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

Abstract

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

Description

Technical Field

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

[0002] The vibration motor used in current care equipment such as electric toothbrushes has a low vibration intensity, and although it can achieve reciprocating vibration, it cannot perform large-scale reciprocating sweeping vibration (or pendulum vibration) around the axial direction of the motor shaft, and thus cannot fully clean the oral cavity, resulting in poor cleaning effect. Summary of the invention

[0003] The purpose of the present invention is to provide a motor movement method, device, equipment, medium and program product for a nursing device, which is used to solve the problem that the motor vibration intensity and sweeping amplitude of the current nursing device are small, and thus the oral cavity cannot be fully cleaned, resulting in poor cleaning effect.

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

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

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

[0007] The first drive signal and the second drive signal are sent to the motor in the same cycle.

[0008] Optionally, the mode start signal is used to indicate that the motor is in a sweeping mode;

[0009] The control parameter corresponding to the forward rotation of the motor changes within a preset parameter range, and the control parameter corresponding to the reverse rotation of the motor changes within a preset parameter range, including:

[0010] The control parameter corresponding to controlling the forward rotation of the motor changes back and forth in a first periodic manner within the preset parameter range, and the control parameter corresponding to controlling the reverse rotation of the motor changes back and forth in a second periodic manner within the preset parameter range;

[0011] Among them, the first periodicity includes one of first from large to small and then from small to large based on a preset difference and first from small to large and then from large to small based on the preset difference, and the second periodicity includes the other of first from small to large and then from large to small based on the preset difference and first from large to small and then from small to large based on the preset difference.

[0012] Optionally, during the change of the control parameter, the sum of the control parameter corresponding to the forward rotation of the motor and the control parameter corresponding to the reverse rotation of the motor remains unchanged.

[0013] Optionally, the method further comprises:

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

[0015] Among them, the control parameter corresponding to controlling the forward rotation of the motor presents a first periodic back-and-forth change within the preset parameter range, and the control parameter corresponding to controlling the reverse rotation of the motor presents a second periodic back-and-forth change within the preset parameter range, including:

[0016] The control parameter corresponding to controlling the forward rotation of the motor first changes in the first periodic manner to one end value of the preset parameter range with the initial parameter as the starting point within the preset parameter range, and then changes back and forth in the first periodic manner with one end value of the preset parameter range as the starting point; at the same time, the control parameter corresponding to controlling the reverse rotation of the motor first changes in the second periodic manner to another end value of the preset parameter range with the initial parameter as the starting point within the preset parameter range, and then changes back and forth in the second periodic manner with the other end value of the preset parameter range as the starting point.

[0017] Optionally, the method further comprises:

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

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

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

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

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

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

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

[0025] Acquire a preset strategy, wherein the preset strategy includes one or more of a time strategy and a frequency strategy, wherein the time strategy is used to instruct the motor to move within a preset time, and the frequency strategy is used to instruct the motor to move at a preset change frequency;

[0026] Among them, the control parameter corresponding to controlling the forward rotation of the motor presents a first periodic back-and-forth change within the preset parameter range, and the control parameter corresponding to controlling the reverse rotation of the motor presents a second periodic back-and-forth change within the preset parameter range, including:

[0027] In the case where the preset strategy includes a time strategy, the control parameter corresponding to controlling the forward rotation of the motor within the preset parameter range at the preset time presents a first periodic back-and-forth change, and the control parameter corresponding to controlling the reverse rotation of the motor presents a second periodic back-and-forth change within the preset parameter range;

[0028] When the preset strategy includes a frequency strategy, the control parameter corresponding to controlling the forward rotation of the motor changes back and forth in a first periodic manner within the preset parameter range based on the preset change frequency, and the control parameter corresponding to controlling the reverse rotation of the motor changes back and forth in a second periodic manner within the preset parameter range based on the preset change frequency.

[0029] Optionally, the range value within the preset parameter range is greater than or equal to the first threshold and less than or equal to the second threshold;

[0030] When the control parameter is a duty cycle, the first threshold is greater than 0 and less than 100%, and the second threshold is greater than the first threshold and less than 100%.

[0031] Optionally, the mode start signal is used to indicate that the motor is in the vibration mode;

[0032] The control parameter corresponding to the forward rotation of the motor changes within a preset parameter range, and the control parameter corresponding to the reverse rotation of the motor changes within a preset parameter range, including:

[0033] The control parameters corresponding to the forward rotation of the motor and the control parameters corresponding to the reverse rotation of the motor are controlled to change simultaneously within a preset parameter range; wherein the control parameters corresponding to the forward rotation of the motor and the control parameters corresponding to the reverse rotation of the motor after the change are equal.

[0034] Optionally, when the control parameter is a duty cycle;

[0035] The control parameter corresponding to the forward rotation of the motor is controlled to change within a preset parameter range, and the control parameter corresponding to the reverse rotation of the motor is controlled to change within a preset parameter range, and a first drive signal corresponding to the forward rotation of the motor and a second drive signal corresponding to the reverse rotation of the motor are generated, including:

[0036] The duty cycle corresponding to the forward rotation of the motor is controlled to vary within a preset parameter range by a pulse width modulation controller, and the duty cycle corresponding to the reverse rotation of the motor is controlled to vary within a preset parameter range by the pulse width modulation controller, thereby generating a first drive signal corresponding to the forward rotation of the motor and a second drive signal corresponding to the reverse rotation of the motor.

[0037] Optionally, when the control parameter is voltage;

[0038] The control parameter corresponding to the forward rotation of the motor is controlled to change within a preset parameter range, and the control parameter corresponding to the reverse rotation of the motor is controlled to change within a preset parameter range, and a first drive signal corresponding to the forward rotation of the motor and a second drive signal corresponding to the reverse rotation of the motor are generated, including:

[0039] The voltage of the first power chip corresponding to the forward rotation of the motor is controlled by a digital-to-analog converter to vary within a preset parameter range. At the same time, the voltage of the second power chip corresponding to the reverse rotation of the motor is controlled by the digital-to-analog converter to vary within a preset parameter range, thereby generating a first drive signal corresponding to the forward rotation of the motor and a second drive signal corresponding to the reverse rotation of the motor.

[0040] The embodiment of the present invention further provides a motor motion device of a nursing device, comprising:

[0041] A first acquisition module, used for acquiring a mode start signal of a motor;

[0042] A first control module is used to control the control parameter corresponding to the forward rotation of the motor to change within a preset parameter range according to the mode start signal, and control the control parameter corresponding to the reverse rotation of the motor to change within a preset parameter range, so as to generate a first drive signal corresponding to the forward rotation of the motor and a second drive signal corresponding to the reverse rotation of the motor;

[0043] The first sending module is used to send the first driving signal and the second driving signal to the motor in the same cycle.

