov 3, 2005 |
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Current U.S.
Class: |
472/119 |
Current CPC
Class: |
A47D 9/02 20130101 |
Class at
Publication: |
472/119 |
International
Class: |
A63G 9/00 20060101
A63G009/00 |
Claims
1. A child device comprising: a user interface comprising a
capacitive sensor element configured to reflect a capacitance
change in connection with an operator interaction with the user
interface; and a control circuit coupled to the capacitive sensor
element to detect the capacitance change resulting from the
operator interaction; wherein the control circuit is further
configured to evaluate the capacitance change to determine whether
the operator interaction is initiated by a user authorized to
control operation of the child device.
2. A child device according to claim 1, wherein the control circuit
is configured to compare the detected capacitance change with a
threshold to determine whether the operator interaction is
initiated by a user authorized to control operation of the child
device.
3. A child device according to claim 2, wherein the threshold is
directed to differentiating between human touches of the capacitive
sensor element by a child-sized finger and an adult-sized
finger.
4. A child device according to claim 3, wherein the control circuit
is configured to allow the operator interaction to control the
operation of the child device when the capacitance change exceeds
the threshold to be indicative of the adult-sized finger.
5. A child device according to claim 3, wherein the control circuit
is configured to allow the operator interaction to control the
operation of the child device when the capacitance change does not
exceed the threshold to be indicative of the child-sized
finger.
6. A child device according to claim 2, wherein the threshold is
adjustable via a calibration routine.
7. A child device according to claim 1, wherein the control circuit
is configured to recognize the user initiating the operator
interaction by comparing the capacitance change with a stored user
profile.
8. A method of controlling a child device comprising: capturing
data indicative of a capacitance change resulting from operator
interaction with a capacitive sensor element of a user interface of
the child device; evaluating the data to determine a threshold to
be used in detection of future operator interaction in connection
with controlling operation of the child device; and storing the
threshold to calibrate the child device.
9. A method according to claim 8, further comprising detecting a
change in sensitivity of the capacitive sensor element to trigger a
learning routine including implementation of the capturing and
evaluating steps.
10. A method according to claim 8, further comprising detecting a
user-initiated request to trigger a learning routine including
implementation of the capturing and evaluating steps.
11. A method according to claim 8, further comprising initiating a
setup procedure of the child device to trigger a learning routine
including implementation of the capturing and evaluating steps.
12. A method according to claim 8, wherein the threshold is
directed to differentiating between users.
13. A method according to claim 8, wherein the threshold is
directed to determining whether the operator interaction is
initiated by a user authorized to control operation of the child
device
14. A method according to claim 8, further comprising determining a
user profile in accordance with the sensed capacitance change to
support future recognition of an authorized user
Description
CROSS-REFERENCES TO RELATED APPLICATIONS
[0001] This application claims the benefit of U.S. provisional
application Ser. No. 60/855,894, entitled "Motion Control Devices
and Methods," and filed Oct. 31, 2006, the entire disclosure of
which is hereby expressly incorporated by reference. This
application is a continuation-in-part of U.S. application Ser. No.
11/385,260, entitled "Child Motion Device," and filed Mar. 20,
2006, which, in turn, claims the benefit of U.S. provisional
application Ser. No. 60/732,640, entitled "Child Swing," and filed
Nov. 3, 2005, the entire disclosures of which are hereby expressly
incorporated by reference.
BACKGROUND OF THE DISCLOSURE
[0002] 1. Field of the Disclosure
[0003] The present disclosure is generally directed to child or
juvenile motion devices, and more particularly to devices and
methods for controlling the motion in such devices.
[0004] 2. Brief Description of Related Technology
[0005] Child motion devices such as conventional pendulum swings
are commonly used to entertain and, sometimes more importantly, to
soothe or calm a child. A child is typically placed in a seat of
the device and then the device is directed to swing the child in a
reciprocating pendulum motion.
[0006] Unfortunately, many child motion devices exhibit a lack of
operational adjustability or adaptability. Past infant swings and
other child motion devices have often been incapable of adapting to
changing operational conditions. Such devices are likely to be
well-suited for only a narrow range of children or operational
circumstances. The inability to function correctly with child
occupants failing outside a certain weight range is one example
where past devices can fail to operate as intended.
[0007] Lack of customization options can be another source of
inefficacy. Occupant preferences can vary significantly from child
to child, as well as over time with a single child. Consequently,
child motion products without available adjustments or
customization options may be effective with only a small subset of
children, and then only for only a short period of time.
[0008] The control techniques relied upon in past child motion
devices have been known to suffer from a number of limitations. The
control techniques, and the electronics and other components
involved in implementing them, have often been inaccurate,
inefficient, or both. This can often lead to operational drawbacks.
For instance, the resulting motion can be bumpy or jolting for the
child occupant, as the device generally fails to operate as
intended. Other limitations of the control electronics and related
components lead to inefficient operation, which can be significant
as many child motion products are configured for battery power.
Rapid depletions of battery capacity are then likely to lead to
further operational problems.
[0009] These and other limitations of the control techniques and
related components can ultimately result in the device being
ineffective at calming, soothing or entertaining a child or infant
occupant.
BRIEF DESCRIPTION OF THE DRAWING FIGURES
[0010] Objects, features, and advantages of the present disclosure
will become apparent upon reading the following description in
conjunction with the drawing figures, in which like reference
numerals identify like elements in the figures, and in which:
[0011] FIG. 1 is a perspective view of an exemplary child motion
device controlled in accordance with various aspects of the
disclosure.
[0012] FIG. 2 is a perspective view of the child motion device of
FIG. 1 with a seat shown in exploded view for mounting in one of
several optional seating orientations.
[0013] FIG. 3 is a perspective view of the child motion device of
FIG. 1 with the seat mounted in one of the optional seating
orientations.
[0014] FIG. 4 is a perspective view of a post and a seat base of a
support frame of the child motion device of FIG. 1 shown in
exploded view.
[0015] FIG. 5 is a perspective view of a portion of the post of
FIG. 4 to show a user interface panel in greater detail.
[0016] FIG. 6 is a perspective view of exemplary drive and motor
control feedback systems configured in accordance with one
embodiment and shown removed from a housing of the post of FIG. 4
in which the systems are disposed.
[0017] FIG. 7 is an elevational view of the drive and the motor
control feedback systems in greater detail.
[0018] FIG. 8 is a bottom view of the drive and motor control
feedback systems.
[0019] FIG. 9 is a schematic view of an exemplary sensor board of
the motor control feedback system and/or user interface of one of
the child motion devices of FIGS. 1 and 9 and in accordance with
certain aspects of the disclosure.
[0020] FIG. 10 is perspective view of an alternative child motion
device suitable for incorporation of the sensor board of FIG. 9 for
facilitating motor control and user interface functionality in
accordance with one aspect of the disclosure.
[0021] FIG. 11 is a schematic circuit diagram of a control system
in accordance with various aspects of the disclosure.
[0022] FIG. 12 depicts a simplified representation of an applied
motor voltage that may be generated by the control system of FIG.
11 in accordance with one aspect of the disclosure.
[0023] FIG. 13 is a flow diagram of a motor voltage calibration
technique that may be implemented by the control system of FIG. 11
in accordance with one aspect of the disclosure.
[0024] FIG. 14 is a flow diagram of an audio control technique that
may be implemented by the control system of FIG. 11 in accordance
with one aspect of the disclosure.
[0025] FIG. 15 is a flow diagram of an operational mode control
technique that may be implemented by the control system of FIG. 11
in accordance with one aspect of the disclosure.
[0026] While the disclosed systems, devices and methods are
susceptible of embodiments in various forms, there are illustrated
in the drawing (and will hereafter be described) specific
embodiments of the invention, with the understanding that the
disclosure is intended to be illustrative, and is not intended to
limit the invention to the specific embodiments described and
illustrated herein.
DETAILED DESCRIPTION OF THE DISCLOSURE
[0027] The disclosure is generally directed to child motion devices
and control techniques for the implementation of motion-based
functions and operations of such devices.
[0028] Several aspects of the disclosure are directed to a child
motion device and control methods that provide a secure,
comfortable, and soothing environment in an efficient and effective
manner under a wide range of operating conditions. These aspects of
the disclosure provide benefits to both the child and the caregiver
by creating multiple, new ways for the caregivers to interact with
their child and the device, by providing new soothing features that
will help calm a fussy child, and by better functioning child
motion devices. Several aspects of the disclosure involve or
include the application of electro-mechanical technologies like
capacitive sensing. As described below, some embodiments
incorporate technologies like capacitive sensing in both user
interface and motion control contexts, simplifying the electrical
layout of the child device, and yet providing new features.
[0029] Some aspects of the disclosure involve the application of
absolute swing angle sensing to provide more reliable and
repetitive swing motion despite changes in operating conditions.
