Motor control method for an oral care device and related apparatus

Abstract

The application discloses a motor control method of an oral care device and a related device. The motor includes a mover, and the method comprises: obtaining a driving signal; the driving signal comprises a plurality of sweep signals, each of the sweep signals comprises a plurality of vibration signals; based on a high level of the vibration signal, the mover is controlled to move in a first direction, and based on a low level and / or a reverse high level of the vibration signal, the mover is controlled to move in a direction opposite to the first direction, to reciprocate relative to a reference axis; the vibration includes linear vibration or rotary vibration; based on the sweep signal, the mover is controlled to vibrate, and the position of the reference axis is changed to form sweep, so as to increase the coverage range of the vibration. In this way, the coverage range of the vibration of the mover is significantly improved, and the oral cleaning effect is improved.

Description

Technical Field

[0001] This application relates to the field of oral hygiene technology, and in particular to a motor control method and related devices for an oral care device. Background Technology

[0002] Electric toothbrushes have become a common tool for improving teeth cleaning efficiency and overall oral health. However, electric toothbrushes typically use a sonic motor to drive a vibrator to clean teeth and the mouth. However, the vibration amplitude and coverage area of ​​electric toothbrushes in this technology are relatively small. Users need to frequently move the toothbrush to cover the entire tooth surface, which can easily lead to missed areas and reduce the overall cleaning effect. Summary of the Invention

[0003] This application provides a motor control method and related apparatus for an oral care device. By controlling the position change of the moving part's vibration reference axis, the vibration coverage range of the moving part is significantly increased, improving the oral cleaning effect. The above technical solution is as follows:

[0004] In a first aspect, embodiments of this application provide a motor control method for an oral care device. The motor includes a mover, and the method includes: acquiring a drive signal; the drive signal includes multiple sweeping signals, each sweeping signal including multiple vibration signals; controlling the mover to move in a first direction based on a high level of the vibration signal, and controlling the mover to move in the opposite direction of the first direction based on a low level and / or a reverse high level of the vibration signal, so as to perform reciprocating vibration relative to a reference axis; the vibration includes linear vibration or rotational vibration; controlling the movement of the mover to vibrate based on the sweeping signals, and changing the position of the reference axis to form sweeping, so as to increase the coverage range of the vibration.

[0005] Secondly, embodiments of this application provide an oral care device, the oral care device including a motor, the oral care device controlling the movement of the motor using the first aspect or any possible motor control method of the first aspect.

[0006] Thirdly, embodiments of this application provide a motor control device for an oral care device, the oral care device including a motor, the motor including a mover, the device including: an acquisition module for acquiring drive signals; the drive signals including multiple sweeping signals, each sweeping signal including multiple vibration signals; a control module for controlling the mover to move in a first direction based on a high level of the vibration signals, and controlling the mover to move in the opposite direction of the first direction based on a low level and / or a reverse high level of the vibration signals, so as to perform reciprocating vibration relative to a reference axis; the vibration including linear vibration or rotational vibration; controlling the vibration of the mover based on the sweeping signals, and changing the position of the reference axis to form sweeping, so as to increase the coverage range of the vibration.

[0007] Fourthly, embodiments of this application provide an oral care device, including: a processor and a memory; the processor is connected to the memory; the memory is used to store executable program code; the processor reads the executable program code stored in the memory to run a program corresponding to the executable program code, so as to execute the method provided by the first aspect of the embodiments of this application or any possible implementation of the first aspect.

[0008] Fifthly, embodiments of this application provide a computer storage medium storing a plurality of instructions adapted for loading by a processor and executing the method provided by the first aspect of the embodiments of this specification or any possible implementation thereof.

[0009] In this embodiment, a driving signal is acquired; the driving signal includes multiple sweeping signals, each of which includes multiple vibration signals; based on the vibration signals, the mover is controlled to rotate in a direction away from the reference axis, and under the action of the reset mechanism, the mover is controlled to rotate in the direction of rotation toward the reference axis, so as to reciprocate relative to the reference axis; based on the sweeping signals, the mover is controlled to vibrate, and the position of the reference axis is changed to form sweeping, thereby increasing the coverage range of the vibration; wherein, the driving signal is a pre-set signal. In this way, the position of the reference axis can be controlled to change, so that the vibration coverage range of the mover can be significantly increased, covering more tooth surface areas, reducing the frequency of users needing to manually move the toothbrush, so that each brushing can more comprehensively cover the oral cavity area, improving the oral cleaning effect. Attached Figure Description

[0010] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0011] Figure 1 A schematic diagram of the structure of an oral care device provided for an exemplary embodiment of this application;

[0012] Figure 2 A schematic flowchart illustrating a motor control method for an oral care device provided as an exemplary embodiment of this application;

[0013] Figure 3 A schematic diagram illustrating different vibration modes of an electric motor mover provided in an exemplary embodiment of this application;

[0014] Figure 4 A schematic diagram of the reference axis position during different vibration processes provided for an exemplary embodiment of this application;

[0015] Figure 5 A schematic diagram of the vibration range and sweep range of a motor rotor provided for an exemplary embodiment of this application;

[0016] Figure 6 A driving signal waveform diagram provided for an exemplary embodiment of this application;

[0017] Figure 7 A schematic diagram of the pulses of each vibration signal in the driving signal provided for an exemplary embodiment of this application;

[0018] Figure 8 Another drive signal waveform diagram provided for an exemplary embodiment of this application;

[0019] Figure 9 A schematic diagram of the waveform after filtering and sampling the driving signal is provided as an exemplary embodiment of this application;

[0020] Figure 10 A schematic diagram illustrating the change in the position of a reference axis during vibration, provided as an exemplary embodiment of this application;

[0021] Figure 11 Another drive signal waveform diagram provided for an exemplary embodiment of this application;

[0022] Figure 12 A schematic diagram illustrating the changes of a motor rotor during different vibration processes, provided as an exemplary embodiment of this application;

[0023] Figure 13Another schematic diagram showing the change of the reference axis position during vibration, provided as an exemplary embodiment of this application;

[0024] Figure 14 Another schematic diagram showing the change of the reference axis position during vibration, provided as an exemplary embodiment of this application;

[0025] Figure 15 A schematic diagram of a system for communication connection between an oral care device and a terminal, provided as an exemplary embodiment of this application;

[0026] Figure 16 A schematic diagram of the structure of a motor control device for an oral care device provided as an exemplary embodiment of this application;

[0027] Figure 17 This is a schematic diagram of the structure of an oral care device provided for an exemplary embodiment of this application. Detailed Implementation

[0028] The technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings.

[0029] The terms "first," "second," "third," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or apparatuses.

[0030] Please refer to the following. Figure 1 , Figure 1 An exemplary schematic diagram of an oral care device provided in an embodiment of this application is shown. Figure 1 As shown, the oral care device includes: a care component 110, a motor 120, and a control unit 130. This oral care device can be a device capable of oral cleaning, such as, but not limited to, an electric toothbrush. The following embodiments all use an electric toothbrush as an example for illustration. Wherein:

[0031] The toothbrush head 110 is equipped with bristles for direct contact with teeth and the oral cavity, removing plaque and food debris. The bristles are designed with the shape and arrangement of teeth in mind for better cleaning of all surfaces. The toothbrush head 110 can be oscillated with a specific amplitude by the vibration of the motor 120, breaking down the toothpaste on it into fine foam for deep cleaning between teeth.

[0032] The motor 120 vibrates according to the drive signal input from the control unit 130, synchronously driving the care device 110 to swing with a certain amplitude for cleaning teeth and the oral cavity. The motor 120 can be a sonic motor, which can generate vibration according to a fixed preset drive signal to achieve open-loop control.

[0033] The control unit 130 can be a microcontroller unit (MCU), also known as a single-chip microcomputer or microcontroller. It is a chip-level computer that appropriately reduces the frequency and specifications of the central processing unit (CPU) and integrates peripheral interfaces such as memory, counter, USB, A / D conversion, UART, PLC, DMA, and even LCD driving circuits onto a single chip to perform different combinations of control for different applications.

[0034] Specifically, the control unit 130 is connected to the motor 120. The control unit 130 can send a drive signal (such as a PWM wave) to the motor 120 to control the output current of the H-bridge circuit, thereby driving the mover of the acoustic motor 120 to reciprocate relative to the reference axis according to the drive signal, and causing the position of the reference axis to change, so as to increase the vibration coverage range.

[0035] Optionally, Figure 1 The oral care equipment shown may also be equipped with, but is not limited to, an indicator light, one or more buttons, a speaker, a display screen, etc.

[0036] Next, combine Figure 1 This application describes a motor control method for an oral care device according to an exemplary embodiment. Please refer to [link / reference needed] for details. Figure 2 The example illustrates a flowchart of the motor control method for an oral care device provided in an embodiment of this application. Figure 2 As shown, the method includes the following steps:

[0037] S201, obtain the drive signal.

[0038] S202, based on the high level of the vibration signal, the mover is controlled to move in a first direction, and based on the low level and / or reverse high level of the vibration signal, the mover is controlled to move in the opposite direction to the first direction, so as to reciprocate relative to the reference axis; the vibration includes linear vibration or rotational vibration; based on the sweeping signal, the mover is controlled to vibrate, and the position of the reference axis is changed to form a sweeping motion, so as to increase the coverage of the vibration.

[0039] Specifically, the drive signal is a pre-set signal used to control the motor, and may include parameters such as frequency and duty cycle. The motor of the oral care device uses open-loop control, controlling the vibrator to generate vibration through a pre-set signal. In this embodiment, the drive signal is not the only signal; it can be adjusted or set according to the gear, mode, or other methods to make the oral care device suitable for more application scenarios.

[0040] The drive signal includes multiple sweeping signals, each comprising multiple vibration signals. These vibration signals are the fundamental signals used to drive the mover's vibration; controlling these vibration signals controls the mover to perform one reciprocating vibration. The sweeping signal, composed of multiple vibration signals, controls the overall motion mode of the mover. By combining different vibration signals, the position of the reference axis is changed to achieve the sweeping effect. The motor is controlled based on the sweeping signals, and the mover not only performs small-amplitude periodic vibrations but also sweeps over a wide range as the position of the reference axis changes.