[0044] An embodiment of the present invention further provides a network device, comprising: a processor, a memory, and a program stored in the memory and executable on the processor, wherein the program, when executed by the processor, implements the motor movement method of the nursing device as described in any one of the above items.

[0045] An embodiment of the present invention further provides a readable storage medium, comprising: a program is stored on the readable storage medium, and when the program is executed by a processor, the steps of the motor movement method of the nursing device as described in any one of the above items are implemented.

[0046] An embodiment of the present invention further provides a computer program product, comprising computer instructions, which, when executed by a processor, implement the steps of the motor movement method for a nursing device as described in any one of the above items.

[0047] At least one of the above technical solutions of the present invention has the following beneficial effects:

[0048] In the above scheme, a motor movement method for nursing equipment is provided. According to the acquired mode start signal of the motor, the control parameter for controlling the forward rotation of the motor changes within the preset parameter range, and the control parameter for controlling the reverse rotation of the motor also changes within the preset parameter range, generating the first drive signal for the forward rotation and the second drive signal for the reverse rotation; then, within the same cycle, the first drive signal and the second drive signal are output bidirectionally to the motor of the nursing equipment to realize the motor movement, that is, the bidirectional output is effective within one cycle, the motor vibration intensity is greater, and the cleaning effect of the nursing equipment is better. In addition, the preset parameter range can be determined according to actual conditions. By changing the control parameters within the preset parameter range, not only can the motor be shaken back and forth at different amplitudes, that is, the motor can be shaken bidirectionally, but also the motor can be shaken back and forth at a large amplitude, so that the cleaning effect of the nursing equipment is better.

[0049] Among them, the control parameter is duty cycle or voltage.

[0050] When the control parameter is the duty cycle, the motor movement method of the nursing device controls the duty cycle of the motor forward rotation to change within the preset parameter range, and at the same time controls the duty cycle of the motor reverse rotation to change within the preset parameter range, generating the first drive signal for forward rotation and the second drive signal for reverse rotation; then in the same cycle, the first drive signal and the second drive signal are output bidirectionally to the motor of the nursing device to realize motor movement, that is, the bidirectional output is effective within one cycle, the motor vibration intensity is greater, and the cleaning effect of the nursing device is better. In addition, the preset parameter range can be determined according to actual conditions. By changing the duty cycle within the preset parameter range, not only can the motor be shaken back and forth at different amplitudes, that is, bidirectional shaking, be realized, but also the motor can be shaken back and forth at a large amplitude, so that the cleaning effect of the nursing device is better.

[0051] When the control parameter is voltage, the motor movement method of the nursing device starts the signal of the motor mode, controls the voltage of the motor to rotate forward and changes within the preset parameter range, and at the same time, controls the voltage of the motor to rotate reverse and changes within the preset parameter range, generating the first drive signal for forward rotation and the second drive signal for reverse rotation; then, in the same cycle, output the first drive signal and the second drive signal to the motor of the nursing device in both directions to realize the movement of the motor, that is, the two-way output is effective in one cycle, the motor vibration intensity is greater, and the cleaning effect of the nursing device is better. In addition, the preset parameter range can be determined according to the actual situation. By changing the voltage within the preset parameter range, not only can the motor be shaken back and forth at different amplitudes, but also the motor can be shaken back and forth at a large amplitude, so that the cleaning effect of the nursing device is better. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] Figure 1 A schematic diagram of a flow chart of a motor motion method of a nursing device according to an embodiment of the present invention;

[0053] Figure 2 This is one of the schematic diagrams of the motor motion circuit of the nursing device according to an embodiment of the present invention;

[0054] Figure 3 This is a second schematic diagram of a motor motion circuit of a nursing device according to an embodiment of the present invention;

[0055] Figure 4 A schematic diagram of waveforms corresponding to the motor sweeping mode of the nursing device according to an embodiment of the present invention;

[0056] Figure 5 A schematic diagram of a flow chart of a method for controlling motor motion according to a preset strategy according to an embodiment of the present invention;

[0057] Figure 6 The third schematic diagram of the motor motion circuit of the nursing device according to the embodiment of the present invention;

[0058] Figure 7 This is a fourth schematic diagram of a motor motion circuit of a nursing device according to an embodiment of the present invention;

[0059] Figure 8 It is a schematic diagram of the structure of the motor motion device of the nursing equipment according to an embodiment of the present invention. DETAILED DESCRIPTION

[0060] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0061] like Figure 1 As shown, an embodiment of the present invention provides a motor motion method for a nursing device, comprising:

[0062] Step S101, obtaining a mode start signal of a motor;

[0063] Step S102, according to the mode start signal, controlling the control parameter corresponding to the forward rotation of the motor to change within a preset parameter range, and controlling the control parameter corresponding to the reverse rotation of the motor to change within a preset parameter range, and generating a first drive signal corresponding to the forward rotation of the motor and a second drive signal corresponding to the reverse rotation of the motor;

[0064] Step S103: sending the first drive signal and the second drive signal to the motor in the same cycle.

[0065] In an embodiment of the present invention, the care device includes a care head and a motor, wherein the motor is connected to the care head, and when the motor is working, the motor drives the care head to do the same movement, for example, when the motor is in a sweeping vibration mode, the motor drives the care head to do a sweeping vibration movement. The care device may be, for example, an electric toothbrush, in which case the care head is a toothbrush head, and when the motor is working, the motor drives the toothbrush head to do the same movement.

[0066] An embodiment of the present invention provides a method for controlling the movement of a motor of a nursing device. According to the acquired mode start signal of the motor, the control parameters for controlling the forward rotation of the motor vary within a preset parameter range, and the control parameters for controlling the reverse rotation of the motor also vary within the preset parameter range, thereby generating the first drive signal for the forward rotation and the second drive signal for the reverse rotation; then, within the same cycle, the first drive signal and the second drive signal are bidirectionally output to the motor of the nursing device to realize the movement of the motor, that is, the bidirectional output is effective within one cycle, the motor vibration intensity is greater, and the cleaning effect of the nursing device is better. In addition, the preset parameter range can be determined according to actual conditions. By controlling the parameters to vary within the preset parameter range, the motor can be vibrated back and forth at different amplitudes, and the motor can be vibrated back and forth at large amplitudes, thereby achieving a better cleaning effect of the nursing device.

