Electronic limiting control method and device for electric toothbrush, and electric toothbrush

Abstract

Provided are an electronic limiting control method and device for an electric toothbrush, and an electric toothbrush. According to the electronic limiting control method for an electric toothbrush, a motor is controlled to continuously output a target holding force when the electric toothbrush is in a first state, so that a brush head (110) of the electric toothbrush is kept at a target position. The electric toothbrush comprises the brush head (110) and the motor connected to each other, wherein a rotating shaft of the motor is configured to drive the brush head (110) to rotate within a preset range, and when the electric toothbrush is in the first state, the motor continuously outputs the target holding force.

Description

Electronic limit control method and device for electric toothbrush and electric toothbrush Technical Field

[0001] The present application relates to the field of oral cleaning technology, and in particular to an electronic limit control method and device for an electric toothbrush, and an electric toothbrush. Background Art

[0002] Electric toothbrush motors typically have mechanical limits to prevent the brush head from rotating too far. However, these electric toothbrushes struggle to simulate a vibrating brushing technique, making them difficult to meet the needs of a wide range of users. To address this issue, related technologies employ motors without mechanical limits, using electronic limits to flexibly adjust the motor's rotation angle.

[0003] However, since electric toothbrushes that use electronic limiters do not have mechanical limiters, the electric toothbrushes cannot be used normally in some situations.

[0004] The statements herein merely provide background information related to the present application and do not necessarily constitute exemplary techniques.

[0005] Summary of the Invention

[0006] The present application discloses an electronic limit control method for an electric toothbrush, wherein the electric toothbrush includes a brush head and a motor connected to each other, wherein a rotating shaft of the motor is configured to drive the brush head to rotate within a preset range. The method includes:

[0007] When the electric toothbrush is in the first state, the motor is controlled to continuously output a target holding force so that the brush head is held in a target position.

[0008] As an optional embodiment, the rotating shaft of the motor can rotate 360° when not powered.

[0009] As an optional implementation, the rotating shaft of the motor rotates when subjected to a first force in a non-powered state, and the first force is smaller than the target holding force.

[0010] As an optional implementation manner, the first state includes one or more of a wake-up state, a stop state, and a manual state.

[0011] As an optional implementation manner, before controlling the motor to continuously output the target holding force, the method includes:

[0012] Obtaining force reference data of the electric toothbrush;

[0013] The force value of the target holding force to be output is determined according to the force reference data.

[0014] As an optional embodiment, the force reference data includes historical brushing modes and / or historical force gears of the electric toothbrush, and the operating parameters of the motor are different in different brushing modes; the operating parameters of the motor are different in different force gears;

[0015] The step of determining the target holding force value to be output according to the force reference data includes:

[0016] According to the historical brushing mode and / or the historical force gear, the force value of the target holding force to be output is determined, and the force value of the target holding force is positively correlated with the operating parameters of the motor corresponding to the historical brushing mode and / or the historical force gear.

[0017] As an optional implementation, the force reference data includes one or more cached historical force values, where the historical force values ​​are force values ​​corresponding to the target holding force output by the motor at historical moments before the current moment;

[0018] The step of determining the target holding force value to be output according to the force reference data includes:

[0019] A target holding force value to be output is determined according to the one or more historical force values.

[0020] As an optional implementation,

[0021] The force reference data includes force setting data, which is data received from a terminal device. Determining the force value of the target holding force to be output based on the force reference data includes:

[0022] determining a target holding force value to be output according to the force setting data;

[0023] or,

[0024] The force reference data includes the brushing mode selected by the electric toothbrush in the first state and / or the force gear selected in the first state. Determining the force value of the target holding force to be output based on the force reference data includes:

[0025] According to the third preset torque corresponding to the selected brushing mode and / or the fourth preset torque corresponding to the selected force gear, the force value of the target holding force to be output is determined, wherein the force value of the target holding force is positively correlated with the third preset torque, and / or the force value of the target holding force is positively correlated with the fourth preset torque.

[0026] As an optional implementation manner, after controlling the motor to continuously output the target holding force, the method further includes:

[0027] Acquiring real-time motion data of the electric toothbrush when it is in manual mode;

[0028] The target retention force is adjusted according to the real-time motion data.

[0029] As an optional implementation manner, the real-time motion data includes at least one of the following:

[0030] a first pressure value detected by a pressure detection element, wherein the pressure detection element is configured to detect pressure exerted on bristles of the brush head;

[0031] a first current position of a rotor detected by a first position detection element, the motor comprising the first position detection element and the rotor, the first position detection element being configured to detect the position of the rotor;

[0032] The second position detection element detects the current oral position of the brush head.

[0033] As an optional implementation, the real-time motion data includes a first pressure value;

[0034] The adjusting the target retention force according to the real-time motion data includes:

[0035] If the first pressure value is less than a target pressure value, determining a first force value according to a difference between the target pressure value and the first pressure value, and controlling the target holding force output by the motor to decrease to the first force value, the target pressure value being related to the force value of the target holding force;

[0036] If the first pressure value is greater than the target pressure value, a second force value is determined according to the difference between the first pressure value and the target pressure value, and the target holding force output by the motor is controlled to increase to the second force value.

[0037] As an optional implementation, the real-time motion data includes a first current position of the rotor;

[0038] The adjusting the target retention force according to the real-time motion data includes:

[0039] If it is determined according to the first current position that the current position of the brush head is not the target position, determining a third force value according to a difference between the first current position and the target position;

[0040] The target holding force output by the motor is controlled to increase to the third force value.

