Oral cleaning apparatus, control method, computing apparatus, and storage medium

Abstract

The embodiment of the invention provides oral cavity cleaning equipment, a control method, computing equipment and a storage medium, and the oral cavity cleaning equipment comprises a holding part, a driving unit at least partially accommodated in the holding part, and a cleaning head part connected with the driving unit; the holding part is used for acquiring a starting or adjusting signal and sending a target driving signal to the driving unit, and the target driving signal carries a random cleaning angle; the driving unit is used for driving the cleaning head to execute cleaning motion according to the random cleaning angle in response to the target driving signal; the cleaning head is used for making contact with an oral cavity area to be cleaned and executing oral cavity cleaning operation in the oral cavity area to be cleaned based on driving of the driving unit. The oral cavity can be flexibly cleaned based on the random cleaning angle, so that the oral cavity cleaning method adapts to the actual conditions of different to-be-nursed oral cavities, and the personalized oral cavity nursing requirements of users are met.

Description

Technical Field

[0001] The embodiments of this specification relate to the field of oral cleaning technology, and in particular, to an oral cleaning device; one or more embodiments of this specification also relate to a control method, a computing device, a computer-readable storage medium, and a computer program product. Background Art

[0002] With the continuous development of science and technology and the continuous improvement of residents' living standards, the public has also begun to pay attention to oral care. Therefore, various types of oral cleaning tools have appeared on the market to meet the public's needs for oral care.

[0003] Oral cleaning tools in the prior art, such as electric toothbrushes, can often only perform high-frequency reciprocating vibrations at a preset frequency. This single cleaning mode ignores the different conditions of the oral cavity to be cared for by different users. Therefore, it cannot flexibly adapt to the actual conditions of different oral cavity to be cared for and cannot meet the user's personalized oral care needs. Summary of the invention

[0004] In view of this, an embodiment of the present specification provides an oral cleaning device. One or more embodiments of the present specification also relate to a control method, a computing device, a computer-readable storage medium, and a computer program product to solve the technical defect that the oral cleaning tool in the prior art cannot flexibly adapt to the actual conditions of different oral cavity to be cared for.

[0005] According to a first aspect of an embodiment of the present specification, there is provided an oral cleaning device, comprising a grip portion, a driving unit at least partially accommodated in the grip portion, and a cleaning head connected to the driving unit;

[0006] The holding portion is used to obtain a start or adjustment signal and send a target drive signal to the drive unit, wherein the target drive signal carries a random cleaning angle;

[0007] The driving unit is used to drive the cleaning head to perform a cleaning motion according to the random cleaning angle in response to the target driving signal;

[0008] The cleaning head is used to contact the oral region to be cleaned and perform an oral cleaning operation in the oral region to be cleaned based on the driving of the driving unit.

[0009] Further, the target driving signal includes a first driving signal and / or a second driving signal;

[0010] The first driving signal carries a first random cleaning angle or a first pseudo-random cleaning angle;

[0011] The driving unit is further used to drive the cleaning head to perform a first cleaning motion according to the first random cleaning angle or the first pseudo-random cleaning angle in response to the first driving signal;

[0012] The second driving signal carries a second random cleaning angle or a second pseudo-random cleaning angle;

[0013] The driving unit is further configured to drive the cleaning head to perform a second cleaning motion according to the second random cleaning angle or the second pseudo-random cleaning angle in response to the second driving signal.

[0014] Further, the first driving signal carries a first reference range;

[0015] The driving unit is further configured to drive the cleaning head to perform a first cleaning motion according to the first random cleaning angle or the first pseudo-random cleaning angle within the first reference range in response to the first driving signal.

[0016] Further, the second driving signal carries a second reference range;

[0017] The driving unit is further configured to drive the cleaning head to perform a second cleaning motion according to the second random cleaning angle or the second pseudo-random cleaning angle within the second reference range in response to the second driving signal.

[0018] Further, the driving unit includes a driving shaft connected to the cleaning head;

[0019] The first cleaning motion includes controlling the drive shaft to rotate the first random cleaning angle or the first pseudo-random cleaning angle along a first direction or a second direction with a first axis as a rotation center line relative to a reference position of the drive shaft to drive the cleaning head to vibrate.

[0020] Further, the driving unit includes a driving shaft connected to the cleaning head;

[0021] The second cleaning motion includes controlling the drive shaft to rotate the second random cleaning angle or the second pseudo-random cleaning angle along the first direction or the second direction with the second axis as the rotation center line relative to the reference position of the drive shaft, so as to drive the cleaning head to perform a sweeping operation.

[0022] Furthermore, the first random cleaning angle or the first pseudo-random cleaning angle is less than 10 degrees.

[0023] Furthermore, the second random cleaning angle or the second pseudo-random cleaning angle is greater than or equal to 10 degrees and less than or equal to 60 degrees.

[0024] Further, the first axis is parallel to or overlaps with the second axis; or

[0025] The first axis and / or the second axis are parallel to or overlap with the axis of the drive shaft.

[0026] Furthermore, a control unit is installed in the gripping portion;

[0027] The control unit is configured to determine a reference position of a drive shaft in the drive unit in response to the acquired start or adjustment signal, generate the target drive signal based on the reference position and the random cleaning angle, and send the target drive signal to the drive unit;

[0028] The random cleaning angle is generated by the control unit based on a random angle generation algorithm.

[0029] Furthermore, the control unit is also used to

[0030] Receiving a reference position setting signal for the drive shaft sent by a device control terminal or an input terminal, controlling the drive unit to stop driving, and the device control terminal is connected to the oral cleaning device via a wireless signal or the input terminal is electrically connected to the control unit;

[0031] The drive shaft is rotated to a target position, a reference position confirmation signal for the drive shaft sent by a device control terminal or an input terminal is received, and the current position of the drive shaft is determined as a reference position.

[0032] Further, the reference position of the driving shaft includes the position of the driving shaft when the driving shaft rotates under the control of an external force so that the cleaning surface of the cleaning head and the user interaction control in the gripping portion are on the same surface; or

[0033] The reference position of the drive shaft includes the position of the drive shaft before determining to perform the oral cleaning operation.

[0034] Furthermore, the control unit is further used to receive a position adjustment signal carrying the reference position sent by the device control terminal, and based on the reference position, control the drive unit to perform a position calibration operation on the drive shaft;

[0035] The driving unit is further used to rotate the driving shaft to the reference position based on the control of the control unit to perform a position calibration operation.

[0036] Furthermore, the control unit is further configured to control the drive unit to perform a position calibration operation on the drive shaft based on the reference position when it is determined that the oral cleaning operation is completed;

[0037] The driving unit is further used to rotate the driving shaft to the reference position based on the control of the control unit to perform a position calibration operation.