[0067] Among them, the control parameter is duty cycle or voltage.

[0068] When the control parameter is the duty cycle, the motor movement is achieved by adjusting the duty cycle, such as Figure 2As shown, the duty cycles of A-A1 and B-B1 are adjusted through the main control chip (System on Chip, SOC) within one cycle, and two drive signals are output through the drive chip (Microcontroller Unit, MCU) to achieve motor movement. Specifically, according to the mode start signal of the motor, the duty cycle of the motor forward rotation is controlled to change within a preset parameter range, and the duty cycle of the motor reverse rotation is also controlled to change within a preset parameter range, generating a first drive signal for the forward rotation of the motor and a second drive signal for the reverse rotation of the motor, and then in the same cycle, the first drive signal and the second drive signal are output bidirectionally to the motor of the nursing device at the same time to achieve motor movement.

[0069] Among them, when the forward drive signal is greater than the reverse drive signal, the motor rotates forward; when the reverse drive signal is greater than the forward drive signal, the motor reverses; when the forward drive signal is equal to the reverse drive signal, the motor does not rotate forward or reverse. In this embodiment, the bidirectional output drive signal is effective within one cycle, the motor vibration intensity is greater, and the preset parameter range can be determined according to actual conditions. By changing the duty cycle within the preset parameter range, reciprocating sweeps of different amplitudes can be achieved. Under large-amplitude reciprocating sweeps, the cleaning effect of the nursing equipment is better.

[0070] In addition, this embodiment realizes motor movement such as bidirectional sweeping vibration of the motor by changing the duty cycle. Compared with the method of changing the frequency, this embodiment is gentler when sweeping vibration with a large amplitude, eliminates or reduces the occurrence of teeth knocking, and has the advantage of a single adjustable sweeping vibration cycle.

[0071] It should be noted that the change of the duty cycle within the preset parameter range includes the values ​​of the two endpoints of the preset parameter range, and the values ​​of the two endpoints can be respectively called the first threshold and the second threshold. For example, if the preset parameter range is 5%-65%, it includes 5% and 65%.

[0072] It should also be noted that when the duty cycle of the motor forward rotation and / or the duty cycle of the motor reverse rotation is 0%, the motor does not vibrate, and when the duty cycle of the motor forward rotation and / or the duty cycle of the motor reverse rotation is 100%, the motor does not sweep.

[0073] When the control parameter is voltage, the motor movement is achieved by adjusting the voltage. Figure 3As shown, in one cycle, the voltage of the power chip in the two paths A-A1 and B-B1 is adjusted by the main control chip respectively, and two drive signals are output to realize the motor movement. Specifically, according to the mode start signal of the motor, the voltage of the motor forward rotation is controlled to change within the preset parameter range, and the voltage of the motor reverse rotation is also controlled to change within the preset parameter range, generating a first drive signal for the motor forward rotation and a second drive signal for the motor reverse rotation, and then in the same cycle, the first drive signal and the second drive signal are output bidirectionally to the motor of the nursing device to realize the motor movement. Among them, when the forward drive signal is greater than the reverse drive signal, the motor rotates forward; when the reverse drive signal is greater than the forward drive signal, the motor reverses; when the forward drive signal is equal to the reverse drive signal, the motor does not rotate forward or reverse. In this embodiment, the bidirectional output drive signal is effective within one cycle, the motor vibration intensity is greater, and the preset parameter range can be determined according to the actual situation. By changing the voltage within the preset parameter range, reciprocating sweeps of different amplitudes can be realized. Under large-scale reciprocating sweeps, the cleaning effect of the nursing device is better.

[0074] It should be noted that the change of voltage within the preset parameter range includes the values ​​of the two end points of the preset parameter range. For example, if the preset parameter range is 0v-5v, it includes 0v and 5v.

[0075] Optionally, the mode start signal is used to indicate that the motor is in a sweeping mode, which may also be referred to as a bidirectional sweeping mode in the embodiment of the present invention;

[0076] The control parameter corresponding to the forward rotation of the motor changes within a preset parameter range, and the control parameter corresponding to the reverse rotation of the motor changes within a preset parameter range, including:

[0077] The control parameter corresponding to controlling the forward rotation of the motor changes back and forth in a first periodic manner within the preset parameter range, and the control parameter corresponding to controlling the reverse rotation of the motor changes back and forth in a second periodic manner within the preset parameter range;

[0078] Among them, the first periodicity includes one of first from large to small and then from small to large based on a preset difference and first from small to large and then from large to small based on the preset difference, and the second periodicity includes the other of first from small to large and then from large to small based on the preset difference and first from large to small and then from small to large based on the preset difference.

[0079] That is to say, the second periodic reciprocating change is opposite to the first periodic reciprocating change. For example, when the first periodic reciprocating change is a reciprocating change from large to small and then from small to large based on the preset difference, the second periodic reciprocating change is a reciprocating change from small to large and then from large to small based on the preset difference.

[0080] In the embodiment of the present invention, when the motor is in the bidirectional sweeping mode, if the control parameter is the duty cycle, the preset parameter range can select two values ​​from 0%-100% to form a range, but it is not equal to 0% and 100%. For example, the preset parameter range can be 1%-99%, or 5%-65%, or a range formed by a combination of other values, which is not limited here; if the control parameter is voltage, the preset parameter range can be selected according to actual conditions, such as 0-8V, preferably 0-5V, or a range formed by a combination of other values. Among them, the two values ​​can be respectively called the first threshold and the second threshold, and the first threshold is less than the second threshold.

[0081] When the control parameter corresponding to the forward rotation of the motor is greater than the control parameter corresponding to the reverse rotation of the motor, the motor exhibits forward sweep vibration; when the control parameter corresponding to the reverse rotation of the motor is greater than the control parameter corresponding to the forward rotation of the motor, the motor exhibits reverse sweep vibration; by controlling the control parameter corresponding to the forward rotation of the motor to show a first periodic reciprocating change within a preset parameter range, and at the same time controlling the control parameter corresponding to the reverse rotation of the motor to show a second periodic reciprocating change within the preset parameter range, bidirectional sweep vibration of the motor in forward and reverse rotation is achieved.