[0041] As an optional embodiment, the real-time motion data includes the current oral position of the brush head;

[0042] The adjusting the target retention force according to the real-time motion data includes:

[0043] If the current oral position of the brush head is the tongue coating position, adjusting the target holding force output by the motor to a fourth force value;

[0044] If the current oral position of the brush head is the tooth position, adjusting the target holding force output by the motor to a fifth force value;

[0045] Wherein, the fourth force value is smaller than the fifth force value.

[0046] As an optional embodiment, the motor includes a rotor and a first position detection element, wherein the first position detection element is configured to detect the position of the rotor;

[0047] The method further comprises:

[0048] When the electric toothbrush is in the first state, determining a second current position of the rotor by the first position detection element;

[0049] If it is determined according to the second current position that the current position of the brush head is not the target position, determining a target reset path according to the second current position and the target position;

[0050] Based on the target reset path, the brush head is controlled to rotate toward a target position until it reaches the target position.

[0051] As an optional implementation manner, the target reset path is a path with the shortest distance.

[0052] As an optional embodiment, the electric toothbrush further includes a handle, and the target position includes: a preset position, or a position where the angle between the front of the brush head and the front of the handle is 0° or 45°.

[0053] As an optional implementation, the method further includes:

[0054] The motor is controlled to stop outputting the target holding force when the electric toothbrush switches from the first state to a second state, the second state being different from the first state.

[0055] As an optional implementation, the second state includes one or more of an electric brushing state, an auxiliary function state, a standby state, and a flight state.

[0056] As an optional embodiment, the driving force output by the motor when the electric toothbrush is in the electric brushing state is greater than the target holding force.

[0057] As an optional implementation, the method further includes:

[0058] determining a current brushing mode when the electric toothbrush switches from the first state to the electric brushing state;

[0059] Determining operating parameters corresponding to the current brushing mode;

[0060] The motor is controlled to move according to the operating parameters corresponding to the current brushing mode to drive the brush head to move.

[0061] As an optional embodiment, the motor includes a rotor and a first position detection element, wherein the first position detection element is configured to detect a position of the rotor, and the method further includes:

[0062] When the electric toothbrush is in an electric brushing state, detecting a third current position of the rotor by the first position detecting element;

[0063] The rotor is controlled to rotate based on the third current position so that the brush head rotates within a preset range.

[0064] As an optional implementation manner, controlling the rotation of the rotor based on the third current position includes:

[0065] Based on the third current position, the rotor is controlled to vibrate back and forth within a vibration range with the reference position as the vibration axis, and the rotor is controlled to rotate back and forth to adjust the reference position;

[0066] The vibration range is smaller than the preset range, and the frequency of the reciprocating vibration is greater than the frequency of the reciprocating rotation.

[0067] As an optional embodiment, the motor includes a rotor and a first position detection element, wherein the first position detection element is configured to detect the position of the rotor; after controlling the motor to move according to the operating parameters corresponding to the current brushing mode to drive the brush head to move, the method further includes:

[0068] determining a fourth current position of the rotor by using the first position detection element;

[0069] If it is determined according to the fourth current position that the brush head is not within the preset range, the rotor is controlled to rotate so that the brush head is reset toward the preset range.

[0070] As an optional implementation, the reset force for controlling the brush head to move toward the preset range is greater than the target holding force.

[0071] As an optional embodiment, when the electric toothbrush is in the first state, before controlling the motor to continuously output the target holding force, the method further includes:

[0072] Acquiring status data of the electric toothbrush;

[0073] determining whether the electric toothbrush meets a wake-up condition according to the status data;

[0074] If the electric toothbrush meets the awakening condition, the electric toothbrush is controlled to enter the awakening state.

[0075] As an optional implementation, the electric toothbrush includes a detection module, and obtaining the status data of the electric toothbrush includes:

[0076] Acquiring status data of the electric toothbrush through the detection module;

[0077] The method further comprises:

[0078] When the electric toothbrush is in the flight state, controlling the detection module to not work; or,

[0079] When the electric toothbrush is in the flying state, if the electric toothbrush meets the wake-up condition, the electric toothbrush is not controlled to enter the wake-up state.

[0080] As an optional implementation manner, before controlling the motor to continuously output the target holding force, the method further includes:

[0081] Obtaining identification information of the brush head;

[0082] According to the identification information, a target holding force value to be output is determined.

[0083] The present application discloses an electronic limit control device for an electric toothbrush, wherein the electric toothbrush includes a brush head and a motor connected to each other, wherein the rotating shaft of the motor is configured to drive the brush head to vibrate within a preset range, and the device includes:

[0084] The control module is configured to control the motor to continuously output a target holding force when the electric toothbrush is in a first state, so that the brush head is kept in a target position.

[0085] An embodiment of the present application discloses an electric toothbrush, comprising a memory and a processor, wherein a computer program is stored in the memory. When the computer program is executed by the processor, the processor implements any one of the electronic limit control methods for the electric toothbrush disclosed in the embodiment of the present application.

[0086] An embodiment of the present application discloses a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the electronic limit control method for any electric toothbrush disclosed in the embodiment of the present application is implemented.

[0087] The details of one or more embodiments of the present application are set forth in the following drawings and description. Other features, objects, and advantages of the present application will become apparent from the description, drawings, and claims. BRIEF DESCRIPTION OF THE DRAWINGS

[0088] 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 any creative work.