[0041] In this embodiment, the vibration signal can control the moving part to reciprocate relative to the reference axis. This vibration can include linear vibration or rotational vibration. Linear vibration refers to the vibration form in which the moving part reciprocates along a straight line, typically moving up and down or left and right along a fixed path, without involving rotation or curvilinear motion. The vibration frequency (number of reciprocating movements per second) and vibration amplitude (distance moved by the moving part) can be controlled by the drive signal. Rotational vibration refers to the reciprocating motion of the moving part rotating left and right around an axis. This vibration form involves angular changes, with the moving part rotating back and forth within a certain range. The vibration frequency (number of reciprocating rotations per second) and rotation angle (range of angle rotation of the moving part) can be controlled by the drive signal. In this embodiment, the reciprocating vibration of the moving part can drive the corresponding care component (such as a brush head) to vibrate left and right, achieving oral cleaning. For example, as shown... Figure 3 As shown, Figure 3 As shown in (a), linear vibration occurs. The mover 301 (such as a motor shaft) can drive the nursing component (such as a brush head) to vibrate through linear telescopic vibration. Figure 3 Figures (b) and (c) show rotational vibration, where the mover 301 drives the nursing component to vibrate via rotational vibration; among them, Figure 3 (c) is the top view of (b). Figure 3 Line 302 is a schematic line representing the mover, connecting the rotation axis of the mover 301 to a selected fixed edge, to illustrate the position or direction of rotation of the mover in subsequent embodiment drawings. In this application embodiment, rotational vibration will be used as the main example for description. Based on this, the specific implementation process of linear vibration can be the same as or similar to that of rotational vibration, and will not be repeated here.

[0042] The reference axis position can be the location of the vibration center of one reciprocating oscillation of the mover. For example, such as... Figure 4 As shown, the mover 401 rotates in one direction under the control of the driving signal, and then reverses in the opposite direction, thus completing one reciprocating oscillation. The reference axis of the reciprocating oscillation of the mover 401 can be defined as the vibration center 402 of the mover, and the vibration amplitude can be defined as the overlapping area of ​​the forward and reverse rotation of the mover. Figure 4 The angle of the gray area (in the middle) is the center of vibration of the mover, 402. Figure 4 As shown in (a), when the forward rotation angle α and the reverse rotation angle β of the mover 401 are the same in one reciprocating vibration, the mover 401 rotates from the starting position to a certain angle (α) and then reverses back to the starting position. The vibration center 402 of this vibration is the center position of the mover's forward or reverse rotation. Figure 4 As shown in (b), when the forward rotation angle α and the reverse rotation angle β of the mover 401 are inconsistent in one reciprocating vibration, after the mover 401 rotates from the initial position to a certain angle (α), it may not reverse completely (α>β) and does not return to the initial position. The vibration center 402 of this vibration is the center position of the mover's reverse rotation. Figure 4 As shown in (c), when the forward rotation angle α and the reverse rotation angle β of the mover 401 are inconsistent in one reciprocating vibration, after the mover 401 rotates from the starting position to a certain angle (α), it may over-reverse (α < β) and not reverse back to the starting position. The vibration center 402 of this vibration is the center position of the mover's forward rotation. It should be noted that the above example is only for the convenience of describing the vibration behavior of the motor and is not limiting. Those skilled in the art can use other descriptive methods to describe the vibration behavior of the motor or define a reference axis based on the content of this embodiment.

[0043] This embodiment can control the reference axis position of the motor mover vibration based on a sweeping signal, causing it to shift in either direction (left or right) to form a sweeping vibration. For example, the sweeping signal includes multiple vibration signals. The motor mover can reciprocate based on these vibration signals. While maintaining reciprocating vibration, the mover changes the reference axis position through the combination of these vibration signals, thereby changing the direction of vibration. For instance, initially, the mover vibrates within a range of 5–8° from the reference axis, then changes to vibrating within a range of 7–10° from the reference axis. With the change in the reference axis position, a large-angle, wide-range (e.g., -30–30°) sweeping vibration is achieved. Figure 5 As shown, 501 is the vibration range of the moving part, and 502 is the sweeping vibration range of the moving part. The moving part can continuously vibrate with a small amplitude within the sweeping vibration range, which can reduce the stimulation to users with sensitive teeth. At the same time, the sweeping vibration can significantly increase the vibration coverage of the moving part, covering more tooth surface areas and reducing the frequency of users needing to manually move the toothbrush. This allows each brushing to more comprehensively cover the oral cavity area, ensuring an efficient cleaning effect.

[0044] In some embodiments, a vibration signal can control the mover to perform a cycle of vibration, each cycle including one rotation of the mover away from the reference axis and one rotation towards the reference axis; a sweeping signal can control the mover to perform a cycle of sweeping vibration, each cycle including one complete rotation of the reference axis, such as the reference axis rotating from a starting position to an ending position, or the reference axis rotating from a starting position in a certain direction and then returning to the starting position. For example, as... Figure 6 As shown, this is a segment of a drive signal, which includes a sweeping signal of period T1, and the sweeping signal includes multiple vibration signals of period T2.

[0045] like Figure 6 As shown, exemplarily, the sweep signal includes multiple vibration signals, each of which includes a high level (positive level p1-p10 or negative level n1-n10) and a low level (reference level). The high level can control the H-bridge circuit to output positive or reverse current, controlling the mover to move in a first direction. In this embodiment, the first direction is either left or right. For example, the positive level in the sweep signal controls the H-bridge circuit to output positive current, causing the motor mover to rotate to the left; the negative level of the sweep signal controls the H-bridge circuit to output reverse current, causing the motor mover to rotate to the right. Under the reference level in the sweep signal, the H-bridge circuit does not output current, and the motor mover does not move or rotates towards the reference axis under the force of the reset mechanism. The reference axis is a fixed reference axis for the movement of the mover. It can be defined as the position where the mover is stationary under the action of the reset mechanism, that is, the initial position when the mover does not receive a vibration signal. The reset mechanism can drive the mover of the motor to reset to the reference axis. The reference axis is a fixed reference axis for the movement of the mover. It can be selected as the central axis of the mover's range of motion or other fixed positions. The relative position of the mover or the relative position of the reference axis can be determined according to the reference axis.

[0046] Specifically, for drive signals, the waveform of a typical PWM wave is usually a square wave. Within a square wave control cycle, there are two periods of back electromotive force (EMF) during the homing process of the cogging torque oscillating motor. At this time, the reverse square wave control signal consumes some power to counteract this back EMF. This results in a need to provide a current larger than the ideal current to achieve the desired control effect. Furthermore, the harmonic components generated by the square wave drive signal in resisting the back EMF caused by inertia also increase motor losses, affecting the normal operation and efficiency of the equipment. Based on this, in this embodiment, the pulse width of the vibration signal in the drive signal is controlled to cyclically change according to a pattern of first increasing and then decreasing, allowing the motor to adaptively obtain the required output waveform at each moment as the pulse width of the vibration signal changes.

[0047] Furthermore, to more precisely control the pulse width of the vibration signal according to actual usage requirements, the pulse width of the vibration signal can be made to cycle according to the pattern of a sine wave. As the name suggests, the waveform curve of a sine wave is a mathematical sine curve. Because the frequency components of a sine wave are singular, its harmonic content is low and it has good waveform quality, which helps to reduce harmonic losses in motors and other equipment. A vibration signal with a pulse width that changes according to a sine wave can enable the motor to obtain a smoother and more precise output waveform, thereby making the control effect of the motor more precise. In this way, when the vibration signal is used to control the vibration of the mover in the motor, the sweeping sensation of the mover will be gentler.

[0048] In one feasible implementation, a reference sine wave signal and a triangular wave signal can be generated, and the pulse width of the vibration signal can be modulated based on the reference sine wave signal and the triangular wave signal, so that the pulse width of multiple vibration signals in the same period can change cyclically according to the law of sine wave. That is, in this embodiment of the application, the drive signal is output by SPWM (Sinusoidal Pulse Width Modulation).

[0049] Specifically, when outputting a drive signal using the SPWM pulse width modulation method, a reference sine wave signal and a triangular wave signal are first generated. The reference sine wave signal serves as the modulating wave, and the triangular wave signal serves as the carrier wave. Through the combined action of the reference sine wave and the triangular wave, a series of vibration signals can be modulated and generated. These vibration signals have pulse widths (i.e., duty cycles) of equal amplitude but unequal width, such as... Figure 7 As shown, for example, the X1 vibration signal at the first dashed line from left to right has a pulse width of 22.2 milliseconds (ms); while the X2 vibration signal at the dashed line to the right of X1 has a pulse width of 28.1 milliseconds (ms). It can be seen that the pulse widths of multiple vibration signals within one cycle are different and tend to exhibit a sinusoidal variation. It should be noted that due to the inherent capacitance and inductance, the driving waveform generated in actual scenarios may not perfectly match the theoretically ideal waveform, and may instead exhibit variations such as... Figure 7 The actual waveform shown has a slightly square wave shape.

[0050] Furthermore, when modulating the pulse width of the vibration signal based on a reference sine wave signal and a triangular wave signal, the main process involves comparing the reference sine wave signal and the triangular wave signal to obtain a comparison result, and then modulating the pulse width of the vibration signal according to the comparison result. Specifically, when the instantaneous value of the sine wave is greater than that of the triangular wave, a high level is output; otherwise, a low level is output. The width of the output pulse changes with the amplitude of the modulating signal, forming an alternating positive and negative pulse sequence. After appropriate filtering, the generated pulse sequence can produce an approximate sine wave output. Moreover, the width of each pulse can be finely adjusted by adjusting the phase difference between the reference sine wave and the triangular wave, thereby achieving precise regulation of the motor speed and torque, and improving the control efficiency of the motor in the oral care equipment.

[0051] In some embodiments, the triangular wave signal has bipolarity, and the comparison of the reference sine wave signal with the triangular wave signal to obtain a comparison result includes: comparing the reference sine wave signal with the positive triangular wave signal in the triangular wave signal to obtain the positive half-cycle signal of the vibration signal; and comparing the reference sine wave signal with the negative triangular wave signal in the triangular wave signal to obtain the negative half-cycle signal of the vibration signal.

[0052] Specifically, the triangular wave signal generated in this embodiment is a bipolar triangular wave. A bipolar triangular wave can change symmetrically between positive and negative voltages, meaning the signal has the same amplitude and frequency in both the positive and negative half-cycles, but with opposite polarities. Therefore, the output voltage signal can be controlled separately in the positive half-cycle (when the voltage is positive) and the negative half-cycle (when the voltage is negative). This means comparing the reference sine wave signal with the positive triangular wave signal to obtain the positive half-cycle signal of the vibration signal; and comparing the reference sine wave signal with the negative triangular wave signal to obtain the negative half-cycle signal of the vibration signal. In bipolar SPWM control, the drive signals for the positive and negative half-cycles can also be adjusted separately, thereby achieving more precise motor control.

