Control method and device of electric toothbrush, controller and electric toothbrush

Abstract

The invention relates to a control method and device of an electric toothbrush, a controller and the electric toothbrush, a preset control signal corresponding to a cleaning demand is determined by acquiring the cleaning demand currently selected by a user, so that the electric toothbrush can efficiently and stably operate under different cleaning demands, and better oral cleaning experience is provided for the user. The preset control signal at least comprises a low-frequency signal and a high-frequency signal formed by superposing at least two sinusoidal signals with any frequency, the design breaks through the limitation of a traditional single high-frequency signal, and the multi-frequency high-frequency signal can more accurately meet the cleaning requirements of complex oral cavity structures such as different tooth gaps and gingival sulcus; the cleaning effect on specific stains is improved. In addition, the preset control signal is used as a carrier signal to be compared with a preset triangular wave to generate a PWM signal, the duty ratio of the driving signal can be flexibly adjusted, and accurate control over the sweep vibration motion is achieved.

Description

Technical Field

[0001] This application relates to the field of electric toothbrush technology, and in particular to a control method, device, controller and electric toothbrush for an electric toothbrush. Background Technology

[0002] In the field of oral hygiene appliances, electric toothbrushes have evolved from early single vibration modes to composite motion modes with sweeping and vibrating functions. Currently, sweeping electric toothbrushes generally use a control method that superimposes a single high-frequency signal and a single low-frequency signal, and achieve composite motion of the brush head through motor drive. This basic architecture enhances the comprehensiveness of the cleaning effect to a certain extent.

[0003] However, as users' demands for oral hygiene effectiveness increase, especially with greater attention paid to hard-to-clean areas such as gaps between teeth and gingival sulci, the existing control methods, with their relatively fixed sweeping frequency and inflexible adjustment mechanisms, struggle to achieve ideal cleaning results. Furthermore, the fixed waveform of the initial signal leads to a fixed motion pattern during the sweeping mode, significantly reducing the cleaning effectiveness for specific stains. Summary of the Invention

[0004] Based on this, the purpose of this application is to at least solve one of the above-mentioned technical defects, in particular the technical defect that the control method of the existing vibrating electric toothbrush is difficult to achieve the ideal cleaning effect and the cleaning effect on specific stains is significantly reduced.

[0005] This application provides a control method for an electric toothbrush, the method comprising: The system obtains the cleaning needs currently selected by the user and determines the preset control signal corresponding to the cleaning needs. The preset control signal includes at least a low-frequency signal and a high-frequency signal. The high-frequency signal is a multi-frequency signal formed by superimposing at least two sinusoidal signals of arbitrary frequencies. The preset control signal is used as a carrier signal, and the carrier signal is compared with a preset triangular wave to generate a PWM signal. The PWM signal is then used to drive the electric toothbrush to perform a sweeping motion.

[0006] Optionally, when the preset control signal includes only low-frequency and high-frequency signals, using the preset control signal as a carrier signal includes: The low-frequency signal and the high-frequency signal are superimposed and combined, and the combined signal is used as the carrier signal.

[0007] Optionally, when the preset control signal includes a low-frequency signal, a high-frequency signal, and an optimization compensation signal, using the preset control signal as a carrier signal includes: The low-frequency signal, the high-frequency signal, and the optimized compensation signal are superimposed and combined, and the combined signal is used as the carrier signal. The optimized compensation signal is used to compensate for the irrational characteristics of the system.

[0008] Optionally, the preset triangular wave is a high-frequency triangular wave, and the step of comparing the carrier signal with the preset triangular wave to generate a PWM signal includes: The carrier signal is compared with the high-frequency triangular wave. If the carrier signal is greater than the high-frequency triangular wave, a first driving signal is generated. If the carrier signal is less than or equal to the high-frequency triangular wave, then a second driving signal is generated; Both the first drive signal and the second drive signal are used to drive the electric toothbrush to perform sweeping and vibrating motion.

[0009] Optionally, the electric toothbrush includes a motor drive module and a motor module, the motor drive module includes two sets of bridge arms, and the PWM signal includes a first drive signal and a second drive signal; The electric toothbrush is driven to perform a sweeping motion using the PWM signal, including: The first drive signal drives one of the bridge arms to make the motor module rotate in a first preset direction. The second drive signal drives another set of bridge arms to make the motor module rotate in a second preset direction; The first driving signal and the second driving signal are complementary in driving timing, and the first preset direction and the second preset direction are opposite motion directions, so as to drive the electric toothbrush to perform sweeping vibration motion alternately along the opposite first preset direction and second preset direction.

