Motor control method and device, equipment and storage medium

Abstract

The embodiment of the invention discloses a motor control method and device, equipment and a storage medium, and the method comprises the steps: driving a motor to vibrate, and enabling the vibration to achieve the cleaning operation and generate sound at the same time. By driving the motor, the motor can output sound while cleaning the oral cavity, so that a user of the oral cavity cleaning equipment can listen to music while cleaning the oral cavity, or hear prompt voice while cleaning the oral cavity.

Description

Technical Field

[0001] The present application relates to the field of oral cleaning technology, and specifically to a motor control method and device, equipment, and storage medium. Background Art

[0002] Oral cleaning devices generally clean the user's oral cavity.

[0003] However, with the development of technology, simply cleaning the oral cavity can no longer meet the needs of users. Therefore, it is necessary to allow oral cleaning equipment to complete the oral cleaning work while realizing other related functions. Summary of the Invention

[0004] In view of this, the motor control method, device, equipment, and storage medium provided in the embodiments of the present application can realize the output of sound while performing the oral cleaning operation. The motor control method, device, equipment, and storage medium provided in the embodiments of the present application are implemented as follows:

[0005] In one aspect of an embodiment of the present application, a motor control method is provided, which is applied to an oral cleaning device, wherein the oral cleaning device includes a motor. The method includes:

[0006] The drive motor vibrates, and the vibration is used to achieve the cleaning operation while producing sound.

[0007] Another aspect of the embodiments of the present application further provides a motor control device, which is applied to an oral cleaning device, wherein the oral cleaning device includes a motor, and the device includes: a driving module;

[0008] The driving module is used to drive the motor to vibrate, and the vibration is used to achieve the cleaning operation and generate sound at the same time.

[0009] The computer device provided in the embodiment of the present application includes a memory and a processor. The memory stores a computer program that can be run on the processor. When the processor executes the program, the method of the embodiment of the present application is implemented.

[0010] The computer-readable storage medium provided in the embodiment of the present application stores a computer program thereon, and when the computer program is executed by a processor, the method provided in the embodiment of the present application is implemented.

[0011] The motor control method, apparatus, device, and storage medium provided in the embodiments of the present application can drive a motor to vibrate, wherein the vibration can be used to simultaneously produce sound while performing a cleaning operation. By driving the motor, the motor can simultaneously produce sound while performing an oral cleaning operation, thereby enabling the user of the oral cleaning device to listen to music while cleaning their mouth, or to hear a prompt voice while cleaning their mouth. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] 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.

[0013] Figure 1 A schematic diagram of an application scenario of the motor control method provided in an embodiment of the present application;

[0014] Figure 2 A flow chart of a motor control method provided in an embodiment of the present application;

[0015] Figure 3 A schematic diagram of the composition of the driving signal provided in an embodiment of the present application;

[0016] Figure 4 Schematic diagram of the representation of the driving sub-signal provided in the embodiment of the present application;

[0017] Figure 5 This is a schematic diagram of another representation method of the driver signal provided in the embodiment of the present application;

[0018] Figure 6 This is another schematic diagram of the composition of the driving signal provided in the embodiment of the present application;

[0019] Figure 7 A schematic diagram showing a transition signal provided in an embodiment of the present application;

[0020] Figure 8 A schematic diagram showing a transition signal in a sound spectrum provided in an embodiment of the present application;

[0021] Figure 9 A schematic diagram of a combination of multiple sound frequencies provided in an embodiment of the present application;

[0022] Figure 10 A schematic diagram of a sound spectrum provided in an embodiment of the present application;

[0023] Figure 11 A schematic diagram of the relationship between sound loudness and sound frequency provided in an embodiment of the present application;

[0024] Figure 12 This is a schematic diagram of the structure of the motor control device provided in an embodiment of the present application;

[0025] Figure 13 This is a schematic structural diagram of the oral cleaning device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0026] To make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the specific technical solutions of the present application will be further described in detail below in conjunction with the drawings in the embodiments of the present application. The following embodiments are used to illustrate the present application but are not intended to limit the scope of the present application.

[0027] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this application pertains. The terms used herein are for the purpose of describing the embodiments of this application only and are not intended to limit this application.

[0028] In the following description, reference is made to “some embodiments”, which describes a subset of all possible embodiments, but it will be understood that “some embodiments” may be the same subset or different subsets of all possible embodiments and may be combined with each other without conflict.

[0029] It should be pointed out that the terms "first\second\third" involved in the embodiments of the present application are used to distinguish similar or different objects, and do not represent a specific ordering of the objects. It can be understood that "first\second\third" can be interchanged with a specific order or sequence where permitted, so that the embodiments of the present application described here can be implemented in an order other than that illustrated or described here.

[0030] Oral cleaning devices generally clean the user's oral cavity. However, with the development of technology, simply cleaning the oral cavity is no longer enough to meet the needs of users. Therefore, it is necessary to allow oral cleaning devices to complete the oral cleaning work while also achieving other related functions.

[0031] In order to increase the functionality of oral cleaning devices such as teeth rinsers and electric toothbrushes, the oral cleaning devices may be provided with a sound output function, for example, by outputting voice or music through motor vibration.

[0032] However, in the actual implementation process, since the output sound is not a regular audio, for example, the music that can be played by music playback software on the market is usually irregular, if the motor is used to generate vibrations of such music, the effect of oral cleaning may be reduced.

[0033] For example: the frequency of the music is too high, causing the oral cleaning device to vibrate too fast and thus damage the user's mouth; or, the frequency of the music is too low, causing the oral cleaning device to vibrate insufficiently to remove foreign matter in the user's mouth, thus failing to meet the needs of oral cleaning.

[0034] In order to solve the above problems existing in the related art, a motor control method is provided in an embodiment of the present application. The following explains the actual application scenario of the motor control method provided in the embodiment of the present application.

[0035] Figure 1 This is a schematic diagram of an application scenario of the motor control method provided in the embodiment of the present application. Please refer to Figure 1 This scenario includes an oral cleaning device, wherein the oral cleaning device may include a motor 110. During the operation of the oral cleaning device, the motor may be driven to vibrate and generate sound while achieving the cleaning operation.

[0036] Among them, the vibration generated by the motor can be used to enable the oral cleaning device to complete the corresponding cleaning task. For example, the motor can drive the brush head of the electric toothbrush to vibrate effectively to achieve cleaning inside the oral cavity. The sound signal generated by the motor can be transmitted to the cleaning part (for example, the brush head, etc.). When the cleaning part contacts the user's mouth, the sound signal can be used through bone conduction to allow the user of the oral cleaning device to hear the corresponding music.