[0082] Specifically, when the control parameter is the duty cycle, the preset parameter range is, for example, 5%-65%, and the preset difference is, for example, 5. If the duty cycle of the motor forward rotation changes from large to small within 65%-5% with the preset difference 5 and then changes from small to large within 5%-65%, then the duty cycle of the motor reverse rotation changes from small to large within 5%-65% with the preset difference 5 and then changes from large to small within 65%-5%. The duty cycles of the motor forward rotation and the motor reverse rotation change back and forth according to this rule, and finally the motor realizes the forward and reverse reciprocating sweeping vibration, so as to present the effect of bidirectional sweeping vibration of the motor. When the control parameter is voltage, similarly, the preset parameter range is, for example, 0-8V, and the preset difference is, for example, 2. If the duty cycle of the motor forward rotation changes from large to small within 8V-0V and then changes from small to large within 0V-8V with the preset difference 2, then the duty cycle of the motor reverse rotation changes from small to large within 0V-8V and then changes from large to small within 8V-0V with the preset difference 2. The voltages corresponding to the forward rotation of the motor and the reverse rotation of the motor change back and forth according to this rule, and finally the forward and reverse reciprocating sweeping vibration of the motor is realized to present the effect of bidirectional sweeping vibration of the motor.

[0083] like Figure 4 As shown, Figure 4It is a square waveform diagram corresponding to the duty cycle of forward and reverse rotation in the bidirectional sweeping mode of the motor when the control parameter is the duty cycle, wherein the duty cycle represented by waveform 1 decreases on both sides, and the duty cycle represented by waveform 2 increases on both sides, that is, the duty cycle represented by waveform 1 is first greater than the duty cycle represented by waveform 2, and then the duty cycle represented by waveform 1 changes to less than the duty cycle represented by waveform 2 and then changes to greater than the duty cycle represented by waveform 2. If the duty cycle represented by waveform 1 is the duty cycle of the motor forward rotation, and the duty cycle represented by waveform 2 is the duty cycle of the motor reverse rotation, then the actual scene is reflected in that the motor first sweeps forward, then sweeps reversely, and then sweeps forward, and then sweeps forward and reverse reciprocatingly according to this rule.

[0084] It can be understood that when the duty cycle of waveform 1 representing the forward rotation of the motor is greater than the duty cycle of waveform 2 representing the reverse rotation of the motor, the motor exhibits forward rotation sweep; when the duty cycle of waveform 1 representing the forward rotation of the motor is less than the duty cycle of waveform 2 representing the reverse rotation of the motor, the motor exhibits reverse rotation sweep.

[0085] It should be noted that the waveform corresponding to the motor first reverse sweep vibration, then forward sweep vibration, and then reverse sweep vibration is the same as Figure 4 On the contrary, no further details will be given here.

[0086] It should also be noted that the swing described in this article can be called sweeping, and the swing vibration can be called sweeping vibration, that is, the motor sweeping vibration can be called motor swing vibration. Among them, the motor movement includes one of motor sweeping, motor sweeping vibration and motor vibration, and the motor sweeping vibration includes one of motor unidirectional sweeping vibration and motor bidirectional sweeping vibration.

[0087] The preset difference refers to the difference between two adjacent control parameters during the change process. For example, if the control parameter is the duty cycle, the preset parameter range is 5%-65%, and the current duty cycle corresponding to the forward rotation of the motor is 10%. If the preset difference is 5, the duty cycle corresponding to the forward rotation of the motor after the change is 5% or 15%. If the preset difference is 1, the duty cycle corresponding to the forward rotation of the motor after the change is 9% or 11%. If the control parameter is voltage, the change process is similar. The smaller the preset difference, the smoother the motor and the care head will be during the sweeping process.

[0088] The present invention outputs two signals, a first drive signal corresponding to the forward rotation of the motor and a second drive signal corresponding to the reverse rotation of the motor, in two directions within one cycle. The motor vibration intensity is greater, and by controlling the periodic change of the parameters, the change of the rotation direction corresponding to the motor sweeping vibration can be achieved within half a cycle, thereby achieving a large-scale motor sweeping vibration and a better cleaning effect.

[0089] Optionally, during the change of the control parameter, the sum of the control parameter corresponding to the forward rotation of the motor and the control parameter corresponding to the reverse rotation of the motor remains unchanged.

[0090] In an embodiment of the present invention, in the motor bidirectional sweeping mode, the control parameters corresponding to the forward rotation of the motor and the control parameters corresponding to the reverse rotation of the motor need to show the same increase and decrease effect with a preset difference within the preset parameter range. Specifically, if the control parameter is a duty cycle, when the duty cycle of the forward rotation of the motor increases with a preset difference, the duty cycle of the reverse rotation of the motor decreases with a preset difference, and when the duty cycle of the forward rotation of the motor decreases with a preset difference, the duty cycle of the reverse rotation of the motor increases with a preset difference, that is, the change amount of the duty cycle of the forward rotation of the motor and the duty cycle of the reverse rotation of the motor always remain consistent, the change amount is the preset difference, and the sum of the duty cycle of the forward rotation of the motor and the duty cycle of the reverse rotation of the motor needs to be set to remain unchanged during the change process. For example, when the preset parameter range is 5%-65%, during the change process, the sum of the duty cycle of the forward rotation of the motor and the duty cycle of the reverse rotation of the motor are both 70%. For example, when the duty cycle of the forward rotation of the motor is 65%, the duty cycle of the reverse rotation of the motor is 5%. When the duty cycle of the forward rotation of the motor changes to 60%, the duty cycle of the reverse rotation of the motor is 10%.

[0091] If the control parameter is voltage, when the voltage of the motor forward rotation increases by a preset difference, the voltage of the motor reverse rotation decreases by a preset difference, and when the voltage of the motor forward rotation decreases by a preset difference, the voltage of the motor reverse rotation increases by a preset difference, that is, the change in the voltage of the motor forward rotation and the voltage of the motor reverse rotation always remain consistent, the change is the preset difference, and the sum of the voltage of the motor forward rotation and the voltage of the motor reverse rotation needs to be set unchanged during the change process. For example, when the preset parameter range is 0V-8V, during the change process, the sum of the voltage of the motor forward rotation and the voltage of the motor reverse rotation are both 8V. For example, when the voltage of the motor forward rotation is 2V, the voltage of the motor reverse rotation is 6V.

[0092] That is to say, the first drive signal and the second drive signal have a certain relationship. Since the first drive signal is the control parameter corresponding to the forward rotation of the motor after the change, and the second drive signal is the control parameter corresponding to the reverse rotation of the motor after the change, the sum of the control parameter corresponding to the forward rotation of the motor after the change and the control parameter corresponding to the reverse rotation of the motor after the change remains unchanged, that is, the sum of the first drive signal and the second drive signal remains unchanged.

