Motor control method of oral care equipment and related device thereof

Abstract

The invention discloses a motor control method of oral care equipment and a related device thereof. The oral care device comprises a motor, and the motor comprises a rotor. Acquiring a driving signal; controlling the rotor to perform reciprocating vibration relative to a reference axis based on the driving signal, and controlling the position of the reference axis to change so as to enlarge the coverage range of the vibration; the vibration comprises linear vibration or rotary vibration; wherein the driving signal is a preset signal. In this way, the vibration coverage range of the rotor is remarkably enlarged, and the oral cavity cleaning effect is improved.

Description

Technical Field

[0001] The present application relates to the field of oral cleaning technology, and in particular to a motor control method for oral care equipment and related devices. Background Art

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

[0003] The present invention provides a motor control method and related device for an oral care device, which significantly increases the vibration coverage of the mover and improves the oral cleaning effect by controlling the position change of the mover's vibration reference axis. The above technical solution is as follows:

[0004] In a first aspect, an embodiment of the present application provides a motor control method for an oral care device, wherein the oral care device includes a motor, and the motor includes a mover, and the method includes: obtaining a driving signal; controlling the mover to vibrate back and forth relative to a reference axis based on the driving signal, and controlling the position of the reference axis to change to increase the coverage range of the vibration; the vibration includes linear vibration or rotational vibration; wherein the driving signal is a pre-set signal.

[0005] In a second aspect, an embodiment of the present application provides an oral care device, which includes a motor, and the oral care device uses the first aspect or any possible motor control method of the first aspect to control the movement of the motor.

[0006] In a third aspect, an embodiment of the present application provides a motor control device for an oral care device, wherein the oral care device includes a motor, and the motor includes a mover. The device includes: an acquisition module for acquiring a drive signal; a control module for controlling the mover to vibrate back and forth relative to a reference axis based on the drive signal, and controlling the position of the reference axis to change to increase the coverage range of the vibration; the vibration includes linear vibration or rotational vibration; wherein the drive signal is a pre-set signal.

[0007] In a fourth aspect, an embodiment of the present application provides an oral care device, comprising: a processor and a memory; the processor is connected to the memory; the memory is used to store executable program code; the processor runs a program corresponding to the executable program code by reading the executable program code stored in the memory, so as to execute the method provided by the first aspect of the embodiment of the present application or any possible implementation method of the first aspect.

[0008] In a fifth aspect, an embodiment of the present application provides a computer storage medium, which stores multiple instructions, and the instructions are suitable for being loaded by a processor and executing the method provided by the first aspect of the embodiment of this specification or any possible implementation of the first aspect.

[0009] In an embodiment of the present application, a pre-set driving signal is obtained; based on the driving signal, the mover is controlled to vibrate back and forth relative to the reference axis, and the position of the reference axis is controlled to change to increase the coverage range of the vibration; in this way, the mover can be made to vibrate back and forth with a small swing 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, so that the vibration coverage range of the mover is significantly increased, covering more tooth surface areas, reducing the frequency with which the user needs to manually move the toothbrush, and allowing each brushing to more comprehensively cover the oral area, ensuring an efficient cleaning effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0011] Figure 1 A schematic structural diagram of an oral care device provided by an exemplary embodiment of the present application;

[0012] Figure 2 A flowchart of a motor control method for an oral care device provided by an exemplary embodiment of the present application;

[0013] Figure 3 A schematic diagram of a motor rotor performing different vibration modes provided by an exemplary embodiment of the present application;

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

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

[0016] Figure 6 A schematic diagram of a change in the position of a reference axis during vibration provided by an exemplary embodiment of the present application;

[0017] Figure 7 A schematic diagram of the changes in different vibration processes of a motor rotor provided by an exemplary embodiment of the present application;

[0018] Figure 8 A driving signal waveform diagram provided by an exemplary embodiment of the present application;

[0019] Figure 9 Another driving signal waveform diagram provided by an exemplary embodiment of the present application;

[0020] Figure 10 Another driving signal waveform diagram provided by an exemplary embodiment of the present application;

[0021] Figure 11 Another schematic diagram of the change of the reference axis position during vibration provided by an exemplary embodiment of the present application;

[0022] Figure 12 Another schematic diagram of the change of the reference axis position during vibration provided by an exemplary embodiment of the present application;

[0023] Figure 13 A schematic diagram of a system for communication between an oral care device and a terminal provided by an exemplary embodiment of the present application;

[0024] Figure 14 A schematic structural diagram of a motor control device for an oral care device provided by an exemplary embodiment of the present application;

[0025] Figure 15 This is a structural schematic diagram of an oral care device provided by an exemplary embodiment of the present application. DETAILED DESCRIPTION

[0026] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application.

[0027] The terms "first," "second," "third," and the like in the specification and claims of this application and the accompanying drawings are used to distinguish between different objects, not to describe a particular order. Furthermore, the terms "including," "having," and any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or apparatus comprising a series of steps or elements is not limited to the listed steps or elements, but may optionally include steps or elements not listed, or may optionally include other steps or elements inherent to the process, method, product, or apparatus.

[0028] Please refer to the following Figure 1 , Figure 1 The following is a schematic diagram showing the structure of an oral care device provided in an embodiment of the present application. Figure 1 As shown, the oral care device includes: a care piece 110, a motor 120 and a control unit 130. The oral care device can be a device capable of cleaning the oral cavity, including but not limited to an electric toothbrush, etc. For ease of description, the following embodiment is described using an electric toothbrush as an example.

[0029] The care piece 110 can be a toothbrush head with bristles that directly contact the teeth and oral cavity to remove plaque and food debris. The bristle design typically takes into account the shape and arrangement of the teeth to better clean all surfaces. The care piece 110 can generate a corresponding swing amplitude through the vibration of the motor 120, thereby breaking down the toothpaste on the care piece 110 into fine foam, achieving deep cleaning between teeth.

[0030] Motor 120 is configured to vibrate according to a drive signal input from control unit 130, synchronously driving care component 110 to swing with a certain amplitude for cleaning teeth and oral cavity. Motor 120 may be a sonic motor that generates vibrations according to a preset drive signal, implementing open-loop control.

[0031] The control unit 130 may be a microcontroller unit (MCU), also known as a single-chip microcomputer or single-chip microcomputer. This is a chip-level computer that reduces the frequency and specifications of a central processing unit (CPU) and integrates peripheral interfaces such as memory, counters, USB, A / D conversion, UART, PLC, DMA, and even LCD driver circuits onto a single chip, providing different control combinations for different applications.

[0032] Specifically, the above-mentioned control unit 130 is connected to the motor 120. The control unit 130 can send a driving 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 wave motor 120 to vibrate back and forth relative to the reference axis according to the driving signal, and change the position of the reference axis to increase the vibration coverage range.

[0033] Optionally, Figure 1 The oral care device shown may also be equipped with, but is not limited to, an indicator light, one or more buttons, a speaker, a display screen, etc.

[0034] Next, combine Figure 1 , introduces a motor control method for an oral care device provided by an exemplary embodiment of the present application. For details, please refer to Figure 2 , which exemplarily shows a flow chart of the motor control method of the oral care device provided in the embodiment of the present application. Figure 2 As shown, the method includes the following steps:

[0035] S201, obtaining a driving signal.

[0036] S202 , controlling the mover to vibrate back and forth relative to the reference axis based on the driving signal, and controlling the position of the reference axis to change, so as to increase the coverage of the vibration.

[0037] 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 oral care device's motor utilizes open-loop control, controlling the vibrating actuator via a pre-set signal. In this embodiment, the drive signal is not a single signal and can be adjusted or configured based on gear position, mode, or other methods, making the oral care device suitable for a wide range of applications.

