Control method and device of electric toothbrush, electric toothbrush and readable storage medium

Abstract

The embodiment of the invention provides a control method and device of an electric toothbrush, the electric toothbrush and a readable storage medium. After the electric toothbrush obtains a triggering instruction for indicating a motor shaft of the electric toothbrush to execute motion, when the triggering instruction is responded, the motor shaft of the electric toothbrush can execute the motion; a motor shaft of a motor of the electric toothbrush is controlled to execute a first cleaning motion and a second cleaning motion at the same time, the first cleaning motion comprises a first motion and a second motion which are alternately executed, and the second cleaning motion means that the motor shaft vibrates. By the adoption of the scheme, the motor shaft executes one-time reciprocating motion to drive the cleaning head to execute one-time small-amplitude sweeping, the motor shaft executes multiple-time reciprocating motion to drive the cleaning head to conduct multiple-time small-amplitude sweeping, and the multiple-time small-amplitude sweeping is overlapped to form one-time large-amplitude sweeping, so that double sweeping is conducted while the cleaning head vibrates; the toothbrush can adapt to different oral conditions, and the purpose of improving the cleaning effect is achieved.

Description

Technical Field

[0001] The embodiments of the present application relate to the technical field of electric toothbrushes, and in particular to a control method and device for an electric toothbrush, an electric toothbrush, and a readable storage medium. Background Art

[0002] At present, the sweeping and vibration electric toothbrush combines the cleaning methods of sweeping and sonic vibration. It can penetrate deep into the gaps between teeth and the gum line, effectively remove dental plaque and food debris, and provide users with a comprehensive oral cleaning solution.

[0003] Sweeping and vibration include vibration and sweeping. Small high-frequency swing is vibration, which is used to provide strong cleaning force; large low-frequency swing is sweeping, which can cover more area. Compared with vibrating toothbrushes that can only produce high-frequency vibrations perpendicular to the length of the brush handle, sweeping and vibration can improve the cleaning force of teeth to a certain extent.

[0004] However, the traditional sweeping and vibrating electric toothbrush cannot meet the cleaning needs of different oral conditions to be cleaned, and the cleaning effect is not good. Summary of the invention

[0005] The embodiments of the present application provide a control method and device for an electric toothbrush, an electric toothbrush and a readable storage medium, which perform double sweeping while vibrating to adapt to different oral conditions and achieve the purpose of improving the cleaning effect.

[0006] In a first aspect, an embodiment of the present application provides a method for controlling an electric toothbrush, comprising:

[0007] Obtaining a trigger instruction, wherein the trigger instruction is used to instruct the motor shaft of the electric toothbrush to perform movement;

[0008] In response to the trigger instruction, the motor shaft is controlled to perform a first cleaning motion while performing a second cleaning motion, the first cleaning motion including alternatingly performing a first motion and a second motion, the first motion refers to the motor shaft rotating by a first angle in a first direction with a first axis as the rotation center, the second motion refers to the motor shaft rotating by a second angle in a second direction with the first axis as the rotation center, the first direction and the second direction are opposite, the first angle and the second angle are different, and the second cleaning motion refers to the vibration of the motor shaft.

[0009] In a second aspect, an embodiment of the present application provides a control device for an electric toothbrush, comprising:

[0010] An acquisition module, used for acquiring a trigger instruction, wherein the trigger instruction is used for instructing the motor shaft of the electric toothbrush to perform a movement;

[0011] A processing module is used to control the motor shaft to perform a first cleaning motion and a second cleaning motion simultaneously in response to the trigger instruction, wherein the first cleaning motion includes alternatingly performing a first motion and a second motion, wherein the first motion refers to the motor shaft rotating by a first angle along a first direction with a first axis as a rotation center, and the second motion refers to the motor shaft rotating by a second angle along a second direction with the first axis as a rotation center, wherein the first direction and the second direction are opposite, and the first angle and the second angle are different, and the second cleaning motion refers to the vibration of the motor shaft.

[0012] In a third aspect, an embodiment of the present application provides an electric toothbrush, comprising: a processor, a memory, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the electric toothbrush implements the method described in the first aspect or various possible implementation methods of the first aspect.

[0013] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, in which computer instructions are stored. When the computer instructions are executed by a processor, they are used to implement the method described in the first aspect or various possible implementation methods of the first aspect.

[0014] In a fifth aspect, an embodiment of the present application provides a computer program product comprising a computing program, and when the computer program is executed by a processor, the method described in the first aspect or various possible implementation methods of the first aspect is implemented.

[0015] The control method, device, electric toothbrush and readable storage medium provided by the embodiment of the present application, after the electric toothbrush obtains the trigger instruction that instructs the motor shaft of the electric toothbrush to perform movement, in response to the trigger instruction, the motor shaft of the electric toothbrush is controlled to perform the first cleaning movement and the second cleaning movement at the same time, the first cleaning movement includes the first movement and the second movement performed alternately, the first movement refers to the motor shaft rotating a first angle along the first direction with the first axis as the rotation center, the second movement refers to the motor shaft rotating a second angle along the second direction with the first axis as the rotation center, the first direction and the second direction are opposite, the first angle and the second angle are different, and the second cleaning movement refers to the vibration of the motor shaft. With this scheme, the motor shaft performs a reciprocating motion to drive the cleaning head to perform a small sweep, the motor shaft performs multiple reciprocating motions to drive the cleaning head to perform multiple small sweeps, and the multiple small sweeps are superimposed to form a large sweep, so that the cleaning head vibrates and performs double sweeps at the same time, and a strong cleaning force is generated based on the vibration, and the cleaning time of the current position is increased by the small sweep, so as to strongly clean the current position, and more areas are covered by the large sweep, so as to adapt to various oral conditions and achieve the purpose of improving the cleaning effect. 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 description of 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 a vibration diagram of a traditional sweeping and vibrating electric toothbrush;

