Motor motion method, device, equipment, medium and program product of nursing equipment

Abstract

The invention provides a motor movement method, device and equipment of nursing equipment, a medium and a program product. The method comprises the following steps: acquiring a mode starting signal of a motor; according to the mode starting signal, controlling a control parameter corresponding to the first rotation direction of the motor to change in a preset parameter range, controlling a control parameter corresponding to the second rotation direction of the motor to be unchanged, and generating a first driving signal corresponding to the first rotation direction and a second driving signal corresponding to the second rotation direction; in the same period, a first driving signal and a second driving signal are sent to the motor; wherein the first rotation direction is one of forward rotation and reverse rotation, and the second rotation direction is the other one of forward rotation and reverse rotation. According to the embodiment of the invention, one-way swing of the motor can be realized, and the swing amplitude of the motor is improved, so that the cleaning effect of the nursing equipment is better.

Description

Technical Field

[0001] The present invention relates to the field of nursing technology, and in particular to a motor movement method, device, equipment, medium and program product for nursing equipment. Background Art

[0002] The motors used in current care devices such as electric toothbrushes have vibration and swing (or sweeping) functions, but do not have a unidirectional swing function, and the swing amplitude of the motor is small, that is, it cannot swing significantly around the axial direction of the motor shaft, and thus cannot fully clean the oral cavity, resulting in poor cleaning effect. Summary of the invention

[0003] The purpose of the present invention is to provide a motor movement method, device, equipment, medium and program product for a nursing device, which is used to solve the problem that the current nursing device does not have a unidirectional swing function and the motor swing amplitude is small, and thus cannot comprehensively clean the oral cavity, resulting in poor cleaning effect.

[0004] In order to solve the above technical problems, an embodiment of the present invention provides a motor motion method for a nursing device, comprising:

[0005] Get the mode start signal of the motor;

[0006] According to the mode start signal, a control parameter corresponding to the first rotation direction of the motor is controlled to change within a preset parameter range, while the control parameter corresponding to the second rotation direction of the motor is controlled to remain unchanged, so as to generate a first drive signal corresponding to the first rotation direction and a second drive signal corresponding to the second rotation direction;

[0007] In the same cycle, sending the first drive signal and the second drive signal to the motor;

[0008] The first rotation direction is one of forward rotation and reverse rotation, and the second rotation direction is the other of the forward rotation and the reverse rotation.

[0009] Optionally, the mode start signal is used to indicate that the motor is in a sweeping mode;

[0010] The control parameter corresponding to the first rotation direction of the motor is changed within a preset parameter range, while the control parameter corresponding to the second rotation direction of the motor is kept unchanged, including:

[0011] Controlling a control parameter corresponding to a first rotation direction of the motor to change back and forth in a first periodic manner within a preset parameter range, while controlling the control parameter corresponding to a second rotation direction of the motor to remain unchanged, and the control parameter corresponding to the second rotation direction is less than or equal to a minimum value of the control parameter corresponding to the first rotation direction during the change process;

[0012] The first periodicity includes one of first decreasing from large to small and then decreasing from small to large based on a preset difference and first increasing from small to large and then decreasing from large to small based on the preset difference.

[0013] Optionally, the method further comprises:

[0014] Determine the median of the preset parameter range as the initial parameter;

[0015] Among them, controlling the control parameter corresponding to the first rotation direction of the motor to change back and forth in a first periodic manner within a preset parameter range, while controlling the control parameter corresponding to the second rotation direction of the motor to remain unchanged, and the control parameter corresponding to the second rotation direction is less than or equal to the minimum value of the control parameter corresponding to the first rotation direction during the change process, includes:

[0016] The control parameter corresponding to the first rotation direction of the motor first changes in a first periodic manner within a preset parameter range with the initial parameter as the starting point to an end value of the preset parameter range, and then changes back and forth in the first periodic manner with an end value of the preset parameter range as the starting point; at the same time, the control parameter corresponding to the second rotation direction of the motor remains unchanged, and the control parameter corresponding to the second rotation direction is less than or equal to the minimum value of the control parameter corresponding to the first rotation direction during the change process.

[0017] Optionally, the method further comprises:

[0018] Selecting a vibration frequency of the motor within a preset frequency range;

[0019] Determining a sweeping frequency of the motor according to the vibration frequency, wherein the sweeping frequency is greater than 0 and less than the vibration frequency;

[0020] The preset difference is determined according to the sweep frequency and the preset parameter range.

[0021] Optionally, determining the preset difference value according to the sweeping frequency and the preset parameter range includes:

[0022] According to the formula Determining the preset difference;

[0023] Wherein, N is the preset difference, f is the sweep frequency, T is the time interval between each change of the preset difference of the control parameter, and D L is the minimum value in the preset parameter range, D H is the maximum value in the preset parameter range, and A is a constant.

[0024] Optionally, after acquiring the mode start signal of the motor, the method further includes:

[0025] Acquire the adopted position information of the nursing device, wherein the position information includes one of a first position and a second position;

[0026] Among them, controlling the control parameter corresponding to the first rotation direction of the motor to change back and forth in a first periodic manner within a preset parameter range, while controlling the control parameter corresponding to the second rotation direction of the motor to remain unchanged, and the control parameter corresponding to the second rotation direction is less than or equal to the minimum value of the control parameter corresponding to the first rotation direction during the change process, includes:

[0027] When the position information includes the first position, the control parameter corresponding to the forward rotation of the motor is controlled to change back and forth in a first periodic manner within the preset parameter range, while the control parameter corresponding to the reverse rotation of the motor is controlled to remain unchanged, and the control parameter corresponding to the reverse rotation of the motor is less than or equal to the minimum value of the control parameter corresponding to the forward rotation of the motor during the change process;

[0028] When the position information includes the second position, the control parameter corresponding to the reversal of the motor is controlled to change back and forth in a first periodic manner within the preset parameter range, while the control parameter corresponding to the forward rotation of the motor remains unchanged, and the control parameter corresponding to the forward rotation of the motor is less than or equal to the minimum value of the control parameter corresponding to the reversal of the motor during the change process.

[0029] Optionally, after acquiring the mode start signal of the motor, the method further includes:

[0030] Acquire a user instruction, wherein the user instruction includes one of a first instruction for instructing the motor to rotate forward and a second instruction for instructing the motor to rotate reversely;

[0031] Among them, controlling the control parameter corresponding to the first rotation direction of the motor to change back and forth in a first periodic manner within a preset parameter range, while controlling the control parameter corresponding to the second rotation direction of the motor to remain unchanged, and the control parameter corresponding to the second rotation direction is less than or equal to the minimum value of the control parameter corresponding to the first rotation direction during the change process, includes:

[0032] When the user instruction includes the first instruction, the control parameter corresponding to the forward rotation of the motor is controlled to change back and forth in a first periodic manner within the preset parameter range, while the control parameter corresponding to the reverse rotation of the motor is controlled to remain unchanged, and the control parameter corresponding to the reverse rotation of the motor is less than or equal to the minimum value of the control parameter corresponding to the forward rotation of the motor during the change process;

[0033] When the user instruction includes the second instruction, the control parameter corresponding to the reversal of the motor is controlled to change back and forth in a first periodic manner within the preset parameter range, while the control parameter corresponding to the forward rotation of the motor remains unchanged, and the control parameter corresponding to the forward rotation of the motor is less than or equal to the minimum value of the control parameter corresponding to the reversal of the motor during the change process.

[0034] Optionally, after acquiring the mode start signal of the motor, the method further includes:

[0035] Acquire a preset strategy, wherein the preset strategy includes one or more of a first strategy and a second strategy, wherein the first strategy includes a third instruction and a first time period, the second strategy includes a fourth instruction and a second time period, the third instruction is used to instruct the motor to rotate forward, and the fourth instruction is used to instruct the motor to rotate reversely;

[0036] Among them, controlling the control parameter corresponding to the first rotation direction of the motor to change back and forth in a first periodic manner within a preset parameter range, while controlling the control parameter corresponding to the second rotation direction of the motor to remain unchanged, and the control parameter corresponding to the second rotation direction is less than or equal to the minimum value of the control parameter corresponding to the first rotation direction during the change process, includes:

[0037] In the case where the preset strategy includes the first strategy, according to the first time period, the control parameter corresponding to the forward rotation of the motor is controlled to change back and forth in a first periodic manner within the preset parameter range, while the control parameter corresponding to the reverse rotation of the motor is controlled to remain unchanged, and the control parameter corresponding to the reverse rotation of the motor is less than or equal to the minimum value of the control parameter corresponding to the forward rotation of the motor during the change process;

[0038] When the preset strategy includes a second strategy, according to the second time period, the control parameter corresponding to the reversal of the motor is controlled to change back and forth in a first periodic manner within the preset parameter range, while the control parameter corresponding to the forward rotation of the motor is controlled to remain unchanged, and the control parameter corresponding to the forward rotation of the motor is less than or equal to the minimum value of the control parameter corresponding to the reversal of the motor during the change process.