[0038] Further, the vibration operation includes driving the cleaning head to vibrate according to a preset vibration frequency range, and the preset vibration frequency range includes greater than or equal to 100 Hz and less than or equal to 700 Hz;

[0039] The sweeping operation includes driving the cleaning head to sweep according to a preset sweeping frequency range, and the preset sweeping frequency range includes greater than or equal to 20 degrees per second and less than or equal to 2000 degrees per second.

[0040] Furthermore, the oral cleaning device is an electric toothbrush, and the cleaning head is a cleaning brush head.

[0041] According to a third aspect of an embodiment of the present specification, a control method is provided, which is applied to a control unit in an oral cleaning device, wherein the oral cleaning device includes a gripping portion, a driving unit at least partially accommodated in the gripping portion, and a cleaning head connected to the driving unit, including:

[0042] In response to the acquired start or adjustment signal, determining a target drive signal, wherein the target drive signal carries a random cleaning angle;

[0043] A target driving signal is sent to the driving unit, so that the driving unit drives the cleaning head to perform a cleaning motion according to the random cleaning angle by responding to the target driving signal.

[0044] Furthermore, the step of determining the target drive signal in response to the acquired start or adjustment signal further includes:

[0045] determining a reference position of a drive shaft in the drive unit in response to the acquired start or adjustment signal;

[0046] The target driving signal is generated based on the reference position and the random cleaning angle, wherein the random cleaning angle is generated by the control unit based on a random angle generation algorithm.

[0047] Further, the target driving signal includes a first driving signal and / or a second driving signal.

[0048] The first driving signal carries a first random cleaning angle or a first pseudo-random cleaning angle,

[0049] The first driving signal is used to control the driving unit to drive the cleaning head to perform a first cleaning motion according to the first random cleaning angle or the first pseudo-random cleaning angle.

[0050] The second driving signal carries a second random cleaning angle or a second pseudo-random cleaning angle,

[0051] The second driving signal is used to control the driving unit to drive the cleaning head to perform a second cleaning motion according to the second random cleaning angle or the second pseudo-random cleaning angle.

[0052] According to a third aspect of an embodiment of this specification, a computing device is provided, including:

[0053] Memory and processor;

[0054] The memory is used to store computer programs / instructions, and the processor is used to execute the computer programs / instructions. When the computer programs / instructions are executed by the processor, the steps of the above control method are implemented.

[0055] According to a fourth aspect of the embodiments of this specification, a computer-readable storage medium is provided, which stores a computer program / instruction, and the steps of the above-mentioned control method are implemented when the computer program / instruction is executed by a processor.

[0056] According to a fifth aspect of the embodiments of this specification, a computer program product is provided, comprising a computer program / instruction, which implements the steps of the above control method when executed by a processor.

[0057] One or more embodiments of the present specification provide an oral cleaning device, which includes a holding portion, a driving unit at least partially accommodated in the holding portion, and a cleaning head connected to the driving unit; the holding portion is used to obtain a start or adjustment signal, and send a target driving signal carrying a random cleaning angle to the driving unit, the driving unit is used to respond to the target driving signal, drive the cleaning head to perform a cleaning movement according to the random cleaning angle, the cleaning head is used to contact the oral area to be cleaned, and perform an oral cleaning operation in the oral area to be cleaned based on the drive of the driving unit, thereby realizing flexible oral cleaning based on the random cleaning angle, thereby adapting to the actual conditions of different oral cavity to be cared for, and meeting the personalized oral care needs of users. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] Figure 1 It is a structural schematic diagram of an oral cleaning device provided by an embodiment of this specification;

[0059] Figure 2is a flow chart of a control method provided by an embodiment of this specification;

[0060] Figure 3 is a flow chart of another control method provided by an embodiment of this specification;

[0061] Figure 4 is a process flow chart of a control method provided by an embodiment of this specification;

[0062] Figure 5 is a structural block diagram of a computing device provided by one embodiment of this specification;

[0063] The above drawings include the following reference numerals:

[0064] Cleaning head 102 , grip 104 , user interaction controls 106 . DETAILED DESCRIPTION

[0065] Many specific details are described in the following description to facilitate a full understanding of this specification. However, this specification can be implemented in many other ways than those described herein, and those skilled in the art can make similar generalizations without violating the connotation of this specification, so this specification is not limited to the specific implementation disclosed below.

[0066] The terms used in one or more embodiments of this specification are only for the purpose of describing specific embodiments, and are not intended to limit one or more embodiments of this specification. The singular forms of "a", "said" and "the" used in one or more embodiments of this specification and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings. It should also be understood that the term "and / or" used in one or more embodiments of this specification refers to and includes any or all possible combinations of one or more associated listed items.

[0067] It should be understood that although the terms first, second, etc. may be used to describe various information in one or more embodiments of this specification, this information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of one or more embodiments of this specification, the first may also be referred to as the second, and similarly, the second may also be referred to as the first. Depending on the context, the word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining".

[0068] In addition, it should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in one or more embodiments of this specification are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with the relevant laws, regulations and standards of the relevant countries and regions, and provide corresponding operation entrances for users to choose to authorize or refuse.

[0069] With the continuous development of science and technology and the continuous improvement of residents' living standards, the public has also begun to pay attention to oral care. Therefore, various types of oral cleaning tools have appeared on the market to meet the public's needs for oral care.

[0070] Oral cleaning tools in the prior art, such as electric toothbrushes, can often only perform high-frequency reciprocating vibrations according to a preset frequency, and this single cleaning mode ignores the different conditions of the oral cavity to be cared for by different users; for example, electric toothbrushes on the market drive the brush head to produce high-frequency vibrations through the rapid vibration of the motor, instantly breaking down the toothpaste into fine foam and deeply cleaning the gaps between teeth. However, current electric toothbrushes can only achieve high-frequency reciprocating vibrations according to a preset frequency, but the oral conditions to be cleaned by different users are different, and the tooth conditions of different areas of the same user are also different. The existing electric toothbrushes cannot meet the personalized cleaning needs of users. In addition, sweeping the electric toothbrush in a large amplitude while vibrating can improve the efficient cleaning of the oral cavity to a certain extent, but there are still problems of easy tooth knocking and tooth injury, which affects the comfort of users; and the electric toothbrushes in the prior art can only sweep according to a preset trajectory, but the oral conditions to be cleaned by different users are different, and the tooth conditions of different areas of the same user are also different. The existing electric toothbrushes cannot meet the personalized cleaning needs of users. That is to say, the electric toothbrush has major defects. First, the current electric toothbrush can only achieve high-frequency reciprocating vibration according to a preset frequency, and cannot provide more flexible and varied vibrations to adapt to different oral conditions to be cleaned; secondly, the electric toothbrush can only achieve sweeping motion according to a preset trajectory, and cannot provide more flexible and varied sweeping motions to adapt to different oral conditions to be cleaned.