[0037] For example, if the oral cleaning device is an electric toothbrush, the user can clean his teeth while hearing the corresponding music generated by the vibration of the motor through bone conduction while brushing his teeth with the electric toothbrush.

[0038] The specific implementation process of the motor control method provided in the embodiment of the present application is explained below.

[0039] Figure 2 For a flow chart of the motor control method provided in the embodiment of the present application, please refer to Figure 2 The method includes: driving a motor to vibrate, and the vibration is used to achieve a cleaning operation while generating sound.

[0040] The execution subject of the above method may be an oral cleaning device, and the oral cleaning device may have a motor.

[0041] It should be noted that, in the process of driving the motor to vibrate, a driving signal may be input to enable the motor to vibrate. The driving signal may be an electrical signal generated by a controller in the oral cleaning device.

[0042] The vibration generated by the motor may include cleaning vibration and sound vibration. The two vibrations are the same vibration generated by the motor, and the driving signal generating the vibration is the same signal.

[0043] Among them, for cleaning vibration, cleaning operation can be achieved during the vibration process to complete oral cleaning; for sound vibration, sound output can be achieved during the vibration process, so that users can listen to music or voice while using the oral cleaning device to clean their mouth.

[0044] It should be noted that the sound output based on the vibration of the motor can be achieved when the motor vibrates, and the sound signal generated by the motor can be transmitted to the cleaning part (such as a brush head, etc.). When the cleaning part comes into contact with the user's mouth, the sound signal can be transmitted from the teeth of the user of the oral cleaning device to the ears through bone conduction, so that the user of the oral cleaning device can hear music or voice.

[0045] In the motor control method provided in the embodiments of the present application, the motor can be driven to vibrate, wherein the vibration can be used to simultaneously produce sound while performing a cleaning operation. By driving the motor, the motor can simultaneously produce sound while performing an oral cleaning operation, thereby allowing the user of the oral cleaning device to listen to music while cleaning their mouth, or to hear a prompt voice while cleaning their mouth.

[0046] In order to more clearly illustrate the driving signal for driving the motor, the specific composition of the driving signal provided in the embodiment of the present application is explained below.

[0047] Figure 3 For a schematic diagram of the composition of the driving signal provided in the embodiment of this application, please refer to Figure 3 The driving signal includes: a plurality of audio signals, and the audio signals are used to drive the motor to generate sounds with tones corresponding to the audio signals.

[0048] It should be noted that an audio signal can be the sound of a driving motor to produce a tone corresponding to the audio signal. The tone can be, for example, a scale in music, such as: G3, G#3 / Ab3, A3, A#3 / Bb3, B3, C4, C#4 / Db4, D4, D#4 / Eb4, E4, F4.

[0049] For each scale, it can correspond to different frequencies, for example:

[0050] G3(196Hz), G#3 / Ab3(207.65Hz), A3(220Hz), A#3 / Bb3(233.08Hz), B3(246.94Hz), C4(261.63 Hz), C#4 / Db4(277.18Hz), D4(293.66Hz), D#4 / Eb4(311.13Hz), E4(329.63Hz), F4(349.23Hz).

[0051] It should be noted that the frequency and duration of the output sound can be adjusted by setting the audio signal, so that the output sound can have a certain pitch and rhythm.

[0052] In the motor control method provided in the embodiment of the present application, an audio signal can be set to drive the motor to produce a sound with a tone corresponding to the audio signal. After the motor produces the sound with the corresponding tone, the oral cleaning operation can be achieved while the sound is output.

[0053] In one embodiment, each audio signal may include multiple driving sub-signals. The representation of the driving sub-signals is explained in detail below.

[0054] Figure 4 This is a schematic diagram of the representation of the driving sub-signal provided in the embodiment of the present application, please refer to Figure 4 Each audio signal includes multiple driving sub-signals, and the multiple driving sub-signals are used to drive the motor to generate regular vibration.

[0055] Regular vibration refers to the motor vibrating according to a certain pattern, for example, first vibrating in a first direction, then in a second direction, then in the first direction again, and so on. Furthermore, during the vibration process, the duration of each forward and reverse vibration of the motor can be equal; and / or the amplitude of each forward and reverse vibration of the motor can be equal.

[0056] Optionally, the forward and reverse vibration durations of the motor vibration refer to the duration of the motor vibrating in the first direction and the duration of the motor vibrating in the second direction during one vibration process, and these two durations may be equal. For example, the duration of the motor vibrating in the first direction is 5ms, and the duration of the motor vibrating in the second direction is also 5ms.

[0057] The forward and reverse amplitudes of the motor's vibration can be the amplitude of the motor's vibration in a first direction and the amplitude of the motor's vibration in a second direction during a single vibration process. The vibration amplitude can be the distance the motor moves during the vibration process and can be determined by the motor's output torque. These two amplitudes can be equal. For example, the amplitude of the motor's vibration in the first direction is 0.5 mm, and the duration of the motor's vibration in the second direction is also 0.5 mm.

[0058] In the motor control method provided in the embodiments of the present application, a driving sub-signal can be set to cause the motor to generate regular vibrations. Furthermore, during the vibration process, the duration of the forward and reverse vibrations of the motor can be equal; and / or the amplitude of the forward and reverse vibrations of the motor can be equal. By achieving regular motor vibrations in this manner, effective cleaning of the oral cleaning device can be achieved.

[0059] Please refer to continue to refer to Figure 4In one embodiment, each driving sub-signal has a monotonic change, and the monotonic change is used to enable the motor to generate effective cleaning vibration.

[0060] Optionally, the driving sub-signal may include two types of changes: monotonically increasing and monotonically decreasing. Each monotonic change can drive the motor to produce an effective cleaning vibration. If the vibration direction of the motor includes two directions, left and right, under the monotonically increasing change, the vibration direction of the motor is an effective cleaning vibration to the left; under the monotonically decreasing change, the vibration direction of the motor is an effective cleaning vibration to the right. That is to say, two monotonic changes of a driving sub-signal are used to drive the motor to produce a reciprocating vibration.

[0061] That is to say, in the process of monotonically increasing and monotonically decreasing changes of the driver sub-signal, if the two change curves are symmetrical, and the absolute values of the maximum amplitude of each driver sub-signal and the minimum amplitude of the driver sub-signal are equal, it can be determined that the forward and reverse vibration durations and amplitudes of a vibration of the motor are equal.