[0010] This application also provides a control device for an electric toothbrush, the device comprising: The control signal determination module is used to obtain the cleaning needs currently selected by the user and determine the preset control signal corresponding to the cleaning needs. The preset control signal includes at least a low-frequency signal and a high-frequency signal. The high-frequency signal is a multi-frequency signal formed by superimposing at least two sinusoidal signals of arbitrary frequencies. The sweeping vibration operation module is used to take the preset control signal as a carrier signal, compare the carrier signal with a preset triangular wave to generate a PWM signal, and use the PWM signal to drive the electric toothbrush to perform sweeping vibration motion.

[0011] Optionally, when the preset control signal includes only low-frequency and high-frequency signals, the sweep operation module uses the preset control signal as a carrier signal, including: The first superposition module is used to superimpose and combine the low-frequency signal and the high-frequency signal, and use the combined signal as a carrier signal.

[0012] Optionally, when the preset control signal includes a low-frequency signal, a high-frequency signal, and an optimization compensation signal, the sweep operation module uses the preset control signal as a carrier signal, including: The second superposition module is used to superimpose and combine the low-frequency signal, the high-frequency signal and the optimized compensation signal, and use the combined signal as a carrier signal. The optimized compensation signal is used to compensate for the irrational characteristics of the system.

[0013] This application also provides a controller, including a memory and a processor, wherein the memory stores a computer program, characterized in that the processor executes the computer program to implement the steps of any one of the above embodiments.

[0014] This application also provides an electric toothbrush, comprising: Actuating device; The controller described in the above embodiments is used to control the actuator to perform sweeping motion.

[0015] As can be seen from the above technical solutions, the embodiments of this application have the following advantages: The electric toothbrush control method, device, controller, and electric toothbrush provided in this application obtain the user's currently selected cleaning needs and determine a preset control signal corresponding to those needs. This preset control signal includes at least a low-frequency signal and a high-frequency signal formed by superimposing at least two arbitrary-frequency sinusoidal signals. The preset control signal is used as a carrier signal and compared with a preset triangular wave to generate a PWM signal. The PWM signal is then used to drive the electric toothbrush in a sweeping motion. This design overcomes the limitations of traditional single high-frequency signals. Multiple high-frequency signals can more accurately match the cleaning needs of complex oral structures such as different tooth gaps and gingival sulci, improving the cleaning effect on specific stains. Simultaneously, by generating the PWM signal through the comparison of the carrier signal and the triangular wave, the duty cycle of the drive signal can be flexibly adjusted to achieve precise control of the sweeping motion. Furthermore, this application determines different preset control signals according to different user cleaning needs, thereby ensuring that the electric toothbrush operates efficiently and stably under different cleaning requirements, providing users with a superior oral cleaning experience. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 A flowchart illustrating a control method for an electric toothbrush provided in an embodiment of this application; Figure 2 Waveform diagrams illustrating the basic signal and optimized compensation signal used to generate sweeping vibration, provided for embodiments of this application; Figure 3 This is a schematic diagram of a carrier signal after the superposition of multiple frequency signals provided in an embodiment of this application; Figure 4 This is a schematic diagram of the carrier signal after the sweeping vibration signal of Hong is superimposed in the prior art provided in the embodiments of this application; Figure 5 This application provides a PWM waveform diagram generated based on a carrier signal, as shown in the embodiments of the present application. Figure 6 This is a schematic diagram of a multi-frequency signal superposition method provided in an embodiment of this application; Figure 7 This is a schematic diagram of the structure of a driver module provided in an embodiment of this application; Figure 8 This is a schematic diagram of the structure of a control device for an electric toothbrush provided in an embodiment of this application; Figure 9 This is a schematic diagram of the structure of an electric toothbrush actuator provided in an embodiment of this application. Detailed Implementation

[0018] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0019] In the field of oral hygiene appliances, electric toothbrushes have evolved from early single vibration modes to composite motion modes with sweeping and vibration functions. Existing sweeping electric toothbrushes typically employ a control method that superimposes preset high-frequency vibration signals and low-frequency sweeping signals, using a motor to drive the composite motion of the brush head. This basic architecture improves the comprehensiveness of the cleaning effect to a certain extent.

[0020] As users' demands for oral hygiene effectiveness continue to increase, especially with growing attention to hard-to-clean areas such as gaps between teeth and gingival sulci, the limitations of existing control methods are becoming increasingly apparent. Currently, mainstream sweeping control strategies employ fixed frequency combinations and waveform outputs; this preset mode is ill-suited to the diverse oral hygiene needs of real-world applications.

[0021] Existing vibrating electric toothbrushes use a control mode that superimposes fixed-frequency signals, resulting in insufficient adaptability of their movement trajectory and cleaning modes. This makes it difficult to dynamically adjust according to actual cleaning needs, which has become a key technical bottleneck restricting further improvement in their cleaning effect.