[0039] Optionally, the range value within the preset parameter range is greater than or equal to the first threshold and less than or equal to the second threshold;

[0040] When the control parameter is a duty cycle, the first threshold is greater than 0 and less than 100%, and the second threshold is greater than the first threshold and less than 100%.

[0041] Optionally, the mode start signal is used to indicate that the motor is in a sweeping mode;

[0042] The range value within the preset parameter range is greater than or equal to the third threshold and less than or equal to the fourth threshold;

[0043] The control parameter corresponding to the first rotation direction of the motor is changed within a preset parameter range, while the control parameter corresponding to the second rotation direction of the motor is kept unchanged, including:

[0044] The control parameter corresponding to controlling the first rotation direction of the motor changes alternately between the third threshold and the fourth threshold, while the control parameter corresponding to controlling the second rotation direction of the motor remains unchanged.

[0045] Optionally, when the control parameter is a duty cycle;

[0046] The control parameter corresponding to the first rotation direction of the motor is changed within a preset parameter range, while the control parameter corresponding to the second rotation direction of the motor is kept unchanged, and a first drive signal corresponding to the first rotation direction and a second drive signal corresponding to the second rotation direction are generated, including:

[0047] The pulse width modulation controller is used to control the duty cycle corresponding to the first rotation direction of the motor to vary within a preset parameter range, and at the same time, the pulse width modulation controller is used to control the duty cycle corresponding to the second rotation direction of the motor to remain unchanged, thereby generating a first drive signal corresponding to the first rotation direction and a second drive signal corresponding to the second rotation direction.

[0048] Optionally, when the control parameter is voltage;

[0049] The control parameter corresponding to the first rotation direction of the motor is changed within a preset parameter range, while the control parameter corresponding to the second rotation direction of the motor is kept unchanged, and a first drive signal corresponding to the first rotation direction and a second drive signal corresponding to the second rotation direction are generated, including:

[0050] The voltage of the first power chip corresponding to the first rotation direction of the motor is controlled by a digital-to-analog converter to change within a preset parameter range, and the voltage of the second power chip corresponding to the second rotation direction of the motor is controlled by the digital-to-analog controller to remain unchanged, thereby generating a first drive signal corresponding to the first rotation direction and a second drive signal corresponding to the second rotation direction.

[0051] The embodiment of the present invention further provides a motor motion device of a nursing device, comprising:

[0052] A first acquisition module, used for acquiring a mode start signal of a motor;

[0053] A first control module, configured to control a control parameter corresponding to a first rotation direction of the motor to change within a preset parameter range according to the mode start signal, and control the control parameter corresponding to a second rotation direction of the motor to remain unchanged, and generate a first drive signal corresponding to the first rotation direction and a second drive signal corresponding to the second rotation direction, wherein the control parameter is a duty cycle or a voltage;

[0054] A first sending module, sending the first driving signal and the second driving signal to the motor in the same cycle;

[0055] The first rotation direction is one of forward rotation and reverse rotation, and the second rotation direction is the other of the forward rotation and the reverse rotation.

[0056] An embodiment of the present invention further provides a network device, comprising: a processor, a memory, and a program stored in the memory and executable on the processor, wherein the program, when executed by the processor, implements the motor movement method of the nursing device as described in any one of the above items.

[0057] An embodiment of the present invention further provides a readable storage medium, comprising: a program is stored on the readable storage medium, and when the program is executed by a processor, the steps of the motor movement method of the nursing device as described in any one of the above items are implemented.

[0058] An embodiment of the present invention further provides a computer program product, comprising computer instructions, which, when executed by a processor, implement the steps of the motor movement method for a nursing device as described in any one of the above items.

[0059] At least one of the above technical solutions of the present invention has the following beneficial effects:

[0060] In the above scheme, the motor movement method of the nursing device controls the control parameters of the forward rotation of the motor to change within a preset parameter range according to the acquired motor mode start signal, while the control parameters of the reverse rotation of the motor remain unchanged, thereby generating the first forward drive signal and the second reverse drive signal; or the control parameters of the reverse rotation of the motor change within the preset parameter range, while the control parameters of the forward rotation of the motor remain unchanged, thereby generating the first reverse drive signal and the second forward drive signal, and then, within the same cycle, bidirectionally output the first drive signal and the second drive signal to the motor of the nursing device to realize motor movement, that is, the bidirectional output is effective within one cycle, the motor vibration intensity is greater, and the preset parameter range can be determined according to actual conditions, and by changing the control parameters within the preset parameter range, reciprocating sweeping of different amplitudes can be realized, and under large-amplitude reciprocating sweeping, the cleaning effect of the nursing device is better; by controlling the control parameters of the first rotation direction to change within the preset parameter range, while controlling the control parameters of the second rotation direction to remain unchanged, it is possible to realize unidirectional swinging of the motor and unidirectional swing vibration of the motor, that is, it is possible to realize unidirectional sweeping of the motor and unidirectional sweeping vibration of the motor.

[0061] Wherein, the control parameter is duty cycle or voltage.

[0062] When the control parameter is the duty cycle, the movement method of the motor controls the duty cycle of the motor's forward rotation to vary within a preset parameter range according to the motor's mode start signal, while controlling the duty cycle of the motor's reverse rotation to remain unchanged, thereby generating the first forward rotation drive signal and the second reverse rotation drive signal; or controls the duty cycle of the motor's reverse rotation to vary within a preset parameter range, while controlling the duty cycle of the motor's forward rotation to remain unchanged, thereby generating the first reverse rotation drive signal and the second forward rotation drive signal, and then outputs the first drive signal and the second drive signal to the motor of the nursing device in both directions within the same cycle to realize motor movement, that is, the two-way output is effective within one cycle, the motor vibration intensity is greater, and the preset parameter range can be determined according to actual conditions, and by changing the duty cycle within the preset parameter range, reciprocating sweeping of different amplitudes can be realized, and under large-amplitude reciprocating sweeping, the cleaning effect of the nursing device is better; by controlling the duty cycle of the first rotation direction to vary within the preset parameter range, while controlling the duty cycle of the second rotation direction to remain unchanged, the motor can be unidirectionally swung and the motor can be oscillated, that is, the motor can be unidirectionally swept and the motor can be unidirectionally vibrated.

[0063] When the control parameter is voltage, the movement method of the motor is based on the mode start signal of the motor, and the voltage of the motor forward rotation is controlled to change within the preset parameter range, while the voltage of the motor reverse rotation is controlled to remain unchanged, thereby generating the first forward drive signal and the second reverse drive signal; or the voltage of the motor reverse rotation is controlled to change within the preset parameter range, while the voltage of the motor forward rotation is controlled to remain unchanged, thereby generating the first reverse drive signal and the second forward drive signal, and then within the same cycle, the first drive signal and the second drive signal are bidirectionally output to the motor of the nursing device to realize the movement of the motor, that is, the bidirectional output is effective within one cycle, the motor vibration intensity is greater, and the preset parameter range can be determined according to actual conditions, and by changing the voltage within the preset parameter range, reciprocating sweeping of different amplitudes can be realized. Under large-amplitude reciprocating sweeping, the cleaning effect of the nursing device is better; by controlling the voltage of the first rotation direction to change within the preset parameter range, while controlling the voltage of the second rotation direction to remain unchanged, the motor can be unidirectionally swung and the motor can be unidirectionally shaken, that is, the motor can be unidirectionally swept and the motor can be unidirectionally shaken. BRIEF DESCRIPTION OF THE DRAWINGS

[0064] Figure 1 A schematic diagram of a flow chart of a motor motion method of a nursing device according to an embodiment of the present invention;

[0065] Figure 2 This is one of the schematic diagrams of the motor motion circuit of the nursing device according to an embodiment of the present invention;

[0066] Figure 3 This is a second schematic diagram of a motor motion circuit of a nursing device according to an embodiment of the present invention;

[0067] Figure 4 A schematic diagram of waveforms corresponding to the motor sweeping mode of the nursing device according to an embodiment of the present invention;

[0068] Figure 5 It is a flow chart of a method for controlling motor movement according to position information used by a nursing device according to an embodiment of the present invention;

[0069] Figure 6 A schematic diagram of a flow chart of a method for controlling motor motion according to user instructions according to an embodiment of the present invention;

[0070] Figure 7 A schematic diagram of a flow chart of a method for controlling motor motion according to a preset strategy according to an embodiment of the present invention;