[0062] Figure 4 The driving sub-signals shown may be a plurality of continuous driving sub-signals, wherein each driving sub-signal may be monotonically increased and monotonically decreased once. This process may be a smooth monotonically increased and monotonically decreased wave; or, it may be a wave with small burrs that roughly presents a monotonically increased and roughly presents a monotonically decreased wave. Figure 4 In the example, there are multiple waves with small glitches that are roughly monotonically increasing and roughly monotonically decreasing.

[0063] Accordingly, based on Figure 4 From the content shown in , we can see that the driver signal changes regularly and periodically.

[0064] Each driving sub-signal or a plurality of driving sub-signals may be regarded as a cycle, and the process may be repeated.

[0065] Please continue to refer to Figure 4 , Figure 4 The multiple driving sub-signals in may be driving sub-signals in the same audio signal. In one embodiment, the frequencies of the driving sub-signals in the same audio signal are fixed frequencies, and the amplitudes of the driving sub-signals in the same audio signal are fixed amplitudes.

[0066] That is to say, Figure 4 A monotonically increasing and a monotonically decreasing combination ( Figure 4 The portion divided by the dotted line in the figure can be used as a driving sub-signal. If these driving sub-signals are in the same audio signal, they can have the same frequency and amplitude, for example, the frequency is 220 Hz and the amplitude is 50 dB.

[0067] In the motor control method provided in the embodiments of the present application, the frequency of the driving sub-signal in the same audio signal can be set to a fixed frequency, and the amplitude of the driving sub-signal in the same audio signal can be set to a fixed amplitude. This allows the motor to produce more regular movement, which in turn ensures that the oral cleaning device can complete the oral cleaning task.

[0068] It should be noted that the monotonic change of the driving sub-signal can make the motor generate effective vibration, where effective vibration refers to the vibration that can enable the oral cleaning device to complete the cleaning work after the motor vibrates. The following explains the various feasible conditions for effective vibration.

[0069] In one embodiment, the effective cleaning vibration of the motor is a vibration in which the energy consumed by the motor in a unit time is greater than a preset energy value.

[0070] For example, assuming the preset energy value is 5 joules, if the energy consumed by the motor in vibrating per unit time is greater than 5 joules, it can be determined that the vibration is an effective cleaning vibration of the motor; correspondingly, if the energy consumed by the motor in vibrating per unit time is less than 5 joules, it can be determined that the vibration is an invalid cleaning vibration of the motor.

[0071] In one embodiment, the effective cleaning vibration of the motor is a vibration in which the motor output torque is greater than a preset torque value.

[0072] For example, assuming the preset torque value is 5N·m, if the motor output torque is greater than 5N·m, it can be determined that the vibration is an effective cleaning vibration of the motor; correspondingly, if the motor output torque is less than 5N·m, it can be determined that the vibration is an invalid cleaning vibration of the motor.

[0073] In one embodiment, the effective cleaning vibration of the motor is a vibration whose amplitude of the motor is greater than a preset amplitude value.

[0074] For example, assuming the preset amplitude value is 0.5mm, if the vibration amplitude of the motor is greater than 0.5mm, it can be determined that the vibration is an effective cleaning vibration of the motor; correspondingly, if the vibration amplitude of the motor is less than 0.5mm, it can be determined that the vibration is an invalid cleaning vibration of the motor.

[0075] It should be noted that in the above explanation process, whether the motor is an effective cleaning vibration is determined after meeting one condition. In the actual implementation process, it can be set based on actual needs. For example: it can be determined as an effective cleaning vibration after meeting any one or two conditions, or it is necessary to meet the above three conditions at the same time to determine that it is an effective cleaning vibration. No specific restrictions are made here.

[0076] In the motor control method provided in the embodiments of the present application, effective cleaning vibration of the motor can be defined as vibration in which the energy consumed by the motor per unit time is greater than a preset energy value; and / or effective cleaning vibration of the motor is defined as vibration in which the motor output torque is greater than a preset torque value; and / or effective cleaning vibration of the motor is defined as vibration in which the motor vibration amplitude is greater than a preset amplitude value. The above conditions can more accurately determine whether the motor can generate effective cleaning vibration.

[0077] It should be noted that the driver signal uses Figure 4 In addition to the representation shown in , other waveforms can also be used for representation.

[0078] Figure 5 This is another schematic diagram of a representation of a driver signal provided in an embodiment of the present application. Please refer to Figure 5 The driving sub-signal is a combination of one or more of a sine wave, a square wave and a triangle wave.

[0079] Figure 5 (a) shows a sinusoidal change curve. When the driving sub-signal is a sinusoidal wave, it can show periodic regular changes in the entire cycle. The sub-wave of the sine wave in each cycle can be a driving sub-signal in the audio signal. Multiple driving sub-signals can present a sinusoidal change curve as a whole.

[0080] Figure 5 (b) shows the change curve of the square wave. When the driving sub-signal is a square wave, it can show periodic regular changes in the entire cycle. The sub-wave of the square wave in each cycle can be a driving sub-signal in the audio signal. Multiple driving sub-signals can present a square wave change curve as a whole.

[0081] Figure 5 (c) shows the variation curve of the triangular wave. When the driving sub-signal is a triangular wave, it can show periodic regular changes in the entire cycle. The sub-wave of the triangular wave in each cycle can be a driving sub-signal in the audio signal. Multiple driving sub-signals can present a triangular wave variation curve as a whole.

[0082] In actual implementation, any one of the three waveform forms mentioned above can be used to represent the driving sub-signal, or a corresponding combination of the three types of waveforms can be used to represent the driving sub-signal, which is not specifically limited here.

[0083] It should be noted that the sounds of sine waves and triangle waves are softer, while the sounds of square waves are relatively sharper. In the process of actually determining the waveform of the driving sub-signal, one or more of the above three waveforms can be selected according to the requirements of the sound type.

[0084] The above explanation illustrates that the driving signal may include an audio signal. In actual implementation, the driving signal may include other signals in addition to the audio signal. Another composition of the driving signal will be explained below.

[0085] Figure 6 This is another schematic diagram of the driving signal provided in the embodiment of the present application, please refer to Figure 6 The driving signal also includes: a transition signal; the transition signal is before or after any audio signal, or between two adjacent audio signals of different frequencies, and the transition signal is used to achieve a smooth transition of the audio signal.

[0086] The drive signal may include an audio signal and a transition signal. The audio signal can drive the motor to produce a sound corresponding to a pitch. Because different audio signals correspond to different frequencies, the generated pitches may also be different. In other words, different audio signals may correspond to different pitches, which may be a musical scale. For example, the first audio signal may correspond to a pitch of G3, while the second audio signal may correspond to a pitch of A3, and so on. This is not a specific limitation.