[0022] Based on this, the present application proposes the following technical solution, as detailed below: In one exemplary embodiment, Figure 1 This is a flowchart illustrating a control method for an electric toothbrush provided in an embodiment of this application, as shown below. Figure 1 As shown, a control method for an electric toothbrush is provided. This example illustrates the method's application to a controller of an electric toothbrush. It is understood that this method can also be applied to a terminal device connected to the controller, and can be implemented through interaction between the controller and the terminal device. The terminal device can be, but is not limited to, various personal computers, laptops, smartphones, and tablets. In this embodiment, the method includes the following steps S101 to S102: Wherein: S101: Obtain the cleaning requirement currently selected by the user and determine the preset control signal corresponding to the cleaning requirement.

[0023] In this step, when using an electric toothbrush, users can actively select their cleaning needs through the function buttons on the toothbrush itself, the accompanying mobile application, or voice commands. For example, when users need to clean food debris from between their teeth, they can select the "deep cleaning mode"; if their teeth are sensitive, they can select the "sensitive care mode." The controller has a built-in library of various preset control signals, and each cleaning need corresponds to a specific combination of signals. A set of preset control signals includes at least low-frequency and high-frequency signals, and the high-frequency signal is a multi-frequency signal formed by superimposing at least two sinusoidal signals of arbitrary frequencies.

[0024] Taking the "deep cleaning mode" as an example, the corresponding preset control signal can be composed of 200Hz and 250Hz sine waves, while the low frequency signal is set to a 5Hz sweeping frequency. The high frequency signal of the "sensitive care mode" may be adjusted to a combination of 150Hz and 180Hz, while the low frequency signal is kept at 3Hz to reduce vibration intensity and reduce irritation to the gums.

[0025] It should be noted that the aforementioned low-frequency signal is typically a sweeping frequency of 0.5-5Hz to drive the rotor to oscillate at a large angle, while the high-frequency signal is used to generate high-frequency vibrations in the rotor, with a frequency of 100-500Hz, to achieve micro-amplitude cleaning of the bristles. This application can pre-set different preset control signals according to different cleaning needs. The combination of high-frequency signals in different preset control signals is different; for example, the number and / or frequency values ​​of the sine waves that combine to form the high-frequency signal are different. The frequency of the low-frequency signal can also be adaptively adjusted according to the cleaning scenario.

[0026] For example, in the "daily cleaning mode," the high-frequency signal can be a superposition of 180Hz and 220Hz sine waves, while the low-frequency signal is set to 4Hz, ensuring both cleaning efficiency and user comfort. For the "orthodontic cleaning mode" (suitable for users wearing braces), the high-frequency signal can be increased to a superposition of three sine waves at 250Hz, 280Hz, and 300Hz to enhance the vibration cleaning effect on the gaps in the braces, while the low-frequency signal is adjusted to 2Hz to prevent excessive sweeping amplitude from scratching the gums. This customized signal design based on cleaning needs allows the electric toothbrush's sweeping vibration motion to be more targeted, effectively compensating for the shortcomings of traditional fixed-frequency modes in complex oral cleaning scenarios.

[0027] Furthermore, when superimposing at least two sinusoidal signals of arbitrary frequencies to form a high-frequency signal, this application can achieve precise superposition of sinusoidal waves of different frequencies through a signal synthesis algorithm, ensuring the stability and waveform integrity of the high-frequency signal. Specifically, the controller can generate sinusoidal signals of individual frequencies according to preset frequency parameters, and then synthesize these signals into a multi-frequency high-frequency signal through linear superposition. For example, when generating high-frequency signals containing 200Hz and 250Hz, the controller can first calculate the amplitude of the two sinusoidal signals at the same time point, add the corresponding amplitudes to obtain the instantaneous amplitude of the superimposed signal, and then output a continuous multi-frequency waveform. This synthesis method can retain the vibration characteristics of each individual frequency signal, and at the same time, form more complex vibration modes through the combination of frequencies, so that the brush head generates richer vibration dimensions during high-frequency vibration, thereby more effectively reaching hidden areas such as tooth gaps and gingival sulci, and improving the depth and breadth of cleaning.

[0028] In addition, to avoid abnormal amplitude fluctuations after the superposition of multiple frequency signals, the controller can also perform amplitude calibration on the superimposed signal to ensure that its output intensity meets the design requirements of the corresponding cleaning mode, thus ensuring the cleaning effect without causing damage to teeth and gums due to excessive vibration.

[0029] S102: The preset control signal is used as the carrier signal, and the carrier signal is compared with the preset triangular wave to generate a PWM signal. The PWM signal is used to drive the electric toothbrush to perform sweeping motion.

[0030] In this step, after obtaining the user's currently selected cleaning needs through S101 and determining the preset control signal corresponding to the cleaning needs, this application can use the preset control signal as a carrier signal, and compare the carrier signal with a preset triangular wave to generate a PWM signal, so as to use the PWM signal to drive the electric toothbrush to perform sweeping and vibrating motion.