[0038] In this embodiment, the drive signal can control the mover to vibrate back and forth relative to the reference axis. The vibration may include linear vibration or rotational vibration. Linear vibration refers to a vibration form in which the mover reciprocates in a straight line direction. It usually reciprocates left and right on a fixed path and does not involve rotation or curved motion. The frequency of the vibration (the number of reciprocating movements per second) and the amplitude of the vibration (the distance the mover moves) can be controlled by the drive signal. Rotational vibration refers to the reciprocating motion of the mover rotating left to right around the axis. This vibration form involves angle changes. The mover rotates back and forth within a certain range. The frequency of the vibration (the number of reciprocating rotations per second) and the rotation angle (the angular range of the mover's rotation) are controlled by the drive signal. For example, Figure 3 As shown, Figure 3 (a) shows linear vibration, and the mover 301 (such as the motor shaft) can drive the care part (such as the brush head) to vibrate through linear telescopic vibration. Figure 3(b) and (c) show rotational vibration, and the mover 301 drives the nursing part to vibrate through rotational vibration; wherein, Figure 3 (c) is the top view of (b). Figure 3 Reference numeral 302 is a schematic diagram of the mover, connecting the rotation axis of mover 301 to a selected fixed edge. This is used to illustrate the mover's position or rotation direction in subsequent drawings. In this embodiment, rotational vibration is primarily used as an example. The specific implementation of linear vibration can be the same or similar to that of rotational vibration and is not further described here.

[0039] The reference axis position can be the vibration center position of the mover during one reciprocating vibration. Figure 4 As shown, the mover 401 is controlled by the driving signal to rotate in one direction and then reverse in the opposite direction, thus completing a reciprocating vibration. The reference axis of the reciprocating vibration of the mover 401 can be defined as the vibration center 402 of the mover, and the vibration amplitude of the mover can be defined as the overlap area of the forward and reverse rotation of the mover ( Figure 4 The angle of the middle gray part) is the center position of the vibration center 402 of the mover. Figure 4 As shown in (a), when the forward rotation angle α and reverse rotation angle β of the mover 401 in one reciprocating vibration are consistent, the mover 401 rotates from the starting position to a certain angle (α) and then reverses to the starting position. The vibration center 402 of this vibration is the center position of the forward or reverse rotation of the mover. Figure 4 As shown in (b), when the forward rotation angle α and the reverse rotation angle β of the mover 401 in a reciprocating vibration are inconsistent, the mover 401 may not reverse to the starting position (α>β) after rotating from the starting position to a certain angle (α), and the vibration center 402 of this vibration is the center position of the mover reversal. Figure 4 As shown in (c), when the forward rotation angle α and reverse rotation angle β of the mover 401 in a reciprocating vibration are inconsistent, the mover 401 may reverse excessively (α<β) after rotating from the starting position to a certain angle (α) and fail to reverse to the starting position. The vibration center 402 of this vibration is the center position of the forward rotation of the mover. It should be noted that the above example is only for the convenience of describing the vibration behavior of the motor and is not restrictive. Those skilled in the art may use other description methods to describe the vibration behavior of the motor or define the reference axis based on the content of this embodiment.

[0040] This embodiment can control the reference axis of vibration of the motor rotor to change, so that it is offset in any direction (left or right in the direction of motion of the rotor) to form a sweep vibration. For example, the rotor of the motor can vibrate back and forth, and while the rotor maintains the reciprocating vibration, the position of the reference axis of vibration is changed, so that the rotor changes the vibration direction. For example, the initial rotor vibrates in the range of 5 to 8 degrees from the reference axis, and changes to vibrate in the range of 7 to 10 degrees from the reference axis. As the reference axis position changes, a sweep vibration with a large angle and a large range (such as -30 to 30 degrees) is achieved. Figure 5 As shown, 501 is the vibration range of the mover, and 502 is the sweeping vibration range of the mover. The mover can continuously vibrate with a small swing 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 range of the mover, covering more tooth surface areas, reducing the frequency with which users need to manually move the toothbrush, so that each brushing can more comprehensively cover the oral area, ensuring an efficient cleaning effect.

[0041] In some embodiments, the mover vibrates back and forth relative to the reference axis and controls the position of the reference axis to change, including: the mover rotates in a first direction, and when the reverse movement relative to the first direction is not in place, controls the mover to move in the first direction again to change the position of the reference axis.

[0042] Specifically, in this embodiment, the motor mover can be controlled to move in a first direction, and then the mover can be controlled to move in the opposite direction relative to the first direction. The first direction can be either left or right. If the mover does not move back to the starting position, it moves in the first direction again, so that the distance or angle of the mover's forward movement is different from the distance and angle of the reverse movement, thereby changing the position of the mover's vibration reference axis. In rotational vibration, the position of the reference axis can be represented by the angle between the reference axis and the reference axis. The reference axis is a fixed reference axis for the mover's movement. The center axis of the mover's movable range or other fixed position can be selected. The relative position of the mover or the relative position of the reference axis can be determined based on the reference axis.

[0043] For example, Figure 6As shown, the motor moves from its starting position S0 to the left by a certain angle, then reaches position S1. It then reverses rightward and returns to its starting position S0. At this point, the motor's reference axis is at position Sx. If the motor rotates and reverses with the same amplitude, it will oscillate back and forth between S1 and S0, while its reference axis remains unchanged at position Sx. If the motor does not reverse to its starting position S0, but instead rotates again to the left by a certain angle at position S2, reaching position S3, the reference axis's rotation angle deflects to the left. As the motor oscillates back and forth between S2 and S3, its reference axis is at position Sy, and its vibration range also changes. Under the control of the drive signal, the motor can regularly change the reference axis's rotation angle in this manner, enabling it to sweep across a wide range. This allows the motor to vibrate with a small amplitude while simultaneously sweeping across a larger range. It should be noted that the first direction can be left or right, and the mover does not move in the reverse direction, that is, it moves in the reverse direction to a non-starting position, including two situations: the reverse direction does not pass through the starting position and the reverse direction passes through the original position.

[0044] In some embodiments, the method further includes: controlling the reference axis to rotate relative to the reference axis based on a drive signal; the first direction includes a rotation direction toward the reference axis and / or a rotation direction away from the reference axis.

[0045] Specifically, the reference axis is a fixed reference axis for the mover's motion. It can be selected from the center axis of the mover's range of motion or another fixed position. The reference axis can be used to determine the relative position of the mover or the reference axis. With the reference axis as the reference system, the direction of the mover's rotation and the method of reference axis rotation can be reclassified as either a rotation direction toward the reference axis or a rotation direction away from the reference axis.

[0046] In some embodiments, the control of the reference axis to rotate relative to the reference axis based on the drive signal includes: controlling the vibration of the movable member based on the drive signal so that the rotation angle toward the reference axis is greater than the rotation angle away from the reference axis, so that the reference axis rotates toward the reference axis; and / or controlling the vibration of the movable member so that the rotation angle away from the reference axis is greater than the rotation angle toward the reference axis, so that the reference axis rotates away from the reference axis.

[0047] Specific, exemplary, such as Figure 7 As shown in (a), when the mover 701 is in a reciprocating vibration, the mover 701 can first move from the starting position 702 to a direction away from the reference axis ( Figure 7The mover 701 rotates in the direction of the reference axis (left side) and then reverses in the direction of the reference axis. If the rotation angle away from the reference axis is greater than the rotation angle toward the reference axis (α>β), it means that the mover is not reversed in place and the rotation center line 703 of the mover 701 is offset in the direction away from the reference axis. Under this rotation law, as the mover vibrates, its reference axis will gradually rotate in the direction away from the reference axis, forming a sweeping vibration. Figure 7 As shown in (b), if the rotation angle toward the reference axis is greater than the rotation angle away from the reference axis (β>α), this indicates that the mover 701 has not reversed fully (over-reversed), and the rotation centerline 703 of the mover 701 is offset toward the reference axis. Under this rotational pattern, as the mover vibrates, its reference axis will gradually rotate toward the reference axis, forming a sweeping vibration.