[0087] The transition signal can be used to implement the transition between two different audio signals or the transition at the beginning or end of a single audio signal. That is, the transition signal can be before or after any audio signal, or between any two different audio signals, without specific limitation.

[0088] In order to explain the transition signal more clearly, the amplitude, frequency, duration and other factors of the transition signal are explained below.

[0089] First, the amplitude of the transition signal is explained below. The amplitude of the transition signal can be a fixed amplitude or a variable amplitude, and is not specifically limited here.

[0090] If the amplitude of the transition signal is a fixed amplitude, the amplitude of the transition signal is smaller than the amplitude of the audio signal adjacent to the transition signal.

[0091] It should be noted that if the transition signal is a transition signal after the audio signal, the amplitude of the transition signal is smaller than the amplitude of the audio signal; if the transition signal is a transition signal before the audio signal, the amplitude of the transition signal is smaller than the amplitude of the audio signal; if the transition signal is a transition signal between two audio signals of different frequencies, the amplitude of the transition signal is smaller than the amplitude of each of the two adjacent audio signals.

[0092] For example, if the amplitude of the adjacent audio signal is 20 dB, the amplitude of the transition signal may be a fixed value smaller than 20 dB, such as 5 dB.

[0093] If the amplitude of the transition signal varies, the average amplitude of the transition signal is smaller than the amplitude of the audio signal adjacent to the transition signal.

[0094] It should be noted that if the amplitude of the transition signal is a variable amplitude, it can change gradually or suddenly. For example, it can be at a first fixed amplitude for a period of time and at a second fixed amplitude for another period of time. Alternatively, it can be an amplitude that changes gradually over the entire period of time, without specific limitation. The entire period of time can be the sum of the aforementioned period of time and the other period of time.

[0095] In order to explain the amplitude of the transition signal more clearly, the changes in the amplitude of the transition signal in three different situations are explained below.

[0096] Case 1: The transition signal precedes the audio signal, and the amplitude of the transition signal gradually increases to the amplitude of the audio signal following the transition signal.

[0097] Case 2: The transition signal follows the audio signal, and the amplitude of the transition signal gradually decreases from the amplitude of the audio signal preceding the transition signal.

[0098] Case 3: The transition signal is between two different audio signals. In this case, three transition modes can be included:

[0099] Mode 1: When the amplitude of the audio signal preceding the transition signal is greater than the amplitude of the audio signal following the transition signal, the amplitude of the transition signal gradually decreases from the amplitude of the preceding audio signal to the amplitude of the following audio signal.

[0100] Mode 2: When the amplitude of the subsequent audio signal of the transition signal is greater than the amplitude of the preceding audio signal of the transition signal, the amplitude of the transition signal gradually increases from the amplitude of the preceding audio signal to the amplitude of the subsequent audio signal.

[0101] Mode 3: The amplitude of the transition signal gradually decreases from the amplitude of the previous audio signal and then gradually increases to the amplitude of the next audio signal.

[0102] Figure 7 For a schematic diagram showing the transition signal provided in the embodiment of this application, please refer to Figure 7 , Figure 7 The contents shown in are the three cases corresponding to the above methods 1 to 3, where: the above method 1 is Figure 7 As shown in part (d), the above method 2 is Figure 7 As shown in part (e), the above method 1 is Figure 7 As shown in part (f).

[0103] It should be noted that, for both mode 1 and mode 2, the amplitude of the transition signal can change in a single direction, for example, the amplitude gradually increases or the amplitude gradually decreases; for mode 3, the amplitude of the transition signal changes in two directions, for example, first gradually decreases and then gradually increases.

[0104] Optionally, during the change process of mode 3, the amplitude of the transition signal may gradually decrease from the amplitude of the previous audio signal to the target amplitude, and then gradually increase to the amplitude of the next audio signal.

[0105] The target amplitude is smaller than the amplitude of the previous audio signal and the amplitude of the next audio signal.

[0106] In the motor control method provided in the embodiment of the present application, a transition signal whose amplitude changes according to actual conditions can be set, so that the transition from the tone sound generated by the previous audio signal to the tone sound generated by the subsequent audio signal can be more natural, thereby reducing the abruptness of the sounds generated by the previous audio signal and the subsequent audio signal.

[0107] Next, the frequency of the transition signal will be explained below. The frequency of the transition signal may be the same as one of the frequencies of the adjacent audio signal.

[0108] That is, the frequency of the transition signal may be equal to the frequency of the previous audio signal or the frequency of the next audio signal.

[0109] For example, if there is no audio signal after the transition signal, the frequency of the transition signal may be equal to that of the previous audio signal; if there is no audio signal before the transition signal, the frequency of the transition signal may be equal to that of the subsequent audio signal; if there are audio signals before and after the transition signal, the frequency of the transition signal may be equal to that of one of the audio signals according to actual needs, and no specific restrictions are imposed here.

[0110] It should be noted that the frequency of the transition signal can be a fixed frequency or a variable frequency. If it is a variable frequency, it can gradually change from the frequency of the previous audio signal to the frequency of the next audio signal. There is no specific limitation here.

[0111] In addition, the duration of the transition signal is explained below.

[0112] In one embodiment, the duration of the transition signal is shorter than the duration of the audio signal.

[0113] Optionally, since the function of the transition signal is mainly to transition the audio signal, during the actual music output process, the user mainly hears the tone corresponding to the audio signal. The duration of the transition signal can be set to be shorter, for example, it can be less than the duration of the audio signal, or even much less than the duration of the audio signal.

[0114] For example, the duration of the audio signal is 2 seconds, and the duration of the transition signal may be 20 ms.

[0115] In one embodiment, the duration of the transition signal is a preset duration.

[0116] It should be noted that the transition signal can be set to a signal with a fixed duration. For example, regardless of the duration of the audio signal, the duration of the transition signal is 20 ms.

[0117] The preset duration may be a fixed duration that does not change with changes in the audio signal.

[0118] In one embodiment, the duration of the transition signal is positively correlated with the duration of the audio signal before or after the transition signal.

[0119] It should be noted that the duration of the transition signal may be positively correlated with the duration of the previous audio signal. For example, the longer the duration of the previous audio signal, the longer the duration of the transition signal.

[0120] Alternatively, the duration of the transition signal may be positively correlated with the duration of the subsequent audio signal. For example, the longer the duration of the subsequent audio signal is, the longer the duration of the transition signal is.

[0121] Alternatively, the duration of the transition signal may be positively correlated with the average duration of the preceding audio signal and the average duration of the succeeding audio signal of the transition signal. For example, the longer the average duration of the preceding audio signal and the average duration of the succeeding audio signal, the longer the duration of the transition signal.