[0031] Specifically, the controller in an electric toothbrush first uses a predetermined preset control signal (such as the superposition of the low-frequency signal and multiple high-frequency signals mentioned above) as a carrier signal, and simultaneously generates a triangular wave signal of a preset frequency. Taking a triangular wave frequency of 10kHz as an example, the controller can compare the voltage amplitude of the carrier signal and the triangular wave signal point by point: when the amplitude of the carrier signal is greater than that of the triangular wave signal, it outputs a high level; when the amplitude of the carrier signal is less than that of the triangular wave signal, it outputs a low level. In this way, a series of PWM signals with duty cycles varying with the carrier signal are generated.

[0032] For example, when the carrier signal is at its peak, the duty cycle of the PWM signal reaches its maximum, resulting in the strongest power of the drive motor and the largest vibration amplitude of the brush head. When the carrier signal is at its trough, the duty cycle is at its minimum, the motor power decreases, and the vibration amplitude decreases accordingly. These PWM signals are transmitted to the drive circuit of the electric toothbrush. The drive circuit can adjust the magnitude and direction of the current output to the motor module according to the change in the duty cycle of the PWM signal, thereby realizing the sweeping motion of the brush head.

[0033] For example, in "Deep Cleaning Mode", the duty cycle dynamic range of the PWM signal is larger, and the motor speed and direction switching frequency are higher, allowing the brush head to clean the gaps between teeth with stronger force and faster sweeping rhythm; while in "Sensitive Care Mode", the duty cycle dynamic range is reduced, and the speed and switching frequency are lowered to ensure a gentle and comfortable cleaning process.

[0034] In the above embodiments, by acquiring the user's currently selected cleaning needs, a preset control signal corresponding to those needs is determined. This preset control signal includes at least a low-frequency signal and a high-frequency signal formed by the superposition of at least two arbitrary-frequency sinusoidal signals. This preset control signal is used as a carrier signal and compared with a preset triangular wave to generate a PWM signal. The PWM signal is then used to drive the electric toothbrush in a sweeping motion. This design overcomes the limitations of traditional single high-frequency signals. Multiple high-frequency signals can more accurately match the cleaning needs of complex oral structures such as different tooth gaps and gingival sulci, improving the cleaning effect on specific stains. Simultaneously, by generating the PWM signal through the comparison of the carrier signal and the triangular wave, the duty cycle of the drive signal can be flexibly adjusted to achieve precise control of the sweeping motion. Furthermore, this application determines different preset control signals based on different user cleaning needs, thereby ensuring that the electric toothbrush operates efficiently and stably under different cleaning requirements, providing users with a superior oral cleaning experience.

[0035] In an exemplary embodiment, when the preset control signal includes only low-frequency and high-frequency signals, using the preset control signal as a carrier signal in S120 may include: The low-frequency signal and the high-frequency signal are superimposed and combined, and the combined signal is used as the carrier signal.

[0036] In this embodiment, when the preset control signal only includes low-frequency and high-frequency signals, this application can use an adder amplifier to linearly superimpose the low-frequency and high-frequency signals in the preset control signal to form a composite carrier signal that has both sweeping trajectory and multi-frequency vibration characteristics.

[0037] Specifically, since the low-frequency signal determines the overall sweeping direction and cycle of the brush head—for example, a 5Hz low-frequency signal can cause the brush head to complete one reciprocating sweep in the left-right or up-down direction at a frequency of 5 times per second—the high-frequency signal superimposes at least two sinusoidal vibrations of different frequencies on top of this sweeping trajectory. For example, superimposing 200Hz and 250Hz high-frequency signals will cause the brush head to generate rapid micro-amplitude vibrations at each sweeping position. This superposition method is not a simple signal splicing, but rather the controller's signal processing module fuses the voltage amplitudes of the two types of signals according to a preset ratio, ensuring that the waveform of the composite carrier signal is continuous and stable.

[0038] For example, in "Deep Cleaning Mode," the amplitude of the low-frequency signal is set to 30%, and the total amplitude of the high-frequency signal is set to 70%, ensuring both the coverage of the sweeping motion and enhancing the cleaning power of the vibration. In "Sensitive Care Mode," the amplitude of the low-frequency signal is increased to 40%, while the total amplitude of the high-frequency signal is reduced to 60%, and the amplitude of the high-frequency signal is also reduced, making the overall motion gentler. Through this precise superposition and combination, the carrier signal can fully transmit the preset cleaning requirement command, thus providing a reliable base waveform for the subsequent generation of the PWM signal.

[0039] In an exemplary embodiment, when the preset control signal includes a low-frequency signal, a high-frequency signal, and an optimization compensation signal, using the preset control signal as a carrier signal in S120 may include: The low-frequency signal, the high-frequency signal, and the optimized compensation signal are superimposed and combined, and the combined signal is used as the carrier signal; wherein, the optimized compensation signal is used to compensate for the irrational characteristics of the system.