[0018] Figure 1B yes Figure 1A Schematic diagram of the relative position of the brush head when the electric toothbrush vibrates;

[0019] Figure 2A This is a schematic diagram of the sweeping and vibration of a traditional sweeping and vibration integrated electric toothbrush;

[0020] Figure 2B yes Figure 2A Schematic diagram of the relative position of the brush head when the electric toothbrush is sweeping and vibrating;

[0021] Figure 3 is a schematic diagram of an electric toothbrush provided in an embodiment of the present application;

[0022] Figure 4 is a flow chart of a control method for an electric toothbrush provided in an embodiment of the present application;

[0023] Figure 5A is a schematic diagram of the reciprocating motion of the cleaning head in the control method of the electric toothbrush provided in an embodiment of the present application;

[0024] Figure 5B yes Figure 5A Schematic diagram of the corresponding motion trajectory;

[0025] Figure 6 is a schematic diagram of the position of the cleaning head at the extreme position in the control method of the electric toothbrush provided in an embodiment of the present application;

[0026] Figure 7 It is a schematic diagram of the relative position of the cleaning head during double sweeping + vibration in the control method of the electric toothbrush provided in the embodiment of the present application;

[0027] Figure 8 A schematic diagram of a control device for an electric toothbrush provided in an embodiment of the present application. DETAILED DESCRIPTION

[0028] At present, electric toothbrushes are widely used in daily life. Electric toothbrushes have built-in circuit boards, batteries, and motors. Under the control of the driver on the circuit board, the electric toothbrush draws power from the battery to drive the motor to operate, thereby achieving vibration, etc. Among them, the motor can be a brushed motor, a brushless motor, or a servo motor, etc.

[0029] The electric toothbrush using a servo motor makes a small high-frequency swing through the servo motor, driving the bristles of the brush head to produce high-frequency vibration, instantly breaking down the toothpaste into fine foam to deeply clean the gaps between teeth. In addition, the electric toothbrush vibrates while sweeping in a large amplitude, thereby improving the cleaning effect of the oral cavity to a certain extent. Whether it is sweeping or vibrating, the motor shaft of the servo motor rotates around its own central axis. The vibration is manifested as a small reciprocating motion of the bristle surface with the center of the initial position as the swing center, and the sweeping is manifested as the direction of the bristle surface constantly changing while maintaining vibration.

[0030] In addition, since the direction of the bristle surface is consistent with that of the section at the end of the motor shaft, the vibration can also be regarded as: the section reciprocates with a small amplitude around the center of the initial position as the swing center, and the direction of the section is constantly changing while the sweeping motion maintains the vibration.

[0031] Figure 1A This is a schematic diagram of the vibration of a traditional sweeping and vibrating electric toothbrush. Figure 1A The cross section of the motor shaft is generally cylindrical, and a cut surface or groove may be provided on the motor shaft to facilitate the cooperation with the brush head, and the brush head swings back and forth under the drive of the motor shaft. During the reciprocating swing process, the movement trajectory of the brush head remains unchanged relative to the position of the motor shaft.

[0032] Figure 1B yes Figure 1A Schematic diagram of the relative position of the brush head when the electric toothbrush vibrates. Figure 1B , the ordinate is the relative position of the brush head, and the abscissa is time. The thick gray line after time t is used to indicate the relative position of the brush head when it is only vibrating. Before time t, the brush head is neither vibrating nor sweeping. When it is only vibrating, the direction of the bristle surface of the brush head does not change significantly, and the position of the movement trajectory of the brush head is relatively fixed.

[0033] Figure 2A This is a schematic diagram of the sweeping vibration of a traditional sweeping and vibrating electric toothbrush. Figure 2AThe electric toothbrush vibrates and sweeps in a large range at the same time. The brush head rotates from the initial position ① to the preset angle to reach the position ②, rotates in the opposite direction to the preset angle to return to the position ①, and then continues to rotate to the position ③, and then rotates in the opposite direction to the preset angle to return to the position ①, and repeats this process to achieve a large range of sweeping. The preset angle is, for example, 90 degrees. In the process of rotating from position ① to position ②, the brush head rotates in one direction, that is, it does not reciprocate. Similarly, when rotating from position ② to position ① and from position ① to position ③, the brush head also rotates in one direction, and the brush head rotates at a constant speed, and the rotation trajectory is a smooth curve.

[0034] Please refer to Figure 2A , the vibration keeps the length of the bristle's motion trajectory unchanged. However, due to the simultaneous sweeping, the bristle's motion trajectory changes with the position of the brush head.

[0035] Figure 2B yes Figure 2A Schematic diagram of the relative position of the brush head when the electric toothbrush is sweeping. Please refer to Figure 2B , the ordinate is the relative position of the brush head, and the abscissa is time. Figure 1B The direction of the bristle surface of the brush head changes periodically, and the movement trajectory of the brush head is smooth, and the position of the movement trajectory of the brush head changes periodically.

