Toothbrush control method, device, toothbrush and computer-readable storage medium

Abstract

The embodiments of the present application disclose a control method, device, toothbrush and computer-readable storage medium for a toothbrush. The toothbrush includes a brush head and a handle, wherein a motor is disposed in the handle, and the motor includes a rotor. The method includes: obtaining oral health data and / or real-time brushing data; determining a target motion range corresponding to the rotor of the motor according to the oral health data and / or real-time brushing data; and controlling the rotor to reciprocate in the circumferential direction within the target motion range to drive the brush head to perform a brushing operation. The control method, device, toothbrush and computer-readable storage medium for a toothbrush described above can effectively reduce the occurrence of tooth knocking and knocking during the use of a toothbrush, thereby ensuring the oral health of the user and improving the user's experience.

Description

Technical Field

[0001] The present application relates to the technical field of oral cleaning, and in particular to a toothbrush control method, device, toothbrush and computer-readable storage medium. Background Art

[0002] Electric toothbrushes have the advantages of good cleaning effect and protection of users' gums, and are favored by more and more users. Electric toothbrushes include a brush head and a handle. The handle is usually provided with a motor. By controlling the motor to move, the brush head can be driven to perform a brushing operation, thereby realizing the function of electric brushing.

[0003] Currently, users are prone to knocking and knocking their teeth when brushing their teeth with electric toothbrushes, which seriously affects their oral health and user experience. Summary of the invention

[0004] The embodiments of the present application disclose a toothbrush control method, device, toothbrush and computer-readable storage medium, which can effectively reduce tooth knocking and knocking during the use of the toothbrush, ensure the user's oral health, and improve the user's usage experience.

[0005] The embodiment of the present application discloses a control method for a toothbrush, wherein the toothbrush comprises a brush head and a handle, wherein a motor is disposed in the handle, and wherein the motor comprises a rotor. The method comprises:

[0006] Acquire oral health data and / or real-time toothbrushing data;

[0007] Determining a target motion range corresponding to the rotor of the motor according to the oral health data and / or the real-time brushing data;

[0008] The rotor is controlled to perform reciprocating motion in the circumferential direction within the target motion range, so as to drive the brush head to perform a teeth brushing operation.

[0009] The embodiment of the present application discloses a control device for a toothbrush, wherein the toothbrush comprises a brush head and a handle, wherein a motor is disposed in the handle, wherein the motor comprises a rotor, and wherein the device comprises:

[0010] A data acquisition module, used to acquire oral health data and / or real-time toothbrushing data;

[0011] A range determination module, configured to determine a target motion range corresponding to a rotor of the motor according to the oral health data and / or the real-time toothbrushing data;

[0012] The control module is used to control the rotor of the motor to reciprocate in the circumferential direction within the target motion range, so as to drive the brush head to perform a toothbrushing operation.

[0013] An embodiment of the present application discloses a toothbrush, including a memory and a processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the processor implements the method described above.

[0014] An embodiment of the present application discloses a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the method described above is implemented.

[0015] The control method, device, toothbrush and computer-readable storage medium of the toothbrush disclosed in the embodiments of the present application, the toothbrush obtains oral health data and / or real-time toothbrush data, determines the target motion range corresponding to the rotor of the motor according to the oral health data and / or real-time brushing data, controls the rotor to reciprocate in the circumferential direction within the target motion range to drive the brush head to brush teeth, the toothbrush can determine the target motion range of the rotor of the adapted motor according to the oral health data and / or real-time toothbrush data, and adaptively adjust the target motion range of the rotor of the motor so that the determined target motion range is more in line with the actual situation of the user's oral cavity, thereby flexibly adjusting the maximum rotation angle of the brush head, which can effectively reduce the occurrence of tooth knocking and knocking during the use of the toothbrush, ensure the oral health of the user, and improve the user's usage experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0017] Figure 1A This is an application scenario diagram of a method for controlling a toothbrush in an embodiment;

[0018] Figure 1B is a schematic diagram of the structure of a motor in one embodiment;

[0019] Figure 2 is a flow chart of a method for controlling a toothbrush in one embodiment;

[0020] Figure 3A is a schematic diagram of a target motion range corresponding to a rotor of a motor in one embodiment;

[0021] Figure 3B A schematic diagram of a rotor reciprocatingly swinging with a reference position as a reference zero axis in one embodiment;

[0022] Figure 3C is a schematic diagram of a change in the reference position of a rotor in one embodiment;

[0023] Figure 4 is a flow chart of determining a target motion range corresponding to a rotor of a motor according to oral health data in one embodiment;

[0024] Figure 5 A flowchart of determining a target motion range corresponding to a rotor of a motor according to real-time toothbrushing data in one embodiment;

[0025] Figure 6 is a schematic diagram of a tooth surface in one embodiment;

[0026] Figure 7 A flowchart of determining a target motion range corresponding to a rotor of a motor according to oral health data and real-time toothbrushing data in one embodiment;

[0027] Figure 8 is a flow chart of a method for controlling a toothbrush in another embodiment;

[0028] Fig. 9 is a flow chart of a method for controlling a toothbrush in another embodiment;

[0029] Fig.10 is a block diagram of a control device of a toothbrush in one embodiment;

[0030] Fig.11 1 is a structural block diagram of a toothbrush in one embodiment. DETAILED DESCRIPTION

[0031] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0032] It should be noted that the terms "including" and "having" and any variations thereof in the embodiments of the present application and the accompanying drawings are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device including a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products or devices.

[0033] It is understood that the term "plurality" used in this application refers to two or more than two. The term "and / or" used in this application refers to one solution or any combination of multiple solutions.

[0034] The motor in the electric toothbrush usually uses physical limiting to limit the rotation range of the rotor in the motor, and the rotation range of the rotor in the motor is limited by adding a limiting structure in the motor. Since the actual maximum rotation angle of the brush plate of the brush head will be affected by the limiting structure in the motor, and the physical limiting structure is fixed, the maximum rotation angle of the brush head is usually immutable, which affects the cleaning effect of the toothbrush.

[0035] At present, in order to improve the cleaning effect of electric toothbrushes, electric toothbrushes can use electronic limiters to limit the rotation range of the rotor in the motor, thereby realizing the adjustable function of the maximum rotation angle of the brush head. However, due to the electronic limiter, the rotation angle of the brush head is relatively large during use, which makes it easy to knock teeth and knock teeth, seriously affecting the oral health and user experience of users.

[0036] Figure 1A FIG. 1 is an application scenario diagram of a method for controlling a toothbrush in one embodiment. Figure 1A As shown, the control method of the toothbrush disclosed in the embodiment of the present application can be applied to a toothbrush 100. The toothbrush 100 may include a brush head 110 and a handle 120. The brush head 110 and the handle 120 are detachably connected.

[0037] The handle 120 may be provided with a motor. When the toothbrush 100 is in working state, the motor may be in running state and drive the brush head 110 to move to achieve the effect of cleaning the oral cavity. In the embodiment of the present application, the toothbrush 100 may obtain oral health data and / or real-time toothbrushing data, and determine the target motion range corresponding to the rotor of the motor according to the oral health data and / or real-time toothbrushing data. The toothbrush 100 may control the rotor to reciprocate in the circumferential direction within the target motion range to drive the brush head 110 to perform the toothbrushing operation.

[0038] For example, Figure 1B FIG. 1 is a schematic diagram of the structure of a motor in one embodiment. Figure 1B As shown, the motor may include a rotor 130, a stator module 140 and a control module 150. The rotor 130 includes a central axis 131, and the central axis 131 can be detachably connected to the brush head 110; the stator module 140 can cooperate with the rotor 130 magnetically to drive the rotor 130 to rotate, and the stator module 140 may include a permanent magnet or an electromagnet. In the embodiment of the present application, the motor does not adopt a physical limit structure, but adopts an electronic limit, and flexibly controls and adjusts the range of motion of the rotor 130 by means of software, so as to achieve an adjustable maximum rotation angle of the brush head 110, so as to reduce the occurrence of teeth knocking and knocking during use of the toothbrush 100, and can make the cleaning of the toothbrush 100 more comprehensive and improve the cleaning effect of the toothbrush 100.

[0039] The control module 150 can control the rotor 130 to reciprocate in the circumferential direction according to the target motion range. In some embodiments, the control module 150 can control the rotor 130 to reciprocate with the reference position as the reference zero axis according to the target motion range, and control the rotor 130 to rotate to change the reference position to increase the swing amplitude of the rotor 130 in the circumferential direction. Further, the control module 150 can control the central axis 131 to reciprocate with the reference position as the reference zero axis according to the target motion range, and control the central axis 131 to rotate to change the reference position. During the movement of the central axis 131, the brush head 110 can be driven to move to achieve oral care.

[0040] The control module 150 can limit the rotation range of the rotor 130 in the circumferential direction according to the target motion range to limit the maximum rotation angle of the brush head 110. The toothbrush 100 can adjust the maximum rotation angle of the brush head 110 by adjusting the target motion range of the rotor 130, which can effectively reduce the occurrence of tooth knocking and knocking during the use of the toothbrush.

[0041] The control module 150 may include a position detection element 151 and a controller 152. The position detection element 151 may be used to detect the current position of the rotor 130. The controller 152 may determine whether the current position of the rotor 130 is within the limit range corresponding to the target motion range. If the current position of the rotor 130 is not within the limit range, the rotor 130 may be controlled to reset toward the limit range. The position detection element 151 may include, but is not limited to, elements with position detection functions such as Hall elements and optical elements.

[0042] Furthermore, the position detection element 151 can also be used to detect the rotation angle and swing angle of the rotor 130. The controller 152 can accurately control the reciprocating motion of the rotor 130 in the circumferential direction according to the rotation angle and swing angle of the rotor 130 fed back by the position detection element 151.