[0071] Based on this, in this specification, an oral cleaning device is provided; one or more embodiments of this specification also involve a control method, a computing device, a computer-readable storage medium and a computer program product, which are described in detail one by one in the following embodiments.

[0072] Combination Figure 1 As shown, Figure 1 1 is a structural schematic diagram of an oral cleaning device provided by an embodiment of the present specification. One or more embodiments of the present specification provide an oral cleaning device, including:

[0073] The cleaning device comprises a gripping portion 104, a driving unit at least partially accommodated in the gripping portion 104, and a cleaning head 102 connected to the driving unit;

[0074] The holding portion 104 is used to obtain a start or adjustment signal and send a target drive signal to the drive unit, wherein the target drive signal carries a random cleaning angle;

[0075] The driving unit is used to drive the cleaning head 102 to perform a cleaning motion according to the random cleaning angle in response to the target driving signal;

[0076] The cleaning head 102 is used to contact the oral area to be cleaned and perform an oral cleaning operation in the oral area to be cleaned based on the driving of the driving unit.

[0077] Among them, the oral cleaning device can be understood as a device for realizing oral cleaning operations. For example, the oral cleaning device can be an electric toothbrush for realizing brushing operations, an irrigator for realizing irrigating and brushing operations, an all-in-one irrigator for realizing irrigating and brushing operations, etc.

[0078] The gripping portion 104 may be understood as a component configured for the oral cleaning device that is convenient for the user to hold. For example, the gripping portion 104 may be a handle component.

[0079] The driving unit can be understood as a unit in the oral cleaning device for driving the cleaning head 102 to perform an oral cleaning operation, for example, the driving unit can be a motor component, etc. The driving unit can include a motor configuration that receives a driving shaft of the detachable cleaning head 102, rotates the driving shaft, and / or applies a vibration motion to the driving shaft.

[0080] The cleaning head 102 can be understood as a component that is used to contact the oral area to be cleaned and is capable of cleaning the oral area to be cleaned. The cleaning head 102 is detachably mounted at one end of the oral cleaning device; in one or more embodiments provided in this specification, the oral cleaning device is an electric toothbrush, and the cleaning head 102 is a cleaning brush head; based on the mutual cooperation between the electric toothbrush and the cleaning brush head configured on the electric toothbrush, the brushing operation can be performed on the user's oral area to be cleaned, thereby meeting the user's oral cleaning needs.

[0081] Among them, the start or adjustment signal can be an instruction sent by the device control end, such as a signal sent by a mobile terminal (mobile phone, remote control, tablet computer), a fixed terminal (server, cloud) and other device control ends to the oral cleaning device; or the start or adjustment signal can be a signal sent to the oral cleaning device by the user through the user interaction control 106 provided by the oral cleaning device, for example, a signal sent by the user through a button operation or a command input operation.

[0082] The start or adjustment signal may be obtained by the oral cleaning device passively receiving the start or adjustment command, or it may be the result of the oral cleaning device detecting and judging the current situation, for example, the oral cleaning device automatically turns on after sensing the pressure and temperature generated by the user holding the device. The start or adjustment signal may be an instruction to start the oral cleaning device, or it may be an instruction to adjust the oral cleaning device to perform a specific operation, such as adjusting the cleaning mode, cleaning time, vibration frequency, swing amplitude, swing speed, etc. of the oral cleaning device.

[0083] The target driving signal may be understood as a signal for controlling the driving unit to execute a preset operating program, for example, a signal for controlling the motor to rotate according to a random cleaning angle or to apply vibration to the cleaning head 102 .

[0084] The random cleaning angle can be understood as a randomly generated angle used to control the cleaning head 102 to perform oral cleaning. The random cleaning angle can be one or more types; in one or more embodiments provided in the present specification, the random cleaning angle includes a first random cleaning angle, a first pseudo-random cleaning angle, a second random cleaning angle, and a second pseudo-random cleaning angle; wherein the first random cleaning angle or the first pseudo-random cleaning angle is less than 10 degrees, preferably less than 8 degrees, preferably less than 6 degrees, and preferably less than 5 degrees; wherein the second random cleaning angle or the second pseudo-random cleaning angle is greater than or equal to 10 degrees and less than or equal to 60 degrees; the oral cleaning angle in this specification During oral cleaning, the device can control the motor shaft relative to its reference position to randomly swing to the left or right at a high speed at a random cleaning angle (generated by a random algorithm) within a certain small angle range (for example, within 0°-10°), thereby realizing a vibration with a changeable frequency; and / or control the motor shaft to generate a larger angle swing (for example, >10°, <60°) with a second random angle while maintaining vibration, thereby realizing random sweeping at a settable speed, thereby realizing flexible oral cleaning, thereby adapting to the actual conditions of different oral cavity to be cared for; and, in the case of sweeping, vibration is also maintained to realize integrated sweeping and vibration, thereby providing users with a better cleaning experience. By flexibly and varied sweeping within a certain range, or flexibly and varied vibration within a certain range, or flexibly and varied sweeping within a certain range superimposed on flexibly and varied vibration within a certain range, hygienic dead corners are cleaned at random angles, high torque is avoided, cleaning comfort is improved, and excessive torque is avoided to cause damage to teeth. In addition, the vibration frequency of the motor can be randomly changed when it is working, so as to avoid the working frequency of the motor being close to its natural frequency, which can effectively avoid the occurrence of motor resonance and ensure the normal movement of the motor.

[0085] It should be noted that the above-mentioned first random cleaning angle, first pseudo-random cleaning angle, second random cleaning angle, and second pseudo-random cleaning angle can all be set according to actual application scenarios, and this specification does not make specific limitations here.

[0086] The cleaning motion can be understood as the cleaning motion performed by the cleaning head 102 on the oral area to be cleaned, and the cleaning motion includes the cleaning head 102 performing a vibration operation according to a random cleaning angle and / or the cleaning head 102 performing a sweeping operation according to a random cleaning angle; in one or more embodiments provided in the present specification, the vibration operation includes driving the cleaning head 102 to vibrate according to a preset vibration frequency range, and the preset vibration frequency range includes greater than or equal to 100 Hz and less than or equal to 700 Hz; the sweeping operation includes driving the cleaning head 102 to sweep according to a preset sweeping frequency range, and the preset sweeping frequency range includes greater than or equal to 20 degrees per second and less than or equal to 2000 degrees per second. The oral cleaning device in this specification provides flexible and changeable vibrations within a certain range to adapt to different conditions of the oral cavity to be cleaned during the process of oral cleaning. The set vibration range ensures the basic cleaning force, and on this basis, the randomly variable vibration angle can clean more different parts (for example, the motor of the electric toothbrush is a high-frequency vibration, and may not be able to clean the parts that the user needs to clean in a single randomly variable vibration, but under high-frequency vibration -30,000 to 40,000 times / minute, multiple iterations, it can clean more different parts), and the cleaning effect is better; and, flexible and changeable sweeping movements are provided within a certain range to adapt to different conditions of the oral cavity to be cleaned, and the cleaning effect is better.