[0053] In some embodiments, the method further includes: uniformly dividing the voltage space plane into at least two sector regions, each sector region containing two adjacent basic voltage vectors and a zero vector, wherein each basic voltage vector and the zero vector are used to jointly synthesize a voltage vector; and controlling the duration of action of each basic voltage vector and the zero vector so that the waveform of the driving signal is a sine wave.

[0054] Specifically, besides using SPWM technology to output the drive signal, the drive signal can also be modulated using SVPWM (Space Vector Pulse Width Modulation). This involves uniformly dividing the voltage space plane into multiple sector regions, each containing two adjacent basic voltage vectors and a zero vector. The desired output voltage vector is approximated by combining these vectors. SVPWM directly generates the required voltage vector through the combination of space vectors, resulting in high bus voltage utilization and low output harmonic content.

[0055] In this embodiment, single-phase SVPWM technology is specifically used to control the drive signal. Single-phase SVPWM is typically divided into two or four sectors to simplify the control logic. If two sectors are used, the spatial plane is divided into positive and negative half-cycles, corresponding to positive and negative pulses respectively. If four sectors are used, the positive and negative half-cycles can be further subdivided to improve control accuracy. Figure 8 As shown, in the specific control process, by controlling the duration of the basic voltage vector and the zero vector, drive signals with unequal pulse widths are synthesized. Further filtering and sampling of the drive signals yields the following results: Figure 9 The sine wave shown.

[0056] In one feasible implementation, when using the SVPWM vector pulse width control method to output the drive signal, the originally required audio signal can also be converted into a voltage for controlling the motor's output audio stream, i.e., a track drive signal. This voltage drives the motor to vibrate and produce sound. This sound production process no longer requires specific audio decoding hardware in the oral care device; instead, the original vibration sound of the motor can be directly used as the working sound of the oral care device. Furthermore, if this track drive signal is further precisely controlled in terms of frequency and amplitude, specific sound or vibration effects can be simulated or generated.

[0057] In some embodiments, considering that there will be significant electromagnetic noise when the switching frequency of the acoustic motor is below 10kHz, and that some signal points will be discarded due to insufficient processing time when the switching frequency is above 22.05kHz, the execution frequency of the track drive signal can be controlled within the range of greater than or equal to 10kHz and less than or equal to 22.05kHz, such as 10kHz, 12.5kHz, 13kHz, 22kHz, etc., so that the track drive signal can smoothly and continuously drive the motor to vibrate and produce sound without generating significant electromagnetic noise. Another feasible embodiment is that the track drive signal can be obtained by sampling the track signal input to the motor, and the sampling rate during sampling can determine the execution frequency of the track drive signal. Similarly, the sampling rate can be selected within the range of 10kHz to 22.05kHz. For example, the sampling rate can be 10kHz, 12.5kHz, 13kHz, 22kHz, etc., so that the execution frequency of the audio track drive signal can be controlled within the range of 10kHz-22.05kHz.

[0058] In some embodiments, the motor includes a reset mechanism, which moves the mover away from the reference axis when the vibration signal is at a high level; and drives the mover to move toward the reference axis when the vibration signal is at a low level and / or a reverse high level.

[0059] Specifically, the first direction is the direction away from the reference axis, and the opposite direction is the direction towards the reference axis. When the vibration signal is at a high level, the mover will move away from the reference axis. When the vibration signal is at a reverse high level, it will move towards the reference axis. If the motor is equipped with a reset mechanism, when the vibration signal is at a low level or a reverse high level, the mover will move towards the reference axis under the drive of the reset mechanism, thus forming a reciprocating vibration relative to the reference axis.

[0060] In some embodiments, the step of controlling the movement of the mover to vibrate based on the sweeping signal and changing the position of the reference axis to form a sweeping motion includes: within the sweeping signal, after controlling the mover to rotate in the first direction based on a high level, controlling the mover to reverse relative to the first direction based on a low level and / or a reverse high level, and if the reversal is not complete, controlling the mover to rotate in the first direction again based on a high level to change the rotation angle of the reference axis.

[0061] Specifically, a positive high-level vibration signal controls the H-bridge circuit to output a positive current, controlling the motor mover to rotate in the first direction. Then, a negative high-level signal controls the H-bridge circuit to output a reverse current, controlling the motor mover to rotate in the opposite direction. If the mover has not rotated back to the starting position, the next positive high-level vibration signal controls the H-bridge circuit to output a positive current, controlling the motor mover to rotate in the first direction again. This results in different angles for the forward and reverse rotations, thus changing the position of the mover's vibration reference axis. In rotational vibration, the position of this reference axis can be represented by the angle between the reference axis and the reference axis.

[0062] Furthermore, the first direction is the direction away from the reference axis, and the opposite direction is the direction towards the reference axis. If the motor is equipped with a reset mechanism, under a low level or reverse high level of the vibration signal, the mover can be pulled back in the opposite direction of the first direction through the reset mechanism. And before the mover has fully reversed, a positive high level of the next vibration signal controls the H-bridge circuit to output a positive current, controlling the motor mover to rotate again in the first direction. Figure 10 As shown, in some embodiments, when the reset mechanism controls the mover to reverse toward the reference axis, it can be done using a reverse level (the opposite polarity of the high level for forward rotation away from the reference axis, such as...). Figure 10 The p1n and n1p in the circuit control the H-bridge circuit to output a reverse current, causing the motor mover to reverse towards the reference axis. This allows the motor mover to reverse towards the reference axis under the dual action of electric drive and reset mechanism, increasing the reset force and thus improving the cleaning effect.

[0063] For example, such as Figure 11 As shown, after the motor rotor rotates a certain angle to the left from the starting position S0 to reach position S1, it begins to reverse to the right and returns to the starting position S0. At this time, the rotor's reference axis is located at position Sx. If the rotor maintains the same amplitude of rotation and reverses, it will oscillate back and forth between S1 and S0, and the rotor's reference axis will remain unchanged at position Sx. If the rotor does not reverse back to the starting position S0, but rotates a certain angle to the left again at position S2, reaching position S3, the reference axis will deflect to the left. When the rotor oscillates back and forth between S2 and S3, the rotor's reference axis will be located at position Sy, and the rotor's vibration area will also change. Under the control of the drive signal, the rotor can regularly change the angle of the reference axis in the above manner, enabling it to sweep over a large range, thus allowing the rotor to oscillate with a small amplitude while sweeping over a larger range. It should be noted that the first direction can be left or right. If the moving part does not move in the reverse direction, it means that the reverse movement is to a position other than the starting position, including two situations: the reverse movement does not pass through the starting position and the reverse movement passes through the original position.

[0064] In some embodiments, the reset mechanism is an elastic element reset mechanism; the larger the rotation angle of the reference shaft relative to the reference shaft, the longer the duration of the high level in the vibration signal when controlling the mover to move by the same angle; and / or, the larger the rotation angle of the reference shaft relative to the reference shaft, the shorter the duration of the reverse high level in the vibration signal when controlling the mover to move by the same angle; when the rotation angle of the reference shaft relative to the reference shaft is greater than a first preset angle, the duration of the reverse high level in the vibration signal is 0.

[0065] In this embodiment, the reset mechanism employing an elastic element reset method uses an elastic element (such as a spring) to provide the reset force. When the motor is operating, the high level of the vibration signal causes the mover to rotate away from the reference axis. When the vibration signal is at the reference level, the elastic element (such as a coil spring or torsion spring) releases its stored elastic energy, generating a reset force that pulls the mover back towards the reference axis. Due to the characteristics of the elastic element, the greater the angle of the mover's deviation from the reference axis, the more elastic energy the elastic element needs to store, and the stronger its reset force. Conversely, the smaller the angle of the mover's deviation from the reference axis, the less elastic energy the elastic element needs to store, and the weaker its reset force. Therefore, when the rotation angle of the reference axis relative to the reference axis is larger, in order to maintain the uniformity of the mover's vibration amplitude each time, the mover needs a larger steering force to overcome the reset force of the reset mechanism, and the corresponding vibration signal should have a longer high-level duration. For example, as shown in the figure... Figure 6 As shown, as the rotation angle of the reference axis increases, the duration of the high level of p1-P5 gradually increases, and as the rotation angle of the reference axis decreases, the duration of the high level of p6-P10 gradually decreases.

[0066] In this embodiment, when the angle of the mover deviating from the reference axis is small, a reverse voltage level can be provided to assist the reset mechanism in controlling the mover to reverse, thereby increasing the reversing force of the mover and improving the cleaning effect. However, when the angle of the mover deviating from the reference axis is large, the elastic element of the reset mechanism can output sufficient reset force, eliminating the need to control the mover to reverse via a reverse voltage level. For example, as... Figure 10 As shown, when the reference axis rotation angle is small, after a high level p1, an opposite level p1n is set to control the rotor to reverse; after a high level p2, an opposite level p2n is set to control the rotor to reverse. When the reference axis rotation angle is large, the duration of the reverse level decreases, and when the reference axis rotation angle is greater than a first preset angle, it can be reduced to 0, i.e., no reverse level is applied. The duration of the reverse high level is dynamically adjusted according to the reference axis rotation angle to ensure that the rotor can vibrate stably and uniformly, thereby improving the cleaning effect.

[0067] In some embodiments, the reset mechanism is a magnetic reset mechanism; the smaller the rotation angle of the reference shaft relative to the reference shaft, the longer the duration of the high level in the vibration signal when controlling the mover to move away from the reference shaft by the same angle; and / or, the smaller the rotation angle of the reference shaft relative to the reference shaft, the shorter the duration of the reverse high level in the vibration signal when controlling the mover to move by the same angle; when the rotation angle of the reference shaft relative to the reference shaft is less than the second preset angle, the duration of the reverse high level in the vibration signal is 0.