[0089] FIG1 is a diagram illustrating an application scenario of an electronic limit control method for an electric toothbrush disclosed in one or more embodiments of the present application;

[0090] FIG2 is a flow chart of an electronic limit control method for an electric toothbrush disclosed in one or more embodiments of the present application;

[0091] FIG3 is a schematic structural diagram of an electric toothbrush disclosed in one or more embodiments of the present application;

[0092] FIG4 is a flow chart of a force value determination process disclosed in one or more embodiments of the present application;

[0093] FIG5 is a schematic diagram of a process for adjusting target retention force disclosed in one or more embodiments of the present application;

[0094] FIG6 is a schematic diagram of a process of an electric toothbrush disclosed in one or more embodiments of the present application;

[0095] FIG7A is a schematic diagram of a rotor reciprocatingly vibrating with a first reference position as a vibration axis, as disclosed in one or more embodiments of the present application;

[0096] FIG7B is a schematic diagram showing a change in a reference position of a rotor disclosed in one or more embodiments of the present application;

[0097] FIG8 is a flowchart of an automatic wake-up process disclosed in one or more embodiments of the present application;

[0098] FIG9 is a schematic structural diagram of an electronic limit control device for an electric toothbrush disclosed in one or more embodiments of the present application;

[0099] FIG10 is a schematic structural diagram of an electric toothbrush disclosed in one or more embodiments of the present application. DETAILED DESCRIPTION

[0100] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0101] It should be noted that the terms "including," "having," and any variations thereof in the embodiments and drawings of this application are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or apparatus comprising a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to the process, method, product, or apparatus.

[0102] In the related art, electric toothbrushes use motors without mechanical limits to increase the adjustment range of the motor's rotation angle. However, when the motor is not in operation, if the user wants to use the electric toothbrush manually, such as manually brushing areas that are not cleaned properly or brushing the tongue coating, the brush head of the electric toothbrush is prone to rotation, which cannot meet the user's purpose of manually using the electric toothbrush to achieve oral cleaning.

[0103] In view of this, the embodiments of the present application disclose an electronic limit control method and device for an electric toothbrush, and an electric toothbrush, which improve the reliability of the electric toothbrush and ensure the normal use of the electric toothbrush. Detailed descriptions are given below.

[0104] Please refer to Figure 1, which shows an application scenario diagram of the electronic limit control method for an electric toothbrush provided in an embodiment of the present application. As shown in Figure 1, the electronic limit control method for an electric toothbrush provided in an embodiment of the present application can be applied to an electric toothbrush, which may include a brush head 110, a handle 120, and a motor (not shown in Figure 1). The brush head 110 and the handle 120 are detachably connected. The motor can be disposed in the handle 120 and connected to the brush head 110. The motor shaft is configured to drive the brush head 110 to rotate within a preset range to achieve the effect of cleaning the oral cavity.

[0105] Optionally, the motor may not be provided with a mechanical limit device, and the motor shaft can rotate 360° when subjected to force when not powered, or can rotate within a preset angle range, including but not limited to 10°, 15°, 20°, 30°, 45°, 60°, 75°, 90°, 120°, 150°, and 180°.

[0106] In an optional embodiment, the motor may include a rotor, a stator module, and a motor control module. The rotor may include a rotating shaft that is detachably connected to the brush head. The stator module and the rotor may cooperate magnetically to drive the rotor to rotate, that is, to drive the rotating shaft to rotate. The stator module may include a permanent magnet or an electromagnet. The motor control module may control the rotor to reciprocate in the circumferential direction to drive the brush head to rotate within a preset range.

[0107] Optionally, the motor may further include a first position detection element, which may be configured to detect the position of the rotor. It should be noted that the position of the rotor may be the deflection angle of the rotor relative to the zero position, and the zero position may refer to the default initial position of the rotor. Generally speaking, when the rotor is at the zero position, the side of the brush head with bristles is in the center of the front, corresponding to the front of the handle, that is, the angle between the front of the brush head and the front of the handle is 0°. Optionally, the first position detection element may include but is not limited to elements with position detection functions such as Hall elements, optical elements, and angle sensors.

[0108] Please refer to Figure 2, which shows a flow chart of an electronic limit control method for an electric toothbrush disclosed in an embodiment of the present application. The electronic limit control method for an electric toothbrush described in Figure 2 is applicable to the electric toothbrush shown in Figure 1, and is not limited to this embodiment of the present application. As shown in Figure 2, the electronic limit control method for an electric toothbrush may include step 202.

[0109] Step 202: When the electric toothbrush is in the first state, the motor is controlled to continuously output the target holding force so that the brush head is kept in the target position.

[0110] It should be noted that the first state may include one or more of an awake state, a stopped state, and a manual state. The awake state refers to the state in which the electric toothbrush is powered on but not yet operating. Alternatively, the awake state may be defined as the state in which the electric toothbrush is awakened from standby mode but the motor has not yet started operating. If the toothbrush has an indicator light or screen, it will typically light up or flash when entering this state from standby mode. The stopped state may include a natural stop state and a pause state. The natural stop state refers to the state in which the electric toothbrush motor automatically stops operating under certain preset conditions. For example, the motor automatically stops operating after a preset duration of continuous operation, which may be 2 minutes. The pause state refers to the state in which the electric toothbrush motor stops operating due to human intervention or operation. For example, if the electric toothbrush is in the power brushing mode and the motor is stopped by pressing a control button, the electric toothbrush enters the pause state. Pressing the control button again will switch the electric toothbrush back to the power brushing mode and continue operating. The manual state refers to the state in which the electric toothbrush is used for manual brushing, which can be one of the modes of the electric toothbrush. For example, the electric toothbrush has a manual mode. Through the user's selection, the motor does not move in this mode, and there is a holding force to ensure that the motor does not rotate during manual brushing.

[0111] When the electric toothbrush is in a first state, the motor is powered on, and magnetic force is generated between the rotor and the stator module, so that the motor continuously outputs a target holding force to keep the brush head in a target position. Optionally, when the motor is powered on, electromagnetic force is generated between the rotor and the stator module, so that the target holding force is generated on the shaft.