Other aspects involve an automated, self calibration routine that
results in greater tolerance and performance bands to be used in
the device drive components, saving cost and reducing device
component complexity. Still other aspects of the disclosure involve
or include linking multiple product functions into pre-defined or
user-defined modes. In this manner, the child device can be
tailored to best soothe or entertain a child occupant while
minimizing setup and configuration challenges otherwise imposed
upon the caregiver.
[0030] Although described in connection with infant or child
swings, the disclosed methods, devices and systems are well suited
for use in connection with a variety of different child motion
devices. Practice of the disclosed methods, devices and systems is
accordingly not limited to the exemplary swings described
herein.
[0031] In accordance with one aspect of the disclosure, the methods
and devices described herein determine position data in real-time
to apply power at correct points within the motion path of the
child motion device. For example, applying power at the correct
points during a pendulum arc can provide efficiency advantages when
the underlying position (or swing angle) data is determined in an
accurate manner as described below.
[0032] The various position and angle sensing techniques described
below may be used to implement functions other than motion control
feedback. In some cases, the same techniques may be utilized to
support both motion control and other functions. Moreover, some
techniques may be used in combination to supplement or facilitate
the motion control feedback or other functionality.
[0033] In accordance with other aspects of the disclosure,
optimization of the operation of the motor is addressed via methods
and techniques that implement periodic or regular calibration of
the motor voltage. Such automatic calibration may adjust the
voltages that work best or most efficiently during, for example,
start up or other in-use conditions. In some cases, implementation
of the methods and techniques results in a range of suitable
voltages from which a controller can select a desired level for
operation.
[0034] Turning now to the drawing figures, FIGS. 1-3 show one
example of a child motion device 20 incorporating various aspects
of the disclosure. The device 20 in this example generally includes
a frame assembly 21 configured to support an occupant seat 22 above
the surface upon which the device 20 is disposed. A base section 24
of the frame assembly 21 rests upon the surface to provide a stable
base for the device 20 while in-use. The frame assembly 21 also
includes a seat support frame 26 on which the seat 22 is mounted.
The seat frame 26 is generally suspended over the base section 24
to allow reciprocating movement of the seat 22 during operation. To
that end, an upright post 28 of the frame assembly 21 extends
upward from the base section 24 to act as a riser or spine from
which a support arm 30 extends radially outward to meet the seat
frame 26.
[0035] In this example, the post or spine 28 is oriented in a
generally vertical orientation relative to its longitudinal length.
The post 28 has an external housing 29 that may be configured in
any desired or suitable manner to provide a pleasing or desired
aesthetic appearance. The housing 29 can also be functional, or
both functional and ornamental. For instance, the housing 29 can
act as a protective cover for the internal components, such as the
drive system, of the device 20. Some or all of the housing 29 may
constitute a removable cover for access to the interior or inner
workings of the device 20, if needed. In any case, the housing 29
and, more generally, the post 28, may vary considerably in
orientation, shape, size, configuration, and the like from the
examples disclosed herein.
[0036] Other components of the frame assembly 21, such as the base
section 24, may also vary considerably in orientation, size, shape,
configuration, and the like. Practice of the disclosed methods and
devices is not limited to the configuration of the exemplary frame
assembly 21 described and shown in connection with FIGS. 1-3.
Notwithstanding the foregoing, one or more components of the frame
assembly 21 may be well suited for implementation of one or more
aspects of the disclosure, as described below.
[0037] As best shown in FIGS. 2 and 4, a driven end 32 of the
support arm 30 is coupled to a structural support, or weight
bearing, portion 34 of the post 28. In this example, the support
arm 30 is cantilevered from the post 28 at the driven end 32. The
support arm 30 is mounted for pivotal, side-to-side movement about
its driven end 32 through a travel path that is substantially
horizontal. Further details regarding the travel path, as well as
other exemplary travel paths, can be found in U.S. Patent
Publication No. 2007/0111809, entitled "Child Motion Device," the
entire disclosure of which is hereby incorporated by reference. As
described therein, the support arm 30 can travel through a partial
orbit or arc segment of a predetermined angle and can rotate about
an axis of rotation that can be offset from a vertical reference
and that can be offset from an axis of the post 28. Alternatively,
the axis of rotation can be aligned with the vertical reference,
the axis of the post 28, or both, if desired. More generally, the
driven end 32 is coupled to a drive system (FIGS. 6-8) disposed
within the housing 29 and designed to reciprocate or oscillate a
distal end 35 of the support arm 30 to which the seat frame 26 is
attached for corresponding movement of the occupant seat 22.
[0038] As described below, the device 20 includes a number of
components directed to controlling and/or facilitating the motion
and other functionality of the device 20. In the example shown,
several of these control components are disposed on or in a control
tower 36 of the post 28. In some cases, the control tower 36 may
also contain portions of the drive system or structural support
elements of the device 20. In this example, the control tower 36
has an upper panel 37 to present an instrumentation, or control,
interface to a caregiver directing the operation of the device 20.
The positioning and configuration of the instrumentation and other
interface elements may vary considerably from that shown. For
instance, the instrumentation need not be arranged in a single
panel, but rather may be distributed over multiple locations on the
control tower 36 or other component of the device 20. Further
description of the elements and aspects of the user interface are
set forth below.
[0039] In the example shown in FIGS. 1-3, the base section 24 of
the frame assembly 21 is in the form of an oval hoop or ring sized
to provide a stable base for the device 20 when in use. The
configuration of the base section 24 can vary from the hoop as
discussed in the above-referenced publication. The base section 24
is positioned generally beneath the seat support frame 26 in order
to offset the load or moment applied to the post 28 and created by
a child placed in the seat 22 of the cantilevered support arm
30.
[0040] The seat support frame 26 may vary considerably and yet fall
within the spirit and scope of the present invention. In this
example, the seat support frame 26 is a square or rectangular ring
defining an opening 38 (FIG. 2) to accept the seat 22. The seat
frame 26 may have a pair of pins 39 extending outward from one side
to engage corresponding, locking receptacles in the distal end 35
of the support arm 30, as shown in FIG. 4.
[0041] While other configurations and constructions of the seat
support frame 26 are possible, the symmetrical shape of the seat
support frame 26 permits the seat 22 to be mounted on the support
arm 30 in a number of optional orientations. In this example, the
child seat 22 can have a contoured bottom or base 40 with features
configured to engage with portions of the seat support frame 26 so
that when it is rested on the seat support frame, the child seat 22
is securely held in place. In this example, the seat support frame
26 is formed of tubular, linear side segments. The seat bottom 40
may have a number of side or end regions 42 that either rest on or
engage respective linear side segment of the support frame 26. A
depending region 44 (FIG. 3) of the seat base 40 is sized to fit
within the opening 38 of the support frame 26. The other end of the
base 40 has one or more aligned notches 46 that are configured to
receive the opposite linear side segment of the holder. The
depending region 44 and the notches 46 hold the child seat 22 in
place on the holder. Gravity alone can be relied upon to retain the
seat in position. In another example, one or more positive manual
or automatic latches 48 (FIG. 2) can be employed. In this example,
the latches 48 are disposed as part of the seat support frame 26.
Alternatively or additionally, the latches 48 may be formed as part
of the seat 22, at one or both ends of the seat 22, and/or at one
or both ends of the seat support frame 26 to securely hold the
child seat 22 in place on the seat support frame 26. The latches 48
can be spring biased to automatically engage when the seat is
placed on the holder.
[0042] The geometry and symmetry of the latches 48 and, more
generally, the seat support frame 26, in this example allows the
seat 22 to be placed in the holder in multiple optional seat
orientations. In FIG. 1, the seat 22 is oriented such that a side
of the seat 22 is closest to the post. By de-coupling the seat 22
from the seat support frame 26, the seat 22 may be re-oriented to
the position shown in FIG. 3 such that the child is facing away
from the post 28. Further information regarding the seat
orientation options is set forth in the above-referenced
publication. As also discussed therein, the seat 22 and/or the seat
support frame 26 can also be configured to permit the inclination
of the seat 22 or the frame 26 to be adjusted to various recline
angles. More generally, the disclosed devices and methods are well
suited for use with a variety of seats, seat orientations, and seat
mounting configurations. For example, in some cases, the seat frame
26 may be configured to accept and support a seat or other child
carrying device from another product, such as a car seat.
[0043] With reference now to FIG. 5, the operation and
functionality of the device 20 is described in connection with an
exemplary user interface indicated generally at 50. The user
interface 50 is disposed on the upper panel 37 as described above,
but the physical location and arrangement of any one or more
elements of the user interface 50 may vary considerably. Generally
speaking, the user interface 50 includes a number of elements that
provide functions and operations for selection by user. The user
interface 50 also provides to the user information regarding the
current selection or other operational status of the device 20. The
user selection and status information aspects of the user interface
50 may be integrated to any desired extent. For example, an element
of the user interface 50 may present both a user selection option
as well as status information. To this end, a user interface
element may include a user select, or button, for actuation by a
caregiver, as well as an output indicator, or light, the activation
of which may occur with the selection thereof. Each of the elements
of the user interface 50 described below may, but need not, provide
this dual functionality. Any one or more elements of the user
interface 50 may also provide such functionality in connection with
multiple operations, functions or aspects of the device 20.