[0048] For example, when the mover is in a reciprocating vibration, the mover may first rotate toward the reference axis and then reverse in the direction away from the reference axis. If the rotation angle toward the reference axis is greater than the rotation angle away from the reference axis, it means that the mover is not reversed enough, and the reference axis of the mover rotates toward the reference axis. Under this rotation law, as the mover vibrates, its reference axis will gradually rotate toward the reference axis, forming a sweeping vibration. If the rotation angle away from the reference axis is greater than the rotation angle toward the reference axis, it means that the mover is not reversed enough (over-reversed), and the reference axis of the mover rotates in the direction away from the reference axis. Under this rotation law, as the mover vibrates, its reference axis will gradually rotate toward the direction away from the reference axis, forming a sweeping vibration.

[0049] Based on the driving signal, the mover can rotate its vibration reference axis toward and / or away from the reference axis while vibrating according to different rules. The reference axis sweeps over a large range, allowing the mover to achieve a large range of sweeping vibrations while maintaining a small swing amplitude, significantly increasing the vibration coverage range of the mover and covering more tooth surface areas.

[0050] In some embodiments, controlling the mover to reciprocate relative to the reference axis based on the drive signal includes:

[0051] Based on the driving signal, the mover is controlled to perform reciprocating linear motion or rotational motion relative to the reference axis so that the mover vibrates, and / or the motor includes a reset mechanism for resetting to the reference axis, and based on the driving signal, the mover is controlled to move away from the reference axis, and the reset mechanism drives the mover to move toward the reference axis so that the mover vibrates.

[0052] Specifically, the motor can be divided into a motor with a reset mechanism and a motor without a reset mechanism. When the motor is not provided with a reset mechanism, the oral care device can control the H-bridge circuit to output positive and negative currents based on the drive signal to control the mover to achieve reciprocating vibration. For example, the positive level of the drive signal controls the H-bridge circuit to output positive current, causing the motor move in a first direction; the negative level of the drive signal controls the H-bridge circuit to output reverse current, causing the motor move in the opposite direction to the first direction; under the control of the drive signal, the H-bridge circuit continuously outputs positive and negative currents, thereby enabling the mover to move toward and away from the reference axis to form reciprocating vibration. For example, the drive signal waveform diagram can be found in Figure 8 In one vibration period T, the driving signal realizes the reciprocating vibration of the mover by alternating between positive and negative levels.

[0053] The motor is provided with a reset mechanism, wherein the reset mechanism can drive the motor's mover to reset to the reference axis. For example, the waveform of the drive signal can be seen in FIG. Figure 9 During a vibration cycle T2, the drive signal can be at a high level (positive or negative) to control the H-bridge circuit to output a positive or negative current, causing the motor mover to move away from the reference axis. A positive current can control the mover to move in a first direction away from the reference axis, while a negative current can control the mover to move in a direction opposite to the first direction away from the reference axis. When the drive signal is at a low level (reference level), the motor mover moves toward the reference axis under the force of the reset mechanism.

[0054] The reset mechanism may include an elastic member reset mechanism or a magnetic reset mechanism. The elastic member reset mechanism uses an elastic element (such as a spring) to provide a reset force. When the motor is working, the high level (positive level or negative level) of the drive signal causes the mover to move away from the reference axis. When the drive signal is at a low level (reference level), the elastic element (such as a coil spring or a torsion spring) releases the stored elastic energy, generating a reset force to pull the mover back toward the reference axis. The magnetic reset mechanism uses the magnetic force generated by a permanent magnet or an electromagnet to provide a reset force. When the motor is working, the positive level or negative level of the drive signal causes the mover to move away from the reference axis. When the drive signal is at a low level (reference level), the magnetic field generated by the permanent magnet or the electromagnet will apply a reset force to pull the mover back toward the reference axis.

[0055] It should be noted that when the motor is provided with a reset mechanism, the oral care device can also control the H-bridge circuit to output a corresponding reverse current based on the reverse level of the drive signal when the mover is away from the reference axis, so that the motor mover moves in the opposite direction toward the reference axis. By pulling the mover back toward the reference axis under the dual action of the drive signal and the reset mechanism, the reset force of the motor mover can be increased, thereby increasing the vibration force of the motor and improving the cleaning effect. For example, the drive signal waveform can be seen in Figure 10 Within a vibration cycle T2, the driving signal can control the H-bridge circuit to output positive current or reverse current through a positive level or a negative level, so that the motor mover moves away from the reference axis and moves toward the reference axis based on the reset force of the reset mechanism in the reference level state; or the driving signal can control the H-bridge circuit to output a reverse current through a reverse level, so that the motor mover moves toward the reference axis, so that the motor mover moves in the opposite direction toward the reference axis under the dual action of the electric drive and the reset mechanism.

[0056] In some embodiments, the method further includes: controlling the mover to vibrate relative to the reference axis at a preset amplitude based on the driving signal, and controlling the reference axis to move to change the vibration center of the vibration, and the preset amplitude of the vibration is smaller than the motion range amplitude of the reference axis; or, controlling the vibration amplitude of the mover to gradually increase based on the driving signal, and changing the position of the reference axis; or, controlling the vibration amplitude of the mover to gradually decrease based on the driving signal, and changing the position of the reference axis.

[0057] Specifically, under the control of a drive signal, the motor mover can reciprocate at a preset, identical amplitude, while simultaneously controlling the rotation of a reference axis to change the center of vibration, enabling the mover to achieve a wide range of sweeping vibrations while maintaining the same amplitude. Optionally, the preset amplitude of the motor mover can be smaller than the range of motion of the reference axis, meaning the motor moves with a small-amplitude vibration and a large-amplitude sweeping motion. This can accommodate the user's tooth sensitivity while increasing the cleaning range and intensity.

[0058] Optionally, the motor mover can also vibrate reciprocatingly according to different vibration amplitudes, such as controlling the vibration amplitude of the mover to gradually increase or decrease, while changing the position of the reference axis and the vibration center to achieve regular vibration and sweeping vibration. It can provide richer vibration modes to adapt to different usage needs and scenarios, and improve the user's comfort during use while ensuring the cleaning effect.

[0059] In some embodiments, the method further includes: based on the driving signal, controlling the rotation angle of the mover away from the reference axis to be equal to the rotation angle toward the reference axis each time it vibrates, so that the mover is reset to the reference axis position after each vibration; and / or, based on the driving signal, controlling the rotation angle of the mover away from the reference axis to be equal to the rotation angle toward the reference axis in multiple consecutive vibrations, 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.

[0060] Specifically, under the control of a drive signal, the motor mover can reverse to its starting position after each vibration. Generally, the starting position of the motor mover can be set to a reference axis position. In this case, the motor resets to the reference axis position with each vibration. The vibration reference axis can be rotated by varying the amplitude of each vibration, thereby changing the vibration center position and thereby varying the reference axis position.

[0061] For example, Figure 11 As shown, the motor mover rotates from the starting position S0 to the left by a first angle and reaches the S1 position, then begins to reverse to the right and reverses to the starting position S0. At this time, the reference axis of the mover is at the Sx position; then, the motor mover changes the amplitude angle (taking increasing the vibration amplitude as an example), and rotates from the starting position S0 to the left by a second angle and reaches the S2 position. At this time, the reference axis of the mover is at the Sy position. In addition, the motor mover can also rotate to the right symmetrically according to the above rotation method, or reduce the vibration amplitude. Under the control of the drive signal, the mover can regularly change the angle of the reference axis in the above manner, so that it can achieve sweeping in a large range by changing the vibration amplitude, providing a more flexible and powerful cleaning effect.

[0062] In addition, the motor mover can maintain a fixed vibration for a certain length of time or number of times while sweeping during a cleaning process. It can be understood that during a cleaning process, the vibration process of the motor mover includes both a vibration mode that changes the reference axis position and a vibration mode that does not change the reference axis position for multiple consecutive times, and includes both a vibration mode that changes the vibration amplitude and a vibration mode that does not change the vibration amplitude for multiple consecutive times. Among them, during a vibration process of the mover, if the rotation angle of the mover away from the reference axis during vibration is equal to the rotation angle toward the reference axis, when the rotation angle remains unchanged, the starting position and the rotation stop position of the mover are the same, and the vibration reference axis position of the mover will not change. When the above-mentioned fixed vibration mode is performed multiple times in a row, the mover can achieve continuous vibration with the same vibration amplitude and the same reference axis position in multiple vibrations.