[0112] The stator module includes a permanent magnet. When the motor is not powered, there is always a magnetic force between the rotor and the stator module. This magnetic force causes the rotor to rotate when it is subjected to a first force, wherein the first force is less than the target holding force. It should be noted that when the motor is not powered, the motor shaft can rotate. When the motor shaft is subjected to a first force, the motor rotor will rotate. This embodiment controls the motor to continuously output the target holding force when the electric toothbrush is in the first state, so as to increase the force value for maintaining the brush head in the target position. That is, the target holding force generated on the brush is greater than the naturally generated magnetic force. By setting a larger shaft target holding force, the shaft can still maintain a stable position when the user uses the toothbrush when the motor is not running, thereby ensuring the normal use of the electric toothbrush.

[0113] Optionally, the target position may include: a preset position, a position where the angle between the front of the brush head and the front of the handle is 0° (as shown in FIG1 ), or a position where the angle between the front of the brush head and the front of the handle is 45° (as shown in FIG3 ). It should be noted that the preset position is a user-defined position, and the user can set the target position based on actual usage needs to meet different users' brushing habits and improve the user experience. The front of the brush head is the side with the bristles. Most users face the front of the handle when brushing. Therefore, setting the target position at a 45° angle between the front of the brush head and the front of the handle ensures that when the user touches the brush head to the teeth, the angle between the brush head and the teeth is also 45°, which conforms to the Bass brushing method and allows users to easily use the Bass brushing method. Generally speaking, when the rotor is at the zero position, the side of the brush head with the bristles is centered on the front, corresponding to the front of the handle. That is, the angle between the front of the brush head and the front of the handle is 0°, which is consistent with the shape of most manual toothbrushes and conforms to the usage habits of most users.

[0114] In an optional embodiment, the electronic limit control method for an electric toothbrush may further include: when the electric toothbrush is in the first state, determining a second current position of the rotor using a first position detection element; if the current position of the brush head is determined not to be the target position based on the second current position, determining a target reset path based on the second current position and the target position; and controlling the brush head to rotate toward the target position based on the target reset path until the target position is reached.

[0115] It should be noted that the second current position is the current position of the rotor. Since the brush head rotates driven by the shaft, the relative position of the brush head and the shaft remains unchanged. This means that the position of the brush head can be consistent with the position of the rotor, and thus the position of the brush head can be determined based on the position of the rotor. If the brush head is determined not to be in the target position based on the second current position of the rotor, the current position of the brush head can be determined based on the second current position, and the position difference between the current position of the brush head and the target position can be calculated. The target reset path can be determined based on this position difference.

[0116] Optionally, the target reset path is the shortest path for resetting the brush head from its current position to its target position. For example, if the current position of the brush head is deflected 20 degrees to the left relative to the target position, the target reset path may be a path that controls the brush head to rotate 20 degrees to the right, rather than a path that deflects 340 degrees to the left. This allows for rapid and precise reset of the brush head, improves reset accuracy and efficiency, and reduces the impact of brush head reset on the normal operation of the electric toothbrush. Exemplarily, the position of the brush head may be the deflection angle of the brush head relative to the target position. If the brush head is in the target position and the rotor is in the reference position, the position of the brush head may be represented by the deflection angle of the rotor relative to the reference position.

[0117] In this embodiment, the rotor is configured to drive the brush head to rotate. By setting a first position detection in the motor to detect the position of the rotor, the position of the brush head can be determined. When it is determined that the brush head is not in the target position, the shortest target reset path is determined to reset it according to the target reset path, thereby improving the accuracy and efficiency of reset and reducing the impact of brush head reset on the normal operation of the electric toothbrush.

[0118] Optionally, the target retention force can be determined based on brushing pressure and a friction coefficient, where the friction coefficient is the friction coefficient between the teeth and the brush head of the electric toothbrush. The brushing pressure can refer to the pressure applied by the electric toothbrush on the teeth, or the pressure exerted on the bristles of the brush head. The target retention force should be greater than the product of the brushing pressure and the friction coefficient, thereby preventing the brush head from rotating relative to the handle when the electric toothbrush is in manual mode. Generally speaking, the brushing pressure is usually in the range of 1.5N (Newtons) to 3N, and the friction coefficient is usually less than 1. Therefore, the target retention force can be determined to be no less than 3N, such as 3N, 4N, 5N, or even greater, so that even users who are accustomed to brushing vigorously will not cause the brush head to rotate.

[0119] In an optional embodiment, before controlling the motor to continuously output the target holding force, the electronic limit control method of the electric toothbrush may further include: obtaining identification information of the brush head, and determining the force value of the target holding force to be output based on the identification information. It should be noted that the hardness and softness of the bristles of the brush head, the density of the bristles on the brush head, the total area of ​​the bristles on the brush head, etc. will affect the friction coefficient between the teeth and the brush head of the electric toothbrush. Different types of brush heads have different friction coefficients with the same teeth. Different types of brush heads have different identification information. By associating the identification information with the friction coefficient, the friction coefficient corresponding to the brush head currently in use can be determined through the identification information, thereby determining the force value of the target holding force to be output.

[0120] Optionally, the target position may also be the position of the brush head before entering the first state, that is, the target holding force can be used to keep the brush head of the electric toothbrush stationary at the current position. It should be noted that when the electric toothbrush is in the first state, by controlling the motor to output the target holding force so as to maintain the brush head at the position of the brush head before entering the first state, the electric toothbrush can continue to move from the current position when switching to the second state. In particular, for an electric toothbrush in a paused state, the motor outputs the target holding force to keep the brush head of the electric toothbrush stationary at the current position, so that the electric toothbrush can continue to operate when it is restarted.