[0071] Figure 8 A schematic diagram of the connection between the host computer and the nursing equipment according to an embodiment of the present invention;

[0072] Fig. 9 The third schematic diagram of the motor motion circuit of the nursing device according to the embodiment of the present invention;

[0073] Fig.10 This is a fourth schematic diagram of a motor motion circuit of a nursing device according to an embodiment of the present invention;

[0074] Fig.11 This is a fifth schematic diagram of a motor motion circuit of a nursing device according to an embodiment of the present invention;

[0075] Fig.12 It is a schematic diagram of the structure of the motor motion device of the nursing equipment according to an embodiment of the present invention. DETAILED DESCRIPTION

[0076] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0077] like Figure 1 As shown, an embodiment of the present invention provides a motor motion method for a nursing device, comprising:

[0078] Step S101, obtaining a mode start signal of a motor;

[0079] Step S102, according to the mode start signal, controlling the control parameter corresponding to the first rotation direction of the motor to change within a preset parameter range, while controlling the control parameter corresponding to the second rotation direction of the motor to remain unchanged, and generating a first drive signal corresponding to the first rotation direction and a second drive signal corresponding to the second rotation direction;

[0080] Step S103, sending the first drive signal and the second drive signal to the motor in the same cycle;

[0081] The first rotation direction is one of forward rotation and reverse rotation, and the second rotation direction is the other of the forward rotation and the reverse rotation.

[0082] In an embodiment of the present invention, the care device includes a care head and a motor, wherein the motor is connected to the care head, and when the motor is working, the motor drives the care head to do the same movement, for example, when the motor is in a one-way sweeping vibration mode, the motor drives the care head to do a one-way sweeping vibration movement. The care device may be, for example, an electric toothbrush, in which case the care head is a toothbrush head, and when the motor is working, the motor drives the toothbrush head to do the same movement. Of course, the care device may also be a device with a motor, such as a skin care instrument, which is not limited here.

[0083] An embodiment of the present invention provides a method for motor movement, according to the acquired mode start signal of the motor, the control parameters of the motor forward rotation are changed within a preset parameter range, and the control parameters of the motor reverse rotation remain unchanged, so as to generate the first drive signal for forward rotation and the second drive signal for reverse rotation; or the control parameters of the motor reverse rotation are changed within a preset parameter range, and the control parameters of the motor forward rotation remain unchanged, so as to generate the first drive signal for reverse rotation and the second drive signal for forward rotation, and then the first drive signal and the second drive signal are output bidirectionally to the motor of the nursing device in the same cycle to realize the motor movement, that is, the bidirectional output is effective in one cycle, the motor vibration intensity is greater, and the preset parameter range can be determined according to actual conditions, and by changing the control parameters within the preset parameter range, reciprocating sweeping of different amplitudes can be realized, and under large-amplitude reciprocating sweeping, the cleaning effect of the nursing device is better; by controlling the control parameters of the first rotation direction to change within the preset parameter range, and controlling the control parameters of the second rotation direction to remain unchanged, it is possible to realize unidirectional swinging of the motor and unidirectional oscillating vibration of the motor, that is, it is possible to realize unidirectional sweeping of the motor and unidirectional sweeping vibration of the motor.

[0084] Optionally, the control parameter is a duty cycle or a voltage.

[0085] When the control parameter is the duty cycle, the motor movement is achieved by adjusting the duty cycle, such as Figure 2 As shown, the duty cycles of A-A1 and B-B1 are adjusted by the main control chip (System on Chip, SOC) within one cycle, and two drive signals are output through the drive chip (Microcontroller Unit, MCU) to realize the movement of the motor. Specifically, according to the mode start signal of the motor, the duty cycle of the forward rotation of the motor is controlled to change within the preset parameter range, and the duty cycle of the reverse rotation of the motor is controlled to remain unchanged, thereby generating the first forward rotation drive signal and the second reverse rotation drive signal; or the duty cycle of the reverse rotation of the motor is controlled to change within the preset parameter range, and the duty cycle of the forward rotation of the motor is controlled to remain unchanged, thereby generating the first reverse rotation drive signal and the second forward rotation drive signal, and then within the same cycle, the first drive signal and the second drive signal are output bidirectionally to the motor of the nursing device to realize the movement of the motor, wherein, when the forward rotation drive signal is greater than the reverse rotation drive signal, the motor rotates forward; and when the reverse rotation drive signal is greater than the forward rotation drive signal, the motor reverses.

[0086] In this embodiment, the bidirectional output is effective within one cycle, the motor vibration intensity is greater, and the preset parameter range can be determined according to the actual situation. By changing the duty cycle within the preset parameter range, reciprocating sweeps of different amplitudes can be achieved. Under large-scale reciprocating sweeps, the cleaning effect of the nursing equipment is better, and by controlling the voltage of the first rotation direction to change within the preset parameter range, while controlling the voltage of the second rotation direction to remain unchanged, the motor can be swung in one direction, such as a motor unidirectional sweep. It should be noted that the change of the duty cycle within the preset parameter range includes the values ​​of the two endpoints of the preset parameter range, for example, if the preset parameter range is 5%-65%, it includes 5% and 65%. Among them, the values ​​of the two endpoints of the preset parameter range can be respectively referred to as the first threshold and the second threshold, and the first threshold is less than the second threshold. It should also be noted that when the duty cycle of the motor forward rotation and / or the duty cycle of the motor reverse rotation is 0%, the motor does not vibrate, and when the duty cycle of the motor forward rotation and / or the duty cycle of the motor reverse rotation is 100%, the motor does not sweep.

[0087] When the control parameter is voltage, the motor movement is achieved by adjusting the voltage. Figure 3 As shown, in one cycle, the voltage of the power chip in the two paths A-A1 and B-B1 is adjusted by the main control chip respectively, and two drive signals are output to realize the motor movement. Specifically, according to the mode start signal of the motor, the voltage of the motor forward rotation is controlled to change within the preset parameter range, and the voltage of the motor reverse rotation is controlled to remain unchanged, and the first drive signal for forward rotation and the second drive signal for reverse rotation are generated; or the voltage of the motor reverse rotation is controlled to change within the preset parameter range, and the voltage of the motor forward rotation is controlled to remain unchanged, and the first drive signal for reverse rotation and the second drive signal for forward rotation are generated, and then in the same cycle, the first drive signal and the second drive signal are output bidirectionally to the motor of the nursing device to realize the motor movement, wherein, when the forward drive signal is greater than the reverse drive signal, the motor forward rotation; when the reverse drive signal is greater than the forward drive signal, the motor reverses. In this embodiment, the bidirectional output is effective within one cycle, the motor vibration intensity is greater, and the preset parameter range can be determined according to the actual situation. By changing the voltage within the preset parameter range, reciprocating sweeps of different amplitudes can be realized. Under large-scale reciprocating sweeps, the cleaning effect of the nursing device is better. It should be noted that the change in voltage within the preset parameter range includes the values ​​of the two endpoints of the preset parameter range. For example, if the preset parameter range is 0v-5v, it includes 0v and 5v; the values ​​of the two endpoints of the preset parameter range can be respectively called the first threshold and the second threshold, and the first threshold is less than the second threshold.

[0088] Optionally, the mode start signal is used to indicate that the motor is in a sweeping mode, which may also be referred to as a unidirectional sweeping mode in the embodiment of the present invention;

[0089] The control parameter corresponding to the first rotation direction of the motor is changed within a preset parameter range, while the control parameter corresponding to the second rotation direction of the motor is kept unchanged, including:

[0090] Controlling a control parameter corresponding to a first rotation direction of the motor to change back and forth in a first periodic manner within a preset parameter range, while controlling the control parameter corresponding to a second rotation direction of the motor to remain unchanged, and the control parameter corresponding to the second rotation direction is less than or equal to a minimum value of the control parameter corresponding to the first rotation direction during the change process;

[0091] The first periodicity includes one of first decreasing from large to small and then decreasing from small to large based on a preset difference and first increasing from small to large and then decreasing from large to small based on the preset difference.