[0063] 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, then change the reference axis position so that the actuator then performs multiple fixed vibrations within a range of 7-12° relative to the reference axis. By setting multiple fixed vibrations during the sweeping vibration process, the sweeping speed of the motor vibration can be more flexibly controlled, while also enhancing the cleaning power at the same tooth location, preventing the actuator from changing the reference axis position and moving the brush head to another location before a location is fully cleaned.

[0064] In some embodiments, the method further includes: controlling the distance or rotation angle of the reference axis relative to the reference axis to gradually increase as the number of vibrations increases based on the drive signal; or, controlling the distance or rotation angle of the reference axis relative to the reference axis to gradually decrease as the number of vibrations increases based on the drive signal.

[0065] Specifically, the distance or angle of rotation of the reference axis relative to the reference axis is used to characterize the relative position of the reference axis; during a cleaning process, under the control of the driving signal, the distance or angle of rotation of the reference axis of the motor mover relative to the reference axis can gradually increase or decrease as the number of vibrations increases, thereby achieving a regular change in the position of the reference axis, that is, the mover gradually sweeps to the left or right while maintaining vibration, thereby increasing the vibration coverage range and improving the cleaning effect.

[0066] In some embodiments, under the control of the driving signal, the distance or rotation angle of the reference axis of the motor rotor relative to the reference axis can gradually increase to a first preset angle as the number of vibrations increases, and then gradually decrease, thereby forming a reciprocating sweeping motion, thereby achieving re-cleaning of the cleaned tooth surface and improving the cleaning effect.

[0067] In some embodiments, under the control of the driving signal, the rotation angle of the reference axis of the motor rotor relative to the reference axis first gradually increases in the first direction to a second preset angle and then gradually decreases as the number of vibrations increases, and then gradually increases in the opposite direction of the first direction to a third preset angle and then gradually decreases.

[0068] Specifically, the first direction can be either left or right relative to the reference axis. The motor rotor maintains a vibrating state, first sweeping back and forth to one side of the reference axis, and then sweeping back and forth to the other side of the reference axis, thus forming a periodic sweep vibration, the vibration trajectory of which is not only concentrated on a single side of the reference axis, but can cover a wide area on both sides of the reference axis, so that the vibration trajectory of the oral care device covers a larger area of the teeth and gums, avoiding missed brushing. The periodic sweeping enables the toothbrush to vibrate and clean the same position multiple times, and the repeated sweeping up and down the teeth is in line with the cleaning principle of the Bass brushing method, which helps to remove stubborn dental plaque and food debris. The automated periodic sweeping reduces the frequency of the user manually moving the toothbrush, making the brushing process simpler and more efficient.

[0069] For example, Figure 12 As shown, the motor rotor maintains a reciprocating vibration with a certain vibration amplitude, and as the number of vibrations increases, the rotation angle of its vibration reference axis is controlled to gradually increase to A1, and then gradually decrease to the reference axis position A0, and then the rotation angle of the vibration reference axis is controlled to gradually increase to A2, and then gradually decrease to the reference axis position A0, thereby forming a periodic sweeping vibration effect.

[0070] In some embodiments, the method further includes: controlling the mover to rotate at the same angle toward the reference axis and / or the same angle away from the reference axis each time the mover vibrates based on the driving signal.

[0071] Specifically, during each vibration, the motor maintains a consistent rotation angle toward and / or away from the reference axis. For example, the motor may deflect 10 degrees toward the reference axis or 10 degrees away from the reference axis during each vibration. When the rotation angle toward and away from the reference axis remain constant, the motor can sweep the vibrating reference axis at a fixed sweeping speed.

[0072] In some embodiments, the method further includes: controlling the rotation angle of the reference axis relative to the reference axis to change at a constant angle based on the driving signal.

[0073] Specifically, when the reference axis changes at an equal angle relative to the reference axis, this means that the angle of each movement of the reference axis is constant, whether to the left or to the right. For example, each time the reference axis changes position, whether clockwise or counterclockwise, it rotates a fixed 5 degrees.

[0074] Through the above-mentioned regular vibration mode, the actuator can drive the brush head to maintain a uniform motion trajectory during oral cleaning, which helps to cover all areas of the tooth surface and gums, avoid cleaning blind spots, and ensure that every tooth is fully cleaned. The regular changes in vibration also help to improve user comfort.

[0075] In some embodiments, the method further includes: controlling the mover to vibrate with different vibration amplitudes based on the driving signal so that the corresponding vibration frequencies are the same.

[0076] Specifically, different vibration amplitudes mean that the mover will vibrate at different amplitudes, and the vibration frequency refers to the number of times the mover completes a vibration cycle per second. In this embodiment, no matter how the vibration amplitude of the mover changes, its vibration frequency remains constant. For example, when the vibration amplitude changes from 5 degrees to 10 degrees, the vibration frequency remains at a preset frequency, such as 30 vibrations per second (30Hz). The same vibration frequency ensures that the strength and effect of each vibration are consistent, and the cleaning effect is not affected by changes in the vibration amplitude. Regardless of how the vibration amplitude changes, it can provide stable and effective cleaning power. The same vibration frequency avoids the discomfort caused by frequency changes, and users will feel smoother and more comfortable vibrations during use.

[0077] In some embodiments, the method further includes: controlling the mover to vibrate with different vibration amplitudes based on the driving signal, and the corresponding vibration frequencies are different; wherein, the greater the vibration amplitude of the mover during vibration, the lower the corresponding vibration frequency.

[0078] Specifically, the corresponding vibration frequency can be adjusted according to different vibration amplitudes. Through a preset drive signal, the larger the vibration amplitude of the mover, the lower the vibration frequency, and the smaller the vibration amplitude of the mover, the higher the vibration frequency. For example, when the vibration amplitude is 10 degrees, the vibration frequency is 20Hz; when the vibration amplitude is 5 degrees, the vibration frequency is 40Hz. A larger vibration amplitude provides a wider coverage area, which helps to clean a larger area, while providing a lower vibration frequency to reduce irritation to the teeth and gums.

[0079] In some embodiments, the motor is provided with a limiting device, and the limiting device is used to limit the maximum motion range of the mover.

[0080] Specifically, a limiter is a mechanical or electronic component mounted on the motor that limits the maximum rotation angle of the mover, ensuring that it moves within a predetermined range. The limiter can take various forms, such as mechanical stops, spring mechanisms, and electronic sensors, to physically or electronically limit the maximum rotation angle of the mover. For example, the limiter can be configured to limit the maximum rotation angle of the mover to 15 degrees.

[0081] The limiter effectively prevents excessive movement of the mover beyond a predetermined range, avoiding damage to the motor and related components, thereby improving the safety and reliability of the device. By limiting the rotation angle, it reduces wear and fatigue of mechanical components caused by excessive movement, extending the device's service life. Limiting the mover's maximum rotation angle also ensures that the oral care device's motor operates within a stable vibration range, resulting in more uniform and effective cleaning. The reference axis's range of motion is smaller than the mover's maximum range of motion.

[0082] In some embodiments, the mover resets to the same predetermined reference axis each time it vibrates.

[0083] Specifically, the motor mover sets a fixed reference axis. In the initial state of the motor, the mover is located at the reference axis position. When the motor is stopped, the mover should also be located at the reference axis position. During each vibration, the mover will rotate away from the reference axis and then reset towards the reference axis (not necessarily reset to the original position). Setting a fixed reference axis can ensure the stability of the motor mover's movement and can stably switch the sweeping direction of the mover, covering a wide area on both sides of the reference axis, so that the vibration trajectory of the oral care device covers a larger area of the teeth and gums, avoiding missed brushing.