[0122] It should be noted that, in actual implementation, the duration of the transition signal can be set in any of the above-mentioned ways, and is not specifically limited here.

[0123] It should be noted that the above explains the conditions that the amplitude, frequency, and duration of the transition signal can meet. The following explains the conditions of the transition signal in the sound spectrum.

[0124] Figure 8This is a schematic diagram showing the transition signal in the sound spectrum provided in the embodiment of the present application. Please refer to Figure 8 , Figure 8 The content shown is the above-mentioned sound spectrum, which can represent the energy distribution of the sound generated by the motor.

[0125] Among them, the spectrum corresponding to the transition signal is Figure 10 The positions indicated in, for example, position A, position B, and position C, are based on Figure 10 It can be clearly seen that the energy concentration of the transition signal is less than the preset concentration threshold.

[0126] It should be noted that in this sound spectrum, the horizontal axis represents duration and the vertical axis represents frequency, that is, the concentrated position of energy, where the concentrated position refers to a certain frequency range. For example: if a sound is concentrated between 400Hz-410Hz, then the corresponding position between the frequencies of 400Hz-410Hz will have more energy.

[0127] In one embodiment, in the sound spectrum corresponding to the sound, the transition signal can be compared with the audio signal based on the concentration position of the vertical axis, and it can be found that the energy concentration of the transition signal is less than that of the audio signal.

[0128] It should be noted that, for any transition signal, the energy concentration level thereof is lower than the energy concentration level of any audio signal.

[0129] Energy concentration refers to the degree to which a signal's energy distribution is concentrated in the frequency domain. For signals with high energy concentration, the energy is primarily concentrated in a few frequencies. For signals with low energy concentration, the energy distribution is relatively uniform. Transition signals can be considered signals with low energy concentration.

[0130] Among them, the position indicated by any one of position A, position B and position C is the spectrum of one of the transition signals, and the position before or after the transition signal can be the spectrum of the audio signal. From the distribution of energy on the spectrum, it can be seen that the energy concentration of the transition signal is less than that of the audio signal.

[0131] In the motor control method provided in the embodiments of the present application, the energy concentration of the transition signal can be set to be less than a preset concentration threshold within the sound spectrum corresponding to the sound, and the energy concentration of the transition signal can be less than the energy concentration of the audio signal. The smaller energy concentration of the transition signal can be more clearly determined from the sound spectrum, indicating that the transition signal serves a transitional role in the actual music output process, and that the primary output sound is the tone corresponding to the audio signal.

[0132] The above explains the specific settings of the transition signal. In actual implementation, the driving signal composed of the audio signal and the transition signal may also have certain setting requirements.

[0133] Figure 9 This is a schematic diagram of the combination of multiple sound frequencies provided in the embodiment of this application, please refer to Figure 9 The driving signal is used to drive the motor to vibrate at N vibration frequencies so that the motor produces N tones of sound, and the N tones correspond one-to-one to the N vibration frequencies, where N is an integer greater than or equal to 4.

[0134] Figure 9 In the diagram shown, N is 5, which corresponds to five audio signals. Figure 9 The figure shows a feasible combination method, such as using five audio signals A3, C4#, B3, E4 and D4 to form the driving signal.

[0135] In actual implementation, a larger number of audio signals may be combined, and transition audio may be added based on actual needs to ultimately obtain the driving signal.

[0136] Please continue to refer to Figure 9 In one embodiment, the time spectrum corresponding to the N tones of sound generated by the motor includes N sound frequencies, and the N sound frequencies change regularly and periodically.

[0137] Optionally, among the five audio signals, the frequency of A3 is 220 Hz, the frequency of C4# is 277 Hz, the frequency of B3 is 246 Hz, the frequency of E4 is 329 Hz, and the frequency of D4 is 293 Hz. Each audio signal may have its corresponding sound frequency, and each sound frequency may vary periodically.

[0138] In one embodiment, among multiple audio signals, the first audio signal is used to drive the motor to vibrate according to the vibration frequency corresponding to the first audio signal, so that the motor produces a first-tone sound corresponding to the first audio signal, and the duration of the first-tone sound matches the duration of the first audio signal; the first audio signal is any audio signal in the driving signal.

[0139] It should be noted that there is a corresponding relationship between the audio signal and the sound generated by the motor, for example: Figure 9 The sound produced by the first audio signal is A3, and the duration of A3 corresponds to the duration of the first audio signal.

[0140] Optionally, any audio signal in the driving signal may be set in the above manner to obtain a sound that meets the requirements and output the sound.

[0141] The above process explains the working principle of the driving signal. The following explains the conditions that the sound needs to meet after generating the sound based on the driving signal.

[0142] Figure 10 For a sound spectrum diagram provided in the embodiment of this application, please refer to Figure 10 In the sound spectrum corresponding to the sound, the proportion of spectrum energy corresponding to the frequency within the preset operating frequency range corresponding to the motor is greater than the first proportion threshold.

[0143] Figure 10 The content shown is the above-mentioned sound spectrum, which can represent the energy distribution of the sound generated by the motor.

[0144] It should be noted that in this sound spectrum, the horizontal axis represents duration and the vertical axis represents frequency, that is, the concentration position of energy, where the concentration position refers to a certain frequency range. For example: if a sound is concentrated between 300Hz-310Hz, then the corresponding position between the frequencies of 300Hz-310Hz will have more energy.

[0145] In the spectrum, the proportion of spectrum energy corresponding to frequencies within the preset operating frequency range corresponding to the motor needs to be greater than a first proportion threshold.

[0146] The preset operating frequency range corresponding to the motor may be a frequency range that satisfies the cleaning performance of the motor, or a frequency range that satisfies the vibration performance of the motor.

[0147] It should be noted that the frequency range of the motor's cleaning performance refers to the frequency range within which the motor's vibrations can achieve oral cleaning operations. Exceeding this frequency range will result in the oral cleaning operation not being completed properly, for example: insufficient vibration intensity to clean the mouth or excessive vibration intensity causing oral damage. The frequency range of the motor's vibration performance refers to the frequency range within which the motor operates at its most appropriate efficiency, meaning it can operate in its optimal working state. Exceeding this frequency range will result in the motor not being able to maintain its optimal working state.

[0148] In addition, for a motor that has been shipped, its operating frequency range is usually fixed. Based on the actual demand range, a matching motor can be selected as the motor to drive the oral cleaning device, such as: ultrasonic motor, servo motor, etc., without specific restrictions here.