[0092] In the embodiment of the present invention, when the motor is in the unidirectional sweeping mode, the control parameter controlling the first rotation direction of the motor changes within the preset parameter range, and the control parameter of the second rotation direction remains unchanged and is less than or equal to the minimum value of the control parameter of the first rotation direction during the change process, which can ensure the unidirectional sweeping of the motor. For example, when the control parameter is a duty cycle and the preset parameter range is 5%-65%, if the duty cycle of the first rotation direction of the motor changes within the range of 5%-65%, the duty cycle of the second rotation direction of the motor is less than or equal to 5%; if the duty cycle of the first rotation direction only changes within the range of 35%-65% of the median of the preset parameter range, the duty cycle of the second rotation direction of the motor is less than or equal to 35%. Specifically, if the first rotation direction is forward rotation and the second rotation direction is reverse rotation, the control parameter of forward rotation is always greater than the control parameter of reverse rotation during the change process, which can ensure that the motor always sweeps forward; if the first rotation direction is reverse rotation and the second rotation direction is forward rotation, the control parameter of reverse rotation is always greater than the control parameter of forward rotation during the change process, which can ensure that the motor always sweeps reversely.

[0093] like Figure 4 As shown, Figure 4 When the control parameter is the duty cycle, the square waveform diagram corresponding to the duty cycle of the two directions in the motor unidirectional sweeping mode, wherein the waveform width of the duty cycle represented by waveform 1 is constantly changing, the waveform width of the duty cycle represented by waveform 2 is constant and is less than the minimum value of the waveform width of waveform 1. If waveform 1 is the duty cycle of the motor forward rotation and waveform 2 is the duty cycle of the motor reverse rotation, the motor rotates forward; if waveform 1 is the duty cycle of the motor reverse rotation and waveform 2 is the duty cycle of the motor forward rotation, the motor reverses.

[0094] When the control parameter is a duty cycle, the preset parameter range can select two values ​​from 0%-100% to form a range, but it is not equal to 0% and 100%. For example, the preset parameter range can be 1%-99%, or 5%-65%, or a range formed by other numerical combinations, which is not limited here. When the control parameter is voltage, the preset parameter range can be selected according to actual conditions, such as 0-8V, preferably 0-5V, or a range formed by other numerical combinations. The control parameter changes within the preset parameter range, which can achieve reciprocating sweeps of different amplitudes. Under large-amplitude reciprocating sweeps, the cleaning effect of the nursing equipment is better; and the control parameter corresponding to the first direction of rotation is controlled to change within the preset parameter range, while the control parameter corresponding to the second direction of rotation is controlled to remain unchanged and be less than or equal to the minimum value of the control parameter corresponding to the first rotation direction during the change process, which can achieve unidirectional sweeping of the motor, such as forward sweeping of the motor or reverse sweeping of the motor.

[0095] It should be noted that the swing described in this article can be called sweeping, and the oscillation can be called sweeping, that is, the motor sweeping can be called motor oscillation. Among them, the motor movement includes one of motor sweeping, motor sweeping and motor vibration, and the motor sweeping includes one of motor unidirectional sweeping and motor bidirectional sweeping.

[0096] The preset difference refers to the difference between two adjacent control parameters during the change process. For example, if the control parameter is the duty cycle, the preset parameter range is 5%-65%, and the current duty cycle corresponding to the first rotation direction of the motor is 10%. If the preset difference is 5, the duty cycle corresponding to the changed first rotation direction is 5% or 15%. If the preset difference is 1, the duty cycle corresponding to the changed first rotation direction is 9% or 11%. If the control parameter is voltage, the change process is similar. The smaller the preset difference, the smoother the motor and the care head will be during the sweeping process.

[0097] Optionally, the method further comprises:

[0098] Determine the median of the preset parameter range as the initial parameter;

[0099] Among them, controlling the control parameter corresponding to the first rotation direction of the motor to change back and forth in a first periodic manner within a preset parameter range, while controlling the control parameter corresponding to the second rotation direction of the motor to remain unchanged, and the control parameter corresponding to the second rotation direction is less than or equal to the minimum value of the control parameter corresponding to the first rotation direction during the change process, includes:

[0100] The control parameter corresponding to the first rotation direction of the motor first changes in a first periodic manner within a preset parameter range with the initial parameter as the starting point to an end value of the preset parameter range, and then changes back and forth in the first periodic manner with an end value of the preset parameter range as the starting point; at the same time, the control parameter corresponding to the second rotation direction of the motor remains unchanged, and the control parameter corresponding to the second rotation direction is less than or equal to the minimum value of the control parameter corresponding to the first rotation direction during the change process.

[0101] In an embodiment of the present invention, after obtaining the start signal of the motor unidirectional sweep mode, if the control parameter corresponding to the first rotation direction is directly controlled to show a first periodic reciprocating change within the preset parameter range, such as first from large to small and then from small to large, there may be an operation of directly setting the duty cycle of the first rotation direction to a large duty cycle of 65%, for example, or setting the voltage of the first rotation direction to a large voltage of 8V, for example, which causes the motor shaft of the motor to have a large swing (i.e., sweeping) amplitude immediately after the motor is started, causing the motor shaft to be unstable at present, and the current amplitude is too large, affecting the user's experience, etc. The same problem will occur when the control parameter is voltage. In order to solve the above problem, the median of the preset parameter range is determined as the initial parameter, i.e., half of the minimum and maximum values ​​in the preset parameter range. For example: when the control parameter is duty cycle and the preset parameter range is 5%-65%, the median is (5%+65%) / 2=35%.

[0102] Exemplarily, when the control parameter is the duty cycle, the preset parameter range is 5%-65%, the initial parameter is 35%, the preset difference is 5, and if the first periodicity is based on the preset difference and first changes from large to small and then from small to large, then the duty cycle of the first rotation direction of the control motor starts from 35% and changes from large to small with the preset difference 5, that is, changes from 35%-5%, and then changes from small to large, that is, changes from 5%-65%, changes to the maximum end value of 65% in the preset parameter range, and then changes back and forth between 5%-65% in a first periodic manner; if the first periodicity is based on the preset difference and first changes from small to large and then from large to small, then the duty cycle of the first rotation direction of the control motor starts from 35% and changes from small to large with the preset difference 5, that is, changes from 35%-65%, and then changes from large to small, that is, changes from 65%-5%, changes to the minimum end value of 5% in the preset parameter range, and then changes back and forth between 5%-65% in a second periodic manner.

[0103] Optionally, the method further comprises:

[0104] Selecting a vibration frequency of the motor within a preset frequency range;

[0105] Determining a sweeping frequency of the motor according to the vibration frequency, wherein the sweeping frequency is greater than 0 and less than the vibration frequency;

[0106] The preset difference is determined according to the sweep frequency and the preset parameter range.

[0107] In an embodiment of the present invention, the vibration frequency of the motor is the resonant frequency of the motor, which can be selected within the range of 1-1KHZ, with a preferred range of 1-80HZ; the sweeping frequency is not equal to 0, but is less than the vibration frequency of the motor, that is, the sweeping frequency of the selected motor must be greater than 0 and less than the vibration frequency.

[0108] The size of the preset difference N is related to the sweep frequency and the preset parameter range. If the control parameter of the first rotation direction changes by the preset difference N every time interval T, then the preset difference change rate C is: If the sweep frequency is f, the time for the motor to sweep one cycle is The preset parameter range is greater than or equal to D L and less than or equal to D H , then the preset difference N can be expressed as: Among them, A is a constant.

[0109] Optionally, after acquiring the mode start signal of the motor, the method further includes:

[0110] Acquire the adopted position information of the nursing device, wherein the position information includes one of a first position and a second position;

[0111] Among them, controlling the control parameter corresponding to the first rotation direction of the motor to change back and forth in a first periodic manner within a preset parameter range, while controlling the control parameter corresponding to the second rotation direction of the motor to remain unchanged, and the control parameter corresponding to the second rotation direction is less than or equal to the minimum value of the control parameter corresponding to the first rotation direction during the change process, includes:

[0112] When the position information includes the first position, the control parameter corresponding to the forward rotation of the motor is controlled to change back and forth in a first periodic manner within the preset parameter range, while the control parameter corresponding to the reverse rotation of the motor is controlled to remain unchanged, and the control parameter corresponding to the reverse rotation of the motor is less than or equal to the minimum value of the control parameter corresponding to the forward rotation of the motor during the change process;

[0113] When the position information includes the second position, the control parameter corresponding to the reversal of the motor is controlled to change back and forth in a first periodic manner within the preset parameter range, while the control parameter corresponding to the forward rotation of the motor remains unchanged, and the control parameter corresponding to the forward rotation of the motor is less than or equal to the minimum value of the control parameter corresponding to the reversal of the motor during the change process.

[0114] In the embodiment of the present invention, Figure 5 As shown, the motor can be used to perform forward sweep vibration or reverse sweep vibration according to the position information adopted by the nursing device, and can also be used to perform forward sweep vibration at the previous moment and reverse sweep vibration at the next moment or reverse sweep vibration at the previous moment and forward sweep vibration at the next moment according to the change of position information, which can meet user needs and improve user experience. Specifically, a position sensor such as a nine-axis sensor can be set to detect the position of the nursing head, and then the position information sent by the position sensor can be obtained.