[0084] In some embodiments, the driving signal includes multiple sweeping signals, each sweeping signal includes multiple vibration signals; the method also includes: controlling the vibration of the mover based on the vibration signal; controlling the vibration of the mover based on the sweeping signal, and switching the position of the reference axis to form a sweep.

[0085] Specifically, the vibration signal is the basic signal used to drive the vibrating element. By controlling the vibration signal, the element is controlled to perform a single reciprocating vibration. The sweeping signal, composed of multiple vibration signals, is used to control the element's overall motion pattern. By combining different vibration signals, the position of the reference axis is changed to achieve a sweeping effect. The motor is controlled based on the sweeping signal, causing the element to not only perform small-amplitude periodic vibrations but also perform large-scale sweeping vibrations as the position of the reference axis changes.

[0086] For example, Figure 9 or Figure 10 As shown in the figure, T1 is a sweeping signal with one cycle, and T2 is a vibration signal with one cycle. Within the T1 cycle, there are multiple vibration signals with T2 cycles. By permuting and combining different vibration signals, regular vibration and sweeping of the motor rotor can be achieved.

[0087] In some embodiments, the method also 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 sweeping amplitude of the reference axis based on the high level duration and / or duty cycle corresponding to each vibration signal in the sweeping signal; and / or controlling the sweeping speed of the reference axis based on the high level duration and / or duty cycle and / or frequency corresponding to each vibration signal in the sweeping signal.

[0088] Specifically, the vibration frequency refers to the number of vibration cycles completed by the mover per second. During a vibration process, the vibration frequency can also represent the speed of the mover's vibration. The vibration frequency of the mover can be controlled by the frequency of the vibration signal. The duty cycle refers to the ratio of the high-level duration of the vibration signal in 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. The sweeping amplitude and the sweeping speed refer to the amplitude and speed of the deviation of the reference axis during the sweeping process, respectively. The sweeping amplitude needs to be adjusted by the high-level duration and / or duty cycle of each vibration signal in the sweeping signal; the sweeping speed needs to be adjusted by the high-level duration and / or duty cycle and / or frequency of each vibration signal in the sweeping signal. For example, the mover rotates in a first direction, and when it fails to reverse relative to the first direction, the mover 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 in the sweeping signal (high level duration and / or duty cycle and / or frequency), the sweeping amplitude and sweeping speed of the reference axis can be controlled within the sweeping cycle.

[0089] In some embodiments, the method also includes: controlling the mover to rotate in a first direction based on the high level of the vibration signal in the sweeping signal, and controlling the mover to rotate in the opposite direction of the first direction based on the low level or reverse high level of the vibration signal to control the vibration of the mover; and / or, the sweeping signal is a periodic signal, the polarity of the vibration signal in the first half cycle of the sweeping signal is opposite to that in the second half cycle, and the first half cycle and the second half cycle of the sweeping signal respectively control the reference axis to sweep in the areas on both sides of the reference axis.

[0090] Specifically, the first direction includes a direction away from the reference axis or a direction toward the reference axis, and a high-level (positive high-level and negative high-level) signal is used to control the H-bridge circuit to output a positive current or a reverse current, driving the mover to rotate away from the reference axis. When the level is low, the device provided with a reset mechanism can drive the mover to rotate toward the reference axis with the help of the reset force of the reset mechanism, thereby forming a vibration effect (see the example of the driving signal waveform for details). Figure 9 Alternatively, use a reverse high level to control the H-bridge circuit to output a reverse current, driving the mover to rotate toward the reference axis to create a vibration effect (see the example of the drive signal waveform for details). Figure 8 and Figure 10 ).

[0091] like Figure 9 and Figure 10 As shown, the periodic sweep signal has opposite polarities in the first half cycle and the second half cycle, so as to control the reference axis to sweep in the areas on both sides of the reference axis. The vibration pattern of each area can be the same.

[0092] In some embodiments, the first half cycle and the second half cycle of the sweep signal are connected at a low level, and the total duration of the connected low level is greater than a preset duration, so that the mover is reset to the reference axis.

[0093] Specifically, at the junction of the first half cycle and the second half cycle, the low level is maintained for a long enough time so that the mover can be stably reset to the reference axis, ensuring stable control when the mover switches the sweep vibration area without deviation.

[0094] In some embodiments, open-loop control is implemented on the motor based on the drive signal. The drive signal waveform is one or more of a sine wave, a square wave, and a triangular wave to achieve different vibration modes and cleaning effects. Optionally, the drive signal is an electrical signal (e.g., two-phase electricity) to improve device stability and reliability, ensuring that the device can provide consistent and efficient cleaning results, and providing a better user experience.

[0095] Next, combine Figure 1, an oral care device provided by an exemplary embodiment of the present application is introduced. The oral care device includes a motor, and the oral care device uses the motor control method described in any of the above embodiments to control the movement of the motor.

[0096] In this way, by optimizing the motor control method, the mover can be made to vibrate back and forth with a small amplitude relative to the reference axis, reducing the stimulation to users with sensitive teeth. At the same time, the position of the reference axis can be controlled to change, so that the vibration coverage range of the mover is significantly increased, covering more tooth surface area, reducing the frequency with which users need to manually move the toothbrush, and allowing each brushing to cover the oral area more comprehensively, ensuring an efficient cleaning effect.

[0097] In some embodiments, the oral care device performs open-loop control of the motor based on the drive signal.

[0098] 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 to its real-time operating status. Open-loop control systems are simple to design and low-cost, eliminating the need for complex sensors and feedback control systems. This improves system reliability and reduces potential points of failure.

[0099] In some embodiments, the oral care device is provided with a plurality of 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 speed.

[0100] Specifically, the oral care device can be designed with different operating gears or modes, each gear or mode corresponds to its own drive signal, and different gears or modes correspond to different vibration frequencies, vibration amplitudes, sweeping amplitudes and sweeping speeds to adapt to different cleaning needs. For example, the oral care device can provide multiple cleaning mode options, such as daily cleaning, sensitive cleaning and deep cleaning. The user selects the sensitive cleaning mode, which has a preset vibration frequency of 20Hz, a vibration amplitude of 5 degrees, a sweeping amplitude of 10 degrees, and a sweeping speed of 1 degree / second. The oral care device inputs the drive signals corresponding to these parameters into the motor for control.

[0101] In some embodiments, as Figure 13 As shown, the oral care device 1310 is communicatively connected to the terminal 1320, and the application of the terminal 1320 is used to set one or more of the vibration frequency, vibration amplitude, sweeping amplitude, and sweeping speed of the actuator, and output a corresponding drive signal to the oral care device 1310.

[0102] Specifically, the terminal 1320 includes but is not limited to smart phones, tablet computers, wearable terminals, personal computers, etc. The terminal 1320 and the oral care device 1310 can be connected through wired communication or wireless communication, for example, through Bluetooth, WiFi, or a cellular network. The user sets the operating parameters of the oral care device 1310 through the application on the terminal 1320, such as one or more of the vibration frequency, vibration amplitude, sweeping amplitude, and sweeping speed of the actuator. The application generates a corresponding drive signal and sends it to the oral care device 1310. The oral care device 1310 will control the operation of the motor based on the received drive signal. In this way, the user can easily set the operating parameters of the device through the terminal, providing a more precise adjustment method and a more convenient user experience to achieve the best cleaning effect.

[0103] In some embodiments, the oral care device obtains current oral care information, determines the vibration frequency, vibration amplitude, sweeping amplitude and sweeping speed of the mover based on the current oral care information, and determines a corresponding driving signal.

[0104] Specifically, oral care devices can determine current oral care information through built-in sensors or user input of oral health and care needs. Based on this information, the device can automatically recommend configuration parameters, such as the actuator's vibration frequency, vibration amplitude, sweeping amplitude, and sweeping speed, and generate corresponding drive signals. This allows the device to automatically adjust the cleaning mode based on actual oral conditions, providing more personalized and effective cleaning, reducing the need for manual adjustments and improving the user experience.