[0036] However, although the combination of sweeping and vibration can improve the cleaning power of teeth to a certain extent. However, the oral conditions of different users are different, and the sanitary dead corners that are not easy to clean are different. Moreover, even for the same user, the dental conditions in different areas are different, and the cleaning dead corners of teeth in different areas are different. Among them, the different oral conditions of different users refer to: different users have different numbers of teeth, different sizes, health conditions or tooth shapes. The different dental conditions in different areas mean that, for example, for the same user, the size and shape of the chewing teeth and incisors are different. The traditional electric toothbrush that realizes the combination of sweeping and vibration according to a preset trajectory has a single sweeping and vibration form, and the sweeping is uniform. It cannot adapt to different oral conditions to be cleaned, and the cleaning effect is poor.

[0037] Based on this, the embodiments of the present application provide a control method and device for an electric toothbrush, an electric toothbrush and a readable storage medium, which perform double sweeping while vibrating to adapt to different oral conditions, thereby achieving the purpose of improving the cleaning effect.

[0038] Figure 3 Schematic diagram of an electric toothbrush provided in an embodiment of the present application. Figure 3The electric toothbrush provided in the embodiment of the present application includes a grip portion 31 and a cleaning head 32, and the cleaning head 32 is detachably connected to the grip portion 31. The cleaning head 32 is a device capable of cleaning the oral cavity, such as a toothbrush head, a rinse head, or an integrated rinse head. The grip portion 31 includes a housing, and a control unit, a power unit, a battery, etc., which are at least partially arranged in the housing. The grip portion 31 may also include a liquid storage tank. The battery source is, for example, a rechargeable battery, a storage battery, etc.

[0039] In order to facilitate the user to hold, the housing is shaped like an elongated cylinder. The cross-section of the housing can be circular or non-circular (such as D-shaped, elliptical, polygonal, etc.). An interactive interface 33 is provided on the outer surface of the housing, and a plurality of buttons are provided on the interactive interface 33, such as a switch button for starting or shutting down the electric toothbrush, a mode button for switching different cleaning modes, a timer button for setting the brushing time, etc. The interactive interface 33 may also include a display screen or an indicator light.

[0040] The control unit includes a circuit board, a processor arranged on the circuit board, a memory for storing a driving program, and the like.

[0041] The power unit includes a motor and a connecting member. The motor is, for example, a servo motor. The central axis of the motor shaft of the servo motor coincides with or is parallel to the central line of the housing. The motor shaft of the servo motor passes through the top of the housing and is connected to the cleaning head 32 (such as a toothbrush head, an integrated flushing head, or other accessories with bristles) to drive the cleaning head 32 to perform oral cleaning operations in the oral area to be cleaned.

[0042] In the embodiment of the present application, after the control unit of the electric toothbrush obtains the trigger instruction, under the control of the control unit, it draws power from the battery to drive the motor shaft of the power unit, and controls the motor shaft of the power unit to perform the first cleaning motion while performing the second cleaning motion, so that the motor shaft drives the cleaning head to perform the cleaning motion. The first cleaning motion includes the first motion and the second motion that are performed alternately.

[0043] The cleaning head 32 is in contact with the oral region to be cleaned. When the motor shaft of the power unit moves, the cleaning head 32 is driven by the motor shaft of the power unit to perform an oral cleaning operation on the oral region to be cleaned.

[0044] Understandably, Figure 3 The structure of the electric toothbrush shown in the figure is not limiting, and the electric toothbrush may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently.

[0045] Below, based on Figure 3 The control method of the electric toothbrush described in the embodiment of the present application is described in detail. For example, please refer to Figure 4 .

[0046] Figure 4 : is a flow chart of a control method of an electric toothbrush provided in an embodiment of the present application. This embodiment includes:

[0047] 401. Obtain a trigger instruction, where the trigger instruction is used to instruct the motor shaft of the electric toothbrush to move.

[0048] In the embodiment of the present application, the trigger instruction is used to instruct the motor shaft of the electric toothbrush to perform the first cleaning motion and the second cleaning motion at the same time. For the sake of clarity, the working mode in which the motor shaft performs the first cleaning motion and the second cleaning motion at the same time is referred to as the target mode. The user can flexibly send the trigger instruction to the electric toothbrush.

[0049] In one way, please refer to Figure 3 , an interactive interface is provided on the casing of the electric toothbrush, and a button is provided on the interactive interface, and the user sends a trigger instruction to the electric toothbrush by pressing the button. For example, the electric toothbrush enters the target mode by default after startup, so the user presses the switch button to send a trigger instruction to the electric toothbrush. The electric toothbrush enters the target mode after obtaining the trigger instruction. For another example, the working modes of the electric toothbrush include a vibration mode, a sweep-vibration integrated mode, and a target mode, and switching between different working modes can be achieved by pressing a mode button. The user is currently using an electric toothbrush for oral cleaning, and the current cleaning mode is a sweep-vibration integrated cleaning mode. The user presses the mode button to switch to the target mode. The working mode of the electric toothbrush may also include a rotation mode. In the rotation mode, the motor shaft is controlled to rotate 360 ​​degrees with its central axis as the rotation centerline.

[0050] In another method, an electric toothbrush application (applicant, APP) is installed on a mobile terminal such as a user's mobile phone. The user pre-sets the time for the electric toothbrush to enter the target mode and starts a timer. When the timer times out, the mobile terminal sends a trigger instruction to the electric toothbrush to trigger the electric toothbrush to enter the target mode.

[0051] In another method, the sensor unit in the electric toothbrush recognizes that the cleaning head has been placed on the oral cavity to be cleaned, and the electric toothbrush automatically generates a trigger instruction and enters the target mode after receiving the trigger instruction.