[0087] In one or more embodiments provided in this specification, the target driving signal includes a first driving signal and / or a second driving signal;

[0088] The first driving signal carries a first random cleaning angle or a first pseudo-random cleaning angle;

[0089] The driving unit is further configured to drive the cleaning head 102 to perform a first cleaning motion according to the first random cleaning angle or the first pseudo-random cleaning angle in response to the first driving signal;

[0090] The second driving signal carries a second random cleaning angle or a second pseudo-random cleaning angle;

[0091] The driving unit is further configured to drive the cleaning head 102 to perform a second cleaning motion according to the second random cleaning angle or the second pseudo-random cleaning angle in response to the second driving signal.

[0092] The first cleaning motion may be understood as driving the cleaning head 102 to perform a vibration operation according to the first random cleaning angle or the first pseudo-random cleaning angle;

[0093] The second cleaning motion drives the cleaning head 102 to perform a sweeping operation according to the second random cleaning angle or the second pseudo-random cleaning angle.

[0094] In the above embodiment, the driving unit is controlled by the first driving signal and / or the second driving signal to drive the cleaning head 102 to perform the first cleaning movement and / or the second cleaning movement, thereby enabling the oral cleaning device to provide multiple cleaning modes during oral cleaning, thereby avoiding the problem of a single cleaning mode and meeting the diverse cleaning needs of users.

[0095] In one or more embodiments provided in this specification, the first drive signal carries a first reference range;

[0096] The driving unit is further configured to drive the cleaning head 102 to perform a first cleaning motion according to the first random cleaning angle or the first pseudo-random cleaning angle within the first reference range in response to the first driving signal.

[0097] Among them, the first reference range can be understood as the range corresponding to the first cleaning movement during the execution process. The first reference range can be set according to the actual application scenario. For example, the first reference range can be understood as a range of 0 degrees to 10 degrees relative to the reference position of the drive shaft, or a range of 0 degrees to 5 degrees relative to the reference position of the drive shaft; the first cleaning movement (ie, vibration operation) needs to be performed within the range of 0 degrees to 10 degrees or within the range of 0 degrees to 5 degrees.

[0098] For example, the electric toothbrush controls the motor shaft (i.e., the drive shaft) to randomly swing to the left or right at a random angle at high speed relative to its reference position within an angle range of 0 to 10 degrees (i.e., the first reference range) to achieve a vibration with a changeable frequency; the vibration is a reciprocating rotational motion with the axis of the motor shaft as the rotation axis, and it swings to the left at a random angle at high speed and then to the right at a random angle at high speed; the random angle includes a reference range (i.e., the first reference range), such as the reference range is 5° to the left or right, and under the control of a random signal, it first swings to the left by 5.1° and then to the right by 4.9°; thereby achieving flexible and changeable vibration within a certain range to adapt to different oral conditions to be cleaned, and the set vibration range ensures basic cleaning power.

[0099] In one or more embodiments provided in this specification, the second drive signal carries a second reference range;

[0100] The driving unit is further configured to drive the cleaning head 102 to perform a second cleaning motion according to the second random cleaning angle or the second pseudo-random cleaning angle within the second reference range in response to the second driving signal.

[0101] Among them, the second reference range can be understood as the range corresponding to the second cleaning movement during the execution process. The second reference range can be set according to the actual application scenario. For example, the second reference range can be understood as a range of 10 degrees to 60 degrees relative to the reference position of the drive shaft, or a range of 15 degrees to 65 degrees relative to the reference position of the drive shaft; the first cleaning movement (ie, vibration operation) needs to be performed within the range of 10 degrees to 60 degrees or within the range of 15 degrees to 65 degrees.

[0102] For example, an electric toothbrush controls the motor shaft to generate a larger swing angle (for example, >10°, <60°) with a second random angle while maintaining vibration. The swing is performed within the range of 10 to 60 degrees or 15 to 65 degrees, thereby achieving random sweeping at a settable speed, so that the electric toothbrush also maintains vibration while sweeping, achieving integrated sweeping and vibration.

[0103] In one or more embodiments provided in this specification, the driving unit includes a driving shaft connected to the cleaning head 102;

[0104] The first cleaning motion includes controlling the drive shaft to rotate the first random cleaning angle or the first pseudo-random cleaning angle along a first direction or a second direction with a first axis as a rotation center line relative to a reference position of the drive shaft, so as to drive the cleaning head 102 to vibrate.

[0105] Among them, the driving shaft can be understood as a component that drives the cleaning head 102 to perform a cleaning movement. The cleaning head 102 can be detachably mounted on the driving shaft. When the driving shaft rotates and / or vibrates, the cleaning head 102 can be driven to perform a sweeping operation and / or a vibration operation; for example, the driving shaft can be a motor shaft.

[0106] The reference position of the drive shaft can be understood as the initial position of the drive shaft. The cleaning movement performed by the cleaning head 102 can be performed relative to the reference position, for example, the motor shaft is controlled to swing at a random angle within a certain angle range relative to its reference position.

[0107] Among them, the first axis can be understood as the center point or center axis of the first cleaning movement. During the execution of the first cleaning movement, the driving shaft is controlled to rotate the first random cleaning angle or the first pseudo-random cleaning angle along the first direction or the second direction with the first axis as the rotation center line to drive the cleaning head 102 to perform a vibration operation.

[0108] The first direction and the second direction may be left-right direction, front-back direction, up-down direction, etc.

[0109] For example, after turning on the electric toothbrush, it is necessary to read the reference position of the motor shaft set at the factory, control the motor shaft to swing randomly to the left or right at a random angle at high speed relative to its reference position within a certain small angle range, and realize a vibration with changeable frequency; the vibration is a reciprocating rotational motion with the first axis of the motor shaft as the rotation axis, and it swings to the left at a random angle at high speed and then to the right at a random angle at high speed.

[0110] In one or more embodiments provided in this specification, the driving unit includes a driving shaft connected to the cleaning head 102;

[0111] The second cleaning motion includes controlling the driving shaft to rotate the second random cleaning angle or the second pseudo-random cleaning angle along the first direction or the second direction with the second axis as the rotation center line relative to the reference position of the driving shaft, so as to drive the cleaning head 102 to perform a sweeping operation.