[0068] In this embodiment, the magnetic reset mechanism utilizes the magnetic force generated by a permanent magnet or electromagnet to provide the reset force. When the motor is operating, the high level of the vibration signal causes the mover to rotate away from the reference axis. When the drive signal is at the reference level, the magnetic field generated by the permanent magnet or electromagnet applies a reset force, pulling the mover back towards the reference axis. Due to the characteristics of the permanent magnet or electromagnet, the smaller the angle of the mover's deviation from the reference axis, the stronger the reset force applied by the magnetic field; conversely, the larger the angle of the mover's deviation from the reference axis, the weaker the reset force applied by the magnetic field. Therefore, the smaller the rotation angle of the reference axis relative to the reference axis, the greater the steering force required by the mover to overcome the reset force of the reset mechanism in order to maintain the uniformity of the mover's vibration amplitude each time, and the corresponding high-level duration of the vibration signal should be increased.

[0069] In this embodiment, when the angle of the mover deviating from the reference axis is large, a reverse level can be provided to assist the reset mechanism in controlling the mover to reverse, thereby increasing the reversing force of the mover and improving the cleaning effect. When the angle of the mover deviating from the reference axis is small, the magnetic force generated by the permanent magnet or electromagnet of the reset mechanism can output sufficient reset force, eliminating the need to control the mover to reverse via a reverse level. The duration of the reverse high level is dynamically adjusted according to the rotation angle of the reference axis to ensure that the mover can vibrate stably and uniformly, thus improving the cleaning effect.

[0070] In some embodiments, a high level of the vibration signal controls the mover to rotate in a first direction, a low level of the vibration signal does not drive the mover to move, and a reverse high level of the vibration signal controls the mover to rotate in the opposite direction to the first direction.

[0071] Specifically, when the motor is not equipped with a reset mechanism, the movement of the mover is controlled only by the high level of the vibration signal. The positive high level and the negative high level of the vibration signal control the mover to move in different directions, respectively. When the vibration signal is low, the mover does not drive the mover to move.

[0072] In some embodiments, the sweeping signal is a periodic signal, and the vibration signals of the first half-cycle and the second half-cycle of the sweeping signal have opposite polarities. The first half-cycle and the second half-cycle of the sweeping signal control the reference axis to sweep in the regions on both sides of the reference axis, respectively.

[0073] Specifically, such as Figure 6 and Figure 10 As shown, the periodic sweeping signal has opposite polarities in the first and second half of the cycle, so as to control the reference axis to sweep in the regions on both sides of the reference axis respectively. The vibration pattern of each region can be the same.

[0074] In some embodiments, the first half-cycle and the second half-cycle of the sweep signal are connected by a low level, and the total duration of the connected low level is longer than a preset duration, so as to reset the mover to the reference axis.

[0075] Specifically, at the junction of the first and second half of the cycle, the low level is maintained for a sufficiently long duration to ensure that the mover can stably reset to the reference axis, thus guaranteeing stable control when the mover switches between sweeping areas and preventing deviations.

[0076] In some embodiments, the first half-cycle and the second half-cycle of the sweep signal are connected by an inverted high level, and the connected high level shorts the two ends of the motor.

[0077] Specifically, besides using a low-level signal to allow the mover to gradually decelerate to its reset position due to friction and inertia, another method to control the motor's braking is to actively apply a reverse torque to quickly counteract the kinetic energy remaining on the mover and rapidly stop the motor. This involves connecting the first and second halves of the sweep signal with a reverse high-level signal, short-circuiting the two ends of the motor. Since the mover is still moving, the back electromotive force inside the motor generates a current, creating a braking torque to stop the motor. In high-level braking mode, the back electromotive force generated on the motor produces a braking current through the short circuit, and the reverse torque decelerates the motor. This allows the kinetic energy remaining on the mover to be quickly canceled out, achieving rapid braking.

[0078] In some embodiments, when the vibration signal satisfies a first condition, the rotation angle away from the reference axis when the high-level signal controls the movement of the mover to vibrate is greater than the rotation angle towards the reference axis when the low-level and / or reverse high-level signal controls the movement of the mover to vibrate; and / or,

[0079] When the vibration signal satisfies the second condition, the rotation angle away from the reference axis when the high level in the vibration signal controls the movement of the mover to vibrate is less than the rotation angle towards the reference axis when the low level and / or reverse high level in the vibration signal controls the movement of the mover to vibrate, so that the reference axis rotates towards the reference axis.

[0080] Specifically, such as Figure 12 As shown in (a), when the mover 1201 is in one reciprocating vibration, the mover 1201 can first move from the starting position 1202 in a direction away from the reference axis ( Figure 12The rotor 1201 rotates from the left side of the center axis and then reverses towards the reference axis. If the duration of the high-level signal in the vibration signal meets the first condition (i.e., the duration of the high-level signal is longer than the duration of the low-level signal), then the rotation angle of the rotor 1201 away from the reference axis is greater than the rotation angle towards the reference axis (α > β). Therefore, the rotation centerline 1203 of the rotor 1201 shifts away from the reference axis. Under this rotation law, as the rotor vibrates, its reference axis will gradually rotate away from the reference axis, forming a sweeping vibration. Figure 12 As shown in (b), if the duration of the high-level signal in the vibration signal satisfies the second condition, such that the duration of the high-level signal is less than the duration of the low-level signal, then the rotation angle of the mover 1201 towards the reference axis is greater than the rotation angle away from the reference axis (β > α). Therefore, the rotation centerline 1203 of the mover 1201 shifts towards the reference axis. Under this rotation law, as the mover vibrates, its reference axis will gradually rotate towards the reference axis, forming a sweeping vibration.

[0081] During a single reciprocating oscillation, the mover can first rotate towards the reference axis and then reverse away from it. If the duration of the high-level signal in the vibration signal meets the second condition (i.e., the high-level duration is shorter than the low-level duration), and the rotation angle of the mover towards the reference axis is greater than the rotation angle away from the reference axis, it indicates that the mover's reversal is incomplete, and the mover's reference axis rotates towards the reference axis. Under this rotational pattern, as the mover vibrates, its reference axis will gradually rotate towards the reference axis, forming a sweeping oscillation. If the duration of the high-level signal in the vibration signal meets the first condition (i.e., the high-level duration is longer than the low-level duration), and the rotation angle of the mover away from the reference axis is greater than the rotation angle towards the reference axis, it indicates that the mover's reversal is excessive, and the mover's reference axis rotates away from the reference axis. Under this rotational pattern, as the mover vibrates, its reference axis will gradually rotate away from the reference axis, forming a sweeping oscillation.

[0082] Based on the condition that the duration of the high level in the vibration signal must be satisfied, the mover can rotate its vibration reference axis toward and / or away from the reference axis while vibrating, according to different rules. The sweeping of the reference axis over a wide range can enable the mover to achieve a wide range of sweeping vibration while maintaining a small swing amplitude, thus significantly increasing the vibration coverage of the mover and covering more tooth surface areas.

[0083] In some embodiments, each vibration signal in the sweeping signal satisfies the first condition in sequence, and then satisfies the second condition.

[0084] Specifically, during a cleaning process, under the control of the sweeping signal, the rotation angle of the reference axis of the motor mover relative to the reference axis can gradually increase or decrease with the increase of the number of vibrations, thereby realizing the regular change of the reference axis position. That is, while maintaining vibration, the mover gradually sweeps to the left or right, increasing the vibration coverage area and improving the cleaning effect.

[0085] First, each vibration signal within the sweeping signal satisfies the first condition: when the mover vibrates, the rotation angle away from the reference axis is greater than the rotation angle towards the reference axis. The reference axis rotates away from the reference axis, and the angle of rotation of the reference axis relative to the reference axis can gradually increase with the increase of the number of vibrations. When the angle of rotation of the reference axis relative to the reference axis reaches a third preset angle, each vibration signal within the sweeping signal then satisfies the second condition: when the mover vibrates, the rotation angle away from the reference axis is less than the rotation angle towards the reference axis. The reference axis rotates towards the reference axis, and the angle of rotation of the reference axis relative to the reference axis can gradually decrease with the increase of the number of vibrations. This creates a reciprocating sweeping motion, achieving a second cleaning of the already cleaned tooth surface and improving the cleaning effect.

[0086] In some embodiments, the sweeping signal is a periodic signal, and the polarity of the vibration signals in the first half-cycle and the second half-cycle of the sweeping signal is opposite. Each vibration signal in the sweeping signal satisfies the first condition in the first half-cycle and then satisfies the second condition. In the second half-cycle, the first condition is satisfied in sequence and then the second condition is satisfied.

[0087] Specifically, the motor actuator maintains vibration, first sweeping back and forth along one side of the reference axis, then sweeping back and forth along the other side, thus forming a periodic sweeping vibration. The vibration trajectory is not concentrated on a single side of the reference axis, but covers a wide area on both sides, allowing the oral care device to cover a larger area of ​​the teeth and gums, preventing missed areas. This periodic sweeping allows the toothbrush to vibrate and clean the same area multiple times, while the repeated sweeping up and down the teeth conforms to the Bass brushing technique, helping to remove stubborn plaque and food debris. The automated periodic sweeping reduces the frequency of manual toothbrush movement, making brushing simpler and more efficient.

[0088] For example, such as Figure 13 As shown, under the control of the sweeping signal, the motor mover maintains a certain preset vibration amplitude of reciprocating vibration. As the number of vibrations increases, the rotation angle of its vibration reference axis is gradually increased to A1, and then gradually decreased to the reference axis position A0. Then the rotation angle of the vibration reference axis is gradually increased to A2, and then gradually decreased to the reference axis position A0, thus forming a periodic sweeping vibration effect.

[0089] In some embodiments, the frequencies of the vibration signals within the sweeping signal are the same.

[0090] Specifically, the sweeping signal is a composite signal composed of multiple vibration signals, used to control the vibration of the motor's actuator and the sweeping mode. In this embodiment, the frequency of each vibration signal remains consistent; that is, throughout the entire sweeping process, regardless of changes in the actuator's vibration amplitude, the actuator's vibration frequency remains unchanged, and all vibration signals have the same frequency within one sweeping cycle. For example, if the frequency is set to 30Hz, then throughout the entire sweeping signal process, when the vibration amplitude changes from 5 degrees to 10 degrees, the frequency of the vibration signal remains at the preset frequency, and all vibration signals drive the actuator to vibrate at a frequency of 30Hz. Maintaining the same frequency ensures consistent strength and effect of each vibration, preventing changes in vibration amplitude from affecting the cleaning effect. Regardless of changes in vibration amplitude, it provides stable and effective cleaning force, avoiding discomfort caused by frequency variations, and providing users with a smoother and more comfortable vibration experience.

[0091] In some embodiments, the high-level duration of each vibration signal within the sweeping signal is the same, or the low-level duration is the same, or the reverse high-level duration is the same.