[0040] In this embodiment, the preset control signal can include not only low-frequency signals and high-frequency signals, but also optimization compensation signals. The optimization compensation signal is a dynamic adjustment signal generated based on the motor performance degradation data accumulated during the long-term use of the electric toothbrush, the degree of brush head wear, and irrational factors such as different user habits (such as grip strength and brushing angle). It is generally an adaptive frequency band of 20-50Hz to improve the cleaning effect.

[0041] For example, after an electric toothbrush has been used for more than 6 months, the output torque of the motor may decrease by 5%. At this time, the optimization compensation signal will automatically increase the DC bias of the corresponding amplitude to offset the reduced vibration intensity caused by the decline in motor performance. If the wear rate of the brush head bristles exceeds 30%, the compensation signal will adjust the frequency combination of the high-frequency signal, such as fine-tuning the original 200Hz+250Hz high-frequency signal to 210Hz+260Hz. By changing the vibration frequency, the cleaning power on the tooth surface is enhanced, making up for the impact of brush head wear.

[0042] Indicatively, such as Figure 2 , 3 As shown in Figure 4, Figure 2 This is a waveform illustration of the basic signal and optimized compensation signal used to generate the sweeping vibration, provided in an embodiment of this application. Figure 3 This is a schematic diagram of a carrier signal after the superposition of multiple frequency signals provided in an embodiment of this application. Figure 4 This is a schematic diagram of the carrier signal after the sweeping vibration signal of Hong is superimposed in the prior art provided in the embodiments of this application; Figure 2 It contains a low-frequency signal (301), a high-frequency signal (302), and an optimized compensation signal (303). Superimposing these three signals can form a signal like... Figure 3 The irregular carrier signal shown is compared to Figure 4 The carrier signal resulting from the superposition of the sweeping vibration signal and the multi-frequency signal in this application is more irregular. The difference in the PWM waveforms generated by the two is significant, leading to substantial differences in motor control. Furthermore, the introduction of an optimized compensation signal in this application effectively optimizes the electromagnetic and mechanical performance of the motor in the sweeping vibration composite motion mode, thereby improving the cleaning effect to a certain extent.

[0043] Furthermore, the controller in this application can also detect the user's grip force while brushing teeth in real time through a built-in pressure sensor. If the grip force is too great, causing the contact pressure between the brush head and teeth to exceed a preset threshold (such as 3N), the optimization compensation signal will instantly reduce the sweeping amplitude of the low-frequency signal to avoid gum damage caused by excessive force. This multi-dimensional optimization compensation mechanism allows the preset control signal to adapt to the irrational characteristics of the system during actual output, ensuring that the electric toothbrush maintains a stable and satisfactory cleaning effect under different usage stages and user operations.

[0044] In an exemplary embodiment, the preset triangular wave is a high-frequency triangular wave. The step S120, which compares the carrier signal with the preset triangular wave to generate a PWM signal, may include: S121: Compare the carrier signal with the high-frequency triangular wave. If the carrier signal is greater than the high-frequency triangular wave, generate a first driving signal.

[0045] S122: If the carrier signal is less than or equal to the high-frequency triangular wave, a second driving signal is generated; wherein, both the first driving signal and the second driving signal are used to drive the electric toothbrush to perform a sweeping motion.

[0046] In this embodiment, the preset triangular wave can be a high-frequency triangular wave, typically set to 10kHz-20kHz to ensure the output accuracy of the PWM signal and the response speed of the motor control. Taking a 15kHz high-frequency triangular wave as an example, its rising and falling edges have the same slope in each cycle, resulting in a stable waveform and strong anti-interference capability.

[0047] Furthermore, such as Figure 5 As shown, Figure 5 This application provides a PWM waveform diagram generated based on a carrier signal, as shown in the embodiments of the present application. Figure 5In this application, when the carrier signal 602 is compared point by point with the high-frequency triangular wave 601, if the instantaneous voltage amplitude of the carrier signal is higher than the corresponding amplitude of the high-frequency triangular wave at a certain moment, the controller will output a high-level signal (i.e., the first drive signal 604) with a duration equal to the remaining duration of the triangular wave period at that moment; if the instantaneous amplitude of the carrier signal is lower than or equal to the high-frequency triangular wave, a low-level signal (i.e., the second drive signal 603) will be output.

[0048] For example, at the peak of the carrier signal, its amplitude will be higher than the amplitude of the triangular wave for several consecutive triangular wave cycles. At this time, the duty cycle of the first drive signal will reach more than 90%, and the drive motor will run at close to full power, and the brush head will generate strong high-frequency vibration. At the trough of the carrier signal, the duty cycle of the second drive signal may drop to less than 10%, the motor output power will weaken, and the vibration amplitude of the brush head will decrease accordingly.