[0043] like Figure 2 As shown, in one embodiment, a method for controlling a toothbrush is provided, which can be applied to the above-mentioned toothbrush, and the method may include the following steps:

[0044] Step 210, obtaining oral health data and / or real-time toothbrushing data.

[0045] Oral health data may refer to data used to characterize the health of the user's oral cavity. Optionally, the oral health data may include but is not limited to one or more of gum health, caries information, plaque residue, oral disease information, and the like.

[0046] Among them, the gum health level may refer to the health level of the user's gums, and the gum health level may be divided into multiple levels, such as very healthy, generally healthy, normal healthy, unhealthy, etc., but not limited thereto. Optionally, the user's gum health level may be determined based on the color of the user's gums, whether the gums are bleeding, etc. For example, if the color of the gums is pink and there is no bleeding, the corresponding gum health level may be very healthy; if the color of the gums is light red and there is no bleeding, the corresponding gum health level may be normal healthy; if the color of the gums is red, but there is no bleeding, the corresponding gum health level may be normal healthy; if the color of the gums is dark red and there is bleeding, the corresponding gum health level may be unhealthy, etc., but not limited thereto. The specific method for determining the health level of the user's gums may be determined in combination with more and more detailed gum information.

[0047] Dental caries information can be used to indicate whether a user has dental caries in their mouth. For example, the dental caries information may include but is not limited to the number of dental caries in the mouth, the location of dental caries, etc. The more dental caries there are in the mouth, the less healthy the mouth is.

[0048] The amount of dental plaque residue may refer to the amount of dental plaque remaining in the user's mouth. The more dental plaque residue there is, the unhealthier the oral cavity is.

[0049] Oral disease information is used to characterize whether there is any disease in the user's mouth. For example, oral disease information may include but is not limited to the name of the disease in the user's mouth (such as oral ulcers, periodontitis, etc.), the oral location of the disease in the user's mouth, etc.

[0050] In some embodiments, the toothbrush can obtain the user's oral health data before starting the brushing operation. Optionally, the user can enter and update the oral health data on the terminal device according to the actual oral health situation. Before starting the brushing operation, the toothbrush can establish a communication connection with the terminal device (such as a Bluetooth connection, etc.), and the terminal device can send the user's latest oral health data to the toothbrush. Optionally, before starting the brushing operation, the toothbrush can also collect the user's oral information through its own sensor, and obtain the user's oral health data by analyzing the oral information. For example, a camera may be provided on the brush head of the toothbrush. Before starting the brushing operation, the user can place the brush head of the toothbrush in the mouth. The toothbrush can collect multiple oral images of the user through the camera, and the toothbrush can analyze the oral images to obtain the user's oral health data.

[0051] Real-time brushing data may refer to brushing data acquired in real time during the toothbrush brushing operation. Optionally, the real-time brushing data may include but is not limited to one or more of the real-time brushing position of the brush head, real-time brushing pressure, real-time brushing mode, real-time motion state, etc. of the toothbrush in the working state.

[0052] The working state refers to the state in which the toothbrush controls the motor to run and performs the brushing operation. When the toothbrush is in the working state, the real-time brushing position of the brush head may refer to the real-time position of the brush head in the oral cavity, and the real-time brushing position may be the specific position of the brush head in the oral cavity, for example, the specific position of the teeth corresponding to the brush head in the oral cavity, the specific tooth surface of the teeth corresponding to the brush head of the brush head, etc. The tooth surface of the brush head may be determined based on the real-time brushing position of the brush head, and the oral cavity area and / or tooth area of ​​the brush head may also be determined based on the real-time brushing position of the brush head.

[0053] Real-time brushing pressure refers to the real-time pressure felt by the brush head in the mouth when the toothbrush is in working state. By collecting the real-time brushing pressure during brushing, the toothbrush can detect whether overpressure occurs during brushing, whether the bristles of the brush head leave the tooth surface, etc.

[0054] The real-time brushing mode may refer to the brushing mode that the toothbrush runs in the working state. A toothbrush can usually be configured with multiple different brushing modes. For example, a toothbrush can be configured with whitening mode, cleaning mode, soothing mode, strong mode and other brushing modes. Different motor operating parameters may correspond to different brushing modes, so as to achieve different oral cleaning and care effects. The motor operating parameters may include but are not limited to the swing parameters and / or rotation parameters of the rotor, the running time and other parameters. The swing parameter may refer to the parameter that controls the rotor to swing back and forth with the reference position as the reference zero axis, and the rotation parameter refers to the parameter that controls the rotor to rotate to change the parameter position. The user can select any brushing mode according to actual needs, or the toothbrush can select the brushing mode according to the user's oral condition. When the toothbrush enters the working state, it can run the selected brushing mode and control the motor operation according to the motor operating parameters corresponding to the selected brushing mode to drive the brush head to perform the brushing operation.

[0055] The real-time motion state may refer to the real-time motion of the toothbrush when it is in working state, and the real-time motion state may include the real-time motion speed, motion direction and other information of the toothbrush. By collecting the real-time motion state during brushing, the toothbrush can detect whether the brush head switches the oral area, and can also assist in determining the real-time brushing position of the brush head according to the real-time motion state.

[0056] In some embodiments, the toothbrush may include a detection device, which may include one or more of a posture sensor, a camera device, a motion sensor, a pressure sensor, a photoelectric sensor, etc. When the toothbrush is in working state, real-time brushing data can be obtained through the detection device. For example, during the toothbrush brushing operation, the oral cavity image in the oral cavity can be collected by the camera device, and the toothbrush can identify and analyze the collected oral cavity image to determine the real-time brushing position of the brush head. For another example, during the toothbrush brushing operation, the real-time brushing pressure can be collected by the pressure sensor. For another example, during the toothbrush brushing operation, the motion information of the toothbrush can be collected by the posture sensor and the motion sensor (such as an acceleration sensor, a speed sensor, etc.) to determine the real-time motion state of the toothbrush. For another example, during the toothbrush brushing operation, the photoelectric sensor can be used to detect the coverage of the tooth surface by the bristles of the brush head, thereby assisting in determining the tooth surface where the brush head is located, and can help generate the brushing data corresponding to this brushing process (such as tooth surface coverage, cleaning rate, etc.) after the brushing process is completed. The detection device can accurately obtain real-time brushing data of the toothbrush during the brushing process, which can help to more accurately determine the target motion range corresponding to the motor's rotor, further reducing the possibility of knocking teeth or knocking teeth during the brushing process.

[0057] Step 220 , determining a target motion range corresponding to the rotor of the motor according to the oral health data and / or the real-time brushing data.

[0058] In some embodiments, the toothbrush can determine the target motion range corresponding to the motor's rotor based on oral health data. When the oral health data indicates that the user's oral cavity is relatively healthy, it means that the user's oral cavity is less sensitive. When the rotation angle of the brush head is large, it is less likely to cause teeth knocking or gum damage. Therefore, a larger target motion range can be determined so that the brush head of the toothbrush can cover the tooth surface as much as possible during brushing, thereby improving cleaning efficiency. When the oral health data indicates that the user's oral cavity is relatively unhealthy, it means that the user's oral cavity is more sensitive. When the rotation angle of the brush head is large, it is more likely to cause teeth knocking or gum damage. Therefore, a smaller target motion range can be determined so that the brush head of the toothbrush can avoid causing oral damage during brushing.

[0059] Optionally, before the toothbrush enters the working state, the target motion range corresponding to the motor rotor can be determined according to the oral health data, and the motor rotor can be controlled to move based on the target motion range to drive the brush head to perform a teeth brushing operation. During the toothbrush's teeth brushing operation, the target motion range corresponding to the motor rotor can remain unchanged.

[0060] In some embodiments, the toothbrush can determine the target motion range corresponding to the rotor of the motor based on the real-time brushing data. During the toothbrush brushing operation, the toothbrush can determine the target motion range corresponding to the rotor of the motor based on the acquired real-time brushing data. If the real-time brushing data indicates that the brush head is currently in an area where teeth knocking is more likely to occur (such as tooth surfaces and / or tooth areas where teeth knocking is more likely to occur), a smaller target motion range can be determined, thereby reducing teeth knocking, knocking teeth, etc. that occur during brushing, and protecting the user's oral health. If the real-time brushing data indicates that the brush head is currently in an area where teeth knocking is less likely to occur, a larger target motion range can be determined, thereby increasing the coverage of the tooth surface by the brush head during brushing, and improving cleaning efficiency and cleaning effect.

[0061] Optionally, the cleaning requirements corresponding to the oral region or tooth region where the brush head is currently located can be determined based on the real-time brushing data, and a target motion range that matches the cleaning requirements can be determined. For example, if it is determined based on the real-time brushing data that the brush head is in the alveolar or pit and fissure area, a smaller target motion range can be set so that the motor rotor moves in a smaller target motion range, thereby driving the brush head to perform brushing operations at a smaller rotation angle, making it easier to clean the alveolar or pit and fissure area; for another example, if it is determined based on the real-time brushing data that the brush head is on the outer side of the teeth, a larger target motion range can be determined, thereby increasing the coverage of the brush head on the tooth surface during brushing, so as to improve the cleaning efficiency and cleaning effect of the toothbrush.

[0062] In some embodiments, the toothbrush can determine the target motion range corresponding to the motor rotor according to the oral health data and the real-time brushing data. Optionally, before entering the working state, the toothbrush can determine the target motion range corresponding to the motor rotor according to the oral health data, and adjust the target motion range according to the real-time brushing data during the brushing operation. At the same time, the oral health status of the user and the real-time brushing status can be combined to further effectively reduce the occurrence of teeth knocking and knocking during brushing, and the cleaning effect of the toothbrush can be guaranteed.

[0063] Step 230, controlling the rotor to perform reciprocating motion in the circumferential direction within the target motion range to drive the brush head to perform a teeth brushing operation.