[0121] In an optional embodiment, the electronic limit control method for an electric toothbrush further includes: controlling the motor to stop outputting the target holding force when the electric toothbrush switches from a first state to a second state. The second state is distinct from the first state. It should be noted that the second state is distinct from the first state, and dividing the state of the electric toothbrush into the first state and the second state allows the electric toothbrush to selectively output the target holding force, thereby improving the applicability of the electric toothbrush and ensuring reduced power loss.

[0122] Optionally, the second state may include, but is not limited to, one or more of an electric brushing state, an auxiliary function state, a standby state, a flight state, and the like. It should be noted that the electric brushing state may refer to a state in which the motor is in operation, that is, in motion. It is understandable that the electric toothbrush may be provided with one or more brushing modes, and / or one or more force gears. For example, the brushing mode may include a standard cleaning mode, a whitening cleaning mode, and a deep cleaning mode, and the force gear may include soft, moderate, and strong, etc. When the brushing mode or force gear of the electric toothbrush is triggered, the electric toothbrush enters the electric brushing state. The standby state may refer to a state in which most components of the electric toothbrush (such as a motor, a display device, etc.) are not powered. In the standby state, if the electric toothbrush meets the wake-up conditions, it enters the wake-up state. The flight state may refer to a state in which the electric toothbrush does not respond to most signals (such as a mode selection signal, a gear selection signal, a switch signal, etc.). The electric toothbrush may also include multiple functional components (excluding the motor configured to drive the brush head), such as a sterilizing component and a lighting component. The auxiliary function state may refer to a state in which at least one functional component of the electric toothbrush is in operation. For example, the sterilizing component may include an ultraviolet lamp. Generally speaking, when the ultraviolet lamp is turned on, the user will not use the electric toothbrush to brush their teeth. In this case, the motor may not be controlled to output the target holding force to reduce the power loss of the electric toothbrush. It should be noted that the trigger conditions corresponding to the standby state and the flight state can be the same or different. For example, the trigger condition for the standby state may be that the electric toothbrush has not moved for a preset period of time, or that the electric toothbrush has not been held for a preset period of time. The trigger condition for the flight state may be that the user triggers the flight button on the electric toothbrush, or that the user enters the flight state through voice instruction, etc., but is not limited to these. For example, the motor can be triggered by pressing the button, and the flight state can be triggered by long pressing the button. In the flight state, pressing the button does not cause the motor to operate. Optionally, the awakening conditions for entering the awakening state are not limited in the embodiments of the present application. For example, the conditions include detecting that a button on the electric toothbrush is triggered, detecting that the electric toothbrush is being held, detecting that the electric toothbrush is moving, or detecting that the electric toothbrush is separated from its base, etc., but are not limited thereto. When the electric toothbrush is in the flight state, if the electric toothbrush meets the above awakening conditions, the electric toothbrush will not switch from the flight state to the awakening state. The state of the motor rotor of the electric toothbrush is the same in the flight state and the standby state. When carrying the electric toothbrush outside, operations such as causing the electric toothbrush to move or buttons to be pressed may occur. By setting the flight state, even if the awakening conditions are met in the flight state, the electric toothbrush will not switch from the flight state to the awakening state, the motor will not be energized to output the target holding force, or the motor will not enter the running state, thereby avoiding wasting power when the electric toothbrush is not in use.

[0123] In an embodiment of the present application, when the electric toothbrush is in the first state, the motor is controlled to continuously output the target holding force so that the brush head of the electric toothbrush remains in the target position. The electric toothbrush includes a brush head and a motor that are connected to each other. The rotor of the motor is configured to drive the brush head to rotate within a preset range. When the electric toothbrush is in the first state, the motor continuously outputs the target holding force. When the external force applied to the brush head cannot overcome the holding force of the target holding force on the brush head, the brush head remains in the target position, which greatly reduces the rotation of the brush head in the first state, ensures the normal use of the electric toothbrush, and improves the reliability of the electric toothbrush.

[0124] Please refer to Figure 4, which shows a flow chart of a force value determination process provided in an embodiment of the present application. As shown in Figure 4, before controlling the motor to continuously output the target holding force, the electronic limit control method of the electric toothbrush may also include steps 402 to 404.

[0125] Step 402: Acquire force reference data of the electric toothbrush.

[0126] It should be noted that the force reference data may reflect the pressure applied to the brush head of the electric toothbrush, or the brushing force accustomed by the user of the electric toothbrush. The force reference data may include at least one of a historical brushing mode of the electric toothbrush, a historical force level of the electric toothbrush, one or more cached historical force values, and force setting data.

[0127] The historical brushing mode may refer to the brushing mode that the electric toothbrush operated at any point in the past before the current moment. The historical force level may refer to the force level that the electric toothbrush operated at any point in the past before the current moment. For different brushing modes, operating parameters adapted to the different brushing modes may be pre-configured. The motor output torque varies under different brushing modes. Similarly, operating parameters adapted to the different force levels may be pre-configured. The motor output torque also varies under different force levels.

[0128] For example, the operating parameters may include the duty cycle of the pulse width modulation signal received by the motor. The duty cycle of the pulse width modulation signal provided to the brush varies between different brushing modes and different force levels. The output torque of the motor is positively correlated with the duty cycle of the pulse width modulation signal, that is, the greater the duty cycle of the pulse width modulation signal, the greater the output torque of the motor. Of course, for three-phase or even multi-phase motors, or servo motors, their output torque is controlled by the current value or the power input to the motor.