[0092] Specifically, during each vibration, the rotation angle of the mover remains consistent in the direction toward and / or away from the reference axis. For example, it may deflect 10 degrees toward the reference axis or deflect 10 degrees away from the reference axis during each vibration. When both the rotation angle toward and away from the reference axis remain constant, the motor mover can cause the vibration reference axis to sweep at a fixed sweeping frequency. In some embodiments, regular sweeping can be achieved by setting the duration of the high level in the sweeping signal to be the same, and / or setting the duration of the low level to be the same, thereby improving user comfort.

[0093] In some embodiments, the method further includes: controlling the mover to vibrate relative to the reference axis at equal angles based on the sweeping signal, and controlling the reference axis to rotate to change the vibration center, wherein the vibration angle is smaller than the rotation range of the reference axis; or, controlling the vibration amplitude of the mover to gradually increase based on the sweeping signal and changing the position of the reference axis; or, controlling the vibration amplitude of the mover to gradually decrease based on the sweeping signal and changing the position of the reference axis.

[0094] Specifically, under the control of the sweeping signal, the motor mover can reciprocate with the same vibration amplitude, while simultaneously controlling the rotation of the reference shaft to change the vibration center, enabling the mover to achieve a wide range of sweeping vibrations while maintaining the same vibration amplitude. Optionally, the vibration amplitude of the motor mover is smaller than the rotation range of the reference shaft, that is, the motor mover performs small-amplitude vibrations and large-amplitude sweeping movements, which increases the cleaning range and cleaning intensity while taking into account the user's tooth sensitivity.

[0095] Optionally, under the control of the sweeping signal, the duration of the high level of each vibration signal within the sweeping signal gradually increases or decreases sequentially; and / or, the duration of the low level of each vibration signal within the sweeping signal gradually increases or decreases sequentially; and / or, the duration of the reverse high level of each vibration signal within the sweeping signal gradually increases or decreases sequentially. The motor actuator can thus reciprocate according to different vibration amplitudes. For example, by controlling the amplitude of the actuator's vibration to gradually increase or decrease, and simultaneously changing the position of the reference axis to change the vibration center, regular vibration and sweeping can be achieved. This provides richer vibration modes to adapt to different usage needs and scenarios, ensuring cleaning effectiveness while improving user comfort during use.

[0096] In some embodiments, the method further includes: controlling the rotation angle away from the reference axis to be equal to the rotation angle toward the reference axis during each vibration based on the sweeping signal, so that the mover resets to the reference axis position after each vibration; and / or controlling the rotation angle away from the reference axis to be equal to the rotation angle toward the reference axis during multiple consecutive vibrations based on the sweeping signal, and the rotation angle remains unchanged, so that the mover vibrates continuously multiple times at equal angles relative to the reference axis while the reference axis remains unchanged.

[0097] Specifically, under the control of the sweeping signal, the motor mover reverses to its starting position after each vibration rotation. Generally, the starting position of the motor mover is the reference axis position. In this case, the motor resets to the reference axis position after each vibration. The rotation of the vibration reference axis can be achieved by changing the vibration amplitude of each vibration, thereby changing the vibration center position.

[0098] For example, such as Figure 14 As shown, the motor mover rotates to the left by a first angle from the starting position S0 to reach position S1, then begins to reverse to the right, returning to the starting position S0. At this point, the mover's reference axis is located at position Sx. Then, the motor mover changes its vibration amplitude (taking increasing the vibration amplitude as an example), rotating to the left by a second angle from the starting position S0 to reach position S2. At this point, the mover's reference axis is located at position Sy. Furthermore, the motor mover can also rotate symmetrically to the right according to the above rotation pattern, or reduce the vibration amplitude. Under the control of the sweeping signal, the mover can regularly change the angle of the reference axis in the above manner, enabling it to sweep over a wide range by changing the vibration amplitude, providing a more flexible and powerful cleaning effect.

[0099] Furthermore, the motor mover can maintain a fixed vibration for a certain duration or number of cycles during a single cleaning process, while simultaneously sweeping and vibrating. That is, each vibration signal within the sweeping signal can be repeated continuously multiple times. It is understood that during a single cleaning process, some vibration signals can be repeated multiple times, making the motor mover's vibration process include vibration modes that change the reference axis position, as well as vibration modes that do not change the reference axis position multiple times consecutively; it includes vibration modes that change the vibration amplitude, as well as vibration modes that maintain a constant vibration amplitude multiple times consecutively. Specifically, during a single vibration of the mover, if the rotation angle of the mover away from the reference axis is equal to the rotation angle towards the reference axis, and the rotation angle remains constant, the mover's starting position and rotation stop position are the same, and the mover's vibration reference axis position will not change. When performing the above-mentioned fixed vibration modes multiple times consecutively, the mover can achieve continuous vibration with the same vibration amplitude and the same reference axis position in multiple vibrations.

[0100] For example, during a single cleaning cycle, the motor actuator can perform multiple fixed vibrations within a range of 5-10° relative to the reference axis, and then change the position of the vibration reference axis, causing the actuator to perform multiple fixed vibrations within a range of 7-12° relative to the reference axis. By setting multiple fixed vibrations during the sweeping process, the sweeping frequency of the motor vibration can be controlled more flexibly, while also enhancing the cleaning force on teeth in the same location, preventing the actuator from changing the reference axis position and driving the brush head to rotate to other locations before one area is thoroughly cleaned.

[0101] In some embodiments, the rotation angle of the reference axis relative to the base axis varies at equal angles.

[0102] Specifically, when the reference axis changes at a constant angle relative to the reference axis, it means that the angle of each movement of the reference axis is constant, whether to the left or the right. For example, each time the reference axis changes position, whether clockwise or counterclockwise, it rotates by a fixed 5 degrees.

[0103] The regular vibration pattern described above allows the actuator to maintain a uniform movement trajectory of the brush head during oral cleaning, helping to cover all areas of the tooth surface and gums, avoiding blind spots, and ensuring that every tooth is thoroughly cleaned. The regular changes in vibration also help improve user comfort.

[0104] In some embodiments, the frequency of the vibration signal is different when the mover vibrates with different amplitudes; the lower the frequency of the vibration signal, the greater the vibration amplitude of the mover.

[0105] Specifically, the frequency of the vibration signal is adjusted according to different vibration amplitudes. The larger the vibration amplitude of the moving part, the lower the frequency of the corresponding vibration signal; the smaller the vibration amplitude, the higher the frequency of the corresponding vibration signal. For example, when the vibration amplitude is 10 degrees, the frequency of the vibration signal is 20 Hz; when the vibration amplitude is 5 degrees, the frequency of the vibration signal is 40 Hz. A larger vibration amplitude provides a wider coverage area, which helps to clean a larger area, while a lower vibration signal frequency provides a lower vibration frequency, which correspondingly reduces irritation to the teeth and gums.

[0106] In some embodiments, the motor is provided with a limiting device for limiting the maximum range of motion of the mover.

[0107] Specifically, a limit device is a mechanical or electronic component installed on a motor to limit the maximum rotation angle of the mover, ensuring that the mover moves within a predetermined range. Limit devices can take various forms, such as mechanical stops, spring mechanisms, and electronic sensors, to limit the maximum rotation angle of the mover physically or electronically. For example, a limit device can be set to limit the maximum rotation angle of the mover to 15 degrees.

[0108] The limiting device effectively prevents the mover from moving beyond its predetermined range, avoiding damage to the motor and related components and improving the safety and reliability of the equipment. By limiting the rotation angle, it reduces wear and fatigue of mechanical parts caused by excessive movement, extending the service life of the equipment. Limiting the maximum rotation angle of the mover also ensures that the motor of the oral care equipment operates within a stable vibration range, resulting in a more uniform and effective cleaning effect. The range of motion of the reference axis is less than the maximum range of motion of the mover.

[0109] In some embodiments, the mover resets to the same predetermined reference axis each time it vibrates, and the reference axis is a fixed reference axis for the movement of the mover.

[0110] Specifically, the motor's actuator is set with a fixed reference axis. In the initial motor state, the actuator is located at the reference axis position, and in the motor-stopped state, the actuator should also be located at this reference axis position. During each vibration, the actuator rotates away from the reference axis and then returns to its original position (not necessarily fully returned to the reference axis). Setting a fixed reference axis ensures the stability of the motor's actuator movement, allows for stable switching of the actuator's sweeping direction, covers a wide area on both sides of the reference axis, and ensures that the vibration trajectory of the oral care device covers a larger area of ​​the teeth and gums, preventing missed areas.

[0111] In some embodiments, the method further includes: controlling the vibration frequency of the mover based on the frequency corresponding to the vibration signal; and / or controlling the vibration amplitude of the mover based on the duty cycle corresponding to the vibration signal; and / or controlling the sweep amplitude of the reference axis based on the duration of the high level corresponding to each vibration signal in the sweep signal and / or the duty cycle; and / or controlling the sweep frequency of the reference axis based on the duration of the high level corresponding to each vibration signal in the sweep signal and / or the duty cycle and / or the frequency.

[0112] Specifically, vibration frequency refers to the number of vibration cycles completed by the mover per second. During one vibration cycle, the vibration frequency can also characterize the velocity of the mover's vibration. The vibration frequency of the mover can be controlled by the frequency of the vibration signal. Duty cycle refers to the ratio of the high-level duration of the vibration signal within one cycle to the total cycle time. The vibration amplitude of the mover is controlled by adjusting the duty cycle of the vibration signal; the larger the duty cycle, the larger the vibration amplitude. Sweep amplitude and sweep frequency refer to the amplitude and velocity of the reference axis's offset during sweeping, respectively. The sweep amplitude needs to be adjusted based on the high-level duration and / or duty cycle of each vibration signal within the sweep signal; the sweep frequency needs to be adjusted based on the high-level duration and / or duty cycle and / or frequency of each vibration signal within the sweep signal. For example, the mover rotates in the first direction, and when it fails to reverse in the first direction, it is controlled to rotate in the first direction again. By adjusting the duty cycle of the vibration signal, the vibration amplitude of the mover can be controlled. By adjusting the frequency of the vibration signal, the vibration frequency of the mover can be controlled. By adjusting multiple vibration signals (high level duration and / or duty cycle and / or frequency) in the sweeping signal, the sweeping amplitude and sweeping frequency of the reference axis can be controlled within the sweeping cycle.