[0149] For example, if the motor is a sonic motor, the preset operating frequency range is 100Hz-500Hz; if the motor is a servo motor, the preset operating frequency range is 100Hz-1500Hz. In other words, if the motor is a sonic motor, the proportion of spectral energy corresponding to 100Hz-500Hz must be greater than the first proportion threshold; if the motor is a sonic motor, the proportion of spectral energy corresponding to 100Hz-1500Hz must be greater than the first proportion threshold.

[0150] Combined with reference Figure 10 That is to say, if the motor is a sonic motor, the spectrum energy concentrated on the vertical axis of the sound spectrum is more at 100Hz-500Hz; if the motor is a servo motor, the spectrum energy concentrated on the vertical axis of the sound spectrum is more at 100Hz-1500Hz.

[0151] The first percentage threshold may be a threshold set based on actual needs, for example, it may be a fixed value such as 50%, 60%, etc., and is not specifically limited here.

[0152] It should be noted that when the proportion of spectral energy corresponding to frequencies within the preset operating frequency range corresponding to the motor is greater than the first proportion threshold, it can be determined that most of the frequencies generated by the motor are within the preset operating frequency range. Since the cleaning performance and vibration performance of the motor can be met within the preset operating frequency range, it can be ensured that the vibration generated by the motor can achieve cleaning work, and can generate sounds with a certain tone or rhythm.

[0153] In the motor control method provided in the embodiments of the present application, in the sound spectrum corresponding to the sound, the proportion of the spectrum energy corresponding to the frequencies within the preset operating frequency range corresponding to the motor can be set to be greater than a first proportion threshold. By ensuring that the target sound meets the corresponding sound spectrum condition, that is, by ensuring that the proportion of the spectrum energy corresponding to the frequencies within the preset operating frequency range corresponding to the motor is greater than the first proportion threshold, the motor can simultaneously meet the conditions for cleaning operation and sound output. In other words, the motor can generate cleaning vibrations during operation while outputting a target sound with a certain tone or rhythm.

[0154] It should be noted that the above process explains the method of setting the frequency of the sound generated by the motor under the sound spectrum. In the actual implementation process, in addition to the sound spectrum meeting certain conditions, the relationship between the sound frequency and the sound loudness can also be set to meet certain conditions.

[0155] Figure 11 This is a schematic diagram of the relationship between sound loudness and sound frequency provided in the embodiment of this application. Please refer to Figure 11Among the multiple sound frequencies corresponding to the sound, the sound frequency corresponding to the preset operating frequency range corresponding to the motor has the largest sound loudness.

[0156] The first sound frequency M1 is 300Hz, the second sound frequency M2 is 800Hz, the third sound frequency M3 is 400Hz, the fourth sound frequency M4 is 10Hz, the fifth sound frequency M5 is 200Hz, and the sixth sound frequency M6 is 1000Hz. The motor is a sonic motor, which means that the preset operating frequency range is between 100Hz-500Hz.

[0157] Among them, the sound loudness generated by the first sound frequency M1 is 50dB, the sound loudness generated by the second sound frequency M2 is 5dB, the sound loudness generated by the third sound frequency M3 is 60dB, the sound loudness generated by the fourth sound frequency M4 is 2dB, the sound loudness generated by the fifth sound frequency M5 is 70dB, and the sound loudness generated by the sixth sound frequency M6 is 1dB.

[0158] based on Figure 11 The sound with the loudest sound is the sound produced by the fifth sound frequency M5, and the frequency of the fifth sound frequency M5 is 200 Hz, which is within the preset operating frequency range. That is, the sound produced by the sound frequency within the preset operating frequency range corresponding to the motor has the loudest sound.

[0159] It should be noted that if there are multiple sounds at the same time, the sound that the user will hear first may be the sound with the loudest sound, and within the preset working frequency range corresponding to the motor, the oral cleaning device can be guaranteed to complete the cleaning work. That is to say, when the sound frequency within the preset working frequency range corresponding to the motor has the loudest sound, the user can hear the sound with a certain tone and rhythm while completing the oral cleaning work.

[0160] In a motor control method provided in an embodiment of the present application, among multiple sound frequencies corresponding to a sound, the sound loudness corresponding to the sound frequency within the preset operating frequency range corresponding to the motor can be set to be the highest. Within the preset operating frequency range corresponding to the motor, the oral cleaning device can be guaranteed to complete the cleaning operation, thereby maximizing the sound loudness generated by the sound frequency within the preset operating frequency range corresponding to the motor, allowing the user to hear a sound with a certain tone and rhythm while achieving the oral cleaning operation.

[0161] It should be understood that, although the steps in the above-mentioned flowcharts are shown in sequence according to the instructions of the arrows, these steps are not necessarily performed in sequence in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and these steps can be performed in other orders. Moreover, at least a portion of the steps in the above-mentioned flowcharts may include multiple sub-steps or multiple stages, and these sub-steps or stages are not necessarily performed at the same time, but can be performed at different times, and the execution order of these sub-steps or stages is not necessarily to be performed in sequence, but can be performed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.

[0162] Based on the foregoing embodiments, an embodiment of the present application provides a motor control device, which includes the modules included and the units included in each module, and can be implemented by a processor; of course, it can also be implemented by a specific logic circuit; in the implementation process, the processor can be a central processing unit (CPU), a microprocessor (MPU), a digital signal processor (DSP) or a field programmable gate array (FPGA), etc.

[0163] Figure 12 This is a schematic diagram of the structure of the motor control device provided in the embodiment of the present application. Please refer to Figure 12 , the device includes: a driving module 1210.

[0164] The driving module 1210 is used to drive the motor to vibrate, and the vibration is used to achieve a cleaning operation and generate sound at the same time.

[0165] In one embodiment, in the device, the driving signal includes: a plurality of audio signals, and the audio signals are used to drive the motor to generate sounds with tones corresponding to the audio signals.

[0166] In one embodiment, in the device, each audio signal includes a plurality of driving sub-signals, and the plurality of driving sub-signals are used to drive the motor to generate regular vibration.

[0167] In one embodiment, in the device, the duration of the forward and reverse vibrations of the motor in one vibration is equal; and / or the amplitude of the forward and reverse vibrations of the motor in one vibration is equal.

[0168] In one embodiment, in the device, the driving sub-signal changes regularly and periodically.

[0169] In one embodiment, in the device, each driving sub-signal has a monotonic change, and the monotonic change is used to enable the motor to generate effective cleaning vibration.