[0093] Optionally, the method further comprises:

[0094] Determine the median of the preset parameter range as the initial parameter;

[0095] Among them, the control parameter corresponding to controlling the forward rotation of the motor presents a first periodic back-and-forth change within the preset parameter range, and the control parameter corresponding to controlling the reverse rotation of the motor presents a second periodic back-and-forth change within the preset parameter range, including:

[0096] The control parameter corresponding to controlling the forward rotation of the motor first changes in the first periodic manner to one end value of the preset parameter range with the initial parameter as the starting point within the preset parameter range, and then changes back and forth in the first periodic manner with one end value of the preset parameter range as the starting point; at the same time, the control parameter corresponding to controlling the reverse rotation of the motor first changes in the second periodic manner to another end value of the preset parameter range with the initial parameter as the starting point within the preset parameter range, and then changes back and forth in the second periodic manner with the other end value of the preset parameter range as the starting point.

[0097] In an embodiment of the present invention, after obtaining the start signal of the motor bidirectional sweeping mode, taking the forward rotation of the motor as an example, if the control parameter corresponding to the direct control of the forward rotation of the motor presents a first periodic reciprocating change within the preset parameter range, such as first from large to small and then from small to large, there may be an operation of directly setting the duty cycle of the forward rotation to a large duty cycle of 65%, for example, or setting the voltage of the forward rotation to a large voltage of 8V, for example, which results in the motor shaft of the motor having a large swing (i.e., sweeping) amplitude immediately after the motor is started, causing the motor shaft to be unstable at present, and the current amplitude is too large, affecting the user's experience, etc. When the control parameter is voltage, the same problem will occur. In order to solve the above problem, the median of the preset parameter range is determined as the initial parameter, i.e., half of the minimum and maximum values ​​in the preset parameter range. For example: when the control parameter is duty cycle and the preset parameter range is 5%-65%, the median is (5%+65%) / 2=35%.

[0098] Exemplarily, when the control parameter is the duty cycle, the preset parameter range is 5%-65%, then the initial parameter is 35%, and the preset difference is 5. If the first periodicity is based on the preset difference and then changes from large to small and then from small to large, and the second periodicity is based on the preset difference and then changes from small to large and then from large to small, then the duty cycle of controlling the forward rotation of the motor first starts from 35% and changes from large to small with the preset difference of 5, that is, from 35%-5%, and then changes from small to large, that is, from 5%-65%, to the maximum end value of 65% in the preset parameter range, and then changes back and forth between 5%-65% in the first periodicity; at the same time, the duty cycle of controlling the reverse rotation of the motor starts from 35% and changes from small to large with the preset difference of 5, that is, from 35%-65%, and then changes from large to small, that is, from 65%-5%, to the minimum end value of 5% in the preset parameter range, and then changes back and forth between 5%-65% in the second periodicity.

[0099] It should be noted that the end value includes a first threshold and a second threshold, that is, when one end value is the first threshold, the other end value is the second threshold, and the first threshold is smaller than the second threshold.

[0100] Optionally, the method further comprises:

[0101] Selecting a vibration frequency of the motor within a preset frequency range;

[0102] Determining a sweeping frequency of the motor according to the vibration frequency, wherein the sweeping frequency is greater than 0 and less than the vibration frequency;

[0103] The preset difference is determined according to the sweep frequency and the preset parameter range.

[0104] In an embodiment of the present invention, the vibration frequency of the motor is the resonant frequency of the motor, which can be selected within the range of 1-1KHZ, with a preferred range of 1-80HZ; the sweeping frequency is not equal to 0, but is less than the vibration frequency of the motor, that is, the sweeping frequency of the selected motor must be greater than 0 and less than the vibration frequency.

[0105] The size of the preset difference N is related to the sweep frequency and the preset parameter range. If the control parameter changes by the preset difference N every time interval T, then the preset difference change rate C is: If the sweep frequency is f, the time for the motor to sweep one cycle is The preset parameter range is greater than or equal to D L and less than or equal to D H , then the preset difference N can be expressed as: Among them, A is a constant.

[0106] Optionally, after acquiring the mode start signal, the method further includes:

[0107] Acquire a preset strategy, wherein the preset strategy includes one or more of a time strategy and a frequency strategy, wherein the time strategy is used to instruct the motor to move within a preset time, and the frequency strategy is used to instruct the motor to move at a preset change frequency;

[0108] Among them, the control parameter corresponding to controlling the forward rotation of the motor presents a first periodic back-and-forth change within the preset parameter range, and the control parameter corresponding to controlling the reverse rotation of the motor presents a second periodic back-and-forth change within the preset parameter range, including:

[0109] In the case where the preset strategy includes a time strategy, the control parameter corresponding to controlling the forward rotation of the motor within the preset parameter range at the preset time presents a first periodic back-and-forth change, and the control parameter corresponding to controlling the reverse rotation of the motor presents a second periodic back-and-forth change within the preset parameter range;

[0110] When the preset strategy includes a frequency strategy, the control parameter corresponding to controlling the forward rotation of the motor changes back and forth in a first periodic manner within the preset parameter range based on the preset change frequency, and the control parameter corresponding to controlling the reverse rotation of the motor changes back and forth in a second periodic manner within the preset parameter range based on the preset change frequency.

[0111] In the embodiment of the present invention, Figure 5 As shown, the time and change frequency of the bidirectional sweeping of the motor are controlled by a preset strategy customized in advance, wherein the change frequency is the frequency at which the control parameter changes based on a preset difference, for example: when the change frequency is 1 second / time, the control parameter decreases or increases by a preset difference every 1 second; when the change frequency is 2 seconds / time, the control parameter decreases or increases by a preset difference every 2 seconds.

[0112] Among them, the preset time and the preset change frequency can be set by the user on a host computer such as a computer, mobile phone, computer, watch, etc. according to actual needs, that is, user customization, for example, setting them on a mobile phone application that establishes a communication connection with the electric toothbrush, or they can be set by the manufacturer when leaving the factory.

[0113] Exemplarily, the preset time is set to 30s, and the preset change frequency is set to 1 second / time. When the preset strategy includes a time strategy and a frequency strategy, the control parameters corresponding to controlling the forward rotation of the motor within 30s show a first periodic reciprocating change within the preset parameter range based on the change frequency of 1 second / time. At the same time, the control parameters corresponding to controlling the reverse rotation of the motor within 30s show a second periodic reciprocating change within the preset parameter range based on the change frequency of 1 second / time.