[0112] The second axis can be understood as the center point or center axis of the second cleaning movement. During the execution of the second cleaning movement, the driving shaft is controlled to rotate the second random cleaning angle or the second pseudo-random cleaning angle along the first direction or the second direction with the second axis as the rotation center line to drive the cleaning head 102 to perform a sweeping operation.

[0113] For example, after the electric toothbrush is turned on, it needs to read the reference position of the motor shaft set at the factory, control the motor shaft relative to its reference position, and use a second random angle to generate a larger angle for left and right swinging (for example, >10°, <60°). The swinging is a reciprocating rotational motion with the second axis of the motor shaft as the rotation axis. It swings to the left at a random angle at high speed and then to the right at a random angle at high speed, thereby achieving random sweeping at a settable speed, so that the electric toothbrush also maintains vibration while sweeping, realizing integrated sweeping and vibration.

[0114] It should be noted that after the oral cleaning device completes a complete periodic cleaning movement, the drive shaft will return to the reference position so as to start the next cleaning movement.

[0115] In one or more embodiments provided in the present specification, the first axis is parallel to or overlaps with the second axis; or the first axis and / or the second axis are parallel to or overlap with the axis of the drive shaft, thereby ensuring that the vibration operation and the sweeping operation can be performed in coordination with each other to avoid large deviations between the two.

[0116] In one or more embodiments provided in this specification, a control unit is installed in the grip portion 104;

[0117] The control unit is configured to determine a reference position of a drive shaft in the drive unit in response to the acquired start or adjustment signal, generate the target drive signal based on the reference position and the random cleaning angle, and send the target drive signal to the drive unit;

[0118] The random cleaning angle is generated by the control unit based on a random angle generation algorithm.

[0119] Among them, the random angle generation algorithm can be set according to the actual application scenario. For example, the random angle generation algorithm can be a pseudo-random number generator, a Gaussian distribution random number, or an algorithm written in a programming language.

[0120] Continuing with the above example, after the electric toothbrush is turned on, the control unit in the electric toothbrush will determine the reference position of the drive shaft in the drive unit, and use the random angle generation algorithm to generate a random cleaning angle, and then generate a target drive signal based on the reference position and the random cleaning angle, and send the target drive signal to the motor to control the operation of the motor; thereby performing oral cleaning operations to meet the user's oral cleaning needs.

[0121] In one or more embodiments provided in this specification, the control unit is also used to

[0122] Receiving a reference position setting signal for the drive shaft sent by a device control terminal or an input terminal, controlling the drive unit to stop driving, and the device control terminal is connected to the oral cleaning device via a wireless signal or the input terminal is electrically connected to the control unit;

[0123] The drive shaft is rotated to a target position, a reference position confirmation signal for the drive shaft sent by a device control terminal or an input terminal is received, and the current position of the drive shaft is determined as a reference position.

[0124] The input end may be understood as being used for the control unit to input a reference position setting signal, and the input end may be a control button, a touch screen or other components.

[0125] The reference position setting signal may be understood as a signal that instructs the control unit to set the reference position of the drive shaft; for example, the reference position setting signal may be a reference position reset signal or a reference position update signal.

[0126] Among them, rotating the drive shaft to the target position can be understood as rotating the drive shaft to the target position under the action of external force; or, controlling the drive unit to rotate the drive shaft to the target position; the target position can be set according to the actual application scenario, for example, the target position can refer to the position where the cleaning surface of the cleaning head 102 faces the user or the cleaning surface of the cleaning head 102 is on the same side as the user interaction control 106.

[0127] The reference position confirmation signal may be understood as a signal indicating to the control unit that the reference position of the drive shaft has been rotated to the target position.

[0128] In one or more embodiments provided in this specification, the reference position of the drive shaft includes the position of the drive shaft when the drive shaft rotates under the control of an external force so that the cleaning surface of the cleaning head 102 and the user interaction control 106 in the grip 104 are on the same surface; or

[0129] The reference position of the drive shaft includes the position of the drive shaft before determining to perform the oral cleaning operation.

[0130] The cleaning surface may be understood as the surface of the cleaning head 102 that contacts the oral area to be cleaned and is used to clean the oral area to be cleaned. For example, the cleaning surface may be the bristle surface of the brush head.

[0131] Among them, the user interaction control 106 can be understood as a control set in the oral cleaning device for interacting with the user. For example, the user interaction control 106 can be one or more components of controls such as buttons, display screens, touch screens, sensors, microphones, speakers, indicator lights, cameras, etc., and no specific restrictions are made here.

[0132] Specifically, the reference position of the drive shaft in the oral cleaning device can be determined in two ways; the first is: using external force to rotate the drive shaft, and the drive shaft rotates under the control of the external force so that the cleaning surface of the cleaning head 102 and the user interaction control 106 in the holding part 104 are on the same surface, and the current position of the drive shaft is determined as the reference position of the drive shaft; the second is to use the position of the drive shaft set when the oral cleaning device leaves the factory, or the position where the drive shaft stays after completing a complete periodic cleaning movement, as the reference position of the drive shaft; the reference position of the drive shaft is determined by multiple methods, so that the oral cleaning device can better adapt to various situations in actual scenarios and improve applicability.

[0133] In one or more embodiments provided in this specification, the control unit is further used to receive a position adjustment signal sent by a device control terminal and carrying the reference position, and based on the reference position, control the drive unit to perform a position calibration operation on the drive shaft;

[0134] The driving unit is further used to rotate the driving shaft to the reference position based on the control of the control unit to perform a position calibration operation.

[0135] Specifically, during the oral cleaning operation, the device control end may send a position adjustment signal carrying the reference position to the control unit, so as to adjust the reference position of the drive shaft.

[0136] After receiving the position adjustment signal, the control unit can control the drive unit to perform a position calibration operation on the current position of the drive shaft based on the reference position; and the drive unit can rotate the drive shaft to the reference position under the control of the control unit to perform the position calibration operation, thereby achieving the process of oral cleaning operation. The reference position of the drive shaft is adjusted to a suitable position to facilitate subsequent smooth oral cleaning.

[0137] In one or more embodiments provided in this specification, the control unit is further configured to control the drive unit to perform a position calibration operation on the drive shaft based on the reference position when it is determined that the oral cleaning operation is completed;

[0138] The driving unit is further used to rotate the driving shaft to the reference position based on the control of the control unit to perform a position calibration operation.

[0139] Specifically, after the oral cleaning device completes the oral cleaning operation, the control unit may control the driving unit to return the driving shaft to the reference position so as to start the cleaning movement next time.