Moreover, some user interface elements may provide multiple control
options depending upon the manner in which the element is selected
by the caregiver. For example, a user interface element may
initiate different control actions depending on how long the button
is depressed (e.g., "press and hold" actuation), or whether the
user interface element is responsive to motion (e.g., a
slider).
[0044] In this example, the user interface 50 includes a set of
speed selects 52 in an arrangement surrounding a motion ON/OFF
select 54. Actuation of the speed select 52 labeled "1" directs the
device 20 to drive the seat 22 (FIGS. 1-3) through a short range of
motion and, accordingly, a low speed. Progressively higher speed
select numbers increase the range of motion and speed of the device
20, with the speed select 52 labeled "6" associated with the full
range of motion of the device 20 and the highest speed. Actuation
of the motion ON/OFF select 54 either discontinues motion of the
device 20 or activates the device 20 at the last selected speed. In
alternative embodiments, the select 54 may control the activation
and deactivation of the device 20 rather than only the motion
aspects thereof.
[0045] The manner in which the user selects 52 and 54 are actuated
may vary considerably. In one embodiment, each user select 52, 54
is a mechanically actuated button switch. Alternatively, the user
selects 52, 54 are actuated via another mechanism, such as a sensed
capacitance. In other cases, the user selects 52, 54 may involve a
combination of mechanical and capacitive actuation mechanisms. In
still other cases, the user selects 52 may be integrated as a
slider interface instead of a set of individual, binary switches.
Further information regarding the actuation and operation of
capacitive switches or sensors is set forth below.
[0046] The user interface 50 includes a set of selects generally
directed to controlling sound or music functionality of the device
20. Generally speaking, a caregiver may select the reproduction of
various types of sounds or music. In this example, two different
styles of music, playful and soothing, are available via the
actuation of user selects 56 and 58, respectively. A number of
music tracks may be accessed via repeated actuation of one of the
selects 56, 58. Otherwise, the music tracks are reproduced in turn
and then begin again with the first track. If music is not desired,
the reproduction of soothing sounds is available via the actuation
of a user select 60. Repeated actuation of the select 60 toggles
through a number of soothing sounds, such as that of a stream,
forest, distant storm, or womb. Reproduction of the selected sound
continues until a different sound is selected, a different user
select causes music playback, or the playback times out as
described below.
[0047] User select 62 supports the reproduction of music or other
sounds stored on, or provided by, a music playback device (not
shown), such as an MP3 player. Further control of music playback,
including in some cases volume control, may then be directed via
the music playback device. A compartment or drawer 64 (FIG. 1) may
include a tray for storage of the playback device. A cable or other
interface is then provided in the compartment for connection of the
playback device to the device 20.
[0048] The user interface 50 also includes selects 66, 68 for
volume control upward and downward, respectively. Actuation of an
ON/OFF select 70 either activates or deactivates the reproduction
or playback of music or sounds. Actuation of a timer select 72
starts a device timer of a predetermined duration, such as 30
minutes, at the end of which both sound functions and motion
functions are shut down. Lastly, the user interface 50 includes a
parental lock select 74 that may be actuated to either lock or
unlock the user interface 50 via a press-and-hold operation. In
this manner, the device 20 may be locked into any current
operational state involving any one or more device functions.
[0049] The layout and functionality of the user interface 50 may
vary considerably. For instance, the arrangement, shapes and sizes
of the user interface selects and other elements may differ
markedly from that shown in FIG. 5. Still further, any number of
the functions provided via the user interface selects may be
aggregated and addressed via, for instance, a touch-sensitive
display screen or other panel that supports a variable display. In
these and other ways, the same user select(s) may be used to
control disparate functions. For example, a touch-sensitive slider
element may support graduated or analog adjustments for a variety
of control options. Other user selects, such as buttons of either a
conventional switch or capacitive sensing nature may then be used
to determine what function is controlled by the slider element. For
instance, volume control, swing motion speed, and timer functions
may be adjusted via one or more slider elements. The user interface
may then include a series of visual elements to reflect the degree
to which the slider element is actuated.
[0050] The functions and operations described above in connection
with the user interface 50 may be controlled or selected
individually or collectively. As described below, a set of
functions may be grouped or associated such that user selection of
the group collectively activates, deactivates or otherwise controls
multiple aspects of the device 20. The set of functions or
operations, together with the specific selections, thereby define
an operational mode of the device 20. Operational modes may be
predetermined in various ways. In some cases, the mode(s) are
defined and stored as factory settings. Alternatively or
additionally, the mode(s) are defined by a user and stored.
[0051] FIG. 6 shows an exemplary support and drive assembly
indicated generally at 80. A number of components of the assembly
80 may correspond with portions of the post 28 (FIGS. 1-4).
However, the assembly 80 is shown without a cover or housing for
convenience in illustration of the inner workings, or internal
components, thereof. The assembly 80 is also shown without
components involved in the attachment to the base section 24 (FIGS.
1-3), which may vary considerably while providing structural
support. In one example, such structural connection components
include a box-shaped frame (not shown) that couples the base
section 24 to the assembly 80 by engaging both the base section 24
and a pair of support columns 82. To this end, lower ends 84 of
each column 82 may be captured by the frame. From that lower
connection, the columns 82 extend upwardly toward a skeleton frame
86 that links the columns 82 to a drive system indicated generally
at 86. The frame 86 includes a number of ribs 88 that structurally
link a sleeve 90 surrounding a drive shaft 92 to a retainer 94 that
contains the columns 82 near upper ends 96 thereof.
[0052] In this example, the shaft 92 is a tube-shaped rod connected
within the assembly 80 to transfer motion from a drive system
indicated generally at 98 to the support arm 30. The shaft 92 is
extends upward from the drive system 98 at an angle relative to the
generally upright columns 82 to reach the support arm 30 as the
shaft 92 extends beyond the sleeve 90. In operation, an electric
motor 100 (e.g., a DC electric motor) drives a gear train having a
worm gear 102 and a worm gear follower 103 carrying a pin or bolt
104, which acts as a crank shaft. In this case, the motor 100
always turns in the same direction. The pin 104 is displaced from
the rotational axis of the gear follower 103 such that rotation of
the gear follower 103 causes the pin or bolt 104 to proceed in a
circular or rotary path. The free end of the pin 104 extends into a
vertically oriented slot of a U-shaped or notched bracket 106
coupled to the shaft 92. In this way, the movement of the pin 104
along the circular path is transformed from pure rotary motion into
the oscillating or reciprocating motion of the shaft 92. Despite
the single direction of the motor 100, the notched bracket 106 is
displaced in one direction during one half of the cycle, and the
opposite direction during the other half of the cycle. The energy
of the crank shaft transferred to the notched bracket 106 then acts
on a swing pivot shaft 107 via a spring (not shown). The swing
pivot shaft 107 is then linked or coupled to the drive shaft 92 to
oscillate the support arm 30 through its motion pattern.
[0053] The spring can act as a rotary dampening mechanism as well
as an energy reservoir. The spring can be implemented to function
as a clutch-like element to protect the motor by allowing
out-of-sync motion between the motor 100 and the shaft 92. Thus,
the shaft 92 in this case is not directly connected to the motor
100 (i.e., an indirect drive mechanism). In such cases, rotational
displacement of the shaft 92 and, thus, the travel of the support
arm 30, may be limited by a bolt 108 projecting through the shaft
92. The bolt acts upon a physical hard stop, such as part of the
skeleton frame 86, to define the maximum swing angle.
[0054] Practice of the disclosed devices and methods is not limited
to the above-described indirect drive technique, but rather may
alternatively involve any one of a number of different motor drive
schemes and techniques. As a result, the components of the drive
system can vary considerably and yet fall within the spirit and
scope of the present invention. The exemplary drive system 98
provides reciprocating motion well-suited for use in connection
with a child motion device, inasmuch as the drive mechanism and the
mechanical linkage thereof allow for some amount of slippage in the
coupling of the motor to the occupant seat. Nonetheless, there are
certainly many other possible drive mechanisms or systems that can
alternatively be employed to impart the desired oscillatory or
reciprocating motion to the support arm 30 of the devices disclosed
herein.