[0052] 402. In response to the trigger instruction, the motor shaft is controlled to perform a first cleaning motion while performing a second cleaning motion, the first cleaning motion including alternatingly performing a first motion and a second motion, the first motion refers to the motor shaft rotating about a first axis as a rotation center along a first direction by a first angle, the second motion refers to the motor shaft rotating about a first axis as a rotation center along a second direction by a second angle, the first direction and the second direction are opposite, the first angle and the second angle are different, and the second cleaning motion refers to the vibration of the motor shaft.

[0053] After the electric toothbrush obtains the trigger instruction, it responds to the trigger instruction. During the response process, under the control of the control unit, the electric toothbrush draws power from the battery to drive the motor shaft of the power unit, and controls the motor shaft of the power unit to perform the first cleaning movement while performing the second cleaning movement, so that the motor shaft drives the cleaning head to perform the cleaning movement. The first cleaning movement includes the first movement and the second movement that are performed alternately.

[0054] In the embodiment of the present application, the cleaning head performs an oral cleaning operation on the oral cavity to be cleaned under the drive of the first movement and the second movement of the motor shaft. The action of the cleaning head driven by the first movement and the second movement of the motor shaft can be regarded as a reciprocating motion, and a reciprocating motion is a small sweep. Since the first movement and the second movement are performed alternately and multiple times, the motor shaft drives the cleaning head to perform multiple reciprocating motions, that is, multiple small sweeps. Moreover, since the first angle of rotation when the motor shaft performs the first movement and the second angle of rotation when the motor shaft performs the second movement are opposite and different in direction, the cleaning head will rotate a certain angle each time it performs a reciprocating motion, that is, it will rotate a certain angle each time it performs a small sweep. Multiple reciprocating motions are superimposed to form a large sweep. The large sweep and the small sweep are referred to as double sweeps below. The electric toothbrush vibrates while performing a double sweep, and a strong cleaning force is generated based on the vibration. The cleaning time of the current position is increased by a small sweep, thereby strongly cleaning the current position, and the purpose of covering more area is achieved by a large sweep.

[0055] Optionally, in the above embodiment, the first axis is the central axis in the length direction of the motor shaft, or the first axis is an axis parallel to the central axis.

[0056] Please refer to Figure 3 , the central axis of the motor shaft coincides with or is parallel to the central line of the housing, the motor shaft passes through the top of the housing and is connected to the cleaning head to drive the cleaning head to perform an oral cleaning operation in the oral area to be cleaned. The first movement refers to the motor shaft rotating by a first angle along a first direction with the first axis as the rotation center, and the second movement refers to the motor shaft rotating by a second angle along a second direction with the first axis as the rotation center. Since the central axis of the motor shaft coincides with or is parallel to the central line of the housing, the first axis coincides with or is parallel to the central line of the housing.

[0057] By adopting this solution, the first axis coincides with or is parallel to the axis in the length direction of the motor shaft, thereby achieving the purpose of flexibly setting the first axis.

[0058] In the embodiment of the present application, the cleaning head realizes dual sweeping while vibrating under the drive of the motor shaft, and the cleaning head is shown as: a staccato rotation. For example, please refer to Figure 5A and Figure 5B .

[0059] Figure 5A It is a schematic diagram of the reciprocating motion of the cleaning head in the control method of the electric toothbrush provided in an embodiment of the present application. Figure 5B yes Figure 5A Schematic diagram of the corresponding motion trajectory.

[0060] Please refer to Figure 5A Assuming that the first angle is greater than the second angle, the trajectory of the cleaning head driven by the first movement of the motor shaft is shown as trajectory 51, and the trajectory of the cleaning head driven by the second movement of the motor shaft is shown as trajectory 52.

[0061] Figure 5A In order to clearly illustrate the track 51 and the track 52, the track 51 and the track 52 are staggered. In practice, the track 51 and the track 52 are on the same curve. Figure 5B shown.

[0062] In the traditional sweeping and vibration integrated solution, as shown in Figure 2, the cleaning head smoothly rotates from position ① to position ②, then smoothly rotates in the opposite direction to the initial position ①, and then smoothly rotates to position ③. After that, it rotates in the opposite direction again... and the cycle continues. During the cycle, the cleaning head maintains vibration while rotating smoothly. Figure 5A and Figure 5B It can be seen that compared with the traditional sweeping and vibrating integrated solution, in the embodiment of the present application, during the rotation process of the electric toothbrush from position ① to position ②, the cleaning head maintains vibration, that is, while maintaining the second cleaning motion, it rotates from position ① to position ② through multiple reciprocating motions, that is, the process of rotating from position ① to position ② is not a one-way rotation, but a superposition of multiple reciprocating motions, and the first angle is greater than the second angle. The cleaning head is presented as: the bristle surface reciprocates multiple times and rotates from position ① to position ② in a jerky manner.

[0063] After the cleaning head rotates from position ① to position ②, the first angle and the second angle are changed so that the second angle is greater than the first angle. The cleaning head rotates from position ① to position ②. After rotating from position ② to position ①, the same rotation method is continued, that is, the motor shaft performs the first cleaning movement while performing the second cleaning movement, driving the cleaning head to rotate from position ① to position ③. After that, the first angle and the second angle are adjusted, and this process is repeated to complete the oral cleaning operation.

[0064] The above positions ② and ③ are symmetrical with respect to position ①, however, the present application embodiment is not limited thereto. In other feasible implementations, positions ② and ③ may also be asymmetrical.