[0064] When the toothbrush is in working state, the rotor can be controlled to reciprocate in the circumferential direction within the target motion range, and the target motion range may refer to the motion range of the rotor reciprocating in the circumferential direction when the motor is in running state. Optionally, the target motion range can be defined by the deflection angle relative to the zero position with reference to the zero position, and the zero position can be the midpoint position of the target motion range; for example, the zero position corresponds to 0 degrees, and the target motion range is -10 degrees to 10 degrees, then the rotor can reciprocate in the circumferential direction between a position of 10 degrees counterclockwise relative to the zero position and a position of 10 degrees clockwise relative to the zero position.

[0065] For example, Figure 3A FIG. 1 is a schematic diagram of a target motion range corresponding to a rotor of a motor in one embodiment. Figure 3A As shown, the target motion range may include a first extreme position 320 and a second extreme position 330, the zero position 310 may be the midpoint between the first extreme position 320 and the second extreme position 330, and the rotor of the motor may reciprocate within the target motion range.

[0066] In some embodiments, the reciprocating motion of the rotor in the circumferential direction can be divided into swinging and rotation. When the toothbrush is in working state, the rotor in the motor can be controlled to swing reciprocatingly in the circumferential direction with the reference position as the reference zero axis. Swinging mainly refers to the reciprocating motion of the rotor in the circumferential direction with the reference zero axis as the center. Rotation can adjust the reference position of the reciprocating swing of the rotor, so as to realize the brushing operation of vibrating and sweeping the brush head at the same time. Among them, the reciprocating swinging motion of the rotor with the reference position as the reference zero axis can drive the brush head to vibrate. Switching the reference position of the reciprocating swing of the rotor can drive the brush head to swing significantly, thereby increasing the cleaning range of the brush head and realizing the sweeping vibration function of the brush head.

[0067] For example, Figure 3B FIG. 1 is a schematic diagram of a rotor reciprocatingly swinging with a reference position as the reference zero axis in an embodiment. Figure 3B As shown, if the rotor reciprocates with the zero position 310 as the reference zero axis, the range that can be covered during the reciprocating oscillation is the oscillation interval 340, and the position of the rotor changes back and forth between position 342 and position 344. The rotor reciprocates with the zero position 310 as the reference zero axis, which can be understood as the rotor oscillating in a clockwise swing direction around the zero position 310 as the reference zero axis to reach position 344, then oscillating in a counterclockwise swing direction from position 344 to reach position 342, and then oscillating in a clockwise swing direction from position 342 to reach zero position 310. This process can be considered as one reciprocating oscillation. The rotor can reciprocate multiple times in one oscillation cycle, and the reference position in one oscillation cycle remains unchanged.

[0068] The reference position can be changed by controlling the rotor to rotate. Figure 3C FIG. 1 is a schematic diagram showing a change in the reference position of the rotor in one embodiment. Figure 3C , the rotor can be controlled to rotate to switch the reference position from the zero point position 310 to the position 350, and the rotor can reciprocate with the position 350 as the reference zero axis. The range that can be covered during the reciprocating swing is the swing range 360, and the position of the rotor changes back and forth between the position 362 and the position 364. For example, the rotor can swing from the position 350 to the position 362, then from the position 362 to the position 364, and then from the position 364 to the position 350, and perform multiple reciprocating swings.

[0069] In some embodiments, according to the target exercise range, the rotor can be controlled to swing back and forth based on the swing parameter with the reference position as the reference zero axis, and the rotor can be controlled to rotate based on the rotation parameter to change the reference position.

[0070] Optionally, the swing parameters may include but are not limited to one or more of a swing direction, a swing angle, a swing frequency, a duration corresponding to a swing cycle, etc.; wherein the swing direction may include a clockwise swing direction and a counterclockwise swing direction of the rotor in the circumferential direction, etc., and the clockwise swing direction and the counterclockwise swing direction are opposite directions; the swing angle refers to the angle corresponding to a single reciprocating swing of the rotor in the circumferential direction, and is expressed as Figure 3B For example, the swing angle may refer to the angle between position 342 and position 344, and the swing angle may also be understood as the swing amplitude corresponding to a single swing cycle; the swing frequency may refer to the number of times the rotor swings back and forth in one swing cycle.

[0071] Optionally, the rotation parameter may include but is not limited to one or more of a rotation direction, a rotation angle, a rotation frequency, etc.; the rotation direction may include a clockwise rotation direction and a counterclockwise rotation direction of the rotor in the circumferential direction, and the clockwise rotation direction and the counterclockwise rotation direction are opposite directions; the rotation angle refers to the angle corresponding to each time the rotor switches the reference position, with Figure 3C For example, assuming that the reference position of the rotor is switched from the zero position 310 to the position 350, the rotation angle may be the angle between the position 350 and the zero position 310; the rotation frequency may refer to the number of reference position switchings per unit time, for example, the rotation frequency may be 5 times / second, 8 times / second, 10 times / second, etc., but not limited thereto. The rotation frequency may affect the duration corresponding to a swing cycle, and the duration corresponding to a swing cycle may be the unit time divided by the rotation frequency. For example, if the rotation frequency is 10 times / second, the duration corresponding to a swing cycle may be 0.1 seconds, etc.

[0072] In some embodiments, the rotation frequency of the rotor may be less than the swing frequency. Since the reciprocating swing of the rotor is mainly used to clean teeth, setting a larger swing frequency can improve the cleaning effect. The rotation frequency of the rotor is to change the range cleaned by the brush head. Therefore, the rotation frequency can be relatively low, so that each range can have enough cleaning time to ensure the cleaning effect. For example, the rotation frequency can be 5 times / second, 8 times / second, 10 times / second, etc., and the swing frequency can be 200Hz (Hertz), 300Hz, 500Hz, 650Hz, etc., but not limited to this. The swing frequency can be one order of magnitude higher than the rotation frequency.

[0073] The toothbrush can control the rotor to swing back and forth and rotate within the target motion range according to the determined target motion range. The reference position range corresponding to the reference position of the rotor can be determined according to the target motion range, and the rotor can be controlled to switch the reference position within the reference position range. The reference position range is smaller than the target motion range.

[0074] As an implementation method, the target motion range may include a first extreme position and a second extreme position, the zero position may be the midpoint position of the first extreme position and the second extreme position, and the reference position range may include a first extreme reference position and a second extreme reference position, and the midpoint position of the first extreme reference position and the second extreme reference position is also the zero position. The first extreme reference position and the second extreme reference position may be determined according to the first extreme position and the second extreme position. Further, the first extreme reference position may be between the first extreme position and the second extreme position, and the position difference between the first extreme position and the first extreme reference position is equal to 1 / 2 of the swing angle; the second extreme reference position is between the first extreme position and the second extreme position, and the position difference between the second extreme position and the second extreme reference position is equal to 1 / 2 of the swing angle, so that the motor can be accurately controlled to reciprocate within the target motion range, and the position of the motor rotor during operation is ensured to be within the target motion range, thereby achieving accurate control of the rotor motion, further reducing the occurrence of tooth knocking and knocking during the use of the toothbrush, and improving the cleaning effect.

[0075] In an embodiment of the present application, the toothbrush obtains oral health data and / or real-time toothbrush data, determines the target motion range corresponding to the rotor of the motor according to the oral health data and / or real-time brushing data, and controls the rotor to perform reciprocating motion in the circumferential direction within the target motion range to drive the brush head to perform brushing operations. The toothbrush can determine the target motion range of the rotor of the adapted motor according to the oral health data and / or real-time toothbrush data, and adaptively adjust the target motion range of the rotor of the motor so that the determined target motion range is more in line with the actual situation of the user's oral cavity, thereby flexibly adjusting the maximum rotation angle of the brush head, which can effectively reduce the occurrence of tooth knocking and knocking during the use of the toothbrush, thereby ensuring the oral health of the user and improving the user's usage experience.

[0076] like Figure 4 As shown, in one embodiment, the step of determining the target motion range corresponding to the rotor of the motor according to the oral health data may include the following steps:

[0077] Step 402, determining a sensitivity level and / or a cleaning level based on oral health data.

[0078] The sensitivity level can be used to characterize the sensitivity of the user's oral cavity. Optionally, a higher sensitivity level can indicate a higher sensitivity of the user's oral cavity. The cleaning level can be used to indicate the degree to which the user's oral cavity needs to be cleaned. Optionally, a higher cleaning level indicates that the user's oral cavity is more seriously unclean and needs to be cleaned more.

[0079] In some embodiments, the toothbrush can determine the sensitivity level according to one or more information such as gum health, caries information, and oral disease information. Optionally, multiple sensitivity levels can be pre-set, and the corresponding relationship between information such as gum health, caries information, and oral disease information and each sensitivity level can be constructed. For example, the sensitivity level includes three levels: insensitive, mildly sensitive, and severely sensitive. Among them, the gum health level corresponding to insensitivity can be very healthy, the caries information can be no caries, and the oral disease information can be no disease, etc.; the gum health level corresponding to mild sensitivity can be generally healthy or ordinary healthy, the caries information can be no caries, and the oral disease information can be no disease or mild oral ulcers, etc.; the gum health level corresponding to severe sensitivity can be unhealthy, the caries information can be the presence of more than one caries, and the oral disease information can be the presence of periodontitis or severe oral ulcers, etc.

[0080] In some embodiments, the toothbrush can determine the cleaning level according to information such as the amount of dental plaque residue. The less the amount of dental plaque residue, the cleaner the user's mouth is, and the corresponding cleaning level can be smaller. Optionally, multiple cleaning levels can be pre-set, and a range of dental plaque residues corresponding to each cleaning level can be set. After obtaining the user's dental plaque residue, the dental plaque residue range to which the dental plaque residue belongs can be determined, and the cleaning level corresponding to the range of dental plaque residues to which the dental plaque residue belongs can be determined.

[0081] It should be noted that the sensitivity level and the cleaning level may also be determined by other methods, for example, big data analysis or neural network analysis, etc., which is not limited in the embodiments of the present application.