[0114] Optionally, the range value within the preset parameter range is greater than or equal to the first threshold and less than or equal to the second threshold;

[0115] When the control parameter is the duty cycle, the first threshold is greater than 0 and less than 100%, and the second threshold is greater than the first threshold and less than 100%.

[0116] In the embodiment of the present invention, when the control parameter is the duty cycle, the preset parameter range can select two values ​​from 0%-100% to form a range, but it is not equal to 0% and 100%. For example, the first preset duty cycle range can be 1%-99%, or 5%-65%, or a range formed by other combinations of values, which is not limited here. The duty cycle changes within the preset parameter range, and reciprocating sweeps of different amplitudes can be achieved. Under large-amplitude reciprocating sweeps, the cleaning effect of the nursing device is better.

[0117] Among them, the first threshold and the second threshold can be understood as two end values ​​(or called end values) of the preset parameter range, and the first threshold is less than the second threshold. That is to say, the preset parameter range includes a range value, and the range value of the preset parameter range is greater than or equal to the first threshold and less than or equal to the second threshold. For example, if the preset parameter range is 5%-65%, the first threshold is 5%, the second threshold is 65%, and a certain range value of the preset parameter range is 8%, which is greater than the first threshold 5% and less than the second threshold 65%.

[0118] Optionally, the mode start signal is used to indicate that the motor is in a vibration mode;

[0119] The control parameter corresponding to the forward rotation of the motor changes within a preset parameter range, and the control parameter corresponding to the reverse rotation of the motor changes within a preset parameter range, including:

[0120] The control parameters corresponding to the forward rotation of the motor and the control parameters corresponding to the reverse rotation of the motor are controlled to change simultaneously within a preset parameter range; wherein the control parameters corresponding to the forward rotation of the motor and the control parameters corresponding to the reverse rotation of the motor after the change are equal.

[0121] For example, when the control parameter is the duty cycle, the preset parameter range is 1%-100%, the preset difference is 5, and the motor vibration mode start signal is obtained. According to the motor vibration mode start signal, the duty cycle corresponding to the forward rotation of the motor is controlled to change within 1%-100%, and at the same time, the duty cycle corresponding to the reverse rotation of the motor is controlled to change within 1-100%, so that the duty cycle corresponding to the forward rotation of the motor and the duty cycle corresponding to the reverse rotation of the motor are equal and remain unchanged, for example, both are 30%. At this time, the motor presents a vibrating motion effect.

[0122] In an embodiment of the present invention, when the motor is in vibration mode, if the control parameter is a duty cycle, the preset parameter range can select two values ​​from 0%-100% to form a range, but it is not equal to 0% and 100%. For example, the preset parameter range can be 1%-99%, or 5%-65%, or a range formed by other combinations of values, which is not limited here; if the control parameter is voltage, the preset parameter range can be selected according to actual conditions, for example, 0-8V, preferably 0-5V, or a range formed by other combinations of values.

[0123] To achieve motor vibration, it is necessary to keep the changed control parameters of the motor forward rotation and the motor reverse rotation the same. Specifically, when the control parameter is a duty cycle, for example: the preset parameter range is 5-65%, the duty cycle of controlling the motor forward rotation is changed to 35% within the preset parameter range, and the duty cycle of controlling the motor reverse rotation is changed to 35% within the preset parameter range, so as to send the first drive signal and the second drive signal to the motor to achieve motor vibration. Similarly, when the control parameter is a voltage, for example: the preset parameter range is 0V-8V, the voltage of controlling the motor forward rotation is changed to 4V within the preset parameter range, and the voltage of controlling the motor reverse rotation is changed to 4V within the preset parameter range, so as to send the first drive signal and the second drive signal to the motor to achieve motor vibration. When the motor vibrates, the square waves corresponding to the first duty cycle and the second duty cycle are consistent in size.

[0124] Optionally, when the control parameter is the duty cycle;

[0125] The control parameter corresponding to the forward rotation of the motor is controlled to change within a preset parameter range, and the control parameter corresponding to the reverse rotation of the motor is controlled to change within a preset parameter range, and a first drive signal corresponding to the forward rotation of the motor and a second drive signal corresponding to the reverse rotation of the motor are generated, including:

[0126] A pulse width modulation controller is used to control the duty cycle corresponding to the forward rotation of the motor to vary within a preset parameter range, and a pulse width modulation controller is used to control the duty cycle corresponding to the reverse rotation of the motor to vary within a preset parameter range, thereby generating a first drive signal corresponding to the forward rotation of the motor and a second drive signal corresponding to the reverse rotation of the motor.

[0127] In the embodiment of the present invention, Figure 6 As shown, when the control parameter is the duty cycle, a pulse width modulation controller (PWM) can be set in the circuit to adjust the duty cycle of A-A1 and B-B1 through PWM control, thereby generating different drive signals. Figure 8 The main control chip (SOC) is provided with a central processing unit (CPU), a pulse width modulation controller (PWM) and a clock (CLOCK). The pulse width modulation controller is provided with a comparison register and a counter. The comparison register and the sweeping frequency realize the sweeping of the motor, and the counter and the resonant frequency realize the vibration of the motor, thereby realizing the movement of the motor, such as bidirectional sweeping vibration of the motor or one of the vibrations of the motor.

[0128] Optionally, when the control parameter is the voltage;

[0129] The control parameter corresponding to the forward rotation of the motor is controlled to change within a preset parameter range, and the control parameter corresponding to the reverse rotation of the motor is controlled to change within a preset parameter range, and a first drive signal corresponding to the forward rotation of the motor and a second drive signal corresponding to the reverse rotation of the motor are generated, including:

[0130] The voltage of the first power chip corresponding to the forward rotation of the motor is controlled by a digital-to-analog converter to vary within a preset parameter range. At the same time, the voltage of the second power chip corresponding to the reverse rotation of the motor is controlled by the digital-to-analog converter to vary within a preset parameter range, thereby generating a first drive signal corresponding to the forward rotation of the motor and a second drive signal corresponding to the reverse rotation of the motor.

[0131] In the embodiment of the present invention, Figure 7 As shown, when the control parameter is voltage, a digital to analog converter (DAC) can be set in the circuit, that is, DAC is used in the main control chip, and DAC is connected to the power chips in the A-A1 and B-B1 paths respectively. The voltage of the power chips in the A-A1 and B-B1 paths can be controlled by DAC, thereby realizing motor movement, such as motor bidirectional sweeping or motor vibration.