[0055] One such technique involves a direct drive mechanism in
which the motor shaft is mechanically linked to the swing pivot
shaft without allowing for any slippage. In this case, the motor
may be driven in different directions via switched motor voltage
polarity (i.e., forward and reverse drive signals) to achieve the
reciprocating motion. The mechanical linkage is then configured to
accommodate the bi-directional motion, unlike the worm gear 102 and
other mechanical linkage components in the drive system 98
described above. The motor can be powered in either an open-loop or
closed-loop manner. In an open-loop system, electrical power is
applied to the motor with the alternating polarities such that
swing speed (or swing angle amplitude) may be controlled through
adjusting either applied voltage, current, frequency, or duty
cycle. An alternative system applies power at a fixed polarity with
the reciprocating motion developed via mechanical linkage.
Closed-loop control of a direct drive system may involve similar
control techniques to those implemented in open-loop control,
albeit optimized via the feedback techniques described below. With
the feedback information, the applied voltage and other parameters
may be adjusted and optimized to most efficiently obtain or control
to desired swing amplitudes.
[0056] Other optional drive techniques may include or involve
spring-operated wind-up mechanisms, magnetic systems,
electromagnetic systems, or other devices to convert drive
mechanism energy and motion to the reciprocating or oscillating
motion of the disclosed devices.
[0057] The drive system 98 described above is shown in greater
detail in FIGS. 7 and 8 in connection with one example of a sensor
assembly 110 configured to provide feedback for motor control and
other device functionality in accordance with various aspects of
the disclosure. While the sensor assembly 110 is well suited for
implementation with the indirect drive system 98, the sensor
assembly 110 may be integrated and utilized in conjunction with any
one of the different drive systems identified above.
[0058] The sensor assembly 110 is disposed in proximity to the
drive system 98 to capture information regarding the motion
thereof. The information may be indicative of relative or absolute
position of the swing or other element in motion, the direction of
motion, or speed. In this example, the sensor assembly 110 is
mounted to the drive system 98 at the lower end of the sleeve 90,
near the motor 100 and the gear train, but this need not be the
case. In other cases, the sensor assembly 110 may be mounted
anywhere along the drive system 98 and, more generally, at any
position providing access to the motion for which the information
is to be captured. For example, the sensor assembly 108 may be in
communication with the drive system 98 at or near the upper end of
the sleeve 90.
[0059] The sensor assembly 110 is generally directed to improving
the motion control of the child device and, in some cases, enabling
additional functionality of the child device. For example, improved
motion control may include, involve or result in more repeatable
swinging motion and more consistent swinging motion during
different operating conditions, increased product reliability, and
more robust and complex device operation. These and other
advantages can result in more beneficial device performance as
exemplified through improved device efficacy in child soothing and
entertainment. The information gathered by the sensor assembly 110
may also be utilized to control the child device in other ways as
well, as described below. These other ways may involve or include
the implementation of non-motion functions of the child device,
such as audio functions.
[0060] To these and other ends, the sensor assembly 110 includes a
feedback sensor 112 that monitors the reciprocating (or other)
motion of the drive system 98. The feedback sensor 112 may be
electrical, electromechanical, electromagnetic (e.g., optical),
inductive, ultrasonic, piezoelectric, or various combinations
thereof. In some cases, the sensor assembly 110 includes multiple
feedback sensors, or feedback sensing mechanisms, to provide
different types of information and/or data redundancy. Thus, the
manner in which the sensor assembly 110 and the drive system 98 are
in communication may vary considerably.
[0061] in this example, the feedback sensor 112 includes a
capacitive sensor board 114 spaced from a metallic disk 116 coupled
to the drive system 98. The disk 116 is carried on a finger 118
best shown in FIGS. 7 and 8. The finger 118 is coupled to the
notched bracket 106 and the swing pivot shaft 107 via a retaining
pin 120. Reciprocating motion of these elements of the drive system
98 cause the disk 116 to pass across (e.g., under) the sensor board
114. The sensor board 114 may be arc-shaped to accommodate the
reciprocating motion, and rigidly secured to the drive system 98
via an arm or platform 122 extending radially from the sleeve
90.
[0062] The operation of the capacitive sensing technique generally
involves the detection of a change in capacitance caused by the
proximity of the metallic disk 116 to conductive lines, or traces
(FIG. 10) disposed on the sensing board 114. To that end, any
capacitance altering object may be used. The surface area, or
width, of the disk 118 or other object may be selected in
accordance with the spacing between the traces. For example, the
ratio of the object width to the trace spacing may be about
3:2.
[0063] While further details regarding the capacitive sensing
technique implemented via the exemplary sensor shown in FIGS. 6-8
are set forth in the description below, it is worth noting that
this technique (as well as other techniques identified herein) can
generally obtain an indication of the absolute angle or position of
a swing operated by the drive system. The absolute angle or
position is to be contrasted from the relative angle or position of
a swing operated by the drive system 98. The relative swing angle
refers to the fact that the endpoints of the swing angle can be
shifted relative to the earth due to a "center of gravity" shift in
the seat 22 of the device 20 (FIGS. 1-3). More specifically, the
swing stroke endpoints ares without more information, not
correlated to a fixed position on the ground within a specific
tolerance. The relative swing angle refers to half of the total
angle traveled by the swing. This total angle may be greater in the
forward or back half of the swing stroke when compared to vertical.
Adjusting this swing angle is directly related to the `speed` a
child perceives while sitting in the seat. A larger angle equates
to greater swing speed. Therefore it is beneficial to create a
feedback loop that monitors this relative angle and controls the
swing motion to predetermined amplitudes.
[0064] Other feedback techniques suitable for capturing information
such as the relative swing angle include or involve (i) ultrasonic
techniques using piezoelectric sensors mounted at points on the
device to measure a distance varying with device motion, (ii) laser
or other optical techniques similarly measuring a varying distance,
(iii) encoder-based techniques driven by the motion of the pivot
shaft to provide a pulse train indicative of the motion, (iv)
magneto-resistive arrangements positioned to detect motion via a
corresponding change in a sensed magnetic field, (v) a combination
of limit switches, proximity sensors, and Hall-effect sensors in
various locations on the device such that their activation and
deactivation caused by the motion of the swing is indicative of the
position of the swing, and (vi) a motor control feedback loop based
on the voltage induced in the motor windings, i.e., the "back EMF"
(electromotive force) technique. In the back-EMF technique, the
motor windings function as position sensors during rotor movement.
To this end, the motor winding, working in sensor-position mode, is
disconnected from the power line supply. An induced voltage is then
generated on the winding by the revolving magnet on the motor
rotor. The sign and direction of the voltage change indicates the
rotor pole location relative to fixed stator windings. The voltage
polarity and magnitude is then directly correlated to the seat
angle's amplitude. Due to the design of, for instance, a DC
electric motor, voltage will be generated in pulses, the time
between which and magnitude thereof is a function of the speed at
which the motor is being driven by the swing. The pulse train (and
amplitude envelope) can be translated to a swing motion curve. As
described below, the output voltage resulting from the back-EMF
technique, or any of the other techniques, can then be monitored by
a control circuit with an analog voltage input, as shown and
described below in connection with the exemplary control circuit of
FIG. 10.
[0065] With the addition of an indexing device, such as a limit
switch (not shown), configured to be activated at a specific
position, the aforementioned techniques may be utilized to
determine the true position or swing angle of the device. Upon the
first complete revolution of the motor, the indexing device will
have determined a reference point (i.e., position) with which the
position data to follow can be compared. In this way, the
above-described techniques can generate data indicative of the
exact position of the motor, shaft, swing seat, etc. at any
instance, and in real time.
[0066] Moreover, if the motion is indexed with a known, initial
reference point, the absolute swing angle or position relative to
the ground surface can be determined. For instance, the initial
reference point can be mechanically determined (e.g., via a
factory-set motor alignment) or via another switch or sensor device
positioned accordingly.
[0067] Generally speaking, the implementation of one or more of
these feedback mechanisms facilitates the application of power to
the motor in an efficient manner. With the information or data
captured via the feedback mechanisms, the relative or absolute
position or angle of the swing is more accurately known, such that
the application of power to the motor can be timed to produce the
greatest effect. This level of detail contrasts from past sensing
techniques that provided only the direction of motion, or an
inaccurate, relative indication of position or swing angle. Such
techniques may have involved a single slotted photo-interrupter,
which even when duplicated, can only provide indications of
relative position and direction. In contrast, the techniques
addressed and described herein provide an accurate indication of
absolute, or true, position that can facilitate and support the
implementation of a variety of functions and operations.
[0068] In some cases, two or more of the techniques addressed
herein may be implemented in combination to further optimize motor
performance. For instance, the back EMF technique may be combined
with the above-described capacitive sensing technique. In that
case, the combination obtains speed and direction information from
the signal provided by the back EMF, and position data from
capacitive sensing. As described below, these two techniques may
also advantageously utilize the same controller or control
circuitry for efficient processing.