[0082] Step 404, determining a target motion range corresponding to the rotor of the motor according to the sensitivity level and / or the cleaning level; wherein the target motion range is negatively correlated with the sensitivity level, and the target motion range is positively correlated with the cleaning level.

[0083] When the cleaning level is fixed, the target motion range may be negatively correlated with the sensitivity level. The higher the sensitivity level, the more sensitive the user's oral cavity is. If the rotation angle of the brush head is larger, it is easy to damage the oral cavity. For example, if the rotation angle of the brush head is too large, it is easy to damage the gums. Therefore, a smaller target motion range may be used to reduce the maximum rotation angle of the brush head and protect the user's oral cavity.

[0084] When the sensitivity level is fixed, the target movement range can be positively correlated with the cleaning level. The higher the cleaning level, the greater the degree of oral cleaning required by the user, and the larger the target movement range can be, increasing the area that the bristles of the brush head can cover and improving the cleaning effect.

[0085] In some embodiments, the toothbrush can determine the first range of motion corresponding to the sensitivity level and the second range of motion corresponding to the cleaning level, and compare the first range of motion with the second range of motion, and determine the smaller range of motion between the two as the target range of motion corresponding to the rotor of the motor. Alternatively, the toothbrush can determine the first range of motion corresponding to the sensitivity level and the second range of motion corresponding to the cleaning level, and average the first range of motion and the second range of motion to obtain the target range of motion corresponding to the rotor of the motor. Alternatively, the user can set the importance coefficients corresponding to the sensitivity level and the cleaning level according to their own needs, and perform weighted sum calculations on the first range of motion and the second range of motion according to the importance coefficients corresponding to the sensitivity level and the cleaning level to obtain the target range of motion corresponding to the rotor of the motor.

[0086] In the embodiment of the present application, the sensitivity and cleaning requirements of the oral cavity can be comprehensively considered to adapt the corresponding target motion range for the rotor of the motor, while taking into account the oral health and cleaning effect of the user, thereby improving the user experience.

[0087] In some embodiments, the step of determining the target motion range corresponding to the rotor of the motor based on oral health data may include: inputting the oral health data into a pre-trained neural network, analyzing the oral health data through the neural network to determine the target motion range corresponding to the rotor of the motor; wherein the neural network is trained based on multiple sample data, and each sample data includes sample oral health data and the corresponding motor motion range.

[0088] A large amount of sample data can be collected in advance, and each sample data may include sample oral health data and the corresponding motor motion range. The motor motion range corresponding to the sample oral health data can be determined through experiments, and is less likely to cause teeth knocking, knocking teeth, etc., and at the same time has a motor motion range with a certain cleaning ability. The sample data can be input into the neural network to be trained, and the neural network to be trained can extract the data features of the sample oral health data, and analyze the extracted data features to obtain a predicted motion range, and then compare the predicted motion range with the motor motion range corresponding to the sample oral health data, calculate the error between the two, and adjust the parameters in the neural network according to the error until the neural network converges and the neural network training is completed. The trained neural network has the ability to determine the adapted target motion range based on the oral health data. It should be noted that the training process can be carried out on a cloud server or on other electronic devices.

[0089] The trained neural network can be stored in the toothbrush. After obtaining the user's oral health data, the toothbrush can input the oral health data into the pre-trained neural network, extract the data features of the oral health data through the neural network, and analyze the extracted data features to determine the target motion range corresponding to the motor's rotor.

[0090] In an embodiment of the present application, the target motion range corresponding to the rotor of the motor can be determined according to oral health data through artificial intelligence, which can make the determined target motion range more accurate, further effectively reduce the occurrence of knocking and knocking teeth during the use of the toothbrush, and ensure the oral cleaning effect.

[0091] like Figure 5 As shown, in some embodiments, the step of determining the target motion range corresponding to the rotor of the motor according to the real-time brushing data may include the following steps:

[0092] Step 502, determine whether the brush head is switched to an oral area based on the real-time brushing data, if so, execute step 504, if not, execute step 506.

[0093] The brush head switches the oral area, which may refer to the brush head moving from one oral area to another oral area, and the oral area may include but is not limited to the tooth area, the tongue area, etc. When the toothbrush is in working state, the toothbrush can obtain real-time brushing data, and determine whether the brush head switches the oral area according to the real-time brushing data.

[0094] In some embodiments, the real-time toothbrushing data may include a real-time motion state, which may include but is not limited to a real-time moving speed, a moving direction, etc. It is possible to determine whether the brush head switches the oral region based on the real-time motion state. For example, when it is detected that the real-time moving speed of the toothbrush is greater than the first speed threshold, it means that the user actively controls the toothbrush to move a large distance, and there is a high probability of switching the oral region, then it can be determined that the brush head switches the oral region; when it is detected that the real-time moving speed of the toothbrush is less than or equal to the first speed threshold, it can be determined that the brush head does not switch the oral region.

[0095] In some embodiments, the real-time brushing data includes the real-time brushing pressure, and whether the brush head switches the oral region can be determined based on the real-time brushing pressure. For example, when it is detected that the real-time brushing pressure of the toothbrush is less than the first pressure threshold, it means that the bristles of the toothbrush leave the tooth surface, and there is a high probability of switching the oral region, and it can be determined that the brush head switches the oral region; when it is detected that the real-time brushing pressure of the toothbrush is greater than or equal to the first pressure threshold, it means that the bristles of the toothbrush are in contact with the tooth surface and the tooth surface is being brushed, and it can be determined that the brush head does not switch the oral region.

[0096] In some embodiments, the real-time brushing data includes the real-time brushing position, and whether the brush head switches the oral region can be determined based on the real-time brushing position. For example, multiple continuous real-time brushing positions can be obtained, and the position change information of the brush head, such as the position change distance, the position change speed, etc., can be determined based on the multiple continuous real-time brushing positions, and whether the oral region is switched can be determined based on the position change information; if the position change information indicates that the brushing position has changed significantly (for example, the position change distance is greater than the distance threshold, or the position change speed is greater than the second speed threshold, etc.), it can be determined that the brush head has switched the oral region; if the position change information indicates that the brushing position has changed slightly (for example, the position change distance is not greater than the distance threshold, or the position change speed is not greater than the second speed threshold, etc.), it can be determined that the brush head has not switched the oral region.

[0097] It should be noted that the toothbrush can also combine a variety of real-time brushing data to jointly determine whether the brush head switches the oral area. For example, it can jointly determine whether the brush head switches the oral area based on the real-time movement status and real-time brushing pressure, but it is not limited to this.

[0098] Step 504, determining a target motion range corresponding to the rotor of the motor during the process of switching the oral area of ​​the brush head.

[0099] Since it is easy to knock teeth when the brush head switches between oral areas, the target motion range of the motor rotor can be reduced. When the brush head switches between oral areas, the target motion range of the motor rotor is smaller than the target motion range of the motor rotor when the brush head is in any oral area. This can reduce the chances of knocking teeth when the brush head moves, ensure the oral health of the user, and improve the user experience.

[0100] Step 506, determining the target tooth surface where the brush head is currently located according to the real-time brushing position of the brush head.

[0101] Step 508, determining a target motion range corresponding to the target tooth surface.

[0102] When the brush head is not switching the oral area, the bristles of the brush head are in contact with the tooth surface and brush the tooth surface to clean the user's teeth. During the brushing operation, the toothbrush can determine the target tooth surface where the brush head is currently located according to the real-time brushing position of the brush head. Different target motion ranges can correspond to different tooth surfaces.

[0103] In some embodiments, the target tooth surface can be any one of the occlusal surface, the outer side surface and the inner side surface, wherein the occlusal surface refers to the surface of the teeth biting, the outer side surface refers to the surface of the teeth close to the lips, and the inner side surface refers to the surface of the teeth close to the tongue. Figure 6 FIG. 1 is a schematic diagram of a tooth surface in one embodiment. Figure 6 As shown, the occlusal surface 610 of the tooth is the surface of the tooth for biting, the outer surface of the tooth is the surface of the tooth close to the lips, and the inner surface 630 of the tooth is the surface of the tooth close to the tongue.

[0104] The target motion range corresponding to the occlusal surface may be smaller than or equal to the target motion range corresponding to the medial surface, and the target motion range corresponding to the medial surface is smaller than the target motion range corresponding to the lateral surface.

[0105] When the brush head is on the occlusal surface for brushing, the mouth opening and closing degree of different users is different, so it is easier to knock teeth when the brush head is on the occlusal surface. Therefore, the rotor of the motor can correspond to a smaller target motion range, thereby reducing the rotation angle of the brush head, reducing the range of movement of the brush head, and reducing the risk of knocking teeth. Moreover, the brush head moves at a smaller rotation angle, which can more easily clean the pits and grooves of the occlusal surface, thereby improving the cleaning effect. When the brush head is on the inner side for brushing, it is also easier to knock teeth, but the probability of knocking teeth is lower than the probability of knocking teeth when the brush head is on the occlusal surface. Therefore, the target motion range corresponding to the inner side can be greater than or equal to the target motion range corresponding to the occlusal surface, while taking into account the knocking situation and cleaning needs. When the brush head is on the outer side, it is not easy to knock teeth. Therefore, the rotor of the motor can correspond to a larger target motion range, thereby increasing the rotation angle of the brush head, increasing the cleaning coverage of the bristles, and improving the cleaning efficiency and cleaning effect.

[0106] In some embodiments, if the toothbrush is currently in a non-tooth surface area according to the real-time brushing position of the brush head, the target motion range corresponding to the non-tooth surface area can be determined, wherein the target motion range corresponding to the non-tooth surface area is less than or equal to the target motion range corresponding to the target tooth surface.