[0105] Among them, oral care equipment can be trained based on machine learning algorithms according to the user's historical cleaning records or related big data to improve the comfort and adaptability of automatically recommended configuration parameters.

[0106] Please refer to Figure 14 , which is a structural diagram of a motor control device for an oral care device provided in an embodiment of the present application. The oral care device includes a motor, and the motor includes a mover, such as Figure 14 As shown, the device includes:

[0107] An acquisition module 1410 is configured to acquire a driving signal;

[0108] A control module 1420 is configured to control the mover to reciprocate relative to a reference axis based on the drive signal, and to control the position of the reference axis to change so as to increase the coverage of the vibration; the vibration includes linear vibration or rotational vibration;

[0109] Wherein, the driving signal is a preset signal.

[0110] In one possible implementation, the mover vibrates back and forth relative to a reference axis and controls the position of the reference axis to change, including: the mover moves in a first direction, and when the reverse movement relative to the first direction is not in place, the mover is controlled to move in the first direction again to change the position of the reference axis.

[0111] In one possible implementation, the control module 1420 is specifically used to: control the reference axis to rotate relative to the reference axis based on the drive signal; the reference axis is a fixed reference axis for the movement of the mover; the first direction includes a rotation direction toward the reference axis, and / or a rotation direction away from the reference axis.

[0112] In one possible implementation, the control module 1420 is specifically used to: control the rotation angle of the movable member toward the reference axis when vibrating based on the drive signal to be greater than the rotation angle away from the reference axis, so that the reference axis rotates toward the reference axis; and / or, control the rotation angle away from the reference axis when vibrating to be greater than the rotation angle toward the reference axis, so that the reference axis rotates away from the reference axis.

[0113] In one possible implementation, the control module 1420 is specifically used to: control the mover to perform reciprocating linear motion or rotational motion relative to the reference axis based on the drive signal, so that the mover vibrates, and / or the motor includes a reset mechanism for resetting to the reference axis, and controls the mover to move away from the reference axis based on the drive signal, and the reset mechanism drives the mover to move toward the reference axis, so that the mover vibrates.

[0114] In one possible implementation, the control module 1420 is specifically used to: control the mover to vibrate relative to the reference axis with a preset amplitude based on the drive signal, and control the reference axis to move to change the vibration center of the vibration, and the preset amplitude of the vibration is smaller than the motion range amplitude of the reference axis; or, control the vibration amplitude of the mover to gradually increase based on the drive signal, and change the position of the reference axis; or, control the vibration amplitude of the mover to gradually decrease based on the drive signal, and change the position of the reference axis.

[0115] In one possible implementation, the control module 1420 is specifically used to: based on the driving signal, control the rotation angle of the mover away from the reference axis to be equal to the rotation angle toward the reference axis each time it vibrates, so that the mover is reset to the reference axis position after each vibration; and / or, based on the driving signal, control the rotation angle of the mover away from the reference axis to be equal to the rotation angle toward the reference axis in multiple continuous vibrations, 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.

[0116] In one possible implementation, the control module 1420 is specifically used to: control the distance or angle of the reference axis relative to the reference axis to gradually increase as the number of vibrations increases based on the drive signal; or, control the distance or angle of the reference axis relative to the reference axis to gradually decrease as the number of vibrations increases based on the drive signal; or, control the distance or angle of the reference axis relative to the reference axis to gradually increase to a first preset distance or angle and then gradually decrease as the number of vibrations increases based on the drive signal.

[0117] In one possible implementation, the control module 1420 is specifically used to: based on the drive signal, control the rotation angle of the reference axis relative to the reference axis to gradually increase in the first direction to a second preset angle and then gradually decrease as the number of vibrations increases, and then gradually increase in the opposite direction of the first direction to a third preset angle and then gradually decrease.

[0118] In a possible implementation, the control module 1420 is specifically configured to: based on the driving signal, control the mover to rotate at the same angle toward the reference axis and / or rotate at the same angle away from the reference axis each time it vibrates.

[0119] In a possible implementation, the control module 1420 is specifically configured to control the rotation angle of the reference axis relative to the reference axis to change at a constant angle based on the drive signal.

[0120] In a possible implementation, the control module 1420 is specifically configured to: control the mover to vibrate with different vibration amplitudes within a sweeping cycle based on the driving signal, so that the corresponding vibration frequencies are the same.

[0121] In a possible implementation, the control module 1420 is specifically configured to: based on the driving signal, control the mover to vibrate with different vibration amplitudes, corresponding to different vibration frequencies; the greater the vibration amplitude of the mover during vibration, the lower the corresponding vibration frequency.

[0122] In a possible implementation, the motor is provided with a limiting device, and the limiting device is used to limit the maximum motion range of the mover.

[0123] In a possible implementation, the mover is reset to the same predetermined reference axis each time it vibrates.

[0124] In one possible implementation, the driving signal includes multiple sweeping signals, each of which includes multiple vibration signals; the control module 1420 is specifically used to: control the vibration of the mover based on the vibration signal; control the vibration of the mover based on the sweeping signal, and switch the position of the reference axis to form a sweep.

[0125] In one possible implementation, the control module 1420 is specifically used 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 sweeping amplitude of the reference axis based on the high-level duration and / or duty cycle corresponding to each vibration signal in the sweeping signal; and / or, control the sweeping speed of the reference axis based on the high-level duration and / or duty cycle and / or frequency corresponding to each vibration signal in the sweeping signal.

[0126] In one possible implementation, the control module 1420 is specifically used to: control the mover to rotate in a first direction based on the high level of the vibration signal in the sweeping signal, and control the mover to rotate in the opposite direction of the first direction based on the low level or reverse high level of the vibration signal, so as to control the vibration of the mover; and / or, the sweeping signal is a periodic signal, the polarity of the vibration signal in the first half cycle of the sweeping signal is opposite to that in the second half cycle, and the first half cycle and the second half cycle of the sweeping signal respectively control the reference axis to sweep in the areas on both sides of the reference axis.

[0127] In a 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 connected low level is greater than a preset duration.

[0128] In a possible implementation, the waveform of the driving signal is one or more of a sine wave, a square wave, and a triangle wave; and / or the driving signal is an electrical signal.

[0129] In a possible implementation, open-loop control is performed on the motor mover based on the drive signal.

[0130] The division of the modules in the motor control device of the above-mentioned oral care device is only for illustration. In other embodiments, the motor control device of the oral care device can be divided into different modules as needed to complete all or part of the functions of the motor control device of the above-mentioned oral care device. The implementation of each module in the motor control device of the oral care device provided in the embodiments of this specification can be in the form of a computer program. The computer program can be run on the oral care device. The program modules constituted by the computer program can be stored in the memory of the oral care device. When the computer program is executed by the processor, all or part of the steps of the motor control method of the oral care device described in the embodiments of this specification are implemented.

[0131] See next Figure 15 , which shows a structural diagram of an oral care device provided by an embodiment of the present application. Figure 15 As shown, the oral care device 1500 may include: at least one processor 1510 , a network interface 1520 , a user interface 1530 , a memory 1540 , a motor 1550 , and at least one communication bus 1560 .

[0132] The communication bus 1560 is used to implement the connection and communication between these components.

[0133] The network interface 1520 may optionally include a Bluetooth module, a Near Field Communication (NFC) module, a Wi-Fi module, and the like.

[0134] The user interface 1530 may include a display and buttons; optionally, the user interface 1530 may also include a standard wired interface or a wireless interface.

[0135] The motor 1550 includes a mover, which is used to control the mover to vibrate based on a driving signal.