[0069] Further details regarding the use of angle or position
information for motor control and other functionality is now set
forth in connection with an exemplary embodiment utilizing
capacitive sensing techniques. As described above, a capacitive
sensing technique can provide a low-cost, non-contact mechanism for
determining an absolute swing angle measurement.
[0070] With reference now to FIG. 9, one example of a sensing board
130 includes a motion control set of traces disposed in an area
indicated generally at 132 and a user interface set of traces
disposed in an area indicated generally at 134. Further details
regarding the user interface functionality is set forth below. Each
set of traces is configured to exhibit a capacitance level that is
modifiable to a detectable extent when an object is in proximity
thereto. The traces in the area 132 may have a zigzag shape to
increase the capacitance modulation as the conductive disk 118
(FIG. 8) or other object passes over (or under) the traces in close
proximity thereto. The board 130 may include a backplane 136 that
presents a mesh or other pattern (shown in areas other than the
areas 132, 134) to enhance the variability of the capacitance
level. The traces and backplane may, but need not, be disposed on a
printed circuit board (PCB) or similar medium. In some cases, the
traces may be disposed in a ribbon cable or other flexible medium.
Alternatively or additionally, the traces may be disposed on
opposite sides of the same medium.
[0071] In operation, the motor control functionality involves a
controller alternately applying and reading analog voltages on the
zigzag-shaped traces in the area 132, as the traces are passed over
by an electrically conductive "finger" in the particular sequence
defined by the arrangement. In one example, this operational
sequence involves the controller charging a trace, and then
monitoring the discharging to determine the RC time constant of the
trace. In some cases, the controller drives other traces to ground
during the charging and monitoring sequence. With the RC time
constant data, the controller can calculate the sensed capacitance
to determine whether the conductive finger is present. The
determination may involve a threshold comparison for the single
trace as well as more complex procedures involving the
determinations associated with adjacent traces. To these ends, the
controller (or control circuit) may include an analog voltage
sensor or analog-to-digital converter (ADC) to sample and capture
the voltage on each trace. The digital data indicative of the
sensed voltages is then processed to determine the actual position
of the swing. Further description of an exemplary control circuit
is set forth below in connection with FIG. 11.
[0072] In accordance with one aspect of the disclosure, the
exemplary sensing board 130 shown in FIG. 9 exemplifies how the
components of a capacitive sensing technique may be utilized to
implement both motor control and user interface functionality. In
many cases, the same control circuit may be utilized to charge and
discharge the traces associated with motor control and other
functions, such as a user interface. In some cases, the same
sensing board may also be utilized for both motor control and user
interface functionality. For example, FIG. 10 depicts a child swing
140 having a typical A-frame configuration in which an occupant
seat 142 is suspended between frame legs 144 and 146, respectively,
that are arranged to meet at pivot joints 148. The seat 142 is
coupled to the pivot joints by hanger arms 150 that oscillate in
the reciprocating motion to be detected via the capacitive sensing
technique. At one or both of the pivot joints 148, the control
circuitry for the capacitive sensing technique is contained within
a housing or enclosure 152. On an interior facing side of the
housing 152 (i.e., the side facing the hanger arms 150 and the seat
142), the hanger arms 150 (or other component moving therewith) are
arranged to pass by a sensing board similar to the example shown in
FIG. 9. In this way, an area like the area 132 (FIG. 9) can be used
to detect the motion of the swing. The same sensing board may then
also be used to detect the presence (or proximity) of a caregiver's
finger interacting with a touch-sensitive user interface disposed
on an exterior panel 154 of the housing 152. More specifically, the
user interface may have a number of elements configured to simulate
a traditional "button press." See, for instance, the round elements
in the area 134 of the exemplary sensing board 130 of FIG. 9.
Alternatively or additionally, the user interface may have a
touch-sensitive area configured to detect a sliding motion. The
slider element may be arranged in a circular pattern and include a
capacitive "button" disposed in the center.
[0073] FIG. 11 depicts one example of a control circuit 160 for
implementing a number of control techniques and other functionality
in accordance with various aspects of the disclosure, including,
for instance, the motor drive feedback control techniques described
above. For example, the control circuit 160 may be configured to
implement a capacitive sensing scheme for motor control or,
alternatively, a combination of the capacitive sensing and back EMF
techniques. Generally speaking, the control circuit 160 may be
configured to implement any one or more of the motor control
feedback techniques identified above.
[0074] In this example, the control circuit 160 receives power from
either a battery 162 or a pair of AC terminals 164. A switch 166
selects one of the two power sources, and may be driven via the
absence or presence of a plug or other interface in the AC
terminals 164. The control circuit 160 may be responsible for
distributing power to other components of the motion control
device, such as input/output elements and electric motors, as
described below. To this end, the control circuit 160 may include a
power conversion and/or conditioning circuit 167 configured to
provide one or more DC voltage levels to various components of the
motion control device, including those within the control circuit
160. In some cases, the power conversion and/or conditioning
circuit 167 includes or incorporates the functionality of the
switch 166.
[0075] The control circuit 160 may, but need not, be disposed on a
single circuit board (e.g., PCB). In some cases, any one or more of
the components shown in FIG. 11 may be disposed on a separate or
dedicated board. In this example, however, the control circuit 160
includes a number of components disposed on a circuit board 168.
The manner in which input and output connections are made to the
circuit board 168 may vary considerably, as desired.
[0076] The control circuit 160 receives a plurality of input
control signals from user interface selects and/or sensors
schematically shown as 170. The user interface selects in this
exemplary case involve a corresponding number of binary switches to
provide an array of input control signals for directing the
operation of the control circuit 160. As described above, other
types of user interface elements may be utilized, in which case the
nature of the input control signals may vary accordingly. In some
cases, the control circuit 160 may receive instructions or other
control signals from sources other than a user interface such as
the one described above in connection with the control tower 36
(FIG. 1). The control circuit 160 accordingly includes one or more
corresponding input interfaces 171, such as the control switch
array interface shown. The control circuit 160 is also configured
to receive audio input signals from an audio playback device 172
(e.g., an MP3 player), which may provide left and right stereo
signals on respective lines as shown to an on-board audio input
interface 174. In other cases, the device 172 may also provide or
receive one or more control signals to or from the control circuit
160 for the implementation of related functionality (e.g., volume
or track control).
[0077] In this example, stereo audio signals are generated by the
audio input interface 174 and sent to an analog switch 176 that
selects between the external audio source 172 and one or more
internal audio sources. The analog switch 176 may be controlled by
the caregiver via a user interface select (not shown) or via a
control signal generated internally either in response to, or in
conjunction with, the activation or selection of a certain source
of music or sounds. The output of the analog switch 176 is provided
to an amplifier 178, which generates one or more output audio
signals for a corresponding number of speakers 180. In the
exemplary case shown in FIGS. 1-3, the child motion device 20
includes a single speaker 179 disposed near the instrumentation
panel 37 on the control tower 36. A wide variety of alternative
configurations involving any number of speakers disposed at
different locations on the child motion device 20 may be
implemented. Configurations involving more than one speaker, for
instance, may be useful in connection with certain aspects of the
disclosure involving the generation of audio effects in accordance
with the position and motion of the seat, as described below.
[0078] The operation of both the analog switch 176 and the
amplifier 178 may be controlled by a microcontroller 180 in
connection with, for instance, input selection control and volume
control, respectively. The microcontroller 180, in this case, is
not dedicated to controlling the audio functionality of the control
circuit 160, but rather is generally involved with the control of a
number of functions and operations implemented or supported by the
control circuit 160. More generally, any modules, components, or
functions of the control circuit 160 may be integrated onto a
single integrated circuit chip to any desired extent, and need not
be arranged as shown in FIG. 11. In some cases, one or more
additional controllers may be utilized in addition to the
microcontroller 180 to address specific tasks, such as the playback
of music and sounds. For these reasons, the single microcontroller
180 in the circuit diagram of FIG. 11 need not correspond with the
physical integrated circuit(s) used to implement the functions and
operations of the control circuit 160.
[0079] In some exemplary cases, the microcontroller 180 is a
programmable system-on-a-chip commercially available from Cypress
Semiconductor Corporation (www.cypress.com). In cases in which
capacitive sensing is utilized either for motor control or user
interface control, the Cypress chip commercially available as model
number CY8C20234 may be utilized. Further details regarding the
functionality of the programmable chip that supports a mixed-signal
I/O array are provided below. Generally speaking, however, this
microcontroller integrates the functions typically provided by a
microcontroller with the functionality of a number of analog and
digital components that typically surround microcontrollers.