[0107] When the toothbrush is in the non-tooth surface area, the brush head may be switching the oral area, or the brush head may be cleaning the user's tongue area, etc. Since the problem of knocking teeth is prone to occur when the brush head is switching the oral area, and the brush head is cleaning the user's tongue area, in order to avoid excessive stimulation to the tongue, it is necessary to reduce the target motion range of the motor's rotor, thereby reducing the rotation angle of the brush head to avoid knocking teeth, or to avoid stimulation to the user's tongue.

[0108] In some embodiments, during the toothbrush brushing operation, it can be determined whether the real-time brushing pressure is greater than a second pressure threshold (the second pressure threshold is greater than the above-mentioned first pressure threshold). When the real-time brushing pressure is greater than the second pressure threshold, it indicates that overpressure has occurred. The target motion range of the rotor can be reduced, thereby reducing the rotation angle of the brush head to avoid damage to the user's oral cavity and ensure the user's oral health.

[0109] In an embodiment of the present application, the toothbrush can determine the target motion range corresponding to the rotor of the motor based on real-time brushing data, and adjust the target motion range corresponding to the rotor according to the specific circumstances during the brushing process. This can effectively reduce tooth knocking and knocking during the use of the toothbrush, thereby ensuring the user's oral health, while also taking into account the cleaning effect of the toothbrush, thereby improving the user's experience.

[0110] like Figure 7 As shown, in one embodiment, the step of determining the target motion range corresponding to the rotor of the motor according to the oral health data and the real-time brushing data may include the following steps:

[0111] Step 702, determining the target oral region where the toothbrush is currently located based on the real-time brushing position.

[0112] Step 704 , determining a target motion range corresponding to the rotor of the motor according to the oral health data corresponding to the target oral area.

[0113] In some embodiments, the oral health data includes oral health data corresponding to multiple oral regions, for example, the oral health data includes one or more data of gum health, caries information, plaque residue, oral disease information, etc. corresponding to multiple oral regions. During the toothbrush brushing operation, the toothbrush can obtain the real-time brushing position of the brush head, determine the target oral region where the toothbrush is currently located, and determine the target motion range corresponding to the motor's rotor based on the oral health data corresponding to the target oral region. It should be noted that the method of determining the target motion range corresponding to the motor's rotor based on the oral health data corresponding to the target oral region may be similar to the method of determining the target motion range corresponding to the motor's rotor based on the oral health data described in the above embodiments, and will not be repeated here.

[0114] In other embodiments, before the toothbrush performs a brushing operation, the target motion range corresponding to each oral area can also be determined based on the oral health data corresponding to each oral area. During the toothbrush brushing operation, the target oral area where the toothbrush is currently located can be determined based on the real-time brushing position, and based on the target motion range corresponding to the target oral area, the rotor is controlled to reciprocate in the circumferential direction within the target motion range to drive the brush head to perform a brushing operation.

[0115] According to the oral health data corresponding to each oral area, the target motion range of the motor's rotor is determined. Different target motion ranges of the rotor can be adapted to oral areas with different health conditions, so that the rotation range of the brush head can be flexibly adjusted. The brush head moves at a smaller rotation angle in more sensitive and unhealthy oral areas, and moves at a larger rotation angle in oral areas that need cleaning more or are healthier, thereby improving oral cleaning and care effects.

[0116] In some embodiments, before the toothbrush performs a toothbrushing operation, the target motion range corresponding to the motor rotor may be determined according to the oral health data, and then the rotor may be controlled to reciprocate in the circumferential direction within the target motion range to drive the brush head to perform a toothbrushing operation. During the toothbrushing operation, the target motion range may be adjusted according to the real-time toothbrushing data of the toothbrush, and the rotor may be controlled to reciprocate in the circumferential direction within the adjusted target motion range to drive the brush head to perform a toothbrushing operation.

[0117] The toothbrush can first determine the target motion range corresponding to the motor's rotor based on the oral health data, and control the rotor to reciprocate circumferentially within the target motion range. At the same time, the target motion range of the rotor can be adjusted based on the real-time brushing data of the toothbrush. For example, when the brush head is detected to switch oral regions based on the real-time brushing data, the target motion range of the rotor can be reduced; or, when the brush head is detected to be on the occlusal surface based on the real-time brushing data, the target motion range of the rotor can be reduced; or, when the brush head is detected to be on the outer side based on the real-time brushing data, it can be restored to the target motion range determined based on the oral health data (that is, the target motion range of the rotor can be adjusted).

[0118] In an embodiment of the present application, the toothbrush can integrate oral health data and real-time brushing data to jointly determine the target motion range corresponding to the motor's rotor, and adaptively adjust the target motion range of the motor's rotor to make the rotor's motion range more in line with the actual situation of the user's oral cavity. This can effectively reduce the occurrence of knocking and knocking teeth during the use of the toothbrush, thereby ensuring the user's oral health and improving the user's experience.

[0119] In addition to determining the target motion range of the motor rotor based on oral health data and real-time brushing data, the toothbrush can also comprehensively consider the user's satisfaction with the brushing process and further adjust the rotor's target motion range to better meet the user's actual needs. Figure 8 As shown, in another embodiment, a method for controlling a toothbrush is provided, which can be applied to the above-mentioned toothbrush, and the method may include the following steps:

[0120] Step 802: Obtain one or more historical experience data.

[0121] Historical experience data may refer to user experience data collected after the toothbrush performs historical brushing operations. Historical experience data may include, but are not limited to, historical range of motion, historical oral health data corresponding to the historical range of motion, and / or historical real-time brushing data, and experience satisfaction corresponding to the historical range of motion.

[0122] Among them, the historical motion range may refer to the target motion range of the rotor corresponding to the historical brushing process corresponding to the historical experience data. In the historical brushing process corresponding to the historical experience data, the toothbrush can control the rotor of the motor to perform circumferential reciprocating motion according to the historical motion range.

[0123] The historical oral health data and / or historical real-time brushing data corresponding to the historical movement range may refer to the historical oral health data and / or historical real-time brushing data corresponding to the historical brushing process corresponding to the historical experience data, and the historical movement range is determined based on the historical oral health data and / or historical real-time brushing data.

[0124] The experience satisfaction corresponding to the historical motion range may refer to the user's satisfaction with the historical brushing process corresponding to the historical experience data. Optionally, the experience satisfaction may be represented by a satisfaction score. For example, the higher the satisfaction score, the more satisfied the user is with the brushing process, and the higher the experience satisfaction; the lower the satisfaction score, the less satisfied the user is with the brushing process, and the lower the experience satisfaction. Furthermore, in addition to the satisfaction score, the experience satisfaction may also include other experience data, such as whether the teeth are knocked during the brushing process, whether the user is satisfied with the cleaning effect of the brushing process, whether there is discomfort such as stinging during the brushing process, etc. By collecting the user's experience satisfaction with each brushing process, the toothbrush can analyze whether the target motion range of the motor rotor determined during the brushing process is appropriate, thereby helping to adjust and improve the target motion range of the rotor.

[0125] Step 804: determine an initial motion range corresponding to the rotor of the motor according to the oral health data and / or the real-time brushing data.

[0126] Step 806: Adjust the initial motion range according to one or more historical experience data to determine the target motion range.

[0127] When the toothbrush needs to perform the current brushing process, the toothbrush can determine the initial motion range corresponding to the motor rotor according to the oral health data, oral data and / or real-time brushing data. It should be noted that the method of determining the initial motion range corresponding to the motor rotor according to the oral health data, oral data and / or real-time brushing data can be similar to the method of determining the target motion range corresponding to the motor rotor according to the oral health data, oral data and / or real-time brushing data described in the above embodiments, and will not be repeated here.

[0128] In some embodiments, the toothbrush can compare the initial motion range determined this time, the oral health data and / or real-time brushing data of this time, with one or more historical experience data, and find the historical oral health data and / or historical real-time brushing data, and the historical experience data similar to the oral health data and / or real-time brushing data of this time as the target historical experience data. The historical motion range and experience satisfaction contained in each target historical experience data can be obtained, and the historical motion range contained in each target historical experience data can be compared with the initial motion range determined this time. If the historical motion range is the same as or very close to the initial motion range determined this time (for example, the range difference between the two is less than the difference threshold), it can be determined whether the initial motion range needs to be adjusted based on the experience satisfaction corresponding to the historical motion range.

[0129] Optionally, if there is a historical motion range in the historical experience data of a certain target that is the same as or very close to the initial motion range determined this time, and the experience satisfaction corresponding to the historical motion range is good (for example, the satisfaction score is greater than the first score threshold), then there is no need to adjust the initial motion range, and the initial motion range can be determined as the target motion range. If there is a historical motion range in the historical experience data of a certain target that is the same as or very close to the initial motion range determined this time, and the experience satisfaction corresponding to the historical motion range is poor (for example, the satisfaction score is less than the second score threshold, and the second score threshold is less than or equal to the first score threshold), then the initial motion range can be adjusted to determine the target motion range. Furthermore, the initial motion range can be adjusted according to the experience data corresponding to the historical motion range. For example, if the user feedback shows that there is tooth grinding, the initial motion range can be reduced; or, if the user feedback shows that the cleaning effect is not good, the initial motion range can be increased, etc., but it is not limited to this.

[0130] As another implementation, after determining the target historical experience data, the corresponding target historical motion range with better experience satisfaction (for example, a satisfaction score greater than a first score threshold) can be found from the target historical experience data, and the target historical motion range and the initial motion range can be averaged or weighted summed to obtain the target motion range corresponding to the rotor of the motor.

[0131] By screening out target historical experience data that is similar to the initial motion range determined this time, the oral health data this time and / or the real-time brushing data, and adjusting the initial motion range according to the historical motion range and the corresponding experience satisfaction contained in the target historical experience data, the determined target motion range of the motor's rotor is more in line with the user's actual needs, thereby ensuring the user's experience satisfaction during the brushing process.

[0132] Step 808, controlling the rotor of the motor to perform reciprocating motion in the circumferential direction within the target motion range to drive the brush head to perform the toothbrushing operation.