[0065] The control method of the electric toothbrush provided in the embodiment of the present application is that after the electric toothbrush obtains a trigger instruction instructing the motor shaft of the electric toothbrush to perform a movement, in response to the trigger instruction, the motor shaft of the electric toothbrush is controlled to perform a first cleaning movement and a second cleaning movement at the same time, the first cleaning movement includes a first movement and a second movement performed alternately, the first movement refers to the motor shaft rotating a first angle along a first direction with a first axis as the rotation center, the second movement refers to the motor shaft rotating a second angle along a second direction with the first axis as the rotation center, the first direction and the second direction are opposite, the first angle and the second angle are different, and the second cleaning movement refers to the vibration of the motor shaft. With this scheme, the motor shaft performs a reciprocating motion to drive the cleaning head to perform a small sweep, the motor shaft performs multiple reciprocating motions to drive the cleaning head to perform multiple small sweeps, and the multiple small sweeps are superimposed to form a large sweep, so that the cleaning head vibrates and performs a double sweep at the same time, and a strong cleaning force is generated based on the vibration, and the cleaning time of the current position is increased by the small sweep, so as to strongly clean the current position, and more areas are covered by the large sweep, so as to adapt to various oral conditions and achieve the purpose of improving the cleaning effect.

[0066] Optionally, in the above embodiment, in response to the trigger instruction, the electric toothbrush controls the motor shaft to perform the first cleaning movement and the second cleaning movement at the same time, and controls the motor shaft to perform the first movement and the second movement alternately between the first extreme position and the second extreme position from the initial position and perform the second cleaning movement at the same time. When the motor shaft performs the first cleaning movement toward the first extreme position and the first direction points to the first extreme position, the first angle is greater than the second angle, and when the motor shaft performs the first cleaning movement toward the second extreme position and the first direction points to the first extreme position, the first angle is less than the second angle.

[0067] Figure 6 This is a schematic diagram of the position of the cleaning head at the extreme position in the control method of the electric toothbrush provided in the embodiment of the present application. Figure 6, when the motor shaft is in the initial position, the position of the cleaning head is shown in position ① in the figure. When the motor shaft is in the first limit position and the second limit position, the position of the cleaning head is shown in position ② and position ③ in the figure respectively. When the first limit position and the second limit position are symmetrical with respect to the initial position of the motor shaft, position ② and position ③ are symmetrical with respect to position ①. If the angle between position ② and position ① is too large, such as 90 degrees or even larger, it is very likely that the cleaning head will not contact the teeth in the oral cavity to be cleaned, reducing the cleaning efficiency and increasing the discomfort. If the angle between position ② and position ① is too small, the area covered during the oral cleaning operation is too small, and the cleaning quality is not high. To this end, the first limit position and the second limit position must ensure that when the cleaning head is in position ② and position ③, the bristle surface of the cleaning head can fully contact the oral cavity to be cleaned, and can ensure that a larger area is covered during the rotation of the cleaning head. The first angle, the second angle, the first limit position, and the second limit position can be customized by the user to meet the user's oral cleaning needs.

[0068] When the motor shaft vibrates and performs the first cleaning motion from the initial position toward the first limit position, the first angle of rotation of the motor shaft when performing the first motion is opposite to the second angle of rotation of the motor shaft when performing the second motion, and the first angle is greater than the second angle. While the cleaning head keeps vibrating, it performs multiple reciprocating motions from position ① driven by the motor shaft. After multiple reciprocating motions, when the motor shaft reaches the first limit position, the cleaning head rotates to position ②.

[0069] Afterwards, the motor shaft keeps the first direction pointing to the first limit position unchanged, the first angle and the second angle are in opposite directions, and the first angle and the second angle are adjusted so that the second angle is greater than the first angle, and after multiple reciprocating motions, the initial position and the second limit position are reached in sequence. While the cleaning head keeps vibrating, it performs multiple reciprocating motions starting from position ② driven by the motor shaft. After multiple reciprocating motions, when the motor shaft reaches the initial position, the cleaning head rotates to position ①, and when the motor shaft reaches the second limit position, the cleaning head rotates to position ③.

[0070] Afterwards, the motor shaft keeps the first direction pointing to the first limit position unchanged, the first angle and the second angle are in opposite directions, and the first angle and the second angle are adjusted so that the first angle is greater than the second angle. The motor shaft reaches the initial position and the first limit position in sequence after multiple reciprocating motions. While the cleaning head keeps vibrating, it performs multiple reciprocating motions starting from position ③ driven by the motor shaft. After multiple reciprocating motions, when the motor shaft reaches the initial position, the cleaning head rotates to position ①. When the motor shaft reaches the first limit position, the cleaning head rotates to position ②.

[0071] The electric toothbrush continues to control the movement of the motor shaft and drives the cleaning head to move until the oral cleaning operation is stopped or the target mode is exited.

[0072] Figure 7 This is a schematic diagram of the relative position of the cleaning head during double sweeping + vibration in the control method of the electric toothbrush provided in the embodiment of the present application. Figure 2B , the ordinate is the relative position of the brush head, and the abscissa is time. The cleaning head reciprocates multiple times so as to reach the limit position from the initial position one by one.

[0073] By adopting this solution, the electric toothbrush controls the motor shaft to perform the first movement and the second movement alternately between the first extreme position and the second extreme position from the initial position while performing the second cleaning movement, thereby ensuring that the cleaning head will not be out of contact with the oral cavity to be cleaned, and ensuring that a larger area is covered during the rotation of the cleaning head, thereby achieving the purpose of improving cleaning efficiency and cleaning quality.