Because this controller can integrate a large number of peripheral
functions, the microcontroller 180 and, more generally, the control
circuit 160 are shown in simplified form in FIG. 11. For instance,
the microcontroller 180 may be configured to implement analog
functions, such as amplification, analog to digital conversion,
digital to analog conversion, filtering, and comparators. The
microcontroller 180 may also be configured to implement digital
functions, such as timers, counters, and pulse width modulation
(PWM). A number of these analog and digital functions may be used
in the control circuit 160 to implement the motor control feedback
and motor control functions, as described further below. The
representation of the microcontroller 180 shown in FIG. 11 depicts
some of this functionality by separately identifying an ADC module
182, a PWM module 184, and a memory 186 (e.g., flash memory),
although these modules constitute only a subset of those
available.
[0080] With continued reference to FIG. 11, the exemplary control
circuit 160 also includes one or more output interfaces and/or
registers 188 directed to driving a plurality of user interface or
other visual media elements of the child motion device. In this
example, the child motion device includes a set of light emitting
diodes (LEDs) 190 that may, for instance, be disposed on the user
interface 50 (FIG. 5). Alternative embodiments may include any
number of light indicators or other visual elements to soothe the
child occupant or provide information to the caregiver.
[0081] The child motion device may also include a vibration feature
supported by a vibration motor 192. In some cases, the vibration
motor 192 is disposed on the seat support frame 26, as shown in
FIG. 1. In such cases, control of the vibration motor 192 may be
addressed locally. Alternatively or additionally, the vibration
motor 192 may be controlled via the control circuit 160. To that
end, a control signal generated by the microcontroller 180 may be
provided to a voltage regulator 194 responsible for providing power
to the vibration motor 192.
[0082] Further voltage control and/or regulation is provided by a
regulator 196 for an electric motor 198 directed to the principal
motion of the device. The operation of the regulator 196 is also
controlled by the microcontroller 180 in accordance with the
control techniques described herein. Further information regarding
the techniques is set forth below.
[0083] As a general matter, however, the motor control techniques
described herein involve one or more feedback mechanisms. To this
end, the exemplary control circuit 160 includes an analog voltage
sensor 200 in communication with the line(s) carrying the motor
voltage to the motor 198. The sensor 200 may provide an indication
of any voltage generated on such lines in connection with the
implementation of the back-EMF technique for determining motor
position information, as described above. In some cases, the analog
voltage sensor 200 may be integrated with the other functions
provided by the microcontroller 180. In fact, the Cypress
microcontroller has a built-in analog to digital converter with
voltage reference that can be used to accurately measure the actual
motor voltage and current.
[0084] Further feedback regarding motor position information (and,
more generally, device motion) may be provided to the
microcontroller 180 by a sensor 202 in communication with, for
instance, an element 204 of the drive system, support arm, occupant
seat, etc., which is schematically depicted at 206. A number of
feedback lines 208 may carry the signals indicative of the position
information back to the microcontroller 180. For instance, in a
capacitive sensing technique, each of the analog signals developed
in the traces on the sensing board may be provided by a separate
line to the microcontroller 180. In some cases, the feedback lines
208 may be substantially or entirely disposed on the board 168 to
avoid, for instance, problems caused by noise or parasitic
capacitance. In one example, the board 168 corresponds with the
sensing board carrying the traces.
[0085] The implementation of the motor control techniques is now
described in greater detail. Generally speaking, the
microcontroller 180 utilizes one of the sensing techniques to
detect or determine the position of the rotor. In some cases, the
technique may involve the use of the back-EMF generated voltage
either alone or in conjunction with one of the other sensing
techniques, such as capacitive sensing. Based on the position
information, the microcontroller 180 generates the motor control
voltage in a manner that the resulting force drives or assists
revolution in the rotor in the desired direction and in an
otherwise efficient manner. Motor rotation stability is accordingly
improved.
[0086] The position information determined by the microcontroller
180 may also be utilized to control the motor control voltage in
ways other than the timing of the application thereof. For
instance, the motor position information may be used to determine
the shaft speed of the motor. The shaft speed may, in turn, be used
to detect or determine increases or decreases in motor load. Such
changes may occur naturally due to the pendulum motion of the
device, or as a result of a change in occupant weight. The
microcontroller 180 may then adjust the amplitude of the motor
voltage accordingly to maintain a desired swing speed or swing
angle. To this end, a set point representative of the desired swing
angle may be used in connection with the information regarding the
motor loading (e.g., change in shaft speed and motor current) by
the microcontroller 180 to alter the applied motor voltage. Such
adjustments may be implemented in addition to any involved with the
microcontroller 180 applying voltage according to the swing motion
profile so as to optimize power delivered to the motor to thereby
reduce the overall electrical power requirements.
[0087] FIG. 12 depicts a simplified representation of a motor
control scheme in accordance with one aspect of the disclosure via
a plot of the applied motor voltage. The motor voltage control
scheme shown may be supported by any one or more of the motor
control feedback techniques identified above. Regardless of which
feedback technique is utilized, power is generally applied
intermittently to the motor at strategic points in the motion cycle
or path. The points are based on the position or angle of the
swing, as described above. In this example, a voltage pulse is
applied at a time immediately or shortly after the end of a stroke,
which occurs at the maximum displacement of the swing (e.g., a
swing angle of +20 or -20 degrees). This timing may also be
considered to be the start of the next stroke.
[0088] The length of the voltage pulse may vary based on operating
conditions and other aspects of the motor control scheme. In some
cases, the application of power may be discontinued by about
mid-stroke, regardless of when the power is first applied. More
generally, the efficiency of the motor drive is improved via both
the timing and duration of this selected application of power to
the motor.
[0089] The representation of each voltage pulse in FIG. 12 may, in
fact, correspond with (i.e., be composed of) a number of pulses. In
many cases, the applied motor voltage involves a pulse width
modulated (PWM) signal that may be internally generated by the
microcontroller 180. With the position (or angle) measurement,
motor voltage and current measurements, the Cypress microcontroller
may be configured to generate a traditional PWM output signal,
which, when passed through a power transistor (not shown) in the
regulator 196 (FIG. 11), can be used to regulate the voltage
applied to the motor (and thus the swing angle). More generally,
the PWM output may involve the modulation of any one or more of the
motor voltage amplitude, frequency, and duty cycle.
[0090] While some modules of the microcontroller 180 may be
implemented separately, the PWM generator 184 may provide an option
to generate a dithered, or pseudorandom, PWM output signal, which
effectively varies the frequency and duty cycle of the output to
minimize electromagnetic propagation of noise, thereby assisting in
compliance with EMI regulations. More specifically, the "dithered"
PWM output has the advantage of spreading the harmonic EMI noise
generated by the PWM waveform across a wide frequency spectrum. As
a result, it is possible to reduce peak values of the electrical
noise to levels within the limits of various regulatory
requirements.
[0091] FIG. 13 is directed to a technique for determining an
optimal motor voltage amplitude in accordance with another aspect
of the disclosure. Generally speaking, optimization of the motor
voltage can reduce the amount of time required to start swing
motion and/or achieve the desired swing angle. The need to vary or
adjust the motor voltage(s) may arise from variations in the
component tolerances, variations in the assembly process
(manufacturing tolerances), normal "wear and tear during operation,
occupant differences (erg., weight, center of gravity), or
different device features or use conditions (e.g., the addition of
a canopy or blanket). These and other factors can change the
optimal starting voltage (i.e., motion from a rest position), as
well as the optimal voltages applied during operation to maintain a
certain swing speed.
[0092] The technique may be implemented by the functionality
described above in connection with the control circuit 160 and,
more specifically, the microcontroller 180. The motor voltage
optimized by the technique may be associated with a starting, or
self-start, voltage, or any one of a number of in-use, or
operating, voltages associated with a device speed setting. In this
manner, the control circuit 160 may determine in automated fashion
the respective optimal motor voltages for a number of available
swing speeds (e.g., speeds 1-6). The optimization of the motor
voltage(s) may be considered a tuning or calibration routine, in
the sense that the child motion device may be adjusted, or
calibrated, for improved operation, or for differing operating
conditions. The tuning, calibration or adjustments may occur on a
regular or periodic basis, or after a sensed event, such as a
decrease in efficiency or an inability to maintain a desired speed.
To that end, implementation of the routine may occur during normal
use conditions.
[0093] In one example, the calibration technique generally involves
automatically adjusting the motor voltage based upon feedback
information and/or measurements of motor current, motor shaft
speed, and/or the measured swing angle. More specifically, the
calibration routine may begin with the application of an initial,
nominal voltage in a block 210. If, for example, the self start
voltage is being calibrated, the initial voltage may fall in the
range from about 2.5 to about 2.7 Volts. The control circuit 160
captures data and information indicative of the swing motion
resulting from the applied voltage so that the microcontroller 180
can monitor the swing motion in a block 212. The monitoring step
may last for a predetermined duration, after which control passes
to a block 214 where the voltage to be applied is increased by a
preset interval or ratio. The control circuit 160 again captures
and monitors data and information indicative of the resulting swing
motion in a block 216 before decreasing the applied voltage from
the initial voltage by the same or similar preset interval or ratio
in a block 218. After the swing motion is monitored in a block 220,
the microcontroller 180 compares the motion data captured for the
three applied voltages to determine in a block 222 which of the two
ranges (i.e., above or below the initial voltage) is preferred for
reaching the desired swing speed or motion. The preferred range is
then selected by the microcontroller 180.