[0129] The historical force value may refer to the force value corresponding to the target holding force output by the motor of the electric toothbrush at the historical moment before the current moment. The electric toothbrush can adjust the force value corresponding to the target holding force according to the real-time motion data, so that when the electric toothbrush is in the first state, the brush head of the electric toothbrush will not rotate arbitrarily, while avoiding the large power consumption of the electric toothbrush. Therefore, the force value of the target holding force that matches the user can be determined based on one or more historical force values. The force setting data may refer to the data received from the terminal device. The user can set the force value of the target holding force by himself through the terminal device to meet the actual needs of the user. It is understandable that the terminal device can be connected to the electric toothbrush for communication so that the electric toothbrush can obtain the force setting data.

[0130] Optionally, the electric toothbrush can store at least one of the brushing modes, force levels, and force values ​​that the electric toothbrush has run. The electric toothbrush can set a maximum storage number corresponding to each of the brushing modes, force levels, and force values. When the maximum storage number is reached, the earliest stored data among the multiple stored data can be deleted. For example, if the maximum storage number of historical brushing modes is 20, when the storage number of historical brushing modes reaches 20, the earliest stored historical brushing mode among the multiple stored historical brushing modes can be deleted to store the latest historical brushing mode without occupying too much storage space.

[0131] Step 404: Determine the target holding force value to be output according to the force reference data.

[0132] In an optional embodiment, the force reference data may include historical brushing modes and / or historical force levels of the electric toothbrush. The step of determining the target holding force value to be output based on the force reference data may include: determining the target holding force value to be output based on the historical brushing modes and / or historical force levels, wherein the target holding force value is positively correlated with the operating parameters of the motor corresponding to the historical brushing modes and / or historical force levels. It should be noted that the electric toothbrush may determine the target holding force value to be output based on one or more historical brushing modes, or may determine the target holding force value to be output based on one or more historical force levels, or may determine the target holding force value to be output based on one or more historical brushing modes and one or more historical force levels. The greater the duty cycle of the pulse width modulation signal corresponding to the force level frequently used by the user, and the greater the duty cycle of the pulse width modulation signal corresponding to the frequently used brushing mode, the greater the user's habitual brushing force, and the greater the target holding force value output by the motor needs to be to avoid rotation when the electric toothbrush is in manual mode, thereby meeting the requirements for manual brushing using the electric toothbrush.

[0133] Optionally, the target historical brushing mode can be determined from multiple historical brushing modes, and the target holding force value to be output can be determined based on the operating parameters of the target historical brushing mode. The target historical force gear can also be determined from multiple historical force gears, and the target historical force gear can be determined based on the operating parameters of the target historical force gear. The target historical brushing mode is the brushing mode with the largest number among the multiple historical brushing modes, and the target historical force gear is the force gear with the largest number among the multiple historical force gears. Exemplarily, the electric toothbrush stores 14 historical brushing modes, including 10 standard cleaning modes, 2 whitening cleaning modes and 2 deep cleaning modes, and the target historical brushing mode is the standard cleaning mode. Since the output torque of the motor is positively correlated with the duty cycle of the pulse width modulation signal, the target holding force value to be output can be determined based on the target historical force gear and / or the target historical brushing mode.

[0134] In an optional embodiment, the electric toothbrush is preset with multiple sixth force values ​​corresponding one-to-one to multiple brushing modes, and / or the electric toothbrush is preset with multiple seventh force values ​​corresponding one-to-one to multiple force gears. When the electric toothbrush determines the target historical brushing mode and / or the target historical force gear, the electric toothbrush can query the sixth force value corresponding to the target historical brushing mode and / or the seventh force value corresponding to the target historical force gear, and can determine the sixth force value or the seventh force value as the force value of the target holding force to be output, or can calculate the average value of the sixth force value of the target historical brushing mode and the seventh force value corresponding to the target historical force gear, and use the average value as the force value of the target holding force to be output.

[0135] In an optional embodiment, the step of determining the target holding force value to be output based on the historical brushing mode and / or the historical force gear may include: determining a second pressure value based on the operating parameters corresponding to the historical brushing mode and / or the operating parameters corresponding to the historical force gear, and determining the target holding force value to be output based on the second pressure value and a preset friction coefficient. It should be noted that the operating parameters of the motor will affect the output torque of the output motor, thereby affecting the pressure between the brush head and the teeth. Therefore, the second pressure value can be determined based on the operating parameters corresponding to the historical brushing mode and / or the operating parameters corresponding to the historical force gear, and the target holding force value to be output can be determined based on the two pressure values ​​and the preset friction coefficient.

[0136] In an optional embodiment, the force reference data may include one or more cached historical force values. The step of determining the target holding force value to be output based on the force reference data may include: determining the target holding force value to be output based on the one or more historical force values. Optionally, an average of the one or more historical force values ​​may be calculated and determined as the target holding force value to be output. It is understood that if only one historical force value is available, that historical force value may be determined as the target holding force value.

[0137] Optionally, the weight of each historical force value is determined based on the historical moments corresponding to the multiple historical force values, and a weighted average of the multiple historical force values ​​is determined based on the multiple historical force values ​​and the weights corresponding to the multiple historical force values, and the weighted average is determined as the force value of the target holding force to be output. Wherein, each historical force value corresponds to a different historical moment. Since the user's brushing habits may change, the data closer to the current moment can better reflect the user's current needs. By assigning a larger weight to the historical force value with a relatively late historical moment (the time difference between the historical moment and the current moment is smaller), it is ensured that the historical force value closer to the current moment plays a greater role in determining the force value of the target holding force, thereby improving the accuracy of the determined force value of the target holding force to be output.

[0138] In an optional embodiment, the force reference data may include force setting data, and the step of determining the force value of the target holding force to be output based on the force reference data may include: determining the force value of the target holding force to be output based on the force setting data. Optionally, the force value indicated by the force setting data may be determined as the force value of the target holding force to be output.