[0133] The description of step 808 can refer to the relevant description in the above embodiments, which will not be repeated here.

[0134] Step 810, when the toothbrush completes a brushing process, collects the experience satisfaction of the brushing process, and stores the oral health data and / or real-time brushing data, target motion range and collected experience satisfaction in correspondence as new historical experience data.

[0135] When the toothbrush completes a brushing process, for example, the brushing time reaches the target brushing time, the user actively exits the working state, etc., the toothbrush completes a brushing process and can collect the user's experience satisfaction with the brushing process, and store the oral health data and / or real-time brushing data, target motion range and collected experience satisfaction correspondingly as new historical experience data, so that the toothbrush can facilitate the target motion range of the motor rotor in subsequent brushing processes.

[0136] In an embodiment of the present application, after the toothbrush determines the initial motion range corresponding to the rotor of the motor based on oral health data and / or real-time brushing data, the initial motion range can be adjusted according to one or more historical experience data to determine the target motion range, and the target motion range of the rotor can be further adjusted by comprehensively considering the user's satisfaction with the brushing process, so that the determined target motion range of the rotor of the motor is more in line with the user's actual needs, thereby ensuring the user's experience satisfaction during the brushing process.

[0137] In addition to determining the target motion range of the motor rotor according to the oral health data and / or the real-time brushing data, the toothbrush can also determine the swing parameters of the motor rotor according to the oral health data and / or the real-time brushing data. Fig. 9 As shown, in another embodiment, a method for controlling a toothbrush is provided, which can be applied to the above-mentioned toothbrush, and the method may include the following steps:

[0138] Step 902, obtaining oral health data and / or real-time toothbrushing data.

[0139] Step 904: determine a target motion range corresponding to the rotor of the motor according to the oral health data and / or the real-time brushing data.

[0140] The description of steps 902 to 904 may refer to the relevant description in the above embodiments, and will not be repeated here.

[0141] Step 906: Determine the swing parameters corresponding to the rotor of the motor according to the oral health data and / or the real-time brushing data.

[0142] In some embodiments, the toothbrush can determine the swing parameters corresponding to the motor rotor according to the oral health data. For example, when the oral health data indicates that the user's oral cavity is relatively healthy, the swing angle and swing frequency corresponding to the motor rotor can be larger, thereby improving the cleaning efficiency and cleaning effect; when the oral health data indicates that the user's oral cavity is relatively unhealthy, it means that the user's oral cavity is highly sensitive, and the swing angle and swing frequency corresponding to the motor rotor can be smaller, which can reduce damage and stimulation to the oral cavity and protect the user's oral health.

[0143] In some embodiments, the toothbrush can determine the swing parameters corresponding to the motor rotor according to the real-time brushing data. Optionally, the swing parameters corresponding to the motor rotor can be determined according to the real-time brushing position of the brush head in the working state, such as determining the swing frequency corresponding to the motor rotor.

[0144] As an implementation method, the target tooth surface where the brush head is currently located can be determined according to the real-time brushing position, and the swing frequency corresponding to the target tooth surface can be determined. When the target tooth surface where the brush head is located is different, the rotor can correspond to different swing frequencies. The target tooth surface can be any one of the occlusal surface, the outer side surface and the inner side surface. The swing frequency corresponding to the occlusal surface is greater than the swing frequency corresponding to the outer side surface, and the swing frequency corresponding to the occlusal surface is greater than the swing frequency corresponding to the inner side surface.

[0145] When the brush head is on the occlusal surface, the rotor can correspond to a larger swing frequency, so that the rotor can reciprocate with the reference position as the reference zero axis at a higher frequency, so that the pits and fissures on the occlusal surface can be better cleaned and the cleaning effect can be improved. Optionally, when the brush head is determined to be on the occlusal surface based on the real-time brushing position, the rotor is controlled to reciprocate with the reference position as the reference zero axis based on the swing parameters corresponding to the occlusal surface, and the reference position is kept unchanged. When the brush head is on the occlusal surface, the rotor can only perform reciprocating swing motion with the reference position as the reference zero axis without rotating, which can further reduce the probability of tooth knocking on the occlusal surface and protect the user's oral health.

[0146] As another implementation, the target tooth area where the brush head is currently located can be determined based on the real-time brushing position, and the oscillation frequency corresponding to the target tooth area can be determined.

[0147] The teeth in the oral cavity can be divided into multiple tooth areas, for example, including but not limited to the molar area, incisor area, front tooth area, etc. Different tooth areas have different requirements for cleaning. Therefore, for different tooth areas, the rotor of the motor can correspond to different target motion ranges. For example, the saliva flow rate in the molar area is less than that in the incisor area. The molar area is more prone to plaque and has a higher demand for cleaning. Therefore, the target motion range corresponding to the molar area may be larger than the target motion range corresponding to the incisor area. During the toothbrush brushing operation, the toothbrush can determine the target tooth area where the brush head is currently located according to the real-time brushing position of the brush head, and determine the swing frequency corresponding to the target tooth area, so that the rotor can be controlled to swing back and forth according to the swing frequency with the reference position as the reference zero axis.

[0148] Step 908, according to the target motion range, based on the swing parameters, the rotor is controlled to swing back and forth with the reference position as the reference zero axis, and based on the rotation parameters, the rotor is controlled to rotate to change the reference position.

[0149] The description of step 908 may refer to the relevant description in the above embodiment, and will not be repeated here.

[0150] In some embodiments, the motor may include a position detection element, and the toothbrush may determine the limit range corresponding to the target motion range; determine the current position of the rotor through the position detection element; if the current position is not within the limit range, control the rotor to reset toward the limit range.

[0151] The limit range can be used to limit the position range of the rotor in the circumferential direction. The limit range can be greater than or equal to the target motion range. The limit range and the target motion range can be the same range or two different ranges. During the toothbrush brushing operation, the rotor may sometimes exceed the limit range due to external force, causing the toothbrush to fail to operate normally, affecting the stability and safety of the toothbrush, and also affecting the oral cleaning and care effects of the toothbrush. Therefore, in an embodiment of the present application, when the toothbrush detects that the current position of the rotor is not within the limit range, that is, when it detects that the current position of the rotor exceeds the limit range, the rotor can be controlled to reset toward the limit range.

[0152] In some embodiments, the limit range may include a first position and a second position. The first position and the second position may be understood as extreme position points. If the current position of the rotor exceeds the first position or the second position, that is, the current position of the rotor is not between the first position and the second position, it means that the current position of the rotor exceeds the limit range and needs to be reset. The zero position may be the midpoint between the first position and the second position. It should be noted that the zero position may also be the first position or the second position. The above-mentioned first position and second position may be set according to actual needs, and may be fixed positions or may change dynamically according to needs; the range size of the limit range (i.e., the position difference between the first position and the second position) may be set according to actual needs, and the range size of the limit range may be a fixed size or may change dynamically according to needs, and the embodiments of the present application do not limit this.

[0153] Optionally, controlling the rotor to reset toward the limit range may be controlling the rotor to reset toward a zero position.

[0154] In some embodiments, the toothbrush may include a reset component. When the toothbrush detects that the current position of the rotor is not within the limit range, the reset component can be controlled to generate a reset force to drive the rotor to reset toward the limit range. Optionally, the reset component may include a magnetic reset member. For example, the magnetic reset member may include a permanent magnet and an electromagnet. The permanent magnet may be arranged on the stator module, and the electromagnet may be arranged on the rotor. When the motor is installed, when it is detected that the current position of the rotor is not within the limit range, electric energy can be provided to the electromagnet, and a magnetic force is generated between the electromagnet and the permanent magnet, thereby driving the rotor to rotate toward the limit range to complete the reset. It should be noted that the toothbrush may also use other methods to control the rotor reset, and is not limited to the above-mentioned method.

[0155] Optionally, when it is detected that the current position of the rotor is not within the limit range, the rotor can be controlled to stop reciprocating motion first, and the rotor can be controlled to reset toward the limit range. When the rotor is successfully reset, that is, the position of the rotor after reset is within the limit range, the rotor can be controlled to continue to reciprocate in the circumferential direction. This can avoid damage to the oral cavity caused by the reciprocating motion of the rotor under the condition of large external force, and can protect the oral health of the user.

[0156] In an embodiment of the present application, the toothbrush can determine the current position of the rotor in the motor through a position detection element. If the current position of the rotor is not within the limit range corresponding to the target motion range, the rotor is controlled to reset toward the limit range. When the position of the rotor exceeds the limit range, the rotor can be reset to ensure that the position of the rotor is within the limit range. This can avoid the situation where the toothbrush cannot work normally due to the motor exceeding the limit range, improve the stability and safety of the toothbrush, and ensure the normal operation of the toothbrush.

[0157] In an embodiment of the present application, the toothbrush can determine the swing parameters corresponding to the rotor of the motor based on oral health data and / or real-time brushing data, and can determine the swing parameters of the adapted rotor based on the actual conditions of the oral cavity (such as health level, sensitivity level, cleaning needs, etc.), thereby effectively improving the cleaning effect of the toothbrush.

[0158] like Fig.10 As shown, in one embodiment, a toothbrush control device 1000 is provided, which is applied to the above-mentioned toothbrush. The toothbrush control device 1000 may include: a data acquisition module 1010, a range determination module 1020, and a control module 1030.

[0159] The data acquisition module 1010 is used to acquire oral health data and / or real-time toothbrushing data.

[0160] The range determination module 1020 is used to determine the target motion range corresponding to the rotor of the motor according to the oral health data and / or the real-time brushing data.

[0161] The control module 1030 is used to control the rotor of the motor to reciprocate in the circumferential direction within the target motion range, so as to drive the brush head to perform the tooth brushing operation.

[0162] In one embodiment, the oral health data includes one or more of gum health, caries information, plaque residue, and oral disease information.