[0170] In one embodiment, in the device, the effective cleaning vibration of the motor is a vibration in which the energy consumed by the motor in vibration per unit time is greater than a preset energy value; and / or, the effective cleaning vibration of the motor is a vibration in which the output torque of the motor is greater than a preset torque value; and / or, the effective cleaning vibration of the motor is a vibration in which the vibration amplitude of the motor is greater than a preset amplitude value.

[0171] In one embodiment, in the device, the driving sub-signal is a combination of one or more of a sine wave, a square wave, and a triangle wave.

[0172] In one embodiment, in the device, the frequency of the driving sub-signal in the same audio signal is a fixed frequency, and the amplitude of the driving sub-signal in the same audio signal is a fixed amplitude.

[0173] In one embodiment, in the device, the driving signal further includes: a transition signal; the transition signal is before or after any audio signal, or between two adjacent audio signals of different frequencies, and the transition signal is used to achieve a smooth transition of the audio signal.

[0174] In one embodiment, in the device, the amplitude of the transition signal gradually decreases from the amplitude of the audio signal preceding the transition signal; or, the amplitude of the transition signal gradually increases to the amplitude of the audio signal following the transition signal; or, the amplitude of the transition signal gradually decreases from the amplitude of the preceding audio signal and then gradually increases to the amplitude of the following audio signal.

[0175] In one embodiment, in the device, in the sound spectrum corresponding to the sound, the energy concentration of the transition signal is less than a preset concentration threshold, and the energy concentration of the transition signal is less than the energy concentration of the audio signal.

[0176] In one embodiment, in the apparatus, a frequency of the transition signal is the same as one of the frequencies of the adjacent audio signal.

[0177] In one embodiment, in the device, the driving signal is used to drive the motor to vibrate at N vibration frequencies so that the motor produces N tones of sound, and the N tones correspond one-to-one to the N vibration frequencies, where N is an integer greater than or equal to 4.

[0178] In one embodiment, in the device, the time spectrum corresponding to the N tones of sound generated by the motor includes N sound frequencies, and the N sound frequencies change regularly and periodically.

[0179] In one embodiment, in the device, among multiple audio signals, the first audio signal is used to drive the motor to vibrate according to the vibration frequency corresponding to the first audio signal, so that the motor produces a first tone sound corresponding to the first audio signal, and the duration of the first tone sound matches the duration of the first audio signal; the first audio signal is any audio signal in the driving signal.

[0180] In one embodiment, in the device, in the sound spectrum corresponding to the sound, a proportion of spectrum energy corresponding to frequencies within a preset operating frequency range corresponding to the motor is greater than a first proportion threshold.

[0181] In one embodiment, in the device, among the multiple sound frequencies corresponding to the sound, the sound corresponding to the sound frequency within the preset operating frequency range corresponding to the motor has the highest sound loudness.

[0182] In one embodiment, in the device, the preset operating frequency range of the motor is a frequency range that meets the cleaning performance of the motor, or a frequency range that meets the vibration performance of the motor.

[0183] The description of the above device embodiment is similar to the description of the above method embodiment and has similar beneficial effects as the method embodiment. For technical details not disclosed in the device embodiment of this application, please refer to the description of the method embodiment of this application for understanding.

[0184] It should be noted that in the embodiments of this application Figure 12 The division of modules in the motor control device shown is schematic and is only a logical functional division. In actual implementation, other division methods may be used. In addition, the functional units in the various embodiments of the present application can be integrated into a processing unit, or can exist physically separately, or two or more units can be integrated into a single unit. The above-mentioned integrated units can be implemented in the form of hardware or in the form of software functional units. It can also be implemented in the form of a combination of software and hardware.

[0185] It should be noted that, in the embodiment of the present application, if the above method is implemented in the form of a software function module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the embodiment of the present application is essentially or the part that contributes to the relevant technology can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for enabling an electronic device to execute all or part of the method described in each embodiment of the present application. The aforementioned storage medium includes various media that can store program codes, such as a U disk, a mobile hard disk, a read-only memory (ROM), a magnetic disk or an optical disk. In this way, the embodiment of the present application is not limited to any specific combination of hardware and software.

[0186] Figure 13 This is a structural diagram of the oral cleaning device provided in the embodiment of this application, please refer to Figure 13 The embodiment of the present application provides an oral cleaning device, which can be, for example, an electric toothbrush, an electric tooth washer, etc., and is not specifically limited here. The internal structure diagram thereof can be as follows Figure 13 As shown. The oral care device includes a processor 1320, a memory 1330, and a motor 1340 connected via a system bus 1310. The processor 1320 of the oral care device is configured to provide computing and control capabilities. The computer program, when executed by the processor, implements the aforementioned method. The processor 1320 can also input a drive signal to the motor 1340 to cause the motor 1340 to vibrate.

[0187] An embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the steps of the method provided in the above embodiment are implemented.

[0188] An embodiment of the present application provides a computer program product comprising instructions, which, when executed on a computer, enables the computer to execute the steps of the method provided in the above method embodiment.

[0189] Those skilled in the art will understand that Figure 13 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0190] In one embodiment, the motor control device provided by the present application can be implemented in the form of a computer program. The computer program can be used in Figure 13The computer device is operated on the computer device shown. The memory of the computer device can store various program modules that constitute the above-mentioned device. The computer program composed of each program module enables the processor to execute the steps of the method of each embodiment of the present application described in this specification.

[0191] It should be noted that the description of the above storage medium and device embodiments is similar to the description of the above method embodiments and has similar beneficial effects as the method embodiments. For technical details not disclosed in the storage medium, storage medium, and device embodiments of this application, please refer to the description of the method embodiments of this application for understanding.

[0192] It should be understood that "one embodiment" or "an embodiment" or "some embodiments" mentioned throughout the specification means that the specific features, structures or characteristics related to the embodiment are included in at least one embodiment of the present application. Therefore, "in one embodiment" or "in an embodiment" or "in some embodiments" appearing throughout the specification do not necessarily refer to the same embodiment. In addition, these specific features, structures or characteristics can be combined in one or more embodiments in any suitable manner. It should be understood that in the various embodiments of the present application, the size of the serial numbers of the above-mentioned processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application. The above-mentioned serial numbers of the embodiments of the present application are for description only and do not represent the advantages and disadvantages of the embodiments. The above description of the various embodiments tends to emphasize the differences between the various embodiments. The same or similar aspects can be referenced to each other. For the sake of brevity, they will not be repeated here.

[0193] The term "and / or" in this article is only a description of the association relationship between associated objects, indicating that there can be three relationships. For example, object A and / or object B can mean: object A exists alone, object A and object B exist at the same time, and object B exists alone.

[0194] It should be noted that, in this document, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or apparatus comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or apparatus comprising the element.