[0132] like Figure 8 As shown, an embodiment of the present invention further provides a motor motion device of a nursing device, comprising:

[0133] A first acquisition module 801 is used to acquire a mode start signal of a motor;

[0134] A first control module 802 is used to control the control parameter corresponding to the forward rotation of the motor to change within a preset parameter range according to the mode start signal, and control the control parameter corresponding to the reverse rotation of the motor to change within a preset parameter range, and generate a first drive signal corresponding to the forward rotation of the motor and a second drive signal corresponding to the reverse rotation of the motor;

[0135] The first sending module 803 is used to send the first driving signal and the second driving signal to the motor in the same cycle.

[0136] Optionally, the mode start signal in the first acquisition module 801 is used to indicate that the motor is in a sweeping mode;

[0137] The first control module 802 includes:

[0138] A first control unit, used for controlling the control parameter corresponding to the forward rotation of the motor to change back and forth in a first periodic manner within the preset parameter range, and controlling the control parameter corresponding to the reverse rotation of the motor to change back and forth in a second periodic manner within the preset parameter range;

[0139] Among them, the first periodicity includes one of first from large to small and then from small to large based on a preset difference and first from small to large and then from large to small based on the preset difference, and the second periodicity includes the other of first from small to large and then from large to small based on the preset difference and first from large to small and then from small to large based on the preset difference.

[0140] Optionally, the control parameter in the first control module 802 is a duty cycle or a voltage.

[0141] Optionally, during the change of the control parameter, the sum of the control parameter corresponding to the forward rotation of the motor and the control parameter corresponding to the reverse rotation of the motor in the first control unit remains unchanged.

[0142] Optionally, the device further comprises:

[0143] A first determination module, used to determine the median of the preset parameter range as an initial parameter;

[0144] Wherein, the first control unit includes:

[0145] A second control unit is used to control the control parameter corresponding to the forward rotation of the motor to, within the preset parameter range, first change in the first periodic manner with the initial parameter as the starting point to one end value of the preset parameter range, and then change back and forth in the first periodic manner with one end value of the preset parameter range as the starting point; at the same time, control the control parameter corresponding to the reverse rotation of the motor to, within the preset parameter range, first change in the second periodic manner with the initial parameter as the starting point to another end value of the preset parameter range, and then change back and forth in the second periodic manner with the other end value of the preset parameter range as the starting point.

[0146] Optionally, the device further comprises:

[0147] A first selection module, used for selecting a vibration frequency of the motor within a preset frequency range;

[0148] A second determination module, configured to determine a sweeping frequency of the motor according to the vibration frequency, wherein the sweeping frequency is greater than 0 and less than the vibration frequency;

[0149] The third determination module is used to determine the preset difference according to the sweeping frequency and the preset parameter range.

[0150] Optionally, the third determining module includes:

[0151] The first determination unit, since according to the formula Determining the preset difference;

[0152] Wherein, N is the preset difference, f is the sweep frequency, T is the time interval between each change of the preset difference of the control parameter, and D L is the minimum value in the preset parameter range, D H is the maximum value in the preset parameter range, and A is a constant.

[0153] Optionally, the device further comprises:

[0154] A second acquisition module is used to acquire a preset strategy, wherein the preset strategy includes one or more of a time strategy and a frequency strategy, wherein the time strategy is used to instruct the motor to move within a preset time, and the frequency strategy is used to instruct the motor to move at a preset change frequency;

[0155] Wherein, the first control unit includes:

[0156] a third control unit, for controlling the control parameter corresponding to the forward rotation of the motor to change back and forth in a first periodic manner within the preset parameter range at the preset time, and controlling the control parameter corresponding to the reverse rotation of the motor to change back and forth in a second periodic manner within the preset parameter range, when the preset strategy includes a time strategy;

[0157] A fourth control unit is used to control the control parameter corresponding to the forward rotation of the motor to change in a first periodic reciprocating manner based on the preset change frequency within the preset parameter range when the preset strategy includes a frequency strategy, and to control the control parameter corresponding to the reverse rotation of the motor to change in a second periodic reciprocating manner based on the preset change frequency within the preset parameter range.

[0158] Optionally, the range value within the preset parameter range in the first control unit is greater than or equal to a first threshold and less than or equal to a second threshold; when the control parameter is the duty cycle, the first threshold is greater than 0 and less than 100%, and the second threshold is greater than the first threshold and less than 100%.

[0159] Optionally, the mode start signal in the first acquisition module 801 is used to indicate that the motor is in a vibration mode;

[0160] The first control module 802 includes:

[0161] The fifth control unit is used to control the control parameters corresponding to the forward rotation of the motor and the control parameters corresponding to the reverse rotation of the motor to change simultaneously within a preset parameter range; wherein the control parameters corresponding to the forward rotation of the motor after the change are equal to the control parameters corresponding to the reverse rotation of the motor after the change.

[0162] Optionally, when the control parameter in the first control module 802 is the duty cycle;

[0163] The first control module 802 includes:

[0164] The sixth control unit is used to control the duty cycle corresponding to the forward rotation of the motor to vary within a preset parameter range through a pulse width modulation controller, and at the same time control the duty cycle corresponding to the reverse rotation of the motor to vary within a preset parameter range through a pulse width modulation controller, thereby generating a first drive signal corresponding to the forward rotation of the motor and a second drive signal corresponding to the reverse rotation of the motor.

[0165] Optionally, when the control parameter in the first control module 802 is the voltage;

[0166] The first control module 802 includes:

[0167] The seventh control unit is used to control the voltage of the first power chip corresponding to the forward rotation of the motor to change within a preset parameter range through a digital-to-analog converter, and at the same time control the voltage of the second power chip corresponding to the reverse rotation of the motor to change within a preset parameter range through the digital-to-analog converter, thereby generating a first drive signal corresponding to the forward rotation of the motor and a second drive signal corresponding to the reverse rotation of the motor.

[0168] It should be noted that the embodiment of the device is a device corresponding to the embodiment of the above method, and all implementation methods in the embodiment of the above method are applicable to the embodiment of the device and can achieve the same technical effect.

[0169] An embodiment of the present invention also provides a network device, comprising: a processor, a memory, and a program stored in the memory and executable on the processor. When the program is executed by the processor, the program implements the motor movement method of the nursing device as described in any one of the above items, and can achieve the same technical effect. To avoid repetition, it will not be repeated here.