[0163] In one embodiment, the range determination module 1020 is also used to determine the sensitivity level and / or the cleaning level based on the oral health data; determine the target motion range corresponding to the rotor of the motor based on the sensitivity level and / or the cleaning level; wherein the target motion range is negatively correlated with the sensitivity level, and the target motion range is positively correlated with the cleaning level.

[0164] In one embodiment, the range determination module 1020 is also used to input oral health data into a pre-trained neural network, and analyze the oral health data through the neural network to determine the target motion range corresponding to the rotor of the motor; wherein the neural network is trained based on multiple sample data, and each sample data includes sample oral health data and the corresponding motor motion range.

[0165] In one embodiment, the real-time brushing data includes one or more of the real-time brushing position of the brush head, the real-time brushing pressure, the real-time brushing mode, and the real-time motion state of the toothbrush when the toothbrush is in working state.

[0166] In one embodiment, the range determination module 1020 is also used to determine the target motion range of the motor's rotor during the process of switching the brush head to the oral area when it is detected that the brush head is switching the oral area based on real-time brushing data; during the process of switching the brush head to the oral area, the target motion range corresponding to the motor's rotor is smaller than the target motion range corresponding to the motor's rotor when the brush head is in any oral area.

[0167] In one embodiment, the real-time brushing data includes the real-time brushing position of the brush head; the range determination module 1020 is also used to determine the target tooth surface where the brush head is currently located based on the real-time brushing position; and determine the target motion range corresponding to the target tooth surface.

[0168] In one embodiment, the target tooth surface is any one of the occlusal surface, the outer side surface and the inner side surface, the occlusal surface refers to the surface of the teeth for occlusion, the outer side surface refers to the surface of the teeth close to the lips, and the inner side surface refers to the surface of the teeth close to the tongue; the target motion range corresponding to the occlusal surface is less than or equal to the target motion range corresponding to the inner side surface, and the target motion range corresponding to the inner side surface is less than the target motion range corresponding to the outer side surface.

[0169] In one embodiment, the range determination module 1020 is also used to determine the target motion range corresponding to the non-tooth surface area if it is determined based on the real-time brushing position that the toothbrush is currently in the non-tooth surface area; the target motion range corresponding to the non-tooth surface area is less than or equal to the target motion range corresponding to the target tooth surface.

[0170] In one embodiment, the oral health data includes oral health data corresponding to multiple oral areas respectively; the real-time brushing data includes the real-time brushing position of the brush head in the working state; the range determination module 1020 is also used to determine the target oral area where the toothbrush is currently located based on the real-time brushing position; and determine the target motion range corresponding to the rotor of the motor based on the oral health data corresponding to the target oral area.

[0171] In one embodiment, the range determination module 1020 is further used to determine a target motion range corresponding to the rotor of the motor according to the oral health data.

[0172] The control module 1030 is also used to control the rotor to perform reciprocating motion along the circumferential direction within a target motion range.

[0173] The range determination module 1020 is also used to adjust the target motion range according to the real-time brushing data of the toothbrush.

[0174] The control module 1030 is also used to control the rotor to reciprocate in the circumferential direction within the adjusted target motion range, so as to drive the brush head to perform brushing operations.

[0175] In one embodiment, the toothbrush control device 1000 further includes a historical data acquisition module and a storage module.

[0176] The historical data acquisition module is used to acquire one or more historical experience data, wherein the historical experience data includes historical movement range, historical oral health data corresponding to the historical movement range and / or historical real-time brushing data, and experience satisfaction corresponding to the historical movement range.

[0177] The range determination module 1020 is also used to determine the initial motion range corresponding to the rotor of the motor according to the oral health data and / or the real-time brushing data; and to adjust the initial motion range according to one or more historical experience data to determine the target motion range.

[0178] The storage module is used to collect the experience satisfaction of the brushing process when the toothbrush completes a brushing process; the oral health data and / or real-time brushing data, the target movement range and the collected experience satisfaction are stored in correspondence as new historical experience data.

[0179] In one embodiment, the control module 1030 is further used to control the rotor to reciprocate based on the reference position as the reference zero axis based on the swing parameter according to the target motion range, and control the rotor to rotate based on the rotation parameter to change the reference position.

[0180] In one embodiment, the toothbrush control device 1000 further includes a parameter determination module.

[0181] The parameter determination module is used to determine the swing parameters corresponding to the rotor of the motor according to the oral health data and / or the real-time brushing data.

[0182] In one embodiment, the real-time brushing data includes the real-time brushing position of the brush head in the working state; the parameter determination module is also used to determine the target tooth surface where the brush head is currently located according to the real-time brushing position, and determine the oscillation frequency corresponding to the target tooth surface; or, according to the real-time brushing position, determine the target tooth area where the brush head is currently located, and determine the oscillation frequency corresponding to the target tooth area.

[0183] In one embodiment, the target tooth surface is any one of the occlusal surface, the outer surface and the inner surface, the occlusal surface refers to the surface of the teeth for biting, the outer surface refers to the surface of the teeth close to the lips, and the inner surface refers to the surface of the teeth close to the tongue; the swing frequency corresponding to the occlusal surface is greater than the swing frequency corresponding to the outer surface, and the swing frequency corresponding to the occlusal surface is greater than the swing frequency corresponding to the inner surface.

[0184] In one embodiment, the control module 1030 is also used to control the rotor to oscillate back and forth with the reference position as the reference zero axis based on the oscillation parameters corresponding to the occlusal surface when it is determined that the brush head is on the occlusal surface according to the real-time brushing position, and to keep the reference position unchanged.

[0185] In one embodiment, the toothbrush control device 1000 further includes a limit module, a position detection module and a reset module.

[0186] The limit module is used to determine the limit range corresponding to the target motion range; the limit range is greater than or equal to the target motion range.

[0187] The position detection module is used to determine the current position of the rotor through a position detection element.

[0188] The reset module is used to control the rotor to reset towards the limit range if the current position is not within the limit range.

[0189] In one embodiment, the toothbrush further comprises a detection device, which comprises one or more of a posture sensor, a camera device, a motion sensor, a pressure sensor, and a photoelectric sensor.

[0190] The data acquisition module 1010 is also used to acquire real-time toothbrushing data through a detection device when the toothbrush is in working state.

[0191] In an embodiment of the present application, the toothbrush obtains oral health data and / or real-time toothbrush data, determines the target motion range corresponding to the rotor of the motor according to the oral health data and / or real-time brushing data, and controls the rotor to perform reciprocating motion in the circumferential direction within the target motion range to drive the brush head to perform brushing operations. The toothbrush can determine the target motion range of the rotor of the adapted motor according to the oral health data and / or real-time toothbrush data, and adaptively adjust the target motion range of the rotor of the motor so that the determined target motion range is more in line with the actual situation of the user's oral cavity, thereby flexibly adjusting the maximum rotation angle of the brush head, which can effectively reduce the occurrence of tooth knocking and knocking during the use of the toothbrush, thereby ensuring the oral health of the user and improving the user's usage experience.

[0192] Fig.11 FIG. 1 is a structural block diagram of a toothbrush in one embodiment. Fig.11 As shown, the toothbrush 1100 may include one or more of the following components: a processor 1110, and a memory 1120 coupled to the processor 1110, wherein the memory 1120 may store one or more computer programs, and the one or more computer programs may be configured to implement the methods described in the above embodiments when executed by one or more processors 1110.

[0193] The processor 1110 may include one or more processing cores. The processor 1110 uses various interfaces and lines to connect the various parts of the entire toothbrush 1100, and executes various functions and processes data of the toothbrush 1100 by running or executing instructions, programs, code sets or instruction sets stored in the memory 1120, and calling data stored in the memory 1120. Optionally, the processor 1110 can be implemented in at least one hardware form of digital signal processing (DSP), field-programmable gate array (FPGA), and programmable logic array (PLA). The processor 1110 can integrate one or a combination of a central processing unit (CPU), a graphics processing unit (GPU), and a modem. Among them, the CPU mainly processes the operating system, user interface, and application programs; the GPU is responsible for rendering and drawing display content; and the modem is used to process wireless communications. It can be understood that the above-mentioned modem may not be integrated into the processor 1110, but may be implemented separately through a communication chip.

[0194] The memory 1120 may include a random access memory (RAM) or a read-only memory (ROM). The memory 1120 may be used to store instructions, programs, codes, code sets or instruction sets. The memory 1120 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for implementing at least one function (such as a touch function, a sound playback function, an image playback function, etc.), instructions for implementing the above-mentioned various method embodiments, etc. The data storage area may also store data created by the toothbrush 1100 during use, etc.

[0195] It can be understood that the toothbrush 1100 may include more or fewer structural elements than those in the above structural block diagram, for example, including a display device, a power module, physical buttons, a WiFi (Wireless Fidelity) module, a speaker, a Bluetooth module, a sensor, etc., and no limitation is made here.

[0196] An embodiment of the present application discloses a computer-readable storage medium storing a computer program, wherein the computer program implements the methods described in the above embodiments when executed by a processor.

[0197] An embodiment of the present application discloses a computer program product, which includes a non-transitory computer-readable storage medium storing a computer program, and the computer program can be executed by a processor to implement the methods described in the above embodiments.

[0198] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be implemented by instructing related hardware through a computer program, and the program can be stored in a non-volatile computer-readable storage medium, and when the program is executed, it can include the processes of the embodiments of the above-mentioned methods. The storage medium can be a disk, an optical disk, a ROM, etc.

[0199] As used herein, any reference to memory, storage, database, or other medium may include nonvolatile and / or volatile memory. Suitable nonvolatile memory may include ROM, programmable ROM (Programmable ROM, PROM), erasable PROM (Erasable PROM, EPROM), electrically erasable PROM (Electrically Erasable PROM, EEPROM), or flash memory. Volatile memory may include random access memory (RAM), which is used as an external cache memory. By way of illustration and not limitation, RAM may be in a variety of forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), memory bus direct RAM (RDRAM) and direct memory bus dynamic RAM (DRDRAM).