[0115] For example: if the care device is a toothbrush, and you want to use different sweeping directions to drive the brush head to brush your teeth in the first position (for example, the upper tooth area) and the second position (for example, the lower tooth area), when the position sensor detects that the brush head is in the first position, the control parameter corresponding to the forward rotation of the control motor is controlled to change back and forth in a first periodic manner within the preset parameter range, and at the same time, the control parameter corresponding to the reverse rotation of the control motor remains unchanged and is less than or equal to the minimum value of the control parameter corresponding to the forward rotation during the change process. At this time, the brush head sweeps forward, and when the position sensor detects that the care head is in the second position, the control parameter corresponding to the reverse rotation of the control motor is controlled to change back and forth in a first periodic manner within the preset parameter range, and at the same time, the control parameter corresponding to the forward rotation of the control motor remains unchanged and is less than or equal to the minimum value of the control parameter corresponding to the reverse rotation during the change process. At this time, the brush head reverses and sweeps. It is achieved that the brush head has different sweeping directions when in different positions. It should be noted that the first position and the second position are not limited by the present invention and can be set according to the actual scenario.

[0116] Optionally, after acquiring the mode start signal of the motor, the method further includes:

[0117] Acquire a user instruction, wherein the user instruction includes one of a first instruction for instructing the motor to rotate forward and a second instruction for instructing the motor to rotate reversely;

[0118] Among them, controlling the control parameter corresponding to the first rotation direction of the motor to change back and forth in a first periodic manner within a preset parameter range, while controlling the control parameter corresponding to the second rotation direction of the motor to remain unchanged, and the control parameter corresponding to the second rotation direction is less than or equal to the minimum value of the control parameter corresponding to the first rotation direction during the change process, includes:

[0119] When the user instruction includes the first instruction, the control parameter corresponding to the forward rotation of the motor is controlled to change back and forth in a first periodic manner within the preset parameter range, while the control parameter corresponding to the reverse rotation of the motor is controlled to remain unchanged, and the control parameter corresponding to the reverse rotation of the motor is less than or equal to the minimum value of the control parameter corresponding to the forward rotation of the motor during the change process;

[0120] When the user instruction includes the second instruction, the control parameter corresponding to the reversal of the motor is controlled to change back and forth in a first periodic manner within the preset parameter range, while the control parameter corresponding to the forward rotation of the motor remains unchanged, and the control parameter corresponding to the forward rotation of the motor is less than or equal to the minimum value of the control parameter corresponding to the reversal of the motor during the change process.

[0121] In the embodiment of the present invention, Figure 6 As shown, the unidirectional sweeping of the motor is achieved by interacting with the user, that is, the user sends an instruction corresponding to a certain direction of the motor, and the motor sweeps according to the instruction. Specifically, the user can send the instruction through buttons or voice, for example, different buttons are set on the nursing equipment to represent different sweeping directions. The user selects the corresponding button to sweep in the corresponding direction, such as forward direction or reverse direction. For example, the forward sweeping of the motor or the reverse sweeping of the motor can be selected by voice.

[0122] For example: the first instruction is the forward sweep of the motor, and the second instruction is the reverse sweep of the motor. After the motor is started, the user first outputs the first instruction by pressing a button representing the forward sweep of the motor or selects the first instruction of the forward sweep of the motor through voice output. Then, after obtaining the first instruction, the control parameter corresponding to the forward rotation of the motor is controlled to show a first periodic reciprocating change within the preset parameter range to generate a first drive signal. At the same time, the control parameter corresponding to the reverse rotation of the motor is controlled to remain unchanged and be less than or equal to the minimum value of the control parameter corresponding to the forward rotation during the change process to generate a second drive signal. Finally, the forward sweep of the motor is realized by outputting the first drive signal and the second drive signal to the motor.

[0123] Optionally, after acquiring the mode start signal of the motor, the method further includes:

[0124] Acquire a preset strategy, wherein the preset strategy includes one or more of a first strategy and a second strategy, wherein the first strategy includes a third instruction and a first time period, the second strategy includes a fourth instruction and a second time period, the third instruction is used to instruct the motor to rotate forward, and the fourth instruction is used to instruct the motor to rotate reversely;

[0125] Among them, controlling the control parameter corresponding to the first rotation direction of the motor to change back and forth in a first periodic manner within a preset parameter range, while controlling the control parameter corresponding to the second rotation direction of the motor to remain unchanged, and the control parameter corresponding to the second rotation direction is less than or equal to the minimum value of the control parameter corresponding to the first rotation direction during the change process, includes:

[0126] In the case where the preset strategy includes the first strategy, according to the first time period, the control parameter corresponding to the forward rotation of the motor is controlled to change back and forth in a first periodic manner within the preset parameter range, while the control parameter corresponding to the reverse rotation of the motor is controlled to remain unchanged, and the control parameter corresponding to the reverse rotation of the motor is less than or equal to the minimum value of the control parameter corresponding to the forward rotation of the motor during the change process;

[0127] When the preset strategy includes a second strategy, according to the second time period, the control parameter corresponding to the reversal of the motor is controlled to change back and forth in a first periodic manner within the preset parameter range, while the control parameter corresponding to the forward rotation of the motor is controlled to remain unchanged, and the control parameter corresponding to the forward rotation of the motor is less than or equal to the minimum value of the control parameter corresponding to the reversal of the motor during the change process.

[0128] In the embodiment of the present invention, Figure 7 As shown, the motor sweep direction is controlled by a preset strategy customized in advance, wherein the preset strategy can be a first strategy indicating that the motor rotates forward in a first time period, or a second strategy indicating that the motor rotates reversely in a second time period, or can include both the first strategy and the second strategy, that is, a process formed according to the first strategy and the second strategy.

[0129] Among them, the first time period and the second time period can be set by the user on a host computer such as a computer, mobile phone, computer, watch, etc. according to actual needs, that is, user customization, such as Figure 8 As shown, the host computer is connected to the care device via a wireless network. For example, the first time period is set to 30s and the second time period is set to 40s on the mobile phone application that establishes a communication connection with the electric toothbrush. The first time period and the second time period can also be set by the manufacturer at the factory. The first time period and the second time period can be set to be the same or different. Similarly, the third instruction and the fourth instruction can also be selected by the manufacturer or the user on the host computer according to time requirements.

[0130] That is to say, after obtaining the mode start signal of the motor, the unidirectional sweeping of the motor can be achieved through at least one of the above-mentioned position information, user instructions (ie user interaction) and preset strategies (ie user customization).

[0131] Optionally, the range value within the preset parameter range is greater than or equal to the first threshold and less than or equal to the second threshold;

[0132] When the control parameter is the duty cycle, the first threshold is greater than 0 and less than 100%, and the second threshold is greater than the first threshold and less than 100%.

[0133] The first threshold and the second threshold may be two endpoint values ​​of a preset parameter range, and the first threshold is smaller than the second threshold.

[0134] In the embodiment of the present invention, when the control parameter is the duty cycle, the preset parameter range can select two values ​​from 0%-100% to form a range, but it is not equal to 0% and 100%. For example, the preset duty cycle range can be 1%-99%, or 5%-65%, or a range formed by other combinations of values, which is not limited here; when the preset parameter range (i.e., the preset duty cycle range) is 1%-99%, the first threshold value can be 1%, and the second threshold value can be 99%. The duty cycle varies within the preset parameter range, and reciprocating sweeps of different amplitudes can be achieved. Under large-amplitude reciprocating sweeps, the cleaning effect of the nursing device is better.

[0135] Optionally, the mode start signal is used to indicate that the motor is in a sweeping mode;

[0136] The range value within the preset parameter range is greater than or equal to the third threshold and less than or equal to the fourth threshold;

[0137] The control parameter corresponding to the first rotation direction of the motor is changed within a preset parameter range, while the control parameter corresponding to the second rotation direction of the motor is kept unchanged, including:

[0138] The control parameter corresponding to controlling the first rotation direction of the motor changes alternately between the third threshold and the fourth threshold, while the control parameter corresponding to controlling the second rotation direction of the motor remains unchanged.

[0139] In an embodiment of the present invention, in the motor sweeping mode, when the control parameter is the duty cycle, the preset parameter range can select two values ​​from 0%-100% to form a range, and the critical value of the preset parameter range can be 0% and 100%. For example, the preset parameter range can be 0%-100%, or 5%-65%, or a range formed by other numerical combinations, which is not limited here. When the control parameter is voltage, the preset parameter range can be selected according to actual conditions, such as 0-8V, preferably 0-5V, or a range formed by other numerical combinations. The control parameter changes within the preset parameter range, and reciprocating sweeps of different amplitudes can be achieved. Under large-amplitude reciprocating sweeps, the cleaning effect of the nursing equipment is better.