[0136] The processor 1510 may include one or more processing cores. The processor 1510 utilizes various interfaces and circuits to connect the various components within the oral care device 1500. It executes instructions, programs, code sets, or instruction sets stored in the memory 1540, as well as accesses data stored in the memory 1540, to perform various functions of the oral care device 1500 and process data. Optionally, the processor 1510 may be implemented using at least one of the following hardware forms: a digital signal processing (DSP), a field-programmable gate array (FPGA), or a programmable logic array (PLA). The processor 1510 may integrate one or a combination of a central processing unit (CPU), a graphics processing unit (GPU), and a modem. The CPU primarily processes the operating system and applications; the GPU is responsible for rendering and drawing the content displayed on the display; and the modem handles wireless communications. It is understood that the modem may not be integrated into the processor 1510 and may be implemented as a separate chip.

[0137] Among them, the memory 1540 may include a random access memory (RAM) or a read-only memory (Read-Only Memory). Optionally, the memory 1540 includes a non-transitory computer-readable storage medium. The memory 1540 can be used to store instructions, programs, codes, code sets or instruction sets. The memory 1540 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 an acquisition function, a control function, etc.), instructions for implementing the above-mentioned various method embodiments, etc.; the data storage area may store data involved in the above-mentioned various method embodiments, etc. The memory 1540 may also be optionally at least one storage device located away from the aforementioned processor 1510. As Figure 15 As shown, the memory 1540 as a computer storage medium may include an operating system, a network communication module, a user interface module, and program instructions.

[0138] In some possible embodiments, the processor 1510 may be configured to call program instructions stored in the memory 1540 and specifically perform the following operations:

[0139] Acquire a driving signal; based on the driving signal, control the mover to vibrate back and forth relative to a reference axis, and control the position of the reference axis to change so as to increase the coverage of the vibration; the vibration includes linear vibration or rotational vibration; wherein the driving signal is a preset signal.

[0140] In some possible embodiments, the mover vibrates back and forth relative to the reference axis and controls the position of the reference axis to change, including: the mover moves in a first direction, and when the reverse movement relative to the first direction is not in place, the mover is controlled to move in the first direction again to change the position of the reference axis.

[0141] In some possible embodiments, the processor 1510 specifically performs: controlling the reference axis to rotate relative to the reference axis based on the drive signal; the reference axis is a fixed reference axis for the movement of the mover; the first direction includes a rotation direction toward the reference axis, and / or a rotation direction away from the reference axis.

[0142] In some possible embodiments, the processor 1510 specifically performs: based on the driving signal, controlling the rotation angle of the movable member toward the reference axis when vibrating to be greater than the rotation angle away from the reference axis, so that the reference axis rotates toward the reference axis; and / or, controlling the rotation angle of the movable member away from the reference axis when vibrating to be greater than the rotation angle toward the reference axis, so that the reference axis rotates away from the reference axis.

[0143] In some possible embodiments, the processor 1510 specifically performs: controlling the mover to perform reciprocating linear motion or rotational motion relative to the reference axis based on the drive signal so that the mover vibrates, and / or the motor includes a reset mechanism for resetting to the reference axis, and controlling the mover to move away from the reference axis based on the drive signal, and the reset mechanism drives the mover to move toward the reference axis so that the mover vibrates.

[0144] In some possible embodiments, the processor 1510 specifically performs: controlling the mover to vibrate relative to the reference axis at a preset amplitude based on the drive signal, and controlling the reference axis to move to change the vibration center of the vibration, and the preset amplitude of the vibration is smaller than the range of motion of the reference axis; or, controlling the vibration amplitude of the mover to gradually increase based on the drive signal, and changing the position of the reference axis; or, controlling the vibration amplitude of the mover to gradually decrease based on the drive signal, and changing the position of the reference axis.

[0145] In some possible embodiments, the processor 1510 specifically performs: based on the driving signal, controlling the rotation angle of the mover away from the reference axis to be equal to the rotation angle toward the reference axis each time the mover vibrates, so that the mover is reset to the reference axis position after each vibration; and / or, based on the driving signal, controlling the rotation angle of the mover away from the reference axis to be equal to the rotation angle toward the reference axis in multiple continuous vibrations, 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.

[0146] In some possible embodiments, the processor 1510 specifically performs: based on the driving signal, controlling the distance or angle of the reference axis relative to the reference axis to gradually increase as the number of vibrations increases; or, based on the driving signal, controlling the distance or angle of the reference axis relative to the reference axis to gradually decrease as the number of vibrations increases; or, based on the driving signal, controlling the distance or angle of the reference axis relative to the reference axis to gradually increase to a first preset distance or angle and then gradually decrease as the number of vibrations increases.

[0147] In some possible embodiments, the processor 1510 specifically performs the following steps: based on the driving signal, the rotation angle of the reference axis relative to the reference axis gradually increases in a first direction to a second preset angle and then gradually decreases as the number of vibrations increases; and then gradually increases in a direction opposite to the first direction to a third preset angle and then gradually decreases.

[0148] In some possible embodiments, the processor 1510 specifically controls the actuator to rotate at the same angle toward the reference axis and / or away from the reference axis each time the actuator vibrates based on the driving signal.

[0149] In some possible embodiments, the processor 1510 specifically controls the rotation angle of the reference axis relative to the reference axis to change at an equal angle based on the driving signal.

[0150] In some possible embodiments, the processor 1510 specifically controls the mover to vibrate with different vibration amplitudes within a sweeping cycle based on the driving signal, while the corresponding vibration frequencies are the same.

[0151] In some possible embodiments, the processor 1510 specifically performs: based on the driving signal, the movable member is controlled to vibrate with different vibration amplitudes, and the corresponding vibration frequencies are different; the greater the vibration amplitude of the movable member during vibration, the lower the corresponding vibration frequency.

[0152] In some possible embodiments, the motor is provided with a limiting device, and the limiting device is used to limit the maximum motion range of the mover.

[0153] In some possible embodiments, the mover is reset to the same predetermined reference axis each time it vibrates.

[0154] In some possible embodiments, the driving signal includes multiple sweeping signals, each of which includes multiple vibration signals; the above-mentioned processor 1510 specifically performs: controlling the vibration of the mover based on the vibration signal; controlling the vibration of the mover based on the sweeping signal, and switching the position of the reference axis to form a sweep.

[0155] In some possible embodiments, the processor 1510 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 sweeping amplitude of the reference axis based on the high-level duration and / or duty cycle corresponding to each vibration signal in the sweeping signal; and / or controlling the sweeping speed of the reference axis based on the high-level duration and / or duty cycle and / or frequency corresponding to each vibration signal in the sweeping signal.

[0156] In some possible embodiments, the processor 1510 specifically performs: controlling the mover to rotate in a first direction based on the high level of the vibration signal in the sweeping signal, and controlling the mover to rotate in the opposite direction of the first direction based on the low level or reverse high level of the vibration signal to control the vibration of the mover; and / or, the sweeping signal is a periodic signal, the polarity of the vibration signal in the first half cycle of the sweeping signal is opposite to that in the second half cycle, and the first half cycle and the second half cycle of the sweeping signal respectively control the reference axis to sweep in the areas on both sides of the reference axis.

[0157] 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 connected low level is greater than a preset duration.

[0158] In some possible embodiments, the waveform of the driving signal is one or more of a sine wave, a square wave, and a triangle wave; and / or the driving signal is an electrical signal.

[0159] In some possible embodiments, the processor 1510 specifically performs: performing open-loop control on the motor mover based on the driving signal.

[0160] The present application also provides a computer-readable storage medium containing instructions that, when executed on a computer or processor, cause the computer or processor to perform one or more steps of the aforementioned embodiments. If the various components of the motor control device of the aforementioned oral care device are implemented as software functional units and sold or used as independent products, they may be stored in the computer-readable storage medium.

[0161] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When software is used for implementation, it can be implemented in whole or in part in the form of 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, the process or function described in the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium or transmitted by the computer-readable storage medium. The computer instructions can be transmitted from a website, computer, server or data center to another website, computer, server or data center by wired (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (such as infrared, wireless, microwave, etc.). 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 includes one or more available media integrations. The available medium may be a magnetic medium (eg, a floppy disk, a hard disk, a magnetic tape), an optical medium (eg, a digital versatile disc (DVD)), or a semiconductor medium (eg, a solid state disk (SSD)).