[0170] The embodiment of the present invention further provides a readable storage medium, including: a program is stored on the readable storage medium, and when the program is executed by a processor, the steps of the motor motion method of the nursing device as described in any one of the above items are implemented, and the same technical effect can be achieved. To avoid repetition, it is not repeated here. Among them, the computer-readable storage medium is such as a read-only memory (ROM), a random access memory (RAM), a disk or an optical disk, etc.

[0171] An embodiment of the present invention also provides a computer program product, including computer instructions. When the computer instructions are executed by a processor, the steps of the motor movement method of the nursing device as described in any of the above items are implemented, and the same technical effect can be achieved. To avoid repetition, they are not repeated here.

[0172] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or terminal device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0173] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

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

2. The motor motion method of the nursing device according to claim 1, characterized in that: The mode start signal is used to indicate that the motor is in a sweeping mode; The control parameter corresponding to the forward rotation of the motor changes within a preset parameter range, and the control parameter corresponding to the reverse rotation of the motor changes within a preset parameter range, including: The control parameter corresponding to controlling the forward rotation of the motor changes back and forth in a first periodic manner within the preset parameter range, and the control parameter corresponding to controlling the reverse rotation of the motor changes back and forth in a second periodic manner within the preset parameter range; Among them, the first periodicity includes one of first from large to small and then from small to large based on a preset difference and first from small to large and then from large to small based on the preset difference, and the second periodicity includes the other of first from small to large and then from large to small based on the preset difference and first from large to small and then from small to large based on the preset difference.

3. The motor motion method of the nursing device according to claim 2, characterized in that: During the change of the control parameter, the sum of the control parameter corresponding to the forward rotation of the motor and the control parameter corresponding to the reverse rotation of the motor remains unchanged.

4. The motor motion method of the nursing device according to claim 2, characterized in that: The method further comprises: Determine the median of the preset parameter range as the initial parameter; Among them, the control parameter corresponding to controlling the forward rotation of the motor presents a first periodic back-and-forth change within the preset parameter range, and the control parameter corresponding to controlling the reverse rotation of the motor presents a second periodic back-and-forth change within the preset parameter range, including: The control parameter corresponding to controlling the forward rotation of the motor first changes in the first periodic manner to one end value of the preset parameter range with the initial parameter as the starting point within the preset parameter range, and then changes back and forth in the first periodic manner with one end value of the preset parameter range as the starting point; at the same time, the control parameter corresponding to controlling the reverse rotation of the motor first changes in the second periodic manner to another end value of the preset parameter range with the initial parameter as the starting point within the preset parameter range, and then changes back and forth in the second periodic manner with the other end value of the preset parameter range as the starting point.

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

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

7. The motor motion method of the nursing device according to claim 2, characterized in that: After acquiring the mode start signal, the method further includes: Acquire a preset strategy, wherein the preset strategy includes one or more of a time strategy and a frequency strategy, wherein the time strategy is used to instruct the motor to move within a preset time, and the frequency strategy is used to instruct the motor to move at a preset change frequency; Among them, the control parameter corresponding to controlling the forward rotation of the motor presents a first periodic back-and-forth change within the preset parameter range, and the control parameter corresponding to controlling the reverse rotation of the motor presents a second periodic back-and-forth change within the preset parameter range, including: In the case where the preset strategy includes a time strategy, the control parameter corresponding to controlling the forward rotation of the motor within the preset parameter range at the preset time presents a first periodic back-and-forth change, and the control parameter corresponding to controlling the reverse rotation of the motor presents a second periodic back-and-forth change within the preset parameter range; When the preset strategy includes a frequency strategy, the control parameter corresponding to controlling the forward rotation of the motor changes back and forth in a first periodic manner within the preset parameter range based on the preset change frequency, and the control parameter corresponding to controlling the reverse rotation of the motor changes back and forth in a second periodic manner within the preset parameter range based on the preset change frequency.

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

9. The motor motion method of the nursing device according to claim 1, characterized in that: The mode start signal is used to indicate that the motor is in vibration mode; The control parameter corresponding to the forward rotation of the motor changes within a preset parameter range, and the control parameter corresponding to the reverse rotation of the motor changes within a preset parameter range, including: The control parameters corresponding to the forward rotation of the motor and the control parameters corresponding to the reverse rotation of the motor are controlled to change simultaneously within a preset parameter range; wherein the control parameters corresponding to the forward rotation of the motor and the control parameters corresponding to the reverse rotation of the motor after the change are equal.

10. The motor motion method of a nursing device according to any one of claims 1 to 9, characterized in that: When the control parameter is a duty cycle; The control parameter corresponding to the forward rotation of the motor is controlled to change within a preset parameter range, and the control parameter corresponding to the reverse rotation of the motor is controlled to change within a preset parameter range, and a first drive signal corresponding to the forward rotation of the motor and a second drive signal corresponding to the reverse rotation of the motor are generated, including: The duty cycle corresponding to the forward rotation of the motor is controlled to vary within a preset parameter range by a pulse width modulation controller, and the duty cycle corresponding to the reverse rotation of the motor is controlled to vary within a preset parameter range by the pulse width modulation controller, thereby generating a first drive signal corresponding to the forward rotation of the motor and a second drive signal corresponding to the reverse rotation of the motor.

11. The motor motion method of a nursing device according to any one of claims 1 to 9, characterized in that: When the control parameter is voltage; The control parameter corresponding to the forward rotation of the motor is controlled to change within a preset parameter range, and the control parameter corresponding to the reverse rotation of the motor is controlled to change within a preset parameter range, and a first drive signal corresponding to the forward rotation of the motor and a second drive signal corresponding to the reverse rotation of the motor are generated, including: The voltage of the first power chip corresponding to the forward rotation of the motor is controlled by a digital-to-analog converter to vary within a preset parameter range. At the same time, the voltage of the second power chip corresponding to the reverse rotation of the motor is controlled by the digital-to-analog converter to vary within a preset parameter range, thereby generating a first drive signal corresponding to the forward rotation of the motor and a second drive signal corresponding to the reverse rotation of the motor.

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

13. A network device, characterized in that: include: A processor, a memory, and a program stored in the memory and executable on the processor, wherein the program, when executed by the processor, implements the motor movement method for a nursing device as described in any one of claims 1 to 11.

14. A readable storage medium, characterized in that: include: The readable storage medium stores a program, and when the program is executed by a processor, the steps of the motor movement method of the nursing device according to any one of claims 1 to 11 are implemented.

15. A computer program product, characterized in that The method comprises computer instructions, which, when executed by a processor, implement the steps of the motor movement method of the nursing device according to any one of claims 1 to 11.

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