[0140] Specifically, when the control parameter is the duty cycle, if the preset parameter range is 0%-65%, the duty cycle corresponding to the forward rotation of the motor is controlled to alternate between 0%-65%-0%, and at the same time, the duty cycle corresponding to the reverse rotation of the motor is controlled to remain unchanged at 0%, that is, it is maintained at a low level. Then, this example scheme realizes the forward rotation sweep of the motor. Similarly, the duty cycle corresponding to the reverse rotation of the motor is controlled to alternate between 0%-65%-0%, and at the same time, the duty cycle corresponding to the forward rotation of the motor is controlled to remain unchanged at 0%, that is, it is maintained at a low level, thereby realizing the reverse rotation sweep of the motor.

[0141] It can be understood that if the preset parameter range is 5%-65%, the duty cycle corresponding to controlling the forward rotation of the motor alternates between 0%-65%-0%, the third threshold and the fourth threshold are one of 0% and 65%, and when the third threshold is 0%, the fourth threshold is 65%.

[0142] When the control parameter is voltage, if the preset parameter range is 0V-5V, the voltage corresponding to the forward rotation of the motor is controlled to change alternately between 0V-5V-0V, and the voltage corresponding to the reverse rotation of the motor is controlled to remain unchanged at 0V, that is, to remain at a low level. Then, this example scheme realizes the forward rotation sweep of the motor. Similarly, the voltage corresponding to the reverse rotation of the motor is controlled to change alternately between 0V-5V-0V, and the voltage corresponding to the forward rotation of the motor is controlled to remain unchanged at 0V, that is, to remain at a low level, thereby realizing the reverse rotation sweep of the motor.

[0143] It can be understood that if the preset parameter range is 0V-5V, the duty cycle corresponding to controlling the forward rotation of the motor alternates between 0V-5V-0V, the third threshold and the fourth threshold are one of 0V and 5V, and when the third threshold is 0V, the fourth threshold is 5V.

[0144] That is, one of the third threshold value and the fourth threshold value is 0% or 0V.

[0145] In addition, if the control parameters corresponding to the forward rotation of the motor and the control parameters corresponding to the reverse rotation of the motor are changed alternately in one cycle, the motor can be swept forward for half a cycle and swept reversely for the other half a cycle.

[0146] Optionally, when the control parameter is the duty cycle;

[0147] The control parameter corresponding to the first rotation direction of the motor is changed within a preset parameter range, while the control parameter corresponding to the second rotation direction of the motor is kept unchanged, and a first drive signal corresponding to the first rotation direction and a second drive signal corresponding to the second rotation direction are generated, including:

[0148] A pulse width modulation controller (PWM) is used to control the duty cycle corresponding to the first rotation direction of the motor to vary within a preset parameter range, and at the same time, a pulse width modulation controller (PWM) is used to control the duty cycle corresponding to the second rotation direction of the motor to remain unchanged, thereby generating a first drive signal corresponding to the first rotation direction and a second drive signal corresponding to the second rotation direction.

[0149] In the embodiment of the present invention, Fig. 9 and Fig.10 As shown, when the control parameter is the duty cycle, a pulse width modulation controller (PWM) can be set in the circuit to adjust the duty cycles of A-A1 and B-B1 through PWM control, thereby generating different drive signals.

[0150] Fig. 9 A circuit diagram for realizing unidirectional sweeping vibration of a motor is provided, wherein a central processing unit (CPU), a pulse width modulation controller (PWM) and a clock (CLOCK) are provided in the main control chip SOC. A comparison register and a counter are provided in the pulse width modulation controller. The comparison register and the sweeping frequency realize the sweeping of the motor, the counter and the resonant frequency realize the vibration of the motor, and finally the sweeping vibration of the motor is realized.

[0151] Fig.10 A circuit diagram for realizing motor sweeping, wherein a pulse width modulation controller (PWM), a central processing unit (CPU) and a clock (CLOCK) are provided in a main control chip (SOC), and inductors (L1, L2) and capacitors (C1, C2) are also provided in the circuit, which can realize the sweeping of the motor and achieve a large-scale sweeping effect, resulting in a better cleaning effect.

[0152] Optionally, when the control parameter is the voltage;

[0153] The control parameter corresponding to the first rotation direction of the motor is changed within a preset parameter range, while the control parameter corresponding to the second rotation direction of the motor is kept unchanged, and a first drive signal corresponding to the first rotation direction and a second drive signal corresponding to the second rotation direction are generated, including:

[0154] The voltage of the first power chip corresponding to the first rotation direction of the motor is controlled by a digital-to-analog converter to change within a preset parameter range, and at the same time, the voltage of the second power chip corresponding to the second rotation direction of the motor is controlled by the digital-to-analog converter to remain unchanged, thereby generating a first drive signal corresponding to the first rotation direction and a second drive signal corresponding to the second rotation direction.

[0155] In the embodiment of the present invention, Fig.11As shown, when the control parameter is voltage, a digital to analog converter (DAC) can be set in the circuit, that is, a digital to analog converter (DAC) is used in the main control chip, and the digital to analog converter (DAC) is respectively connected to the power chips in the A-A1 and B-B1 paths. The voltage of the power chips in the A-A1 and B-B1 paths can be controlled by the digital to analog converter (DAC), thereby realizing motor movement, such as one of the motor unidirectional sweeping and the motor sweeping.

[0156] It should be noted that the preset parameter ranges corresponding to the motor unidirectional sweeping and the motor scanning are different. For example, the two endpoint values ​​(i.e., the first threshold value and the second threshold value) of the preset parameter range of the motor unidirectional sweeping are not 0, but one of the two endpoint values ​​(i.e., the first threshold value and the second threshold value) of the preset parameter range of the motor sweeping is 0.

[0157] like Fig.12 As shown, an embodiment of the present invention further provides a motor motion device of a nursing device, comprising:

[0158] A first acquisition module 1201 is used to acquire a mode start signal of a motor;

[0159] A first control module 1202, configured to control a control parameter corresponding to a first rotation direction of the motor to change within a preset parameter range according to the mode start signal, and control the control parameter corresponding to a second rotation direction of the motor to remain unchanged, thereby generating a first drive signal corresponding to the first rotation direction and a second drive signal corresponding to the second rotation direction;

[0160] A first sending module 1203 sends the first driving signal and the second driving signal to the motor in the same cycle;

[0161] The first rotation direction is one of forward rotation and reverse rotation, and the second rotation direction is the other of the forward rotation and the reverse rotation.

[0162] Optionally, the control parameter is a duty cycle or a voltage.

[0163] Optionally, the mode start signal in the first acquisition module 1201 is used to indicate that the motor is in a sweeping mode;

[0164] The first control module 1202 includes:

[0165] A first control unit, configured to control a control parameter corresponding to a first rotation direction of the motor to change back and forth in a first periodic manner within a preset parameter range, and to control the control parameter corresponding to a second rotation direction of the motor to remain unchanged, and the control parameter corresponding to the second rotation direction is less than or equal to a minimum value of the control parameter corresponding to the first rotation direction during a change process;

[0166] The first periodicity includes one of first decreasing from large to small and then decreasing from small to large based on a preset difference and first increasing from small to large and then decreasing from large to small based on the preset difference.

[0167] Optionally, the device further comprises:

[0168] A first determination module, used to determine the median of the preset parameter range as an initial parameter;

[0169] Wherein, the first control unit includes:

[0170] A second control unit is used to control the control parameter corresponding to the first rotation direction of the motor to first change in a first periodic manner within a preset parameter range with the initial parameter as the starting point to an end value of the preset parameter range, and then change back and forth in the first periodic manner with an end value of the preset parameter range as the starting point; at the same time, the control parameter corresponding to the second rotation direction of the motor is controlled to remain unchanged, and the control parameter corresponding to the second rotation direction is less than or equal to the minimum value of the control parameter corresponding to the first rotation direction during the change process.

[0171] Optionally, the device further comprises:

[0172] A first selection module, used for selecting a vibration frequency of the motor within a preset frequency range;

[0173] A second determination module, configured to determine a sweeping frequency of the motor according to the vibration frequency, wherein the sweeping frequency is greater than 0 and less than the vibration frequency;

[0174] The third determination module is used to determine the preset difference according to the sweeping frequency and the preset parameter range.

[0175] Optionally, the third determining module includes:

[0176] The first determining unit is used to determine the Determining the preset difference;

[0177] Wherein, N is the preset difference, f is the sweep frequency, T is the time interval between each change of the preset difference of the control parameter, and D L is the minimum value in the preset parameter range, D His the maximum value in the preset parameter range, and A is a constant.