[0162] Those skilled in the art will appreciate that all or part of the processes in the above-described method embodiments can be implemented by instructing the relevant hardware through a computer program. The program can be stored in a computer-readable storage medium. When executed, the program can include the processes of the above-described method embodiments. The aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks. The technical features of this embodiment and the implementation scheme can be combined in any manner unless they conflict.

[0163] The embodiments described above are merely preferred embodiments of the present application and are not intended to limit the scope of the present application. Without departing from the design spirit of the present application, various modifications and improvements made to the technical solutions of the present application by ordinary technicians in this field should fall within the scope of protection determined by the claims of the present application.

Claims

1. A motor control method for an oral care device, characterized in that: The oral care device includes a motor, the motor includes a mover, and the method includes: Obtaining a driving signal; Based on the driving signal, the mover is controlled to reciprocate relative to a reference axis, and the position of the reference axis is controlled to change so as to increase the coverage of the vibration; the vibration includes linear vibration or rotational vibration; Wherein, the driving signal is a preset signal.

2. The motor control method according to claim 1, wherein: The mover reciprocates relative to the reference axis and controls the position of the reference axis to change, including: The mover moves in a first direction, and when the reverse movement relative to the first direction is not in place, the mover is controlled to move in the first direction again, so as to change the position of the reference axis.

3. The motor control method according to claim 2, wherein: The method further comprises: Controlling the reference axis to rotate relative to a reference axis based on the drive signal; the reference axis is a fixed reference axis for the movement of the mover; The first direction includes a rotation direction toward the reference axis and / or a rotation direction away from the reference axis.

4. The motor control method according to claim 3, wherein: The controlling the reference axis to rotate relative to the reference axis based on the driving signal comprises: Based on the driving signal, the movable member is controlled to rotate toward the reference axis at a greater angle than the reference axis when vibrating, so that the reference axis rotates toward the reference axis; and / or, The movable element is controlled to rotate away from the reference axis at a greater angle than the reference axis when vibrating, so that the reference axis rotates away from the reference axis.

5. The motor control method according to claim 1, wherein: The controlling the mover to reciprocate relative to the reference axis based on the driving signal comprises: Based on the driving signal, the mover is controlled to perform reciprocating linear motion or rotational motion relative to the reference axis, so that the mover vibrates, and / or The motor includes a reset mechanism for resetting to a reference axis. The reset mechanism controls the mover to move away from the reference axis based on the driving signal. The reset mechanism drives the mover to move toward the reference axis, so that the mover vibrates. The motor control method according to claim 1 , wherein: The method further comprises: Based on the driving signal, the mover is controlled to vibrate relative to the reference axis with a preset amplitude, and the reference axis is controlled to move to change the vibration center of the vibration, and the preset amplitude of the vibration is smaller than the range of motion of the reference axis; or Controlling the vibration amplitude of the mover to gradually increase based on the driving signal and changing the position of the reference axis; or, The vibration amplitude of the mover is controlled to gradually decrease based on the driving signal, and the position of the reference axis is changed.

7. The motor control method according to claim 6, characterized in that: The method further comprises: Based on the driving signal, the movable member is controlled to rotate away from the reference axis at each vibration so as to have a rotation angle equal to a rotation angle toward the reference axis, so that the movable member is reset to the reference axis position after each vibration; and / or, Based on the driving signal, the movable member is controlled to have a rotation angle away from the reference axis equal to a rotation angle toward the reference axis during multiple continuous vibrations, and the rotation angle remains unchanged, so that the movable member vibrates continuously multiple times at equal angles relative to the reference axis while the reference axis remains unchanged.

8. The motor control method according to claim 1, wherein: The method further comprises: Based on the driving signal, the distance or rotation angle of the reference axis relative to the base axis is controlled to gradually increase as the number of vibrations increases; or, Based on the driving signal, the distance or rotation angle of the reference axis relative to the base axis is controlled to gradually decrease as the number of vibrations increases; or, Based on the driving signal, the distance or rotation angle of the reference axis relative to the base axis is controlled to gradually increase to a first preset distance or angle as the number of vibrations increases, and then gradually decrease.

9. The motor control method according to claim 8, characterized in that: The method further comprises: Based on the driving signal, the rotation angle of the reference axis relative to the reference axis is controlled to gradually increase in the first direction to a second preset angle and then gradually decrease as the number of vibrations increases, and then gradually increase in the opposite direction of the first direction to a third preset angle and then gradually decrease.

10. The motor control method according to claim 4, wherein: The method further comprises: The driving signal is used to control the movable element to rotate at the same angle toward the reference axis and / or rotate at the same angle away from the reference axis each time the movable element vibrates.

11. The motor control method according to claim 4, 6 or 8, characterized in that: The method further comprises: The rotation angle of the reference axis relative to the reference axis is controlled to change at a constant angle based on the driving signal.

12. The motor control method according to claim 1, wherein: The method further comprises: When the mover is controlled to vibrate with different vibration amplitudes within a sweeping cycle based on the driving signal, the corresponding vibration frequencies are the same.

13. The motor control method according to claim 1, wherein: The method further comprises: When the mover is controlled to vibrate with different vibration amplitudes based on the driving signal, the corresponding vibration frequencies are different; The greater the vibration amplitude of the mover during vibration, the lower the corresponding vibration frequency.

14. The motor control method according to claim 1, wherein: The motor is provided with a limiting device, and the limiting device is used to limit the maximum motion range of the mover.

15. The motor control method according to claim 1, wherein: The mover is reset to the same predetermined reference axis each time it vibrates.

16. The motor control method according to claim 1, wherein: The driving signal includes a plurality of sweep signals, each of which includes a plurality of vibration signals; and the method further includes: controlling the vibration of the mover based on the vibration signal; The vibrating element is controlled based on the sweep signal, and the position of the reference axis is switched to form a sweep.

17. The motor control method according to claim 16, 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 The sweeping speed of the reference axis is controlled based on the high level duration and / or duty cycle and / or frequency corresponding to each vibration signal in the sweeping signal.

18. The motor control method according to claim 16, wherein: The method further comprises: controlling the mover to rotate in a first direction based on a high level of the vibration signal in the sweep signal, and controlling the mover to rotate in a direction opposite to the first direction based on a low level or a reverse high level of the vibration signal, so as to control the vibration of the mover; and / or, The sweep signal is a periodic signal. The polarity of the vibration signal in the first half cycle and the second half cycle of the sweep signal are opposite. The first half cycle and the second half cycle of the sweep signal respectively control the reference axis to sweep in the areas on both sides of the reference axis.

19. The motor control method according to claim 18, wherein: 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 greater than a preset duration.

20. The motor control method according to claim 1, wherein: The waveform of the driving signal is one or more of a sine wave, a square wave and a triangle wave; and / or, The driving signal is an electrical signal.

21. The motor control method according to claim 1, wherein: An open-loop control is performed on the motor mover based on the driving signal.

22. An oral care device, characterized in that The oral care device includes a motor, and the oral care device uses the motor control method according to any one of claims 1 to 21 to control the movement of the motor.

23. The oral care device of claim 22, wherein: The oral care device is provided with a plurality of 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 speed.

24. A motor control device for an oral care device, characterized in that: The oral care device includes a motor, the motor includes a mover, and the device includes: An acquisition module, used for acquiring a driving signal; a control module, configured to control the reciprocating vibration of the mover relative to a reference axis based on the drive signal, and to control the position of the reference axis to change so as to increase the coverage of the vibration; the vibration includes linear vibration or rotational vibration; Wherein, the driving signal is a preset signal.

25. An oral care device, characterized in that include: processor and memory; The memory is used to store a computer program, and the computer program is suitable for being loaded by the processor and executing the steps of the method according to any one of claims 1 to 21.

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