[0049] This comparison method based on high-frequency triangular waves allows the duty cycle of the PWM signal to be adjusted in milliseconds according to changes in the carrier signal, ensuring that the sweeping motion of the electric toothbrush accurately matches the preset cleaning mode parameters. At the same time, the use of high-frequency triangular waves can effectively reduce electromagnetic noise during motor operation, improving the quietness of the electric toothbrush and optimizing the user experience.

[0050] In one exemplary embodiment, the electric toothbrush may include a motor drive module and a motor module, the motor drive module may include two sets of bridge arms, and the PWM signal may include a first drive signal and a second drive signal.

[0051] S120, which uses the PWM signal to drive the electric toothbrush to perform a sweeping motion, may include: S123: Drive one of the bridge arms through the first drive signal to make the motor module rotate in a first preset direction.

[0052] S124: Drive another set of bridge arms through the second drive signal to make the motor module rotate in the second preset direction.

[0053] The first driving signal and the second driving signal are complementary in driving timing, and the first preset direction and the second preset direction are opposite motion directions, so as to drive the electric toothbrush to perform sweeping vibration motion alternately along the opposite first preset direction and second preset direction.

[0054] In this embodiment, the motor drive module may refer to a power drive unit containing an H-bridge or half-bridge circuit, used to amplify control signals. The motor module may refer to an actuator such as a brushless motor or a vibratory motor, which converts electrical energy into mechanical motion. The bridge arm may refer to the switching transistor group in the H-bridge circuit, which controls the current direction through different conduction combinations. Complementary drive timing means that the first drive signal and the second drive signal appear alternately in time to avoid simultaneous effectiveness that could cause a short circuit.

[0055] For example, when the first drive signal is valid, the first set of bridge arms (such as the upper arm MOSFET) of the motor drive module is turned on, and the motor rotates in a first preset direction (such as clockwise); when the second drive signal is valid, the second set of bridge arms (such as the lower arm MOSFET) is turned on, and the motor rotates in the opposite preset direction. The controller ensures that the output timing of the two signals is completely complementary and has an appropriate dead time to prevent shoot-through.

[0056] In this embodiment, as Figure 6 As shown, Figure 6 This is a schematic diagram of a multi-frequency signal superposition method provided in an embodiment of this application. Figure 6 In this application, the low-frequency signal 301, the high-frequency signal 302, and the optimized compensation signal 303 are passed through an adder amplifier and superimposed to form a carrier signal. The carrier signal and the high-frequency triangular wave signal are simultaneously added to a comparator. Figure 5 The comparison method demonstrated generates PWM signals (603 and 604), which are ultimately input to the MOSFETs of the H-bridge in the drive module to control the motor module. Specifically, this application achieves forward and reverse rotation control of the motor through complementary driving of two sets of bridge arms, creating true bidirectional sweeping vibration motion. This solves the problems of low cleaning efficiency and difficulty in adapting to complex tooth surface contours in current mainstream unidirectional sweeping vibration control, significantly improving the cleaning effect on various tooth surfaces.

[0057] In some exemplary embodiments, Figure 7 This is a schematic diagram of the structure of a driver module provided in an embodiment of this application, such as... Figure 7As shown, the drive module can be an H-bridge drive circuit, which consists of four switching devices Q801-Q804. Q801 and Q804 form one bridge arm, and Q802 and Q803 form another bridge arm. The two bridge arms are controlled by two opposite PWM signals. PWM signal 603 is input to Q801 and Q804, while the opposite PWM signal 604 is input to Q802 and Q803. The motor windings are connected in the middle of the H-bridge, and the winding current is controlled by the PWM signal, thereby controlling the oscillation and vibration superposition motion of the motor rotor 109. When PWM signal 603 is high, PWM signal 604 is low, Q801 and Q804 are turned on, and Q802 and Q803 are turned off. Current flows from power supply 800 through Q801 to the motor windings, and then back to the power supply via Q804, causing the motor to rotate clockwise. When PWM signal 603 is low, PWM signal 604 is high, Q801 and Q804 are turned off, and Q802 and Q802 are turned on. Current flows from power supply 800 through Q803 to the motor windings, and then back to the power supply via Q802, causing the motor to rotate counterclockwise.

[0058] In this embodiment, through the above specific implementation method, the H-bridge drive circuit can be used to realize complementary drive control of two sets of bridge arms. By coordinating the timing of the first drive signal and the second drive signal, the motor module can efficiently switch between forward and reverse directions, which not only ensures the rapid response and precise commutation of the sweeping and vibration motion, but also reduces the switching loss of the bridge arms and improves the energy conversion efficiency through complementary drive. At the same time, it realizes precise control of the motor rotation direction and speed, ensuring the stability of the sweeping and vibration motion of the electric toothbrush head and the uniformity of the cleaning effect.