[0140] One or more embodiments of the present specification provide an electric toothbrush, comprising:

[0141] The cleaning head 102 has at least one cleaning unit (e.g., a brush head); a gripping portion 104 connected to the cleaning unit, and a driving unit (e.g., a motor) at least partially accommodated in the gripping portion 104, wherein the driving unit includes a driving shaft (e.g., a motor shaft) engaged with the cleaning head 102;

[0142] A control component uses a drive signal to drive the drive shaft of the drive unit to output a cleaning motion, and thereby drives the cleaning unit, wherein the cleaning motions include a first cleaning motion and a second cleaning motion, the first cleaning motion includes the drive shaft rotating relative to its reference position with a first axis as a rotation center line along a first direction or a second direction by a first random cleaning angle or a first pseudo-random cleaning angle, the second cleaning motion includes the drive shaft rotating relative to its reference position with a second axis as a rotation center line along a first direction or a second direction by a second random cleaning angle or a second pseudo-random cleaning angle, and the first random cleaning angle and the second random cleaning angle are different.

[0143] Further, when the cleaning unit is controlled to rotate at a second random cleaning angle along the first direction or the second direction with the second axis as the rotation center line, the driving unit vibrates to rotate at a first random cleaning angle along the first direction or the second direction.

[0144] One or more embodiments of the present specification provide an oral cleaning device, which includes a holding portion, a driving unit at least partially accommodated in the holding portion, and a cleaning head connected to the driving unit; the holding portion is used to obtain a start or adjustment signal, and send a target driving signal carrying a random cleaning angle to the driving unit, the driving unit is used to respond to the target driving signal, drive the cleaning head to perform a cleaning movement according to the random cleaning angle, the cleaning head is used to contact the oral area to be cleaned, and perform an oral cleaning operation in the oral area to be cleaned based on the drive of the driving unit, thereby realizing flexible oral cleaning based on the random cleaning angle, thereby adapting to the actual conditions of different oral cavity to be cared for, and meeting the personalized oral care needs of users.

[0145] See also Figure 2 , Figure 2 A flow chart of a control method provided according to an embodiment of the present specification is shown. The control method is applied to a control unit in an oral cleaning device. The oral cleaning device includes a gripping portion, a driving unit at least partially accommodated in the gripping portion, and a cleaning head connected to the driving unit. The control method specifically includes the following steps.

[0146] Step 202: Determine a target drive signal in response to the acquired start or adjustment signal, wherein the target drive signal carries a random cleaning angle.

[0147] Step 204: Sending a target driving signal to the driving unit, so that the driving unit drives the cleaning head to perform a cleaning motion according to the random cleaning angle in response to the target driving signal.

[0148] For explanations of the above steps, please refer to the corresponding contents in the above embodiment of an oral cleaning device, which will not be repeated here.

[0149] See also Figure 3 , Figure 3 : is a flow chart of another control method provided by an embodiment of this specification, and the control method specifically includes the following steps:

[0150] Step 302: Determine a reference position of a drive shaft in the drive unit in response to the acquired start or adjustment signal.

[0151] Step 304: Generate the target driving signal based on the reference position and the random cleaning angle, wherein the random cleaning angle is generated by the control unit based on a random angle generation algorithm, and the target driving signal carries the random cleaning angle.

[0152] Step 306: Sending a target driving signal to the driving unit, so that the driving unit drives the cleaning head to perform a cleaning motion according to the random cleaning angle in response to the target driving signal.

[0153] In one or more embodiments provided in this specification, the target driving signal includes a first driving signal and / or a second driving signal;

[0154] The first driving signal carries a first random cleaning angle or a first pseudo-random cleaning angle, and the first driving signal is used to control the driving unit to drive the cleaning head to perform a first cleaning motion according to the first random cleaning angle or the first pseudo-random cleaning angle.

[0155] The second driving signal carries a second random cleaning angle or a second pseudo-random cleaning angle, and the second driving signal is used to control the driving unit to drive the cleaning head to perform a second cleaning motion according to the second random cleaning angle or the second pseudo-random cleaning angle.

[0156] For example, the above steps may be performed in the following manner: the control unit of the electric toothbrush (i.e., the oral cleaning device) determines the reference position of the motor shaft (i.e., the motor shaft) when obtaining a start or adjustment signal. The reference position of the motor shaft may be the position set at the factory so that the bristles of the brush head mounted on the drive shaft face the user, or the position where the user controls the motor shaft of the electric toothbrush to rotate to the position where the bristles of the brush head mounted on the drive shaft face the user after powering on the device, and generates a random cleaning angle based on a random angle generation algorithm; a target driving signal is generated according to the random cleaning angle and the random cleaning angle and sent to the motor, and the motor shaft of the electric toothbrush is controlled to vibrate at a random cleaning angle or move at a random sweeping amplitude relative to the reference position, thereby driving the brush head to perform an oral cleaning operation, providing flexible and changeable sweeping within a certain range to adapt to different oral conditions to be cleaned, and achieving a better cleaning effect.

[0157] It should be noted that the target driving signal includes a first driving signal and / or a second driving signal.

[0158] Among them, the first drive signal carries a first random cleaning angle or a first pseudo-random cleaning angle, and the first drive signal is used to control the motor to drive the motor shaft to swing randomly to the left or right at a high speed within a certain small angle range (0° to 10°) relative to its reference position according to the first random cleaning angle or the first pseudo-random cleaning angle, thereby driving the brush head to vibrate, which can be used to clean the oral area.

[0159] Among them, the second drive signal carries a second random cleaning angle or a second pseudo-random cleaning angle. The second drive signal is used to control the motor. While driving the motor shaft to maintain vibration, it uses the second random cleaning angle or the second pseudo-random cleaning angle to generate a larger angle of swing (for example, >10°, <60°), thereby achieving random sweeping with a settable speed, thereby maintaining vibration during sweeping, and realizing integrated sweeping and vibration.

[0160] For the explanation of the above steps, please refer to the corresponding contents in the above embodiment of the oral cleaning device, which will not be repeated here.

[0161] One or more embodiments of the present specification provide a control method for a control unit applied to an oral cleaning device, the oral cleaning device comprising a gripping portion, a driving unit at least partially accommodated in the gripping portion, and a cleaning head connected to the driving unit; the control unit can generate a target driving signal carrying a random cleaning angle in response to an acquired start or adjustment signal, and send the target driving signal to the driving unit, the driving unit drives the cleaning head to perform a cleaning movement according to a random cleaning angle in response to the target driving signal, the cleaning head is used to contact the oral area to be cleaned, and perform an oral cleaning operation in the oral area to be cleaned based on the drive of the driving unit, thereby realizing flexible oral cleaning based on the random cleaning angle, thereby adapting to the actual conditions of different oral cavity to be cared for and meeting the personalized oral care needs of users.

[0162] The following combination Figure 4 , taking the application of the control method provided in this specification in the oral cleaning scenario as an example, the control method is further described. Figure 4 A processing flow chart of a control method provided by an embodiment of the present specification is shown, which specifically includes the following steps.