[0094] Control than passes to a decision lock 224 that causes the
microcontroller 180 to determine whether the size of the selected
range is smaller than a predetermined threshold (e.g. 0.025 V). If
not, the initial voltage is reset in a block 226 for another round
of monitoring to the midpoint of the selected range. The new
initial voltage is then applied in a block 228 and the monitoring
loop is implemented again. A new interval for defining the ranges
may then be determined in a variety of ways. In one example, the
size of the interval is equal to one-half of the range selected in
the previous iteration. More generally, because the preset interval
or ratio may be decreased (or narrowed) with each iteration of the
loop (e.g., in the block 226), the selected range evaluated in the
block 224 is eventually smaller than the threshold, such that
control passes to a block 230 in which the midpoint of the selected
range may be stored as an optimal voltage for the use condition
being calibrated (e.g., speed level no. 5). The optimal voltage may
also be stored as a new baseline, or starting point, for subsequent
calibration procedures.
[0095] In one example, the determination made by the
microcontroller 180 in the block 222 may generally involve a
comparison of relative overshooting or undershooting of a swing
angle. In this way, the determination may involve a calculation of
the offset from a desired angle, which may be predetermined as a
desired angle for a certain swing speed or a certain elapsed time
after startup.
[0096] In some cases, the voltage calibration technique may be
repeated multiple times (e.g., over several cycles) to determine an
averaged optimal voltage. This repetitive approach may be useful in
connection with determining the starting, or self-start voltages.
In any case, over time, the averaged optimal voltage may be
determined as a rolling average.
[0097] In accordance with another aspect of the disclosure, the
above-described capacitive sensing techniques may be implemented in
conjunction with control functionality to manage or regulate the
operation thereof. Generally speaking, the microcontroller 180 may
evaluate the sensed capacitance changes on the traces associated
with a user interface to control whether a "touch" or other action
should be recognized. To this end, the microcontroller 180 accesses
a sensing threshold and/or routine generally directed to
determining whether a change in capacitance was appropriately
detected. In many cases, the threshold and routine (e.g., a
comparator or set of comparisons) is utilized to avoid false
positives. However, in this aspect of the disclosure, the threshold
comparison may be used to predetermine or otherwise control which
deliberate "touches" or other human interaction with the user
interface should be recognized.
[0098] In this aspect of the disclosure, the microcontroller 180 is
configured to distinguish between the different capacitance changes
resulting from different caregivers or users of the motion control
device. The distinction is directed to controlling or limiting
interaction with the user interface, which ultimately may help
avoid, resist, or prevent unintended operation of the device.
[0099] As user interface capacitive sensing measures the human body
capacitance typically provided by a human finger, it is also
possible to set acceptable ranges for this measurement such that
the difference between an adult finger and a child finger can be
determined and/or utilized. In short, child fingers have a
relatively smaller capacitance and, thus, present a smaller
capacitance change effect. Although finger sizes vary, especially
when pressed upon a button with varying force (e.g., lightly or
heavily), a usable range may be determined, where an adult finger
will be recognized to allow operation of the user interface to
occur. However, the "button press" of a child finger will be
insufficient to activate the control element. In this way, some or
all of the user interface elements (and the control operations
associated therewith) may be classified as intended for adult use
only, i.e., child resistant. The converse may also be set up for
implementation such that, for instance, certain controls can be
made available solely for work with children, i.e., "adult
resistant." That type of limitation on control may be useful in
situations involving the transport of the device by an adult.
[0100] To these ends, the microcontroller 180 may implement a
self-calibration routine to adjust the capacitive sensing system
for changes that should result in adjustments to the threshold(s).
Calibration may be periodic or regular, or be triggered by an
event, such as a user-initiated request to initiate the
routine.
[0101] In some cases, a calibration routine may be defined such
that measured capacitance changes occurring with a "touch"
routinely occur within a defined range of values. Calibration to a
standard range allows fixed values for noise margins, which
facilitates reliable operation over time. The calibration routine
may be automatically executed in the event that the measured
capacitance change values fall outside a pre-determined range. Such
recalibration can arise from, for instance, a significant change in
the power supply (batteries wearing down), environmental changes
(temperature, humidity, etc.), mechanical differences occurring
during production, varying device assembly, or significant "wear
and tear" over time during use.
[0102] The above-described management of a capacitive-sensitive
user interface may be facilitated by the implementation of a
capacitive sensing customization technique in accordance with
another aspect of the disclosure. Generally speaking, the
thresholds for user interface capacitive sensing may be customized
through a learning routine to personalize the child device for a
particular family or caregiver situation. The implementation of a
learning routine may adjust the preset, or factory, settings for
one or more sense thresholds. In this way, the capacitance change
effect of certain fingers can be expressly designated as
"child">or "adult" for either blocked or permitted operation of
the user interface, respectively.
[0103] In this aspect, each individual likely to attempt to
interact with the user interface during subsequent use participates
in a personalization or customization routine. In so doing, the
user interface and, more generally, the child motion device, is
personalized via the storage of exemplary measurements of the
capacitance change for each individual. To this end, the
microcontroller 180 may store a set of user profiles for comparison
and/or matching during subsequent operations. Alternatively or
additionally, the microcontroller 180 may collect data for each
member of the set of authorized operators and collect data for each
member of the set of unauthorized individuals, and determine a
threshold that best differentiates the two sets.
[0104] In some cases, the initiation of the learning routine may be
a user-selected option. Although in other cases, the learning
routine may be initiated automatically as part of a pre-configured
setup procedure. In that way, the device is customized or
personalized shortly after assembly and before operational use.
[0105] FIG. 14 is directed to another aspect of the disclosure
involving implementation of one or more routines by the
microcontroller 180. In this aspect, the audio output of the child
motion device is generally modulated or otherwise controlled in
accordance with the motion of the swing. In some cases, the audio
output is modulated or controlled based on the current position or
angle of the swing. Alternatively or additionally, the audio output
is modulated or controlled based on the current swing speed.
[0106] As described above, the motion control device may include
any number of speakers (mono, stereo, surround sound, etc.) in a
variety of speaker positions. Many, if not all, of the speaker
positions will be in relative motion with respect to the seat
occupant during swing motion. Such relative motion may create
desirable or undesirable effects that are either intended or
unintended. Nonetheless, with the real-time swing data captured
using the feedback techniques described above, knowledge of the
position, speed and direction of the swing is available in
real-time, and can be used to provide new and innovative child
soothing sound effects that correlate to the position of the swing.
In this way, the playback of music and sounds may be coordinated
with a selected or predetermined sound effect that modulates the
playback based on the specific position, speed, or direction of the
seat during normal swing motion or operation. In one example, the
audio may be modulated to present a directional effect to the seat
occupant. As a result, the sound effect can `track` along with the
motion of the swing motion. In another example, the swishing sound
of blood flow that an infant may recognize from inside the womb can
be reproduced to sound as if the flow is occurring around the baby
in a more accurate manner. With a more accurate reproduction, it is
more likely that the soothing womb experience can be replicated by
the child motion device.
[0107] A variety of different modulation schemes may be utilized in
connection with this aspect of the disclosure. An exemplary list
may include volume adjustments, balance adjustments, warping of
sound, an ocean affect, various pitch changes, and an enhanced
Doppler effect.
[0108] In the exemplary flow of FIG. 14, initiation of directional
audio modulation (or other swing motion-based playback modulation)
occurs in a block 232 via, for instance, actuation of a user
select. A decision block 234 may determine the type of sound
currently selected for playback. In this example, there are three
different types of sound or music available for playback. In other
embodiments, any number of categories or types of sound or music
may be available, such that the decision block 234 may direct the
flow of control in any number of paths. In this case, music type
"A" may correspond with stereo or fast music, while music type "B"
may correspond with mono or slow music. The distinction between
music types may limit or drive the types of sound effects suitable
for playback modulation. For instance, stereo or mono music may
utilize certain speakers either well suited or ill-suited for
certain types of playback modulation. The last exemplary music type
or category, sound, may also be well suited for types of playback
modulation not readily applicable to music playback, thereby
justifying a separate routine flow.
[0109] With music type "A" to be played back, control passes to
another decision block 236 in which the controller 180 determines
whether a particular sound effect has been selected by the
caregiver via, for instance, the user interface 50. If not, music
type "A" may generally be ill-suited for playback modulation.
Accordingly, control passes to a block 238 that directs the
controller 180 to playback the music without modulation.