[0059] The control device for an electric toothbrush provided in the embodiments of this application is described below. The control device for the electric toothbrush has the same inventive concept as the control method for the electric toothbrush described above. The solution to the problem provided by this device is similar to the solution described in the above method. Therefore, the specific limitations of one or more embodiments of the control device for the electric toothbrush provided below can be referred to the limitations of the control method for the electric toothbrush described above. The control device for the electric toothbrush described below and the control method for the electric toothbrush described above can be referred to each other, and will not be repeated here.

[0060] In one exemplary embodiment, Figure 8 This is a schematic diagram of the structure of a control device for an electric toothbrush provided in an embodiment of this application, as shown below. Figure 8 As shown, the control device 90 of the electric toothbrush includes: The control signal determination module 910 is used to obtain the cleaning needs currently selected by the user and determine the preset control signal corresponding to the cleaning needs. The preset control signal includes at least a low-frequency signal and a high-frequency signal. The high-frequency signal is a multi-frequency signal formed by superimposing at least two sinusoidal signals of arbitrary frequencies.

[0061] The sweeping vibration operation module 920 is used to take the preset control signal as a carrier signal, compare the carrier signal with a preset triangular wave to generate a PWM signal, and use the PWM signal to drive the electric toothbrush to perform sweeping vibration motion.

[0062] In the above embodiments, by acquiring the user's currently selected cleaning needs, a preset control signal corresponding to those needs is determined. This preset control signal includes at least a low-frequency signal and a high-frequency signal formed by the superposition of at least two arbitrary-frequency sinusoidal signals. This preset control signal is used as a carrier signal and compared with a preset triangular wave to generate a PWM signal. The PWM signal is then used to drive the electric toothbrush in a sweeping motion. This design overcomes the limitations of traditional single high-frequency signals. Multiple high-frequency signals can more accurately match the cleaning needs of complex oral structures such as different tooth gaps and gingival sulci, improving the cleaning effect on specific stains. Simultaneously, by generating the PWM signal through the comparison of the carrier signal and the triangular wave, the duty cycle of the drive signal can be flexibly adjusted to achieve precise control of the sweeping motion. Furthermore, this application determines different preset control signals based on different user cleaning needs, thereby ensuring that the electric toothbrush operates efficiently and stably under different cleaning requirements, providing users with a superior oral cleaning experience.

[0063] In an exemplary embodiment, when the preset control signal includes only low-frequency and high-frequency signals, the sweep operation module 920 may use the preset control signal as a carrier signal, which may include: The first superposition module is used to superimpose and combine the low-frequency signal and the high-frequency signal, and use the combined signal as a carrier signal.

[0064] In an exemplary embodiment, when the preset control signal includes a low-frequency signal, a high-frequency signal, and an optimization compensation signal, the sweep operation module 920 may use the preset control signal as a carrier signal, which may include: The second superposition module is used to superimpose and combine the low-frequency signal, the high-frequency signal, and the optimized compensation signal, and use the combined signal as the carrier signal.

[0065] The optimized compensation signal is used to compensate for the irrational characteristics of the system.

[0066] In an exemplary embodiment, the preset triangular wave is a high-frequency triangular wave. The sweeping operation module 920 generates a PWM signal by comparing the carrier signal with the preset triangular wave, which may include: The waveform comparison module is used to compare the carrier signal with the high-frequency triangular wave. If the carrier signal is greater than the high-frequency triangular wave, a first driving signal is generated.

[0067] The signal generation module is used to generate a second driving signal if the carrier signal is less than or equal to the high-frequency triangular wave; wherein both the first driving signal and the second driving signal are used to drive the electric toothbrush to perform a sweeping vibration motion.

[0068] In one exemplary embodiment, the electric toothbrush may include a motor drive module and a motor module, the motor drive module may include two sets of bridge arms, and the PWM signal may include a first drive signal and a second drive signal.

[0069] The sweeping vibration operation module 920, which uses the PWM signal to drive the electric toothbrush to perform sweeping vibration motion, may include: The first drive module is used to drive one of the bridge arms through the first drive signal so that the motor module rotates in a first preset direction.

[0070] The second drive module is used to drive another set of bridge arms through the second drive signal, so that the motor module rotates in a second preset direction.

[0071] The first driving signal and the second driving signal are complementary in driving timing, and the first preset direction and the second preset direction are opposite motion directions, so as to drive the electric toothbrush to perform sweeping vibration motion alternately along the opposite first preset direction and second preset direction.

[0072] In one exemplary embodiment, this application provides a controller including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps of the method described above.

[0073] In one exemplary embodiment, this application provides an electric toothbrush, comprising: Actuating device.

[0074] The controller described above is used to control the sweeping motion of the actuator.