[0178] Optionally, the device further comprises:

[0179] A second acquisition module, configured to acquire the adopted position information of the nursing device, wherein the position information includes one of a first position and a second position;

[0180] Wherein, the first control unit includes:

[0181] A third control unit is used for controlling the control parameter corresponding to the forward rotation of the motor to change back and forth in a first periodic manner within the preset parameter range when the position information includes the first position, and controlling the control parameter corresponding to the reverse rotation of the motor to remain unchanged, and the control parameter corresponding to the reverse rotation of the motor is less than or equal to the minimum value of the control parameter corresponding to the forward rotation of the motor during the change process;

[0182] A fourth control unit is used to control the control parameter corresponding to the reversal of the motor to change in a first periodic reciprocating manner within the preset parameter range when the position information includes the second position, and at the same time control the control parameter corresponding to the forward rotation of the motor to remain unchanged, and the control parameter corresponding to the forward rotation of the motor is less than or equal to the minimum value of the control parameter corresponding to the reversal of the motor during the change process.

[0183] Optionally, the device further comprises:

[0184] A third acquisition module is used to acquire a user instruction, wherein the user instruction includes one of a first instruction for instructing the motor to rotate forward and a second instruction for instructing the motor to rotate reversely;

[0185] Wherein, the first control unit includes:

[0186] a fifth control unit, configured to control the control parameter corresponding to the forward rotation of the motor to change back and forth in a first periodic manner within the preset parameter range, and control the control parameter corresponding to the reverse rotation of the motor to remain unchanged, and the control parameter corresponding to the reverse rotation of the motor is less than or equal to a minimum value of the control parameter corresponding to the forward rotation of the motor during the change process, when the user instruction includes the first instruction;

[0187] The sixth control unit is used to control the control parameter corresponding to the reversal of the motor to change back and forth in a first periodic manner within the preset parameter range when the user instruction includes the second instruction, and at the same time control the control parameter corresponding to the forward rotation of the motor to remain unchanged, and the control parameter corresponding to the forward rotation of the motor is less than or equal to the minimum value of the control parameter corresponding to the reversal of the motor during the change process.

[0188] Optionally, the device further comprises:

[0189] a fourth acquisition module, configured to acquire a preset strategy, wherein the preset strategy includes one or more of a first strategy and a second strategy, wherein the first strategy includes a third instruction and a first time period, the second strategy includes a fourth instruction and a second time period, the third instruction is used to instruct the motor to rotate forward, and the fourth instruction is used to instruct the motor to rotate reversely;

[0190] Wherein, the first control unit includes:

[0191] a seventh control unit, configured to, when the preset strategy includes the first strategy, control the control parameter corresponding to the forward rotation of the motor to change back and forth in a first periodic manner within the preset parameter range according to the first time period, and control the control parameter corresponding to the reverse rotation of the motor to remain unchanged, and the control parameter corresponding to the reverse rotation of the motor is less than or equal to a minimum value of the control parameter corresponding to the forward rotation of the motor during the change process;

[0192] An eighth control unit is used for controlling the control parameter corresponding to the reversal of the motor to change in a first periodic manner within the preset parameter range according to the second time period when the preset strategy includes the second strategy, and controlling the control parameter corresponding to the forward rotation of the motor to remain unchanged, and the control parameter corresponding to the forward rotation of the motor is less than or equal to the minimum value of the control parameter corresponding to the reversal of the motor during the change process according to the second time period.

[0193] Optionally, the range value within the preset parameter range in the first control unit is greater than or equal to a first threshold value and less than or equal to a second threshold value;

[0194] When the control parameter in the first control unit is the duty cycle, the first threshold is greater than 0 and less than 100%, and the second threshold is greater than the first threshold and less than 100%.

[0195] Optionally, the mode start signal in the first acquisition module 1201 is used to indicate that the motor is in a sweeping mode;

[0196] The range value within the preset parameter range of the first control module 1202 is greater than or equal to the third threshold and less than or equal to the fourth threshold;

[0197] The first control module 1202 includes:

[0198] A ninth control unit is used to control the control parameter corresponding to the first rotation direction of the motor to alternately change between the third threshold value and the fourth threshold value, while controlling the control parameter corresponding to the second rotation direction of the motor to remain unchanged.

[0199] Optionally, when the control parameter in the first control module 1202 is the duty cycle;

[0200] The first control module 1202 includes:

[0201] The tenth control unit is used to control the duty cycle corresponding to the first rotation direction of the motor to change within a preset parameter range through a pulse width modulation controller, and at the same time control the duty cycle corresponding to the second rotation direction of the motor to remain unchanged through the pulse width modulation controller, thereby generating a first drive signal corresponding to the first rotation direction and a second drive signal corresponding to the second rotation direction.

[0202] Optionally, when the control parameter in the first control module 1202 is the voltage;

[0203] The first control module 1202 includes:

[0204] An eleventh control unit is used to control the voltage of the first power chip corresponding to the first rotation direction of the motor to change within a preset parameter range through a digital-to-analog converter, and at the same time control the voltage of the second power chip corresponding to the second rotation direction of the motor to remain unchanged through the digital-to-analog converter, thereby generating a first drive signal corresponding to the first rotation direction and a second drive signal corresponding to the second rotation direction.

[0205] It should be noted that the embodiment of the device is a device corresponding to the embodiment of the above method, and all implementation methods in the embodiment of the above method are applicable to the embodiment of the device and can achieve the same technical effect.

[0206] An embodiment of the present invention also provides a network device, comprising: a processor, a memory, and a program stored in the memory and executable on the processor. When the program is executed by the processor, the program implements the motor movement method of the nursing device as described in any one of the above items, and can achieve the same technical effect. To avoid repetition, it will not be repeated here.

[0207] The embodiment of the present invention further provides a readable storage medium, including: a program is stored on the readable storage medium, and when the program is executed by a processor, the steps of the motor motion method of the nursing device as described in any one of the above items are implemented, and the same technical effect can be achieved. To avoid repetition, it is not repeated here. Among them, the computer-readable storage medium is such as a read-only memory (ROM), a random access memory (RAM), a disk or an optical disk, etc.

[0208] An embodiment of the present invention also provides a computer program product, including computer instructions. When the computer instructions are executed by a processor, the steps of the motor movement method of the nursing device as described in any of the above items are implemented, and the same technical effect can be achieved. To avoid repetition, they are not repeated here.

[0209] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or terminal device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0210] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A motor motion method for a nursing device, characterized in that: include: Get the mode start signal of the motor; According to the mode start signal, a control parameter corresponding to the first rotation direction of the motor is controlled to change within a preset parameter range, while the control parameter corresponding to the second rotation direction of the motor is controlled to remain unchanged, so as to generate a first drive signal corresponding to the first rotation direction and a second drive signal corresponding to the second rotation direction; In the same cycle, sending the first drive signal and the second drive signal to the motor; The first rotation direction is one of forward rotation and reverse rotation, and the second rotation direction is the other of the forward rotation and the reverse rotation.

2. The motor motion method of the nursing device according to claim 1, characterized in that: The mode start signal is used to indicate that the motor is in a sweeping mode; The control parameter corresponding to the first rotation direction of the motor is changed within a preset parameter range, while the control parameter corresponding to the second rotation direction of the motor is kept unchanged, including: Controlling a control parameter corresponding to a first rotation direction of the motor to change back and forth in a first periodic manner within a preset parameter range, while controlling the control parameter corresponding to a second rotation direction of the motor to remain unchanged, and the control parameter corresponding to the second rotation direction is less than or equal to a minimum value of the control parameter corresponding to the first rotation direction during the change process; The first periodicity includes one of first decreasing from large to small and then decreasing from small to large based on a preset difference and first increasing from small to large and then decreasing from large to small based on the preset difference.

3. The motor motion method of the nursing device according to claim 2, characterized in that: The method further comprises: Determine the median of the preset parameter range as the initial parameter; Among them, controlling the control parameter corresponding to the first rotation direction of the motor to change back and forth in a first periodic manner within a preset parameter range, while controlling the control parameter corresponding to the second rotation direction of the motor to remain unchanged, and the control parameter corresponding to the second rotation direction is less than or equal to the minimum value of the control parameter corresponding to the first rotation direction during the change process, includes: The control parameter corresponding to the first rotation direction of the motor first changes in a first periodic manner within a preset parameter range with the initial parameter as the starting point to an end value of the preset parameter range, and then changes back and forth in the first periodic manner with an end value of the preset parameter range as the starting point; at the same time, the control parameter corresponding to the second rotation direction of the motor remains unchanged, and the control parameter corresponding to the second rotation direction is less than or equal to the minimum value of the control parameter corresponding to the first rotation direction during the change process.