[0195] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. The embodiments described above are merely illustrative. For example, the division of the modules is merely a logical function division. In actual implementation, there may be other division methods, such as: multiple modules or components can be combined, or can be integrated into another system, or some features can be ignored or not executed. In addition, the coupling, direct coupling, or communication connection between the components shown or discussed can be through some interfaces, and the indirect coupling or communication connection of devices or modules can be electrical, mechanical or other forms.

[0196] The modules described above as separate components may or may not be physically separated, and the components displayed as modules may or may not be physical modules; they may be located in one place or distributed across multiple network units; some or all of the modules may be selected according to actual needs to achieve the purpose of this embodiment.

[0197] In addition, all functional modules in the embodiments of the present application can be integrated into one processing unit, or each module can be a separate unit, or two or more modules can be integrated into one unit; the above-mentioned integrated modules can be implemented in the form of hardware or in the form of hardware plus software functional units.

[0198] Those skilled in the art will understand that all or part of the steps of implementing the above-mentioned method embodiment can be completed by hardware related to program instructions, and the aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it executes the steps of the above-mentioned method embodiment; and the aforementioned storage medium includes: mobile storage devices, read-only memories (ROM), magnetic disks or optical disks, and other media that can store program codes.

[0199] Alternatively, if the above-mentioned integrated unit of the present application is implemented in the form of a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the embodiment of the present application, or the part that contributes to the relevant technology, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a number of instructions for enabling an electronic device to execute all or part of the methods described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as mobile storage devices, ROMs, magnetic disks or optical disks.

[0200] The methods disclosed in the several method embodiments provided in this application can be arbitrarily combined without conflict to obtain new method embodiments.

[0201] The features disclosed in the several product embodiments provided in this application can be arbitrarily combined without conflict to obtain new product embodiments.

[0202] The features disclosed in the several method or device embodiments provided in this application can be arbitrarily combined without conflict to obtain new method embodiments or device embodiments.

[0203] The above is merely an embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

Claims

1. A motor control method, characterized in that: Applied to an oral cleaning device, the oral cleaning device includes a motor, and the method includes: The motor is driven to vibrate, and the vibration is used to achieve a cleaning operation and generate sound at the same time.

2. The method according to claim 1, characterized in that The motor is driven to vibrate by a driving signal, wherein the driving signal includes a plurality of audio signals, and the audio signals are used to drive the motor to generate sounds having tones corresponding to the audio signals.

3. The method according to claim 2, characterized in that Each of the audio signals includes a plurality of driving sub-signals, and the plurality of driving sub-signals are used to drive the motor to generate regular vibration.

4. The method according to claim 3, characterized in that The duration of the forward and reverse vibrations of the motor during one vibration is equal; and / or, The forward and reverse vibration amplitudes of the motor are equal during one vibration.

5. The method according to claim 3, characterized in that The driver signal changes regularly and periodically.

6. The method according to claim 3, characterized in that Each of the driving sub-signals has a monotonic change, and the monotonic change is used to enable the motor to generate effective cleaning vibration.

7. The method according to claim 6, characterized in that The effective cleaning vibration of the motor is a vibration in which the energy consumed by the motor per unit time is greater than a preset energy value; and / or, The effective cleaning vibration of the motor is a vibration in which the motor output torque is greater than a preset torque value; and / or, The effective cleaning vibration of the motor is a vibration whose vibration amplitude is greater than a preset amplitude value.

8. The method according to claim 3, characterized in that The driving sub-signal is a combination of one or more of a sine wave, a square wave and a triangle wave.

9. The method according to claim 3, characterized in that The frequency of the driving sub-signal in the same audio signal is a fixed frequency, and the amplitude of the driving sub-signal in the same audio signal is a fixed amplitude.

10. The method according to claim 2, characterized in that The driving signal further includes a transition signal; the transition signal is before or after any audio signal, or between two adjacent audio signals of different frequencies, and the transition signal is used to achieve a smooth transition of the audio signal.

11. The method according to claim 10, characterized in that The amplitude of the transition signal gradually decreases from the amplitude of the audio signal preceding the transition signal; or, The amplitude of the transition signal gradually increases to the amplitude of the subsequent audio signal of the transition signal; or, The amplitude of the transition signal gradually decreases from the amplitude of the previous audio signal and then gradually increases to the amplitude of the subsequent audio signal.

12. The method according to claim 10, characterized in that In the sound spectrum corresponding to the sound, the energy concentration of the transition signal is less than a preset concentration threshold, and the energy concentration of the transition signal is less than the energy concentration of the audio signal.

13. The method according to claim 10, characterized in that The frequency of the transition signal is the same as one of the frequencies of the adjacent audio signal.

14. The method according to claim 2, characterized in that The driving signal is used to drive the motor to vibrate at N vibration frequencies so that the motor produces N tones of sound, and the N tones correspond one-to-one to the N vibration frequencies, where N is an integer greater than or equal to 4.

15. The method according to claim 14, characterized in that The time spectrum corresponding to the N tones of sound generated by the motor includes N sound frequencies, and the N sound frequencies change regularly and periodically.

16. The method according to claim 14, characterized in that Among multiple audio signals, the first audio signal is used to drive the motor to vibrate according to the vibration frequency corresponding to the first audio signal, so that the motor produces a first-tone sound corresponding to the first audio signal, and the duration of the first-tone sound matches the duration of the first audio signal; the first audio signal is any audio signal in the driving signal.

17. The method according to any one of claims 1 to 16, characterized in that In the sound spectrum corresponding to the sound, a proportion of spectrum energy corresponding to frequencies within a preset operating frequency range corresponding to the motor is greater than a first proportion threshold.

18. The method according to any one of claims 1 to 16, characterized in that Among the multiple sound frequencies corresponding to the sound, the sound frequency corresponding to the sound frequency within the preset operating frequency range corresponding to the motor has the highest sound loudness.

19. The method according to claim 17 or 18, characterized in that The preset operating frequency range of the motor is a frequency range that satisfies the cleaning performance of the motor, or a frequency range that satisfies the vibration performance of the motor.

20. A motor control device, characterized in that: Applicable to an oral cleaning device, the oral cleaning device includes a motor, and the device includes: a drive module; The driving module is used to drive the motor to vibrate as claimed in any one of claims 1 to 19, wherein the vibration is used to achieve a cleaning operation and generate sound at the same time.

21. An oral cleaning device comprising a memory and a processor, wherein the memory stores a computer program that can be run on the processor, characterized in that: When the processor executes the program, the steps of the method according to any one of claims 1 to 19 are implemented.

22. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 19 is implemented.

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