[0075] For example, such as Figure 9 As shown, Figure 9A schematic diagram of the structure of an electric toothbrush actuator provided in this application embodiment includes: a rotor winding first inlet 100, a rotor winding first outlet 101, a rotor winding second inlet 102, a rotor winding second outlet 103, a first permanent magnet 104, a second permanent magnet 105, a third permanent magnet 106, a fourth permanent magnet 107, a rotor 109, and a stator structure 110.

[0076] Those skilled in the art will understand that Figure 9 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0077] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of the relevant data must comply with relevant regulations.

[0078] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0079] The various embodiments in this specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments. The various embodiments can be combined as needed, and the same or similar parts can be referred to each other.

[0080] The above description of the disclosed embodiments enables those skilled in the art to make or use this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A control method for an electric toothbrush, characterized in that, The method includes: The system obtains the cleaning needs currently selected by the user and determines the preset control signal corresponding to the cleaning needs. The preset control signal includes at least a low-frequency signal and a high-frequency signal. The high-frequency signal is a multi-frequency signal formed by superimposing at least two sinusoidal signals of arbitrary frequencies. The preset control signal is used as a carrier signal, and the carrier signal is compared with a preset triangular wave to generate a PWM signal. The PWM signal is then used to drive the electric toothbrush to perform a sweeping motion.

2. The method according to claim 1, characterized in that, When the preset control signal includes only low-frequency and high-frequency signals, the step of using the preset control signal as a carrier signal includes: The low-frequency signal and the high-frequency signal are superimposed and combined, and the combined signal is used as the carrier signal.

3. The method according to claim 1, characterized in that, When the preset control signal includes a low-frequency signal, a high-frequency signal, and an optimization compensation signal, using the preset control signal as a carrier signal includes: The low-frequency signal, the high-frequency signal, and the optimized compensation signal are superimposed and combined, and the combined signal is used as the carrier signal. The optimized compensation signal is used to compensate for the irrational characteristics of the system.

4. The method according to claim 1, characterized in that, The preset triangular wave is a high-frequency triangular wave, and the step of comparing the carrier signal with the preset triangular wave to generate a PWM signal includes: The carrier signal is compared with the high-frequency triangular wave. If the carrier signal is greater than the high-frequency triangular wave, a first driving signal is generated. If the carrier signal is less than or equal to the high-frequency triangular wave, then a second driving signal is generated; Both the first drive signal and the second drive signal are used to drive the electric toothbrush to perform sweeping and vibrating motion.

5. The method according to claim 1 or 4, characterized in that, The electric toothbrush includes a motor drive module and a motor module. The motor drive module includes two sets of bridge arms. The PWM signal includes a first drive signal and a second drive signal. The electric toothbrush is driven to perform a sweeping motion using the PWM signal, including: The first drive signal drives one of the bridge arms to make the motor module rotate in a first preset direction. The second drive signal drives another set of bridge arms to make the motor module rotate in a second preset direction; The first driving signal and the second driving signal are complementary in driving timing, and the first preset direction and the second preset direction are opposite motion directions, so as to drive the electric toothbrush to perform sweeping vibration motion alternately along the opposite first preset direction and second preset direction.

6. A control device for an electric toothbrush, characterized in that, The device includes: The control signal determination module is used to obtain the cleaning needs currently selected by the user and determine the preset control signal corresponding to the cleaning needs. The preset control signal includes at least a low-frequency signal and a high-frequency signal. The high-frequency signal is a multi-frequency signal formed by superimposing at least two sinusoidal signals of arbitrary frequencies. The sweeping vibration operation module is used to take the preset control signal as a carrier signal, compare the carrier signal with a preset triangular wave to generate a PWM signal, and use the PWM signal to drive the electric toothbrush to perform sweeping vibration motion.

7. The apparatus according to claim 6, characterized in that, When the preset control signal includes only low-frequency and high-frequency signals, the sweep operation module uses the preset control signal as a carrier signal, including: The first superposition module is used to superimpose and combine the low-frequency signal and the high-frequency signal, and use the combined signal as a carrier signal.

8. The apparatus according to claim 6, characterized in that, When the preset control signal includes a low-frequency signal, a high-frequency signal, and an optimization compensation signal, the sweep operation module uses the preset control signal as a carrier signal, including: The second superposition module is used to superimpose and combine the low-frequency signal, the high-frequency signal and the optimized compensation signal, and use the combined signal as a carrier signal. The optimized compensation signal is used to compensate for the irrational characteristics of the system.

9. A controller, characterized in that, The method includes a memory and a processor, the memory storing a computer program, characterized in that the processor executes the computer program to implement the steps of the method according to any one of claims 1 to 5.

10. An electric toothbrush, characterized in that, include: Actuating device; The controller as described in claim 9 is used to control the actuator to perform sweeping motion.

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