4. The motor motion method of the nursing device according to claim 2, characterized in that: The method further comprises: Selecting a vibration frequency of the motor within a preset frequency range; Determining a sweeping frequency of the motor according to the vibration frequency, wherein the sweeping frequency is greater than 0 and less than the vibration frequency; The preset difference is determined according to the sweep frequency and the preset parameter range.

5. The motor motion method of the nursing device according to claim 4, characterized in that: The step of determining the preset difference value according to the sweeping frequency and the preset parameter range includes: According to the formula Determining the preset difference; Wherein, N is the preset difference, f is the sweep frequency, T is the time interval between each change of the preset difference of the control parameter, and D L is the minimum value in the preset parameter range, D H is the maximum value in the preset parameter range, and A is a constant.

6. The motor motion method of the nursing device according to claim 2, characterized in that: After obtaining the mode start signal of the motor, the method further includes: Acquire the adopted position information of the nursing device, wherein the position information includes one of a first position and a second position; Among them, controlling the control parameter corresponding to the first rotation direction of the motor to change back and forth in a first periodic manner within a preset parameter range, while controlling the control parameter corresponding to the second rotation direction of the motor to remain unchanged, and the control parameter corresponding to the second rotation direction is less than or equal to the minimum value of the control parameter corresponding to the first rotation direction during the change process, includes: When the position information includes the first position, the control parameter corresponding to the forward rotation of the motor is controlled to change back and forth in a first periodic manner within the preset parameter range, while the control parameter corresponding to the reverse rotation of the motor is controlled to remain unchanged, and the control parameter corresponding to the reverse rotation of the motor is less than or equal to the minimum value of the control parameter corresponding to the forward rotation of the motor during the change process; When the position information includes the second position, the control parameter corresponding to the reversal of the motor is controlled to change back and forth in a first periodic manner within the preset parameter range, while the control parameter corresponding to the forward rotation of the motor remains unchanged, and the control parameter corresponding to the forward rotation of the motor is less than or equal to the minimum value of the control parameter corresponding to the reversal of the motor during the change process.

7. The motor motion method of the nursing device according to claim 2, characterized in that: After obtaining the mode start signal of the motor, the method further includes: Acquire a user instruction, wherein the user instruction includes one of a first instruction for instructing the motor to rotate forward and a second instruction for instructing the motor to rotate reversely; Among them, controlling the control parameter corresponding to the first rotation direction of the motor to change back and forth in a first periodic manner within a preset parameter range, while controlling the control parameter corresponding to the second rotation direction of the motor to remain unchanged, and the control parameter corresponding to the second rotation direction is less than or equal to the minimum value of the control parameter corresponding to the first rotation direction during the change process, includes: When the user instruction includes the first instruction, the control parameter corresponding to the forward rotation of the motor is controlled to change back and forth in a first periodic manner within the preset parameter range, while the control parameter corresponding to the reverse rotation of the motor is controlled to remain unchanged, and the control parameter corresponding to the reverse rotation of the motor is less than or equal to the minimum value of the control parameter corresponding to the forward rotation of the motor during the change process; When the user instruction includes the second instruction, the control parameter corresponding to the reversal of the motor is controlled to change back and forth in a first periodic manner within the preset parameter range, while the control parameter corresponding to the forward rotation of the motor remains unchanged, and the control parameter corresponding to the forward rotation of the motor is less than or equal to the minimum value of the control parameter corresponding to the reversal of the motor during the change process.

8. The motor motion method of the nursing device according to claim 2, characterized in that: After obtaining the mode start signal of the motor, the method further includes: Acquire a preset strategy, wherein the preset strategy includes one or more of a first strategy and a second strategy, wherein the first strategy includes a third instruction and a first time period, the second strategy includes a fourth instruction and a second time period, the third instruction is used to instruct the motor to rotate forward, and the fourth instruction is used to instruct the motor to rotate reversely; Among them, controlling the control parameter corresponding to the first rotation direction of the motor to change back and forth in a first periodic manner within a preset parameter range, while controlling the control parameter corresponding to the second rotation direction of the motor to remain unchanged, and the control parameter corresponding to the second rotation direction is less than or equal to the minimum value of the control parameter corresponding to the first rotation direction during the change process, includes: In the case where the preset strategy includes the first strategy, according to the first time period, the control parameter corresponding to the forward rotation of the motor is controlled to change back and forth in a first periodic manner within the preset parameter range, while the control parameter corresponding to the reverse rotation of the motor is controlled to remain unchanged, and the control parameter corresponding to the reverse rotation of the motor is less than or equal to the minimum value of the control parameter corresponding to the forward rotation of the motor during the change process; When the preset strategy includes a second strategy, according to the second time period, the control parameter corresponding to the reversal of the motor is controlled to change back and forth in a first periodic manner within the preset parameter range, while the control parameter corresponding to the forward rotation of the motor is controlled to remain unchanged, and the control parameter corresponding to the forward rotation of the motor is less than or equal to the minimum value of the control parameter corresponding to the reversal of the motor during the change process.

9. The motor motion method of the nursing device according to claim 2, characterized in that: The range value within the preset parameter range is greater than or equal to the first threshold and less than or equal to the second threshold; When the control parameter is a duty cycle, the first threshold is greater than 0 and less than 100%, and the second threshold is greater than the first threshold and less than 100%.

10. The motor motion method of the nursing device according to claim 1, characterized in that: The mode start signal is used to indicate that the motor is in a sweeping mode; The range value within the preset parameter range is greater than or equal to the third threshold and less than or equal to the fourth threshold; The control parameter corresponding to the first rotation direction of the motor is changed within a preset parameter range, while the control parameter corresponding to the second rotation direction of the motor is kept unchanged, including: The control parameter corresponding to controlling the first rotation direction of the motor changes alternately between the third threshold and the fourth threshold, while the control parameter corresponding to controlling the second rotation direction of the motor remains unchanged.

11. The motor motion method of a nursing device according to any one of claims 1 to 10, characterized in that: When the control parameter is a duty cycle; The control parameter corresponding to the first rotation direction of the motor is changed within a preset parameter range, while the control parameter corresponding to the second rotation direction of the motor is kept unchanged, and a first drive signal corresponding to the first rotation direction and a second drive signal corresponding to the second rotation direction are generated, including: The pulse width modulation controller is used to control the duty cycle corresponding to the first rotation direction of the motor to vary within a preset parameter range, and at the same time, the pulse width modulation controller is used to control the duty cycle corresponding to the second rotation direction of the motor to remain unchanged, thereby generating a first drive signal corresponding to the first rotation direction and a second drive signal corresponding to the second rotation direction.

12. The motor motion method of a nursing device according to any one of claims 1 to 10, characterized in that: When the control parameter is voltage; The control parameter corresponding to the first rotation direction of the motor is changed within a preset parameter range, while the control parameter corresponding to the second rotation direction of the motor is kept unchanged, and a first drive signal corresponding to the first rotation direction and a second drive signal corresponding to the second rotation direction are generated, including: The voltage of the first power chip corresponding to the first rotation direction of the motor is controlled by a digital-to-analog converter to change within a preset parameter range, and at the same time, the voltage of the second power chip corresponding to the second rotation direction of the motor is controlled by the digital-to-analog converter to remain unchanged, thereby generating a first drive signal corresponding to the first rotation direction and a second drive signal corresponding to the second rotation direction.

13. A motor motion device for nursing equipment, characterized in that: include: A first acquisition module, used for acquiring a mode start signal of a motor; a first control module, configured to control a control parameter corresponding to a first rotation direction of the motor to change within a preset parameter range according to the mode start signal, and control the control parameter corresponding to a second rotation direction of the motor to remain unchanged, and generate a first drive signal corresponding to the first rotation direction and a second drive signal corresponding to the second rotation direction; A first sending module, sending the first driving signal and the second driving signal to the motor in the same cycle; The first rotation direction is one of forward rotation and reverse rotation, and the second rotation direction is the other of the forward rotation and the reverse rotation.

14. A network device, characterized in that: include: A processor, a memory, and a program stored in the memory and executable on the processor, wherein the program, when executed by the processor, implements the motor movement method for a nursing device as described in any one of claims 1 to 12.

15. A readable storage medium, characterized in that: include: The readable storage medium stores a program, and when the program is executed by a processor, the steps of the motor movement method of the nursing device according to any one of claims 1 to 12 are implemented.

16. A computer program product, characterized in that The method comprises computer instructions, which, when executed by a processor, implement the steps of the motor movement method of the nursing device according to any one of claims 1 to 12.

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