[0139] In an optional embodiment, the force reference data may include the brushing mode selected by the electric toothbrush in the first state and / or the force gear selected in the first state. The step of determining the force value of the target holding force to be output based on the force reference data may include: determining the force value of the target holding force to be output based on the third preset torque corresponding to the selected brushing mode, and / or the fourth preset torque corresponding to the selected force gear. The force value of the target holding force is positively correlated with the third preset torque, and / or the force value of the target holding force is positively correlated with the fourth preset torque. It should be noted that in the first state, although the motor is not in operation, it may correspond to a selected brushing mode and / or force gear. For example, in the pause state, the electric toothbrush is in the standard cleaning mode, and the user takes the brush head out of the mouth. At this time, the electric toothbrush enters the pause state, and the brushing mode selected in the pause state is the standard cleaning mode. A third preset torque can be assigned to each brushing mode, and a fourth preset torque can be assigned to each force gear, and the assigned preset torque matches the operating parameters corresponding to the force gear and the brushing mode. That is, the force gear and brushing mode with a large output torque of the motor will also have a large preset torque assigned to it, so as to ensure the accuracy of the force value of the target holding force to be output.

[0140] It is understood that various force reference data can be combined to determine the target holding force value to be output, thereby improving the accuracy of the target holding force value to be output. For example, the force reference data may include multiple historical force values ​​and force setting data. Determining the target holding force value to be output based on the force reference data may include calculating an average of the multiple historical force values ​​and determining the larger of the average of the historical force values ​​and the force value corresponding to the force reference data as the target holding force value to be output. It should be noted that a user may have previously used a relatively gentle brushing method, but in certain circumstances, the user may suddenly need to brush with greater force (e.g., as recommended by a doctor). In such cases, the user can adjust the target holding force value to be output via the terminal device to meet the user's needs. If the force reference data has been set for a long time, the user may have gradually increased their brushing force. In this case, the average of the historical force values ​​may be greater than the force value corresponding to the force reference data. Determining the target holding force value based on the average of the historical force values ​​can meet the user's needs. In this embodiment, user needs can be met in either case, greatly improving the reliability of the electric toothbrush and ensuring its proper operation.

[0141] In this embodiment, the force value of the target holding force to be output is determined based on the force reference data of the electric toothbrush. The target force value is adapted to the user, which can ensure that the electric toothbrush will not rotate arbitrarily when the electric toothbrush is in the first state, and can also avoid the force value of the target holding force being too large, resulting in greater loss of the electric toothbrush.

[0142] Please refer to Figure 5, which shows a flow chart of adjusting the target holding force provided in an embodiment of the present application. As shown in Figure 5, after controlling the motor to continuously output the target holding force, the electronic limit control method of the electric toothbrush also includes steps 502 to 504.

[0143] Step 502: Acquire real-time motion data of the electric toothbrush when it is in manual mode.

[0144] Step 504: Adjust the target retention force according to the real-time motion data.

[0145] It should be noted that when the electric toothbrush is in manual mode, that is, when the user is manually brushing their teeth with the electric toothbrush, the external force on the brush head may change. In order to reduce the power consumption of the electric toothbrush (the greater the target holding force output by the motor, the more power is consumed) and to ensure that the brush head can be located at the target position when the electric toothbrush is in manual mode, the target holding force can be adjusted according to the real-time motion data. Among them, the real-time motion data may refer to the motion data of the electric toothbrush driven by the user. Exemplarily, the real-time motion data may include at least one of a first pressure value, a first current position, and the current oral position of the brush head. Optionally, the electric toothbrush may further include a pressure detection element, which may be configured to detect the pressure on the bristles of the brush head, the first pressure value being the pressure value detected by the pressure detection element, and the first current position being the current position of the rotor detected by the first position detection element. Optionally, the electric toothbrush may further include a second position detection element, which may be configured to detect the current oral position of the brush head. Exemplarily, the second position detection element may include an image sensor, which may be configured to capture an image of the interior of the oral cavity. The electric toothbrush may determine the current oral position of the brush head by analyzing and identifying image features of the image of the interior of the oral cavity. Optionally, the image sensor may be provided on the brush head.

[0146] In an optional embodiment, the real-time motion data may include a first pressure value, and the step of adjusting the target holding force based on the real-time motion data may include: if the first pressure value is less than the target pressure value, determining a first force value based on the difference between the target pressure value and the first pressure value, and controlling the motor to reduce the target holding force to the first force value; if the first pressure value is greater than the target pressure value, determining a second force value based on the difference between the first pressure value and the target pressure value, and controlling the motor to increase the target holding force to the second force value. The target pressure value is related to the target holding force value. It should be noted that when the electric toothbrush is in manual mode, the greater the pressure applied to the bristles, the greater the force exerted by the teeth on the brush head. Therefore, if the force exerted by the teeth on the brush head exceeds the target holding force of the motor, the brush head will rotate. If the first pressure value is greater than the target pressure value, and the greater the difference between the first pressure value and the target pressure value, the greater the required increase in the target holding force. Determining the second force value based on the difference between the first pressure value and the target pressure value ensures that the second force value is neither too large nor too small. Exemplarily, the second force value is the sum of the initial force value and the first adjustment force value, the first adjustment force value is the product of the preset friction coefficient and the first difference, and the first difference is the difference between the first pressure value and the target pressure value. If the first pressure value is less than the target pressure value, it indicates that the force value of the target holding force can be adjusted to a smaller value, thereby reducing the power loss of the electric toothbrush. Exemplarily, the first force value is the difference between the initial force value and the second adjustment force value, the second adjustment force value is the product of the preset friction coefficient and the second difference, and the second difference is the difference between the target pressure value and the first pressure value. Among them, the initial force value is the force value of the current target holding force.