[0163] Step 402: Read the reference position and generate a pseudo-random number to determine a certain area as a random reference position.

[0164] Step 404: Obtain a start or adjustment signal.

[0165] Step 406: Control the motor shaft of the electric toothbrush to rotate to a random reference position so that the bristles of the brush head face the user.

[0166] Step 408: Control the motor shaft of the electric toothbrush to vibrate relative to the random reference position.

[0167] Specifically, the motor shaft is controlled to swing randomly to the left or right at high speed within a certain small angle range (0° to 10°) relative to its reference position according to a first random cleaning angle, so as to achieve a vibration with a changeable frequency; the vibration is a reciprocating rotational motion with the axis of the motor shaft as the rotation axis, and it swings to the left at a random angle at high speed and then to the right at a random angle at high speed; the random angle includes a reference range, such as the reference range is 5° to the left or right, and under the control of the random signal, it first swings to the left by 5.1° and then to the right by 4.9°.

[0168] Step 410: Control the motor shaft of the electric toothbrush to move with a random sweep amplitude relative to a random reference position.

[0169] Specifically, the motor shaft is controlled to generate a larger swing angle (for example, >10°, <60°) with a second random cleaning angle while maintaining vibration, thereby achieving random sweeping with a settable speed, thereby maintaining vibration while sweeping, and realizing integrated sweeping and vibration.

[0170] Based on the above steps, it can be known that the control method for electric toothbrushes provided in this specification provides flexible and changeable vibrations within a certain range to adapt to different oral conditions to be cleaned. The set vibration range ensures the basic cleaning force, and on this basis, the randomly variable vibration angle can clean more different parts (the electric toothbrush motor is a high-frequency vibration, and may not be able to clean the parts that the user needs to clean in a single randomly variable vibration, but under high-frequency vibration - 30,000 times to 40,000 times / minute, multiple iterations, it can clean more different parts), and the cleaning effect is better; and, flexible and changeable sweeping movements are provided within a certain range to adapt to different oral conditions to be cleaned, and the cleaning effect is better.

[0171] The above is a schematic scheme of a control method of this embodiment. It should be noted that the technical scheme of the control method and the technical scheme of the above-mentioned oral cleaning device belong to the same concept, and the details not described in detail in the technical scheme of the control method can be referred to the description of the technical scheme of the above-mentioned oral cleaning device.

[0172] Figure 5 The structure block diagram of a computing device 500 provided according to an embodiment of the present specification is shown. The components of the computing device 500 include but are not limited to a memory 510 and a processor 520. The processor 520 is connected to the memory 510 via a bus 530, and the database 550 is used to store data.

[0173] The computing device 500 also includes an access device 540 that enables the computing device 500 to communicate via one or more networks 560. Examples of these networks include a public switched telephone network (PSTN), a local area network (LAN), a wide area network (WAN), a personal area network (PAN), or a combination of communication networks such as the Internet. The access device 540 may include one or more of any type of network interface, wired or wireless (e.g., a network interface card (NIC)), such as an IEEE 802.11 wireless local area network (WLAN) wireless interface, a World Wide Interoperability for Microwave Access (Wi-MAX) interface, an Ethernet interface, a Universal Serial Bus (USB) interface, a cellular network interface, a Bluetooth interface, and a Near Field Communication (NFC).

[0174] In one embodiment of the present specification, the above components of the computing device 500 and Figure 5 Other components not shown in the figure may also be connected to each other, for example, via a bus. It should be understood that Figure 5 The computing device structure block diagram shown is only for the purpose of illustration, and is not intended to limit the scope of this specification. Those skilled in the art can add or replace other components as needed.

[0175] The computing device 500 may be any type of stationary or mobile computing device, including a mobile computer or mobile computing device (e.g., a tablet computer, a personal digital assistant, a laptop computer, a notebook computer, a netbook, etc.), a mobile phone (e.g., a smart phone), a wearable computing device (e.g., a smart watch, smart glasses, etc.), or other types of mobile devices, or a stationary computing device such as a desktop computer or a personal computer (PC). The computing device 500 may also be a mobile or stationary server.

[0176] The processor 520 is used to execute the following computer executable instructions, which implement the steps of the above control method when executed by the processor.

[0177] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the computing device embodiment, since it is basically similar to the control method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the control method embodiment.

[0178] An embodiment of the present specification further provides a computer-readable storage medium storing a computer program / instruction, which implements the steps of the above control method when executed by a processor.

[0179] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the computer-readable storage medium embodiment, since it is basically similar to the control method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the control method embodiment.

[0180] An embodiment of the present specification also provides a computer program product, including a computer program / instruction, which implements the steps of the above control method when executed by a processor.

[0181] The above is a schematic scheme of a computer program product of this embodiment. It should be noted that the technical scheme of the computer program product and the technical scheme of the control method described above are of the same concept, and the details not described in detail in the technical scheme of the computer program product can be referred to the description of the technical scheme of the control method described above.

[0182] The above is a description of a specific embodiment of the specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the embodiments and still achieve the desired results. In addition, the processes depicted in the drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0183] The computer instructions include computer program codes, which may be in source code form, object code form, executable files or some intermediate forms, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium, etc. It should be noted that the content contained in the computer-readable medium may be appropriately increased or decreased according to the requirements of patent practice. For example, in some regions, according to patent practice, computer-readable media do not include electric carrier signals and telecommunication signals.

[0184] It should be noted that, for the above-mentioned method embodiments, for the sake of simplicity of description, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the embodiments of this specification are not limited by the order of the actions described, because according to the embodiments of this specification, some steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the embodiments of this specification.

[0185] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0186] The preferred embodiments of this specification disclosed above are only used to help explain this specification. The optional embodiments do not describe all the details in detail, nor do they limit the invention to only the specific implementation methods described. Obviously, many modifications and changes can be made according to the content of the embodiments of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the embodiments of this specification, so that technicians in the relevant technical field can well understand and use this specification. This specification is only limited by the claims and their full scope and equivalents.

Claims

1. An oral cleaning device, It is characterized in that The cleaning device comprises a gripping portion, a driving unit at least partially accommodated in the gripping portion, and a cleaning head connected to the driving unit; The holding portion is used to obtain a start or adjustment signal and send a target drive signal to the drive unit, wherein the target drive signal carries a random cleaning angle; The driving unit is used to drive the cleaning head to perform a cleaning motion according to the random cleaning angle in response to the target driving signal; The cleaning head is used to contact the oral region to be cleaned and perform an oral cleaning operation in the oral region to be cleaned based on the driving of the driving unit.