[0113] In some embodiments, open-loop control is formed on the motor actuator based on the drive signal. The waveform of the drive signal is one or more of sine wave, square wave, and triangle wave to achieve different vibration modes and cleaning effects. Optionally, the drive signal is a single electrical signal (such as two-phase electricity) to improve equipment stability and reliability, ensure that the equipment can provide consistent and efficient cleaning results, and bring a better user experience.

[0114] Next, combine Figure 1 This application introduces an exemplary embodiment of an oral care device. The oral care device includes a motor, and the motor movement is controlled by a motor control method as described in any of the above embodiments.

[0115] In this way, by optimizing the motor control method, the mover can reciprocate with a small amplitude relative to the reference axis, reducing stimulation to users with sensitive teeth. At the same time, the position of the reference axis can be controlled to change, significantly increasing the vibration coverage of the mover, covering more tooth surface areas, reducing the frequency of users needing to manually move the toothbrush, and ensuring that each brushing can more comprehensively cover the oral cavity area, ensuring a highly efficient cleaning effect.

[0116] In some embodiments, the oral care device performs open-loop control of the motor based on a drive signal.

[0117] Specifically, open-loop control refers to a system that controls the operation of a motor without feedback. The motor operates according to a preset drive signal, without adjusting based on real-time operating conditions. Open-loop control systems are simple to design, low in cost, do not require complex sensors and feedback control systems, improve system reliability, and reduce potential points of failure.

[0118] In some embodiments, the oral care device has multiple gears or modes, and different gears or modes correspond to different drive signal parameters; the drive signal parameters include at least one of vibration frequency, vibration amplitude, sweeping amplitude, and sweeping frequency.

[0119] Specifically, oral care devices can be designed with different operating levels or modes, each corresponding to its own drive signal. Different levels or modes correspond to different vibration frequencies, vibration amplitudes, sweeping angles, and sweeping frequencies to adapt to different cleaning needs. For example, an oral care device can provide multiple cleaning mode options, such as daily cleaning, sensitive cleaning, and deep cleaning. When the user selects the sensitive cleaning mode, its preset vibration frequency is 20Hz, vibration amplitude is 5 degrees, sweeping angle is 10 degrees, and sweeping frequency is 1 degree / second. The oral care device inputs the drive signals corresponding to these parameters into the motor for control.

[0120] In some embodiments, such as Figure 15 As shown, the oral care device 1510 is communicatively connected to the terminal 1520. The application program of the terminal 1520 is used to set one or more of the vibration frequency, vibration amplitude, sweeping angle, and sweeping frequency of the moving part, and output the corresponding drive signal to the oral care device 1510.

[0121] Specifically, the terminal 1520 includes, but is not limited to, smartphones, tablets, wearable terminals, and personal computers. The terminal 1520 and the oral care device 1510 can be connected via wired or wireless communication, such as via Bluetooth, WiFi, or cellular networks. Users can set the operating parameters of the oral care device 1510 through an application on the terminal 1520, such as one or more of the following: vibration frequency, vibration amplitude, sweeping angle, and sweeping frequency. The application generates corresponding drive signals and sends them to the oral care device 1510, which then controls the motor to operate based on the received drive signals. In this way, users can easily set the device's operating parameters through the terminal, providing a more precise adjustment method and a more convenient user experience, achieving optimal cleaning results.

[0122] In some embodiments, the oral care device acquires current oral care information, determines the vibration frequency, vibration amplitude, sweeping angle, and sweeping frequency of the mover based on the current oral care information, and determines the corresponding drive signal.

[0123] Specifically, oral care devices can determine current oral care information through built-in sensors or by inputting the user's oral condition and care needs. Based on this information, the device can automatically recommend configuration parameters, such as the vibration frequency, amplitude, sweeping angle, and sweeping frequency of the actuator, and generate corresponding drive signals. This allows for automatic adjustment of the cleaning mode according to the actual oral condition, providing more personalized and effective cleaning, reducing the hassle of manual adjustments for users, and improving the user experience.

[0124] Among them, oral care devices can be trained based on machine learning algorithms, using users' historical cleaning records or relevant big data, to improve the comfort and adaptability of automatically recommended configuration parameters.

[0125] Please refer to Figure 16 This is a structural schematic diagram of a motor control device for an oral care device provided in an embodiment of this application. The oral care device includes a motor, and the motor includes a mover, such as... Figure 16 As shown, the device includes:

[0126] The acquisition module 1610 is used to acquire a drive signal; the drive signal includes multiple sweeping signals, and each sweeping signal includes multiple vibration signals;

[0127] The control module 1620 is used to control the mover to move in a first direction based on a high level of the vibration signal, and to control the mover to move in the opposite direction of the first direction based on a low level and / or a reverse high level of the vibration signal, so as to perform reciprocating vibration relative to a reference axis; the vibration includes linear vibration or rotational vibration; the mover is controlled to vibrate based on the sweeping signal, and the position of the reference axis is changed to form a sweeping motion, so as to increase the coverage of the vibration.

[0128] In one possible implementation, controlling the movement of the mover to vibrate based on the sweeping signal and changing the position of the reference axis to form a sweeping motion includes: within the sweeping signal, controlling the mover to rotate in the first direction based on a high level, controlling the mover to reverse relative to the first direction based on a low level and / or a reverse high level, and controlling the mover to rotate in the first direction again based on a high level when the reversal is not complete, so as to change the rotation angle of the reference axis.

[0129] In one possible implementation, the motor includes a reset mechanism for resetting the mover toward a reference axis; the reference axis is a fixed reference axis for the movement of the mover; under a high level of the vibration signal, the mover moves away from the reference axis; under a low level and / or a reverse high level of the vibration signal, the reset mechanism drives the mover to move toward the reference axis.

[0130] In one possible implementation, the reset mechanism is an elastic element reset mechanism; the larger the rotation angle of the reference shaft relative to the reference shaft, the longer the duration of the high level in the vibration signal when controlling the movement of the mover by the same angle; and / or, the larger the rotation angle of the reference shaft relative to the reference shaft, the shorter the duration of the reverse high level in the vibration signal when controlling the movement of the mover by the same angle; when the rotation angle of the reference shaft relative to the reference shaft is greater than a first preset angle, the duration of the reverse high level in the vibration signal is 0.

[0131] In one possible implementation, the reset mechanism is a magnetic reset mechanism; the smaller the rotation angle of the reference shaft relative to the reference shaft, the longer the duration of the high level in the vibration signal when controlling the mover to move away from the reference shaft by the same angle; and / or, the smaller the rotation angle of the reference shaft relative to the reference shaft, the shorter the duration of the reverse high level in the vibration signal when controlling the mover to move by the same angle; when the rotation angle of the reference shaft relative to the reference shaft is less than a second preset angle, the duration of the reverse high level in the vibration signal is 0.

[0132] In one possible implementation, a high level of the vibration signal controls the mover to rotate in a first direction, a low level of the vibration signal does not drive the mover to move, and a reverse high level of the vibration signal controls the mover to rotate in the opposite direction to the first direction.

[0133] In one possible implementation, the pulse width of the vibration signal changes cyclically according to a pattern of first increasing and then decreasing.

[0134] In one possible implementation, the method further includes: controlling the motor to vibrate and produce sound based on a track drive signal, wherein the execution frequency of the track drive signal is greater than or equal to 10 kHz and less than or equal to 22.05 kHz; and / or controlling the motor to vibrate and produce sound based on the track drive signal, wherein the track drive signal is obtained by sampling the track signal according to a preset sampling rate, wherein the preset sampling rate is greater than or equal to 10 kHz and less than or equal to 22.05 kHz.

[0135] In one possible implementation, the sweeping signal is a periodic signal, and the vibration signals of the first half-cycle and the second half-cycle of the sweeping signal have opposite polarities. The first half-cycle and the second half-cycle of the sweeping signal respectively control the reference axis to sweep in the regions on both sides of the reference axis.

[0136] In one possible implementation, the first half-cycle and the second half-cycle of the sweep signal are connected by a low level, and the total duration of the low level connection is longer than a preset duration.

[0137] In one possible implementation, the first half-cycle and the second half-cycle of the sweep signal are connected by an inverted high level, and the high level of the connection shorts up the two ends of the motor.

[0138] In one possible implementation, when the vibration signal satisfies a first condition, the high level in the vibration signal controls the rotation angle away from the reference axis when the mover vibrates, which is greater than the rotation angle towards the reference axis when the low level in the vibration signal and / or the reverse high level in the vibration signal controls the movement angle towards the reference axis; and / or, when the vibration signal satisfies a second condition, the high level in the vibration signal controls the rotation angle away from the reference axis when the mover vibrates, which is less than the rotation angle towards the reference axis when the low level in the vibration signal and / or the reverse high level in the vibration signal controls the movement angle towards the reference axis, so that the reference axis rotates towards the reference axis.

[0139] In one possible implementation, each vibration signal within the sweeping signal satisfies the first condition in sequence, and then satisfies the second condition.

[0140] In one possible implementation, the sweeping signal is a periodic signal, and the vibration signals of the first half-cycle and the second half-cycle of the sweeping signal have opposite polarities. Each vibration signal in the sweeping signal satisfies the first condition in the first half-cycle and then satisfies the second condition. In the second half-cycle, the first condition is satisfied in sequence and then the second condition is satisfied.

[0141] In one possible implementation, the frequencies of the vibration signals within the sweeping signal are the same; or, the frequencies of the vibration signals within the sweeping signal are different.

[0142] In one possible implementation, the high-level duration of each vibration signal within the sweeping signal is the same, or the low-level duration is the same, or the reverse high-level duration is the same.

[0143] In one possible implementation, each of the vibration signals within the sweeping signal is repeated continuously multiple times.

[0144] In one possible implementation, the duration of the high level of each vibration signal within the sweeping signal gradually increases or decreases sequentially; and / or, the duration of the low level of each vibration signal within the sweeping signal gradually increases or decreases sequentially; and / or, the duration of the reverse high level of each vibration signal within the sweeping signal gradually increases or decreases sequentially.

[0145] In one possible implementation, the rotation angle of the reference axis relative to the base axis varies at a constant angle.

[0146] In one possible implementation, the frequency of the vibration signal is different when the mover vibrates with different amplitudes; the lower the frequency of the vibration signal, the greater the vibration amplitude of the mover.

[0147] In one possible implementation, the motor is provided with a limiting device for limiting the maximum range of motion of the mover.