[0074] Optionally, in the above embodiment, in one manner, the initial position is the position of the motor shaft when the cleaning head of the electric toothbrush is parallel to the interactive interface of the electric toothbrush.

[0075] Please refer to Figure 6 , when the cleaning head is in position ①, the bristle surface of the cleaning head faces the user, and the bristle surface of the cleaning head is parallel or approximately parallel to the interactive interface of the electric toothbrush, and the direction of the bristle surface is the same as the direction of the interactive interface. The position of the motor shaft of the electric motor when the cleaning head is in position ① is called the initial position. In this way, in the target mode, the first extreme position and the second extreme position are symmetrical and the angle between them is the largest. Correspondingly, from the perspective of the cleaning head, position ② and position ③ are symmetrical and the angle between them is the largest.

[0076] In this method, after the electric toothbrush obtains the trigger instruction, it detects whether the cleaning head is parallel to the interactive interface of the electric toothbrush. If the cleaning head is parallel to the interactive interface of the electric toothbrush, it means that the motor shaft is currently located at the initial position, and the electric toothbrush starts from the initial position and performs the first movement and the second movement alternately between the first extreme position and the second extreme position while performing the second cleaning movement. If the cleaning head is not parallel to the interactive interface of the electric toothbrush, it means that the motor shaft is not currently located at the initial position, and the electric toothbrush controls the motor shaft to rotate, and the rotation of the motor shaft drives the cleaning head to rotate. When the cleaning head is parallel to the interactive interface of the electric toothbrush, the first movement and the second movement are performed alternately between the first extreme position and the second extreme position while performing the second cleaning movement.

[0077] In another embodiment, the initial position includes the position of the motor shaft after acquiring the trigger instruction and before responding to the trigger instruction.

[0078] For example, after the electric toothbrush obtains the trigger instruction, the cleaning head may be currently in position ① or in other positions. The position of the motor shaft of the motor when the cleaning head is in the current position is called the initial position.

[0079] In this way, after the electric toothbrush obtains the trigger instruction, it does not need to detect whether the cleaning head and the interactive interface of the electric toothbrush are parallel, but directly starts to perform double sweeping + vibration from the current position. For example, the current position of the cleaning head is position ②, then while the cleaning head keeps vibrating, it is driven by the motor shaft to perform multiple reciprocating motions starting from position ②, and after multiple reciprocating motions when the motor shaft reaches the initial position, the cleaning head rotates to position ①. The motor shaft continues to perform multiple reciprocating motions, and when the motor shaft reaches the second extreme position, the cleaning head rotates to position ③. Obviously, compared with the above-mentioned scheme of detecting whether the interactive interface of the cleaning head and the electric toothbrush is parallel, this scheme omits the step of forcibly rotating the motor shaft before performing double sweeping + vibration to make the interactive interface of the cleaning head and the electric toothbrush parallel.

[0080] With this solution, the initial position can be the position of the motor shaft when the cleaning head is parallel to the interaction plane of the electric toothbrush, or it can be the current position of the motor shaft when the motor obtains the trigger instruction to enter the target mode, which is highly flexible.

[0081] Optionally, in the above embodiment, the angle between the first extreme position and the second extreme position is less than or equal to 60 degrees; and / or the difference between the first angle and the second angle is less than or equal to 5 degrees.

[0082] Please refer to Figure 6 , when the motor shaft is at the first extreme position, the cleaning head is at position ②, when the motor shaft is at the second extreme position, the cleaning head is at position ③, when the motor shaft is at the initial position, the cleaning head is at position ①, and the cleaning head moves driven by the motor shaft. Therefore, the angle between the first extreme position and the second extreme position is equivalent to the angle between position ② and position ③. If the angle between position ② and position ③ is too large, such as 90 degrees or even larger, it is very likely that the cleaning head will not contact the teeth in the mouth to be cleaned, reducing the cleaning efficiency and increasing the discomfort. If the angle between position ② and position ① is too small, the area covered during the oral cleaning operation is too small, resulting in poor cleaning quality. For this reason, in the embodiment of the present application, the angle between the first extreme position and the second extreme position should be reasonably set, such as less than or equal to 60 degrees.

[0083] In the embodiment of the present application, the cleaning head will rotate a certain angle each time it performs a reciprocating motion, that is, it will rotate a certain angle each time it performs a small sweep. Multiple reciprocating motions are superimposed to form a large sweep. The angle between the first extreme position and the second extreme position reflects the coverage of the large sweep. The user can set the angle between the first extreme position and the second extreme position through the setting interface on the APP, for example, to 50°, 55°, etc., with a maximum of no more than 60 degrees.

[0084] In the embodiment of the present application, the first angle is used to characterize the amplitude of the first motion, and the second angle is used to characterize the amplitude of the second motion. The smaller the difference between the first angle and the second angle, the more reciprocating motions the motor shaft makes in the process of rotating from the initial position to the first extreme position, and the longer the time it takes. Correspondingly, the more reciprocating motions the cleaning head makes in the process of rotating from position ① to position ②, the longer the time it takes, and the relatively stronger the cleaning force. The larger the difference between the first angle and the second angle, the less reciprocating motions the motor shaft makes in the process of rotating from the initial position to the first extreme position, the shorter the time it takes, and the relatively weaker the cleaning force. Correspondingly, the less reciprocating motions the cleaning head makes in the process of rotating from position ① to position ②, the shorter the time it takes, and the relatively weaker the cleaning force. In order to take into account both cleaning efficiency and cleaning force, the difference between the first angle and the second angle in the embodiment of the present application is less than or equal to 5 degrees.