2. The oral cleaning device according to claim 1, It is characterized in that The target driving signal includes a first driving signal and / or a second driving signal; The first driving signal carries a first random cleaning angle or a first pseudo-random cleaning angle; The driving unit is further used to drive the cleaning head to perform a first cleaning motion according to the first random cleaning angle or the first pseudo-random cleaning angle in response to the first driving signal; The second driving signal carries a second random cleaning angle or a second pseudo-random cleaning angle; The driving unit is further configured to drive the cleaning head to perform a second cleaning motion according to the second random cleaning angle or the second pseudo-random cleaning angle in response to the second driving signal.

3. The oral cleaning device according to claim 2, It is characterized in that The first driving signal carries a first reference range; The driving unit is further configured to drive the cleaning head to perform a first cleaning motion according to the first random cleaning angle or the first pseudo-random cleaning angle within the first reference range in response to the first driving signal.

4. The oral cleaning device according to claim 2, It is characterized in that The second driving signal carries a second reference range; The driving unit is further configured to drive the cleaning head to perform a second cleaning motion according to the second random cleaning angle or the second pseudo-random cleaning angle within the second reference range in response to the second driving signal.

5. The oral cleaning device according to any one of claims 2 to 4, It is characterized in that The driving unit includes a driving shaft connected to the cleaning head; The first cleaning motion includes controlling the drive shaft to rotate the first random cleaning angle or the first pseudo-random cleaning angle along a first direction or a second direction with a first axis as a rotation center line relative to a reference position of the drive shaft to drive the cleaning head to vibrate.

6. The oral cleaning device according to claim 5, It is characterized in that The driving unit includes a driving shaft connected to the cleaning head; The second cleaning motion includes controlling the drive shaft to rotate the second random cleaning angle or the second pseudo-random cleaning angle along the first direction or the second direction with the second axis as the rotation center line relative to the reference position of the drive shaft, so as to drive the cleaning head to perform a sweeping operation.

7. The oral cleaning device according to any one of claims 2 to 4, It is characterized in that The first random cleaning angle or the first pseudo-random cleaning angle is less than 10 degrees.

8. The oral cleaning device according to any one of claims 2 to 4, It is characterized in that The second random cleaning angle or the second pseudo-random cleaning angle is greater than or equal to 10 degrees and less than or equal to 60 degrees.

9. The oral cleaning device according to claim 6, It is characterized in that The first axis is parallel to or overlaps with the second axis; or The first axis and / or the second axis are parallel to or overlap with the axis of the drive shaft.

10. The oral cleaning device according to claim 1, It is characterized in that A control unit is installed in the gripping portion; The control unit is configured to determine a reference position of a drive shaft in the drive unit in response to the acquired start or adjustment signal, generate the target drive signal based on the reference position and the random cleaning angle, and send the target drive signal to the drive unit; The random cleaning angle is generated by the control unit based on a random angle generation algorithm.

11. The oral cleaning device according to claim 10, It is characterized in that The control unit is also used to Receiving a reference position setting signal for the drive shaft sent by a device control terminal or an input terminal, controlling the drive unit to stop driving, and the device control terminal is connected to the oral cleaning device via a wireless signal or the input terminal is electrically connected to the control unit; The drive shaft is rotated to a target position, a reference position confirmation signal for the drive shaft sent by a device control terminal or an input terminal is received, and the current position of the drive shaft is determined as a reference position.

12. The oral cleaning device according to claim 10, It is characterized in that The reference position of the drive shaft includes the position of the drive shaft when the drive shaft rotates under the control of an external force so that the cleaning surface of the cleaning head and the user interaction control in the gripping portion are on the same surface; or The reference position of the drive shaft includes the position of the drive shaft before determining to perform the oral cleaning operation.

13. The oral cleaning device according to claim 10, It is characterized in that The control unit is further configured to receive a position adjustment signal carrying the reference position and sent by the device control terminal, and control the drive unit to perform a position calibration operation on the drive shaft based on the reference position; The driving unit is further used to rotate the driving shaft to the reference position based on the control of the control unit to perform a position calibration operation.

14. The oral cleaning device according to claim 10, It is characterized in that The control unit is further configured to control the drive unit to perform a position calibration operation on the drive shaft based on the reference position when it is determined that the oral cleaning operation is completed; The driving unit is further used to rotate the driving shaft to the reference position based on the control of the control unit to perform a position calibration operation.

15. The oral cleaning device according to claim 6, It is characterized in that The vibration operation includes driving the cleaning head to vibrate according to a preset vibration frequency range, wherein the preset vibration frequency range includes greater than or equal to 100 Hz and less than or equal to 700 Hz; The sweeping operation includes driving the cleaning head to sweep according to a preset sweeping frequency range, and the preset sweeping frequency range includes greater than or equal to 20 degrees per second and less than or equal to 2000 degrees per second.

16. The oral cleaning device according to claim 1, It is characterized in that The oral cleaning device is an electric toothbrush, and the cleaning head is a cleaning brush head.

17. A control method, It is characterized in that A control unit used in an oral cleaning device, the oral cleaning device comprising a gripping portion, a driving unit at least partially accommodated in the gripping portion, and a cleaning head connected to the driving unit, comprising: In response to the acquired start or adjustment signal, determining a target drive signal, wherein the target drive signal carries a random cleaning angle; A target driving signal is sent to the driving unit, so that the driving unit drives the cleaning head to perform a cleaning motion according to the random cleaning angle by responding to the target driving signal.

18. The control method according to claim 17, It is characterized in that In response to obtaining the start or adjustment signal, determining the target drive signal also includes: determining a reference position of a drive shaft in the drive unit in response to the acquired start or adjustment signal; The target driving signal is generated based on the reference position and the random cleaning angle, wherein the random cleaning angle is generated by the control unit based on a random angle generation algorithm.

19. The control method according to claim 17 or 18, It is characterized in that The target driving signal includes a first driving signal and / or a second driving signal, The first driving signal carries a first random cleaning angle or a first pseudo-random cleaning angle, The first driving signal is used to control the driving unit to drive the cleaning head to perform a first cleaning motion according to the first random cleaning angle or the first pseudo-random cleaning angle. The second driving signal carries a second random cleaning angle or a second pseudo-random cleaning angle, The second driving signal is used to control the driving unit to drive the cleaning head to perform a second cleaning motion according to the second random cleaning angle or the second pseudo-random cleaning angle.

20. A computing device, It is characterized in that include: Memory and processor; The memory is used to store computer programs / instructions, and the processor is used to execute the computer programs / instructions. When the computer program / instructions are executed by the processor, the steps of the control method described in any one of claims 17 to 19 are implemented.

21. A computer-readable storage medium, It is characterized in that It stores a computer program / instruction, which, when executed by a processor, implements the steps of the control method described in any one of claims 17 to 19.

22. A computer program product, It is characterized in that The invention comprises a computer program / instruction, which, when executed by a processor, implements the steps of the control method according to any one of claims 17 to 19.

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