[0148] In one possible implementation, the mover resets to the same predetermined reference axis each time it vibrates, the reference axis being a fixed reference axis for the movement of the mover.

[0149] In one possible implementation, the control module 1620 is specifically configured to: control the vibration frequency of the mover based on the frequency corresponding to the vibration signal; and / or, control the vibration amplitude of the mover based on the duty cycle corresponding to the vibration signal; and / or, control the sweep amplitude of the reference axis based on the high-level duration and / or duty cycle corresponding to each vibration signal in the sweep signal; and / or, control the sweep frequency of the reference axis based on the high-level duration and / or duty cycle and / or frequency corresponding to each vibration signal in the sweep signal.

[0150] In one possible implementation, the waveform of the drive signal is one or more of a sine wave, a square wave, and a triangular wave; and / or, the drive signal is an electrical signal.

[0151] In one possible implementation, open-loop control of the motor actuator is formed based on the drive signal.

[0152] The division of modules in the motor control device of the oral care equipment described above is for illustrative purposes only. In other embodiments, the motor control device of the oral care equipment can be divided into different modules as needed to complete all or part of the functions of the motor control device of the oral care equipment described above. The implementation of each module in the motor control device of the oral care equipment provided in the embodiments of this specification can be in the form of a computer program. This computer program can run on the oral care equipment. The program modules constituted by this computer program can be stored in the memory of the oral care equipment. When the computer program is executed by the processor, it implements all or part of the steps of the motor control method of the oral care equipment described in the embodiments of this specification.

[0153] Please refer to the following. Figure 17 This illustration shows a structural schematic diagram of an oral care device provided in an embodiment of this application. Figure 17 As shown, the oral care device 1700 may include: at least one processor 1710, a network interface 1720, a user interface 1730, a memory 1740, a motor 1750, and at least one communication bus 1760.

[0154] The communication bus 1760 is used to enable communication between these components.

[0155] The network interface 1720 may optionally include a Bluetooth module, a Near Field Communication (NFC) module, a Wi-Fi module, etc.

[0156] The user interface 1730 may include a display screen and buttons; optionally, the user interface 1730 may also include a standard wired interface and a wireless interface.

[0157] The motor 1750 includes a reset mechanism and a mover. The reset mechanism is used to reset the mover to the reference axis. The motor 1750 can control the mover to vibrate based on the drive signal.

[0158] The processor 1710 may include one or more processing cores. The processor 1710 connects to various parts of the oral care device 1700 via various interfaces and lines, and performs various functions and processes data of the oral care device 1700 by running or executing instructions, programs, code sets, or instruction sets stored in the memory 1740, and by calling data stored in the memory 1740. Optionally, the processor 1710 may be implemented using at least one hardware form of Digital Signal Processing (DSP), Field-Programmable Gate Array (FPGA), or Programmable Logic Array (PLA). The processor 1710 may integrate one or a combination of several of the following: Central Processing Unit (CPU), Graphics Processing Unit (GPU), and modem. The CPU primarily handles the operating system and applications; the GPU is responsible for rendering and drawing the content to be displayed on the screen; and the modem handles wireless communication. It is understood that the modem may also not be integrated into the processor 1710 and may be implemented as a separate chip.

[0159] The memory 1740 may include random access memory (RAM) or read-only memory. Optionally, the memory 1740 may include a non-transitory computer-readable storage medium. The memory 1740 can be used to store instructions, programs, code, code sets, or instruction sets. The memory 1740 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for at least one function (such as fetching functions, control functions, etc.), instructions for implementing the various method embodiments described above, etc.; the data storage area may store data involved in the various method embodiments described above, etc. Optionally, the memory 1740 may also be at least one storage device located remotely from the aforementioned processor 1710. Figure 17As shown, the memory 1740, which serves as a computer storage medium, may include an operating system, a network communication module, a user interface module, and program instructions.

[0160] In some possible embodiments, the processor 1710 described above can be used to call program instructions stored in memory 1740 and specifically perform the following operations: acquiring a drive signal; the drive signal includes multiple sweep signals, each of the sweep signals including multiple vibration signals; controlling the mover to move in a first direction based on a high level of the vibration signal, and controlling the mover to move in the opposite direction of the first direction based on a low level and / or a reverse high level of the vibration signal, so as to perform reciprocating vibration relative to a reference axis; the vibration includes linear vibration or rotational vibration; controlling the movement of the mover to vibrate based on the sweep signal, and changing the position of the reference axis to form a sweep, so as to increase the coverage of the vibration.

[0161] In some possible embodiments, controlling the movement of the mover to vibrate based on the sweeping signal and changing the position of the reference axis to form a sweeping motion includes: within the sweeping signal, controlling the mover to rotate in the first direction based on a high level, controlling the mover to reverse relative to the first direction based on a low level and / or a reverse high level, and controlling the mover to rotate in the first direction again based on a high level when the reversal is not complete, so as to change the rotation angle of the reference axis.

[0162] In some possible embodiments, the motor includes a reset mechanism for resetting the mover toward a reference axis; the reference axis is a fixed reference axis for the movement of the mover; under a high level of the vibration signal, the mover moves away from the reference axis; under a low level and / or a reverse high level of the vibration signal, the reset mechanism drives the mover to move toward the reference axis.

[0163] In some possible embodiments, the reset mechanism is an elastic element reset mechanism; the larger the rotation angle of the reference shaft relative to the reference shaft, the longer the duration of the high level in the vibration signal when controlling the movement of the mover by the same angle; and / or, the larger the rotation angle of the reference shaft relative to the reference shaft, the shorter the duration of the reverse high level in the vibration signal when controlling the movement of the mover by the same angle; when the rotation angle of the reference shaft relative to the reference shaft is greater than a first preset angle, the duration of the reverse high level in the vibration signal is 0.

[0164] In some possible embodiments, the reset mechanism is a magnetic reset mechanism; the smaller the rotation angle of the reference shaft relative to the reference shaft, the longer the duration of the high level in the vibration signal when controlling the mover to move away from the reference shaft by the same angle; and / or, the smaller the rotation angle of the reference shaft relative to the reference shaft, the shorter the duration of the reverse high level in the vibration signal when controlling the mover to move by the same angle; when the rotation angle of the reference shaft relative to the reference shaft is less than a second preset angle, the duration of the reverse high level in the vibration signal is 0.

[0165] In some possible embodiments, a high level of the vibration signal controls the mover to rotate in a first direction, a low level of the vibration signal does not drive the mover to move, and a reverse high level of the vibration signal controls the mover to rotate in the opposite direction to the first direction.

[0166] In some possible embodiments, the pulse width of the vibration signal changes cyclically according to a pattern of first increasing and then decreasing.

[0167] In some possible embodiments, the method further includes: controlling the motor to vibrate and produce sound based on a track drive signal, wherein the execution frequency of the track drive signal is greater than or equal to 10 kHz and less than or equal to 22.05 kHz; and / or controlling the motor to vibrate and produce sound based on the track drive signal, wherein the track drive signal is obtained by sampling the track signal according to a preset sampling rate, wherein the preset sampling rate is greater than or equal to 10 kHz and less than or equal to 22.05 kHz.

[0168] In some possible embodiments, the sweeping signal is a periodic signal, and the vibration signals of the first half-cycle and the second half-cycle of the sweeping signal have opposite polarities. The first half-cycle and the second half-cycle of the sweeping signal respectively control the reference axis to sweep in the regions on both sides of the reference axis.

[0169] In some possible embodiments, the first half-cycle and the second half-cycle of the sweep signal are connected by a low level, and the total duration of the low level connection is longer than a preset duration.

[0170] In some possible embodiments, the first half-cycle and the second half-cycle of the sweep signal are connected by an inverted high level, and the high level of the connection shorts the two ends of the motor.

[0171] In some possible embodiments, when the vibration signal satisfies a first condition, the high level controls the rotation angle away from the reference axis when the mover vibrates, which is greater than the rotation angle towards the reference axis when the low level and / or reverse high level in the vibration signal controls the movement of the mover; and / or, when the vibration signal satisfies a second condition, the high level in the vibration signal controls the rotation angle away from the reference axis when the mover vibrates, which is less than the rotation angle towards the reference axis when the low level and / or reverse high level in the vibration signal controls the movement of the mover, so that the reference axis rotates towards the reference axis.

[0172] In some possible embodiments, each vibration signal within the sweeping signal satisfies the first condition in sequence, and then satisfies the second condition.

[0173] In some possible embodiments, the sweeping signal is a periodic signal, and the vibration signals of the first half-cycle and the second half-cycle of the sweeping signal have opposite polarities. Each vibration signal in the sweeping signal satisfies the first condition in the first half-cycle and then satisfies the second condition. In the second half-cycle, the first condition is satisfied in sequence and then the second condition is satisfied.

[0174] In some possible embodiments, the frequencies of the vibration signals within the sweeping signal are the same; or, the frequencies of the vibration signals within the sweeping signal are different.

[0175] In some possible embodiments, the high-level duration of each vibration signal within the sweeping signal is the same, or the low-level duration is the same, or the reverse high-level duration is the same.

[0176] In some possible embodiments, each of the vibration signals within the sweeping signal is repeated continuously multiple times.

[0177] In some possible embodiments, the duration of the high level of each vibration signal in the sweep signal gradually increases or decreases sequentially; and / or, the duration of the low level of each vibration signal in the sweep signal gradually increases or decreases sequentially; and / or, the duration of the reverse high level of each vibration signal in the sweep signal gradually increases or decreases sequentially.

[0178] In some possible embodiments, the rotation angle of the reference axis relative to the base axis varies at a constant angle.

[0179] In some possible embodiments, the frequency of the vibration signal is different when the mover vibrates with different amplitudes; the lower the frequency of the vibration signal, the greater the vibration amplitude when the mover vibrates.

[0180] In some possible embodiments, the motor is provided with a limiting device for limiting the maximum range of motion of the mover.

[0181] In some possible embodiments, the mover resets to the same predetermined reference axis each time it vibrates, the reference axis being a fixed reference axis for the movement of the mover.

[0182] In some possible embodiments, the processor 1710 specifically performs: controlling the vibration frequency of the mover based on the frequency corresponding to the vibration signal; and / or controlling the vibration amplitude of the mover based on the duty cycle corresponding to the vibration signal; and / or controlling the sweep amplitude of the reference axis based on the high-level duration and / or duty cycle corresponding to each vibration signal in the sweep signal; and / or controlling the sweep frequency of the reference axis based on the high-level duration and / or duty cycle and / or frequency corresponding to each vibration signal in the sweep signal.