[0147] In an optional embodiment, the real-time motion data may include the first current position of the rotor, and the step of adjusting the target holding force based on the real-time motion data may include: if the current position of the brush head is determined not to be the target position based on the first current position of the rotor, then according to the difference between the first current position and the target position, a third force value is determined, and the target holding force output by the motor is controlled to increase to the third force value. It should be noted that the position of the rotor corresponds to the position of the brush head. If the brush head is in the target position, it can be considered that the rotor is also in the target position. If the current position of the rotor is not the target position, it can be determined that the current target holding force is small. By determining the difference between the first current position and the target position, that is, determining the rotation angle of the rotor, the force applied to the bristles can be determined, and the target holding force output by the motor is increased to reset the brush head and maintain it in the target position.

[0148] In an optional embodiment, the real-time motion data may include the current oral position of the brush head, and the step of adjusting the target retention force according to the real-time motion data may include: if the current oral position of the brush head is the tongue position, then adjusting the target retention force output by the motor to a fourth force value; if the current oral position of the brush head is the tooth position, then adjusting the target retention force output by the motor to a fifth force value, wherein the fourth force value is less than the fifth force value. It should be noted that generally speaking, when a user manually brushes their teeth, the force used to clean the tongue coating is less than the force used to clean the teeth. Therefore, when the user uses an electric toothbrush to clean the tongue coating, the force value of the target retention force is relatively small, and when the user uses an electric toothbrush to clean the teeth, the force value of the target retention force is relatively large. This ensures that the brush head will not rotate arbitrarily when the user manually brushes the mouth with the electric toothbrush, and also reduces the power loss of the electric toothbrush, so that an electric toothbrush without mechanical limit can also meet the needs of manual brushing.

[0149] Alternatively, the fifth force value may be determined using steps 402 to 404 above, and the fourth force value may be determined as the difference between the fifth force value and a preset force value, which may be set by the user. When the user is cleaning the tongue coating, the target holding force value may be adjusted to a lower value to ensure that the brush head does not rotate and to reduce power consumption of the electric toothbrush.

[0150] In this embodiment, when the electric toothbrush is in manual mode, the target holding force value of the motor can be adjusted in real time by obtaining real-time motion data, which can ensure that the brush head will not rotate at will during the user's manual brushing process, while at the same time reducing the power loss of the electric toothbrush.

[0151] In an optional embodiment, the motor may include a rotor and a first position detection element, wherein the first position detection element is configured to detect the position of the rotor; the electronic limit control method for an electric toothbrush further includes: determining a fourth current position of the rotor through the first position detection element, and if the brush head is determined to be not within the preset range based on the fourth current position, controlling the rotor to rotate so that the brush head is reset toward the preset range. During the operation of the electric toothbrush, when the electric toothbrush is in the first state or the second state, it is possible that the brush head may exceed the preset range due to external force, thereby causing the electric toothbrush to fail to operate normally and affecting the stability and safety of the electric toothbrush. Therefore, in this embodiment, when the electric toothbrush determines that the brush head is not within the preset range based on the fourth current position, the rotor is controlled to rotate to drive the brush head to reset toward the preset range, thereby achieving electronic limit, which can improve the stability and safety of electric toothbrushes without mechanical limit.

[0152] Please refer to FIG6 , which shows a flow chart of an electric toothbrush provided in an embodiment of the present application. As shown in FIG6 , the electronic limit control method of the electric toothbrush may further include steps 602 to 606 .

[0153] Step 602: When the electric toothbrush is switched from the first state to the electric brushing state, the motor is controlled to stop outputting the target holding force.

[0154] Step 604: Determine the current brushing mode and the operating parameters corresponding to the current brushing mode.

[0155] It should be noted that the operating parameters corresponding to the current brushing mode refer to the operating parameters of the motor in the current brushing mode. The user can select the desired brushing mode through voice or physical buttons set on the electric toothbrush. The electric toothbrush can collect ambient audio or detect the physical buttons on the electric toothbrush to determine the current brushing mode.

[0156] The motor's motion in an electric toothbrush can be categorized as vibration or rotation. Rotation primarily adjusts the reference position of the vibration axis, while vibration primarily provides reciprocating motion for oral cleaning. Each brushing mode can be preconfigured with corresponding operating parameters, including but not limited to the duty cycle of the pulse width modulation signal, vibration parameters, and rotation parameters.

[0157] Referring to FIG. 7A , the rotor can vibrate with the first reference position 711 as the vibration axis. The range covered by the rotor when vibrating with the first reference position 711 as the vibration axis is called the vibration range β. The position of the rotor changes back and forth between the first position 712 and the second position 713. This vibration range β corresponds to the cleaning area of ​​the brush head. For example, the rotor vibrating with the first reference position 711 as the vibration axis can be understood as the shaft vibrating from the first reference position 711 in a clockwise vibration direction to the first position 712, then vibrating from the first position 712 in a counterclockwise vibration direction to the second position 713, and then vibrating from the second position 713 in a clockwise vibration direction to the first reference position 711. This process can be considered as one reciprocating vibration. The rotor can perform multiple reciprocating vibrations within one vibration cycle, and the reference position within one vibration cycle remains unchanged.

[0158] Referring to FIG. 7B , the rotor can be controlled to rotate to change the reference position, allowing the brush head to cover more of the area to be cleaned, resulting in a larger cleaning area for the electric toothbrush. For example, the rotor can be controlled to rotate to switch the reference position from a first reference position 711 to a second reference position 721 . The rotor can then vibrate using the second reference position 721 as the vibration axis, covering a range β during vibration. The rotor's position then alternates between a third position 722 and a fourth position 723 .

[0159] Optionally, the vibration parameters may include, but are not limited to, one or more of the following: vibration