[0110] If a sound effect has been selected, control passes to a
block 240 where the controller 180 proceeds to determine swing
position, speed and/or other data to support the playback
modulation in real-time. Eventually, playback of the music is
modulated in a block 242 based on the swing data in accordance with
the selected sound effect until the end of the track or the
occurrence of some other status changing event, such as a
time-out.
[0111] With the sound option to be played back, control passes to a
block 244 that determines the swing data to support the playback
modulation. In this case, the modulation is based on swing position
rather than on some other combination of swing data, and the sound
has a predetermined modulation effect associated therewith.
Playback of the music is then implemented in a block 246 based on
the swing position data with the predetermined modulation effect
(e.g., warping of sound) associated with that sound.
[0112] Lastly, the playback of music type "B" provides another
possible option for a directional audio techniques. In this
exemplary case, the controller 180 determines in a block 248 the
current swing speed and utilizes that data alone to modulate the
playback of the music. Again, music playback is implemented in a
block 250 based on the swing speed data with a selected or
predetermined modulation effect until the end of the track or the
occurrence of some other status changing event.
[0113] The foregoing routine is provided with the understanding
that it is entirely exemplary in nature. More generally, practice
of the disclosed directional audio technique may involve a wide
variety of sound or music profiles, with any one or more particular
swing motion data variables relevant thereto, a wide set of
different modulation effects, and a host of other preferences or
criteria for playback. The number of possible permutations of the
combinations of these and other options is accordingly very
expansive and extensive. Various combinations of these factors may
be stored in the microcontroller 180, and may be created by an
operator and/or predetermined as factory settings.
[0114] Alternatively or additionally, the playback modulation of
music or sound may involve or include multiple tracks in
combination. For example, one track may be reproduced through a
first speaker (with any desired modulation effects), while a
different track with a different modulation effect may be
reproduced through a second speaker. Thus, practice of the
disclosed technique is not limited to any one sound effect or
playback scheme at any one point in time.
[0115] More generally, implementation of the above-described
directional audio technique is based on real-time knowledge of the
swing motion. Because the above-described position and other data
capturing techniques can provide such real-time data with improved
accuracy, and in absolute rather than relative terms, certain audio
effects can be achieved that may be otherwise unavailable.
[0116] Yet another aspect of the disclosure for implementation by
the microcontroller 180 is described and shown in connection with
FIG. 15. In this aspect, the functionality of a motion control
device is collectively managed or controlled in accordance with one
or more operational modes. Each operational mode can define any
number of operational or functional settings (e.g., a programmed
feature set) that may, but need not, specify each available
operation or function. Exemplary operations and functions that may
be controlled collectively include, for instance, audio input
source, audio volume, playback speed, playback type or selection,
audio directional balance, vibration motor activation, vibration
motor intensity, swing speed, lighting options, imagery projection
and other visual effects, changes in speed for additional objects
such as mobiles or other toys, and other toy functions remotely
mounted on the product. These toys/soothing features may wirelessly
communicate to the main swing control unit, via an operator's
remote control unit through a two way radio, or via an infrared
connection. The operational mode may associate such operations or
functions for either sequential or simultaneous operation.
[0117] Any number of operational modes may be preprogrammed or
predetermined as, for instance, factory settings. More generally,
the microcontroller 180 may be configured to provide a user with an
opportunity to create and store user-defined modes or feature sets.
The opportunity may be initiated in a variety of manners,
including, for instance, holding down buttons or pressing a series
of buttons provided via a user interface.
[0118] It may be desirable to create modes of operation for the
swing to help soothe or actively engage the child in some
entertaining or educational manner. These modes may link various
functions of the swing together into pre-defined or user defined
applications that would better soothe a child by providing them
with a set (or all) aspects of appropriate or otherwise related
stimuli tailored to the child's situation. In some cases, these
related functions may include swing speed, music, nature/womb sound
playback selection, volume, vibration functions, lighting, motion
or changes of speed. Similarly, a plurality of amplitudes of each
of the items mentioned above may be combined in a variety of ways
to creates moods such as "sleepy time," wake-up time, play time,
etc.
[0119] In one example, the implementation of the operational mode
control aspect of the disclosure involves the routine shown in FIG.
15. A user may initiate the routine via actuation of a user
interface select or other element, after which the microcontroller
180 may in a block 252 access a default mode, the last-used mode,
and/or prompt the operator for further information. In this case,
the microcontroller 180 determines in a decision block 254 whether
the operator intends to select a predefined operational mode (i.e.,
a mode available for selection, whether user-defined or factory
set) or define a new operational mode. The available modes may be
stored in association with a number or other designation that may
be selected by the operator. A separate number or designation may
also be available for the operator to select a configuration option
for defining a new operational mode. If the operator selects the
configuration option, control passes to a block 256 in which the
microcontroller 180 selects and aggregates any number of
operational settings and/or selections. The user interface may
facilitate the selection process in a variety of ways. The operator
may then select, or be prompted, to store the settings and/or
selections in connection with a decision block 258. If accepted, a
storage operation is implemented in a block 260, and control
eventually passes back to the block 252 where the settings and/or
selections are made available as a feature set. If not, control may
return back to the block 256 for further data collection.
[0120] When the operator has not elected to configure the
operational mode control aspects of the device, control passes to a
block 262 in which the operational settings or selections defined
by, or associated with, a selected operational mode are determined.
Then the microcontroller 180 may proceed in a block 264 with the
implementation of the functions or operations in accordance with
the selected operational mode and, specifically, the operational
settings or selections defined thereby.
[0121] In some cases, the routine may provide an opportunity for an
operator to interrupt an operational mode without having to, for
instance, deactivate the entire device. If, at some point during
the implementation of the associated functions, the microcontroller
180 detects a status changing event, then a decision block 266
determines whether to pass control to those blocks involved in
configuring the operational mode control. This decision may, for
instance, turn on the manner in which a user interface select is
actuated. A press-and-hold, for instance, may result in
re-configuration of the current operational mode, such that control
passes to the block 258 to proceed with storing the change. Other
button presses may direct the microcontroller 180 to discontinue
the operational mode control and return the control to the user
prompt provided via the block 252. A time-out or other end to the
operational mode may also return control to the user prompt.
[0122] References to the storage of data or information in
connection with the implementation of any of the above-described
techniques shall be understood to include the recordation of the
data or information in any type of memory device or medium
accessible by the motion control device. Accordingly, references to
memory, storage, etc. may, but need not, involve the memory 186 of
the microcontroller 180. Thus, the motion control devices and
techniques described herein may include or involve one or more
memories or storage media either integrated or discrete from the
circuit elements described above.
[0123] The term "swing" is used herein to refer to any child motion
device that has a repetitive, reciprocating, and/or generally
pendulum-based motion.
[0124] Embodiments of the disclosed systems, devices, routines,
techniques, and methods described above may be stored and/or
implemented via hardware, firmware, software, or any combination
thereof. Some embodiments may be implemented as computer programs
executing on programmable systems comprising at least one
processor, a data storage system (including volatile and
non-volatile memory and/or storage elements), at least one input
device, and at least one output device. Program code may be applied
to input data to perform the functions described herein and
generate output information. The output information may be applied
to one or more output devices, in known fashion.
[0125] The programs may be implemented in a high level procedural
or object oriented programming language to communicate with any
type of processing system. The programs may also be implemented in
assembly or machine language, if desired. In fact, practice of the
disclosed systems, devices, routines, techniques, and methods is
not limited to any particular programming language. In any case,
the language may be a compiled or interpreted language.
[0126] The programs may be stored on a storage media or device
(e.g., floppy disk drive, read only memory (ROM), CD-ROM device,
flash memory device, digital versatile disk (DVD), or other storage
device) readable by a general or special purpose programmable
processing system, for configuring and operating the processing
system when the storage media or device is read by the processing
system to perform the procedures described herein. Embodiments of
the disclosed systems, devices, routines, techniques, and methods
may also be considered to be implemented as a machine-readable
storage medium, configured for use with a processing system, where
the storage medium so configured causes the processing system to
operate in a specific and predefined manner to perform the
functions described herein.
[0127] While the present invention has been described with
reference to specific examples, which are intended to be
illustrative only and not to be limiting of the invention, it will
be apparent to those of ordinary skill in the art that changes,
additions and/or deletions may be made to the disclosed embodiments
without departing from the spirit and scope of the invention.
[0128] The foregoing description is given for clearness of
understanding only, and no unnecessary limitations should be
understood therefrom, as modifications within the scope of the
invention may be apparent to those having ordinary skill in the
art.
[0129] Although certain systems, devices, routines, techniques, and
methods have been described herein in accordance with the teachings
of the present disclosure, the scope of coverage of this patent is
not limited thereto. On the contrary, this patent covers all
embodiments of the teachings of the disclosure that fairly fall
within the scope of permissible equivalents.
* * * * *