[0183] In some possible embodiments, the waveform of the drive signal is one or more of a sine wave, a square wave, and a triangular wave; and / or, the drive signal is an electrical signal.

[0184] In some possible embodiments, open-loop control of the motor actuator is formed based on the drive signal.

[0185] This application also provides a computer-readable storage medium storing instructions that, when executed on a computer or processor, cause the computer or processor to perform one or more steps in the above embodiments. If the constituent modules of the motor control device of the above-described oral care equipment are implemented as software functional units and sold or used as independent products, they can be stored in the computer-readable storage medium.

[0186] In the above embodiments, implementation can be achieved entirely or partially through software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented entirely or partially as a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted through the computer-readable storage medium. The computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, Digital Subscriber Line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that integrates one or more available media. The available media may be magnetic media (e.g., floppy disks, hard disks, magnetic tapes), optical media (e.g., digital versatile discs (DVDs)), or semiconductor media (e.g., solid-state drives (SSDs)).

[0187] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. This program can be stored in a computer-readable storage medium, and when executed, it can include the processes of the embodiments of the methods described above. The aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks. Unless otherwise specified, the technical features of this embodiment and its implementation can be combined arbitrarily.

[0188] The embodiments described above are merely preferred embodiments of this application and are not intended to limit the scope of this application. Any modifications and improvements made by those skilled in the art to the technical solutions of this application without departing from the spirit of this application should fall within the protection scope defined by the claims of this application.

Claims

1. A method for controlling a motor in an oral care device, the oral care device including a motor, the motor including a mover, the method comprising: Acquire a drive signal, wherein the drive signal is a preset signal; The driving signal includes multiple sweeping signals, and each sweeping signal includes multiple vibration signals; The high level of the vibration signal controls the movement of the mover in a first direction, and the low level and / or reverse high level of the vibration signal controls the movement of the mover in the opposite direction to the first direction, so as to perform reciprocating vibration relative to the reference axis; the vibration includes linear vibration or rotational vibration; The vibration of the moving part is controlled based on the sweeping signal, and the position of the reference axis is changed to form a sweeping motion, thereby increasing the coverage of the vibration. The motor includes a reset mechanism for resetting the mover to a reference axis so as to drive the mover in conjunction with the drive signal. The reference axis is a fixed reference axis for the movement of the mover.

2. The motor control method according to claim 1, characterized by, The step of controlling the vibration of the mover based on the sweeping signal and changing the position of the reference axis to form a sweeping motion includes: Within the sweeping signal, after controlling the mover to rotate in the first direction based on a high level, the mover is controlled to reverse relative to the first direction based on a low level and / or a reverse high level, and if the reversal is not complete, the mover is controlled to rotate in the first direction again based on a high level to change the rotation angle of the reference axis.

3. The motor control method according to claim 1, characterized in that, Under the high level of the vibration signal, the mover moves away from the reference axis; When the vibration signal is at a low level and / or a reverse high level, the reset mechanism drives the mover to move toward the reference axis.

4. The motor control method according to claim 3, characterized by, The reset mechanism is an elastic element reset mechanism; The greater the rotation angle of the reference axis relative to the base axis, the longer the high level in the vibration signal lasts when controlling the mover to move by the same angle; and / or, The greater the rotation angle of the reference axis relative to the reference axis, the shorter the duration of the reverse high level in the vibration signal when controlling the movement of the mover by the same angle; when the rotation angle of the reference axis relative to the reference axis is greater than a first preset angle, the duration of the reverse high level in the vibration signal is 0.

5. The motor control method according to claim 3, characterized by, The reset mechanism is a magnetic reset mechanism; The smaller the rotation angle of the reference axis relative to the reference axis, the longer the high level in the vibration signal lasts when the mover is controlled to move away from the reference axis by the same angle; and / or, The smaller the rotation angle of the reference axis relative to the reference axis, the shorter the duration of the reverse high level in the vibration signal when controlling the movement of the mover by the same angle; when the rotation angle of the reference axis relative to the reference axis is less than the second preset angle, the duration of the reverse high level in the vibration signal is 0.

6. The motor control method of claim 1, wherein The high level of the vibration signal controls the mover to rotate in the first direction, the low level of the vibration signal does not drive the mover to move, and the reverse high level of the vibration signal controls the mover to rotate in the opposite direction to the first direction.

7. The motor control method of claim 1, wherein The pulse width of the vibration signal changes cyclically according to a pattern of first increasing and then decreasing.

8. The motor control method of claim 1, wherein The method further includes: The motor vibrates and produces sound based on a track drive signal, wherein the execution frequency of the track drive signal is greater than or equal to 10 kHz and less than or equal to 22.05 kHz. And / or, the motor is controlled to vibrate and produce sound based on the track drive signal, wherein the track drive signal is obtained by sampling the track signal according to a preset sampling rate, wherein the preset sampling rate is greater than or equal to 10 kHz and less than or equal to 22.05 kHz.

9. The motor control method of claim 1, wherein, The sweeping signal is a periodic signal. The vibration signals of the first half-cycle and the second half-cycle of the sweeping signal have opposite polarities. The first half-cycle and the second half-cycle of the sweeping signal control the reference axis to sweep in the regions on both sides of the reference axis, respectively.

10. The motor control method according to claim 9, characterized by, The first half-cycle and the second half-cycle of the sweep signal are connected by a low level, and the total duration of the low level connection is longer than a preset duration.

11. The motor control method of claim 9, wherein, The first half-cycle and the second half-cycle of the sweeping signal are connected by a reverse high level, and the high level of the connection shorts up the two ends of the motor.

12. The motor control method of claim 1, wherein, When the vibration signal satisfies the first condition, the rotation angle away from the reference axis when the high-level signal controls the movement of the mover to vibrate is greater than the rotation angle towards the reference axis when the low-level and / or reverse high-level signal controls the movement of the mover to vibrate; and / or, When the vibration signal satisfies the second condition, the rotation angle away from the reference axis when the high level in the vibration signal controls the movement of the mover to vibrate is less than the rotation angle towards the reference axis when the low level and / or reverse high level in the vibration signal controls the movement of the mover to vibrate, so that the reference axis rotates towards the reference axis.

13. The motor control method of claim 12, wherein, The vibration signals within the sweeping signal sequentially satisfy the first condition, and then satisfy the second condition.

14. The motor control method of claim 12, wherein, The sweeping signal is a periodic signal. The vibration signals in the first half-cycle and the second half-cycle of the sweeping signal have opposite polarities. Each vibration signal in the sweeping signal satisfies the first condition in the first half-cycle and then satisfies the second condition. In the second half-cycle, the first condition is satisfied in sequence and then the second condition is satisfied.

15. The motor control method of claim 1, wherein, The frequency of each vibration signal within the sweeping signal is the same; Alternatively, the frequencies of the vibration signals within the sweeping signal may be different.

16. The motor control method of claim 1, wherein The high-level duration of each vibration signal within the sweeping signal is the same, or the low-level duration is the same, or the reverse high-level duration is the same.

17. The motor control method of claim 1, wherein Each of the vibration signals within the sweeping signal is repeated continuously multiple times.

18. The motor control method of claim 1, wherein, The duration of the high level of each vibration signal within the sweeping signal gradually increases or decreases sequentially; and / or, The duration of the low level of each vibration signal within the sweeping signal gradually increases or decreases sequentially; and / or, The duration of the reverse high level of each vibration signal within the sweeping signal gradually increases or decreases sequentially.

19. The motor control method of claim 1, wherein, The rotation angle of the reference axis relative to the base axis changes at a constant angle.

20. The motor control method of claim 1, wherein, When the mover vibrates with different amplitudes, the corresponding vibration signal frequencies are different; the lower the frequency of the vibration signal, the greater the vibration amplitude of the mover.

21. The motor control method of claim 1, wherein, The motor is provided with a limiting device for limiting the maximum movement range of the mover.

22. The motor control method of claim 1, wherein, The mover resets to the same predetermined reference axis each time it vibrates, and the reference axis is a fixed reference axis of the movement of the mover.

23. The motor control method of claim 1, wherein The method further comprises: controlling the vibration frequency of the mover based on the frequency corresponding to the vibration signal; and / or, controlling the vibration amplitude of the mover based on the duty cycle corresponding to the vibration signal; and / or, controlling the sweep amplitude of the reference axis based on the high-level duration and / or duty cycle corresponding to each vibration signal in the sweep signal; and / or, controlling the sweep frequency of the reference axis based on the high-level duration and / or duty cycle and / or frequency corresponding to each vibration signal in the sweep signal.

24. The electric motor control method of claim 1, wherein, The waveform of the driving signal is one or more of a sine wave, a square wave, and a triangular wave; And / or, the driving signal is an electrical signal.

25. The motor control method of claim 1, wherein, The motor mover is controlled based on the driving signal in an open-loop manner.

26. An oral treatment device, characterized by The oral care device comprises a motor, the oral care device employing a motor control method as claimed in claim 1 25. A motor control method as claimed in any one of the preceding claims for controlling the movement of the motor.

27. The oral care device of claim 26, wherein, The oral care device is provided with multiple gears or modes, and different gears or modes correspond to different driving signal parameters; the driving signal parameters include at least one of vibration frequency, vibration amplitude, sweep amplitude, and sweep frequency.

28. A motor control device of an oral care device, the oral care device comprising a motor including a mover, the device comprising: an acquisition module for acquiring a driving signal; The driving signal is a pre-set signal. The driving signal includes multiple sweep signals, and each sweep signal includes multiple vibration signals. A control module for controlling the mover to move in a first direction based on the high level of the vibration signal, and controlling the mover to move towards the opposite direction of the first direction based on the low level and / or reverse high level of the vibration signal, to reciprocate relative to the reference axis; the vibration includes linear vibration or rotary vibration; the mover is controlled based on the sweep signal to vibrate, and the position of the reference axis is changed to form sweep to increase the coverage of the vibration. The motor includes a reset mechanism for resetting the mover to a reference axis to drive the mover in combination with the driving signal, and the reference axis is a fixed reference axis of the movement of the mover.

29. An oral treatment device, characterized by comprising: a processor and a memory; The memory is used to store a computer program, and the computer program is suitable for being loaded and executed by the processor to perform the steps of the method according to any one of claims 1 to 25.

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