[0085] By adopting this solution, the angle between the first extreme position and the second extreme position is controlled within 60 degrees, and the difference between the first angle and the second angle is controlled within 5 degrees, thereby achieving the purpose of improving cleaning efficiency while taking into account the cleaning coverage area and cleaning intensity.

[0086] Optionally, in the above embodiment, before the electric toothbrush obtains the trigger instruction, it also obtains the calibration instruction. In response to the calibration instruction, the motor shaft is controlled to stop moving so that the motor shaft rotates around the central axis of the motor shaft under the action of the external force. Afterwards, the electric toothbrush controls the motor shaft to rotate; when the cleaning head of the electric toothbrush is parallel to the interactive interface of the electric toothbrush, the current position of the motor shaft is determined to be the initial position.

[0087] Exemplarily, if the initial position is the position of the motor shaft when the cleaning head is parallel to the interactive plane of the electric toothbrush, the electric toothbrush needs to be calibrated before it leaves the factory. During the calibration process, a calibration instruction is sent to the electric toothbrush through a calibration device. The calibration device is, for example, a production line computer. Or a calibration instruction is provided in the electric toothbrush program, and a long press of the button enters the calibration mode. After the control unit of the electric toothbrush obtains the calibration instruction, it controls the motor shaft to stop moving under the control of the control unit, that is, it no longer draws power from the battery to move the motor shaft. Afterwards, the motor shaft rotates around the central axis under the action of manual or external force of the calibration instrument. When the motor shaft rotates so that the cleaning head is parallel to the interactive interface of the electric toothbrush, and the bristle surface of the electric toothbrush and the interactive interface are on the same side of the electric toothbrush, the current position of the motor shaft is used as the initial position.

[0088] By adopting this solution, the motor shaft is calibrated to ensure that the initial position is the position of the motor shaft when the cleaning head is parallel or approximately parallel to the interactive interface of the electric toothbrush, thereby achieving the purpose of accurately calibrating the motor shaft of the electric toothbrush, thereby achieving the purpose of improving oral cleaning efficiency and cleaning quality.

[0089] Optionally, in the above embodiment, the frequency range of the motor shaft vibration is 100 Hz to 700 Hz.

[0090] In the embodiment of the present application, the small-amplitude high-frequency swing is vibration. If the vibration frequency is too high, it may damage the teeth or gums, etc.; if the vibration frequency is too low, the cleaning quality is poor. In the embodiment of the present application, by setting the vibration frequency between 100 Hz and 700 Hz, the purpose of improving the oral cleaning quality and protecting the oral cavity is achieved.

[0091] The following are device embodiments of the present application, which can be used to execute the method embodiments of the present application. For details not disclosed in the device embodiments of the present application, please refer to the method embodiments of the present application.

[0092] Figure 8 A schematic diagram of a control device for an electric toothbrush provided in an embodiment of the present application. The control device 800 for an electric toothbrush comprises: an acquisition module 81 and a processing module 82 .

[0093] An acquisition module 81 is used to acquire a trigger instruction, wherein the trigger instruction is used to instruct the motor shaft of the electric toothbrush to perform a movement;

[0094] The processing module 82 is used to control the motor shaft to perform a first cleaning motion and a second cleaning motion simultaneously in response to the trigger instruction, wherein the first cleaning motion includes alternatingly performing a first motion and a second motion, wherein the first motion refers to the motor shaft rotating by a first angle along a first direction with the first axis as the rotation center, and the second motion refers to the motor shaft rotating by a second angle along a second direction with the first axis as the rotation center, the first direction and the second direction are opposite, the first angle and the second angle are different, and the second cleaning motion refers to the vibration of the motor shaft.

[0095] In a feasible implementation, the processing module 82 is used to control the motor shaft to perform the first movement and the second movement alternately between the first extreme position and the second extreme position while performing the second cleaning movement starting from the initial position in response to the trigger instruction; when the motor shaft performs the first cleaning movement toward the first extreme position and the first direction points to the first extreme position, the first angle is greater than the second angle; when the motor shaft performs the first cleaning movement toward the second extreme position and the first direction points to the first extreme position, the first angle is less than the second angle.

[0096] In a feasible implementation, the initial position is the position of the motor shaft when the cleaning head of the electric toothbrush is parallel to the interactive interface of the electric toothbrush, or

[0097] The initial position includes the position of the motor shaft after acquiring the trigger instruction and before responding to the trigger instruction.

[0098] In a feasible implementation, the angle between the first extreme position and the second extreme position is less than or equal to 60 degrees; and / or the difference between the first angle and the second angle is less than or equal to 5 degrees.

[0099] In a feasible implementation, the first axis is the central axis in the length direction of the motor shaft; or, the first axis is an axis parallel to the central axis.

[0100] In a feasible implementation, the processing module 82 is also used to obtain a calibration instruction before the acquisition module 81 obtains the trigger instruction; in response to the calibration instruction, the motor shaft is controlled to stop moving so that the motor shaft rotates around the central axis of the motor shaft under the action of external force; the motor shaft is controlled to rotate; when the cleaning head of the electric toothbrush is parallel to the interactive interface of the electric toothbrush, the current position of the motor shaft is determined to be the initial position.