[0200] It should be understood that the "one embodiment" or "an embodiment" mentioned throughout the specification means that the specific features, structures or characteristics related to the embodiment are included in at least one embodiment of the present application. Therefore, "in one embodiment" or "in an embodiment" appearing throughout the specification does not necessarily refer to the same embodiment. In addition, these specific features, structures or characteristics can be combined in one or more embodiments in any suitable manner. Those skilled in the art should also be aware that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily required for the present application.

[0201] In the various embodiments of the present application, it should be understood that the size of the serial numbers of the above-mentioned processes does not necessarily mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0202] The units described above as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0203] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0204] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0205] The above is a detailed introduction to a toothbrush control method, device, toothbrush and computer-readable storage medium disclosed in the embodiments of the present application. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method and core idea of ​​the present application. At the same time, for those of ordinary skill in the art, according to the idea of ​​the present application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the present application.

Claims

1. A method for controlling a toothbrush, characterized in that: The toothbrush comprises a brush head and a handle, the handle is provided with a motor, the motor comprises a rotor, and the method comprises: Acquire oral health data and / or real-time toothbrushing data; Determining a target motion range corresponding to the rotor of the motor according to the oral health data and / or the real-time brushing data; Controlling the rotor to reciprocate in the circumferential direction within the target motion range to drive the brush head to perform a teeth brushing operation; The step of controlling the rotor of the motor to reciprocate in the circumferential direction within the target motion range includes: The rotor is controlled to reciprocate with the reference position as the reference zero axis, and the rotor is controlled to rotate within the target motion range to change the reference position.

2. The method according to claim 1, characterized in that The oral health data includes one or more of gum health, caries information, dental plaque residue, and oral disease information.

3. The method according to claim 2, characterized in that Determining a target motion range corresponding to a rotor of the motor according to the oral health data includes: determining a sensitivity level and / or a cleanliness level based on the oral health data; The target motion range corresponding to the rotor of the motor is determined according to the sensitivity level and / or the cleaning level; wherein the target motion range is negatively correlated with the sensitivity level, and the target motion range is positively correlated with the cleaning level.

4. The method according to claim 2, characterized in that: Determining a target motion range corresponding to a rotor of the motor according to the oral health data includes: The oral health data is input into a pre-trained neural network, and the oral health data is analyzed by the neural network to determine the target motion range corresponding to the rotor of the motor; wherein the neural network is trained based on a plurality of sample data, and each of the sample data includes sample oral health data and a corresponding motor motion range.

5. The method according to claim 1, characterized in that The real-time brushing data includes one or more of the real-time brushing position, real-time brushing pressure, real-time brushing mode, and real-time motion state of the brush head when the toothbrush is in working state.

6. The method according to claim 5, characterized in that Determining a target motion range corresponding to the rotor of the motor according to the real-time toothbrushing data includes: When it is detected according to the real-time toothbrushing data that the brush head switches the oral region, determining a target motion range corresponding to the rotor of the motor during the process of the brush head switching the oral region; During the process of the brush head switching the oral area, the target motion range corresponding to the rotor of the motor is smaller than the target motion range corresponding to the rotor of the motor when the brush head is in any oral area.

7. The method according to claim 5, characterized in that The real-time brushing data includes the real-time brushing position of the brush head; determining the target motion range corresponding to the rotor of the motor according to the real-time brushing data includes: Determining the target tooth surface where the brush head is currently located according to the real-time brushing position; A target motion range corresponding to the target tooth surface is determined.

8. The method according to claim 7, characterized in that The target tooth surface is any one of the occlusal surface, the outer side surface and the inner side surface, the occlusal surface refers to the surface of the teeth for occlusion, the outer side surface refers to the surface of the teeth close to the lips, and the inner side surface refers to the surface of the teeth close to the tongue; the target motion range corresponding to the occlusal surface is less than or equal to the target motion range corresponding to the inner side surface, and the target motion range corresponding to the inner side surface is less than the target motion range corresponding to the outer side surface.

9. The method according to claim 7, characterized in that: The step of determining a target motion range corresponding to the rotor of the motor according to the real-time toothbrushing data further includes: If it is determined according to the real-time brushing position that the toothbrush is currently in the non-tooth surface area, the target motion range corresponding to the non-tooth surface area is determined; the target motion range corresponding to the non-tooth surface area is less than or equal to the target motion range corresponding to the target tooth surface.

10. The method according to claim 5, characterized in that The oral health data includes oral health data corresponding to a plurality of oral regions respectively; the real-time brushing data includes the real-time brushing position of the brush head in the working state; Determining a target motion range corresponding to the rotor of the motor according to the oral health data and the real-time brushing data includes: Determining the target oral region where the toothbrush is currently located according to the real-time brushing position; A target motion range corresponding to the rotor of the motor is determined according to the oral health data corresponding to the target oral area.

11. The method according to claim 1, characterized in that: The method further comprises: determining a target motion range corresponding to a rotor of the motor according to the oral health data; Controlling the rotor to reciprocate in the circumferential direction within the target motion range; The target motion range is adjusted according to the real-time brushing data of the toothbrush, and the rotor is controlled to reciprocate in the circumferential direction within the adjusted target motion range to drive the brush head to perform brushing operation.

12. The method according to any one of claims 1 to 11, characterized in that: Before determining the target motion range corresponding to the rotor of the motor according to the oral health data and / or the real-time brushing data, the method further includes: Acquire one or more historical experience data, wherein the historical experience data includes a historical movement range, historical oral health data and / or historical real-time brushing data corresponding to the historical movement range, and experience satisfaction corresponding to the historical movement range; The step of determining a target motion range corresponding to the rotor of the motor according to the oral health data and / or the real-time brushing data comprises: Determine an initial motion range corresponding to the rotor of the motor according to the oral health data and / or the real-time brushing data; The initial motion range is adjusted according to the one or more historical experience data to determine a target motion range.

13. The method according to claim 12, characterized in that After controlling the rotor of the motor to reciprocate in the circumferential direction within the target motion range, the method further includes: When the toothbrush completes a toothbrushing process, collecting experience satisfaction with the toothbrushing process; The oral health data and / or real-time toothbrushing data, target motion range, and collected experience satisfaction are stored correspondingly as new historical experience data.

14. The method according to any one of claims 1 to 11, characterized in that: The controlling the rotor to reciprocate with the reference position as the reference zero axis, and controlling the rotor to rotate within the target motion range to change the reference position, comprises: The rotor is controlled to reciprocate based on the swing parameter with the reference position as the reference zero axis, and the rotor is controlled to rotate within the target motion range based on the rotation parameter to change the reference position.

15. The method according to claim 14, characterized in that Before controlling the rotor to oscillate back and forth with the reference position as the reference zero axis based on the oscillation parameter and controlling the rotor to rotate within the target motion range based on the rotation parameter to change the reference position, the method further includes: The swing parameters corresponding to the rotor of the motor are determined according to the oral health data and / or the real-time brushing data.

16. The method according to claim 15, characterized in that The real-time brushing data includes the real-time brushing position of the brush head in the working state; the swing parameter includes the swing frequency; and according to the real-time brushing data, determining the swing parameter corresponding to the rotor of the motor includes: According to the real-time brushing position, determining the target tooth surface where the brush head is currently located, and determining the oscillation frequency corresponding to the target tooth surface; or, According to the real-time brushing position, the target tooth area where the brush head is currently located is determined, and the oscillation frequency corresponding to the target tooth area is determined.

17. The method according to claim 16, characterized in that The target tooth surface is any one of an occlusal surface, an outer surface and an inner surface, the occlusal surface refers to the surface on which the teeth occlude, the outer surface refers to the surface of the teeth close to the lips, and the inner surface refers to the surface of the teeth close to the tongue; the swing frequency corresponding to the occlusal surface is greater than the swing frequency corresponding to the outer surface, and the swing frequency corresponding to the occlusal surface is greater than the swing frequency corresponding to the inner surface.

18. The method according to claim 16, characterized in that The method further comprises: When it is determined that the brush head is located at the occlusal surface according to the real-time brushing position, the rotor is controlled to oscillate back and forth with the reference position as the reference zero axis based on the oscillation parameters corresponding to the occlusal surface, and the reference position is kept unchanged.

19. The method according to any one of claims 1 to 11, characterized in that: The motor further includes a position detection element. After controlling the rotor of the motor to reciprocate in the circumferential direction within the target motion range, the method further includes: Determine a limit range corresponding to the target motion range; the limit range is greater than or equal to the target motion range; determining the current position of the rotor by means of the position detection element; If the current position is not within the limit range, the rotor is controlled to reset toward the limit range.

20. The method according to any one of claims 1 to 11, characterized in that: The toothbrush further comprises a detection device, which comprises one or more of a posture sensor, a camera device, a motion sensor, a pressure sensor, and a photoelectric sensor; Get real-time brushing data, including: When the toothbrush is in working state, real-time brushing data is acquired through the detection device.

21. A control device for a toothbrush, characterized in that: The toothbrush comprises a brush head and a handle, wherein a motor is arranged in the handle, and the motor comprises a rotor. The device comprises: A data acquisition module, used to acquire oral health data and / or real-time toothbrushing data; A range determination module, configured to determine a target motion range corresponding to a rotor of the motor according to the oral health data and / or the real-time toothbrushing data; A control module, used for controlling the rotor of the motor to reciprocate in the circumferential direction within the target motion range, so as to drive the brush head to perform a toothbrushing operation; The control module is further used to control the rotor to oscillate back and forth with the reference position as the reference zero axis, and to control the rotor to rotate within the target motion range to change the reference position.

22. A toothbrush, characterized in that: The method comprises a memory and a processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the processor implements the method according to any one of claims 1 to 20.

23. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 20 is implemented.

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