[0101] In a feasible implementation, the frequency range of the motor shaft vibration is 100 Hz to 700 Hz.

[0102] The control device of the electric toothbrush provided in the embodiment of the present application can execute the actions of the electric toothbrush in the above-mentioned embodiment. Its implementation principle and technical effect are similar and will not be repeated here.

[0103] An embodiment of the present application further provides a computer-readable storage medium, in which computer instructions are stored. When the computer instructions are executed by a processor, they are used to implement the control method of the electric toothbrush as described above.

[0104] An embodiment of the present application also provides a computer program product, which includes a computer program. When the computer program is executed by a processor, the control method of the electric toothbrush as described above is implemented.

[0105] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0106] The present application is described with reference to the flowchart and / or block diagram of the method, device (system) and computer program product according to the embodiment of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, and the combination of the process and / or box in the flowchart and / or block diagram can be realized by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device produce a device for realizing the function specified in one process or multiple processes in the flowchart and / or one box or multiple boxes in the block diagram.

[0107] These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer-readable memory produce a manufactured product including an instruction device that implements the functions specified in one or more processes in the flowchart and / or one or more boxes in the block diagram.

[0108] These computer program instructions may also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, whereby the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in one or more processes in the flowchart and / or one or more boxes in the block diagram.

[0109] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0110] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0111] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0112] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0113] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included within the scope of the claims of the present application.

Claims

1. A control method for an electric toothbrush, characterized in that: include: Obtaining a trigger instruction, wherein the trigger instruction is used to instruct the motor shaft of the electric toothbrush to perform movement; In response to the trigger instruction, the motor shaft is controlled to perform a first cleaning motion while performing a second cleaning motion, the first cleaning motion including alternatingly performing a first motion and a second motion, the first motion refers to the motor shaft rotating by a first angle in a first direction with a first axis as the rotation center, the second motion refers to the motor shaft rotating by a second angle in a second direction with the first axis as the rotation center, the first direction and the second direction are opposite, the first angle and the second angle are different, and the second cleaning motion refers to the vibration of the motor shaft.

2. The method according to claim 1, characterized in that: In response to the trigger instruction, controlling the motor shaft to perform the first cleaning motion and the second cleaning motion at the same time comprises: In response to the trigger instruction, controlling the motor shaft to perform the first movement and the second movement alternately between the first extreme position and the second extreme position from the initial position while performing the second cleaning movement; When the motor shaft performs a first cleaning motion toward the first extreme position and the first direction points to the first extreme position, the first angle is greater than the second angle; When the motor shaft performs a first cleaning motion toward a second extreme position and the first direction points to the first extreme position, the first angle is smaller than the second angle.

3. The method according to claim 2, characterized in that The initial position is the position of the motor shaft when the cleaning head of the electric toothbrush is parallel to the interactive interface of the electric toothbrush, or The initial position includes the position of the motor shaft after acquiring the trigger instruction and before responding to the trigger instruction.

4. The method according to claim 2, characterized in that: The angle between the first extreme position and the second extreme position is less than or equal to 60 degrees; And / or, the difference between the first angle and the second angle is less than or equal to 5 degrees.

5. The method according to any one of claims 1 to 4, characterized in that: The first axis is the central axis in the length direction of the motor shaft; or, The first axis is an axis parallel to the central axis.

6. The method according to any one of claims 1 to 4, characterized in that: Before obtaining the trigger instruction, the method further includes: Get calibration instructions; In response to the calibration instruction, controlling the motor shaft to stop moving so that the motor shaft rotates around the central axis of the motor shaft under the action of an external force; Controlling the motor shaft to rotate; When the cleaning head of the electric toothbrush is parallel to the interactive interface of the electric toothbrush, the current position of the motor shaft is determined as the initial position.

7. The method according to any one of claims 1 to 4, characterized in that: The frequency range of the motor shaft vibration is 100 Hz to 700 Hz.

8. A control device for an electric toothbrush, characterized in that: include: An acquisition module, used for acquiring a trigger instruction, wherein the trigger instruction is used for instructing the motor shaft of the electric toothbrush to perform a movement; A processing module is used to control the motor shaft to perform a first cleaning motion and a second cleaning motion simultaneously in response to the trigger instruction, wherein the first cleaning motion includes alternatingly performing a first motion and a second motion, wherein the first motion refers to the motor shaft rotating by a first angle along a first direction with a first axis as a rotation center, and the second motion refers to the motor shaft rotating by a second angle along a second direction with the first axis as a rotation center, wherein the first direction and the second direction are opposite, and the first angle and the second angle are different, and the second cleaning motion refers to the vibration of the motor shaft.

9. An electric toothbrush comprising a grip, a control unit at least partially accommodated in the grip, a power unit, and a cleaning head connected to a motor shaft of the power unit; The control unit is used to obtain a trigger instruction, and the trigger instruction is used to instruct the motor shaft of the electric toothbrush to perform a movement; The control unit is further used to control the motor shaft of the power unit to perform a first cleaning motion and a second cleaning motion at the same time, so that the motor shaft drives the cleaning head to perform a cleaning motion, the first cleaning motion includes a first motion and a second motion that are performed alternately, the first motion refers to the motor shaft rotating a first angle in a first direction with a first axis as a rotation center, the second motion refers to the motor shaft rotating a second angle in a second direction with the first axis as a rotation center, the first direction and the second direction are opposite, the first angle and the second angle are different, and the second cleaning motion refers to the vibration of the motor shaft; 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 motor shaft of the power unit.

10. 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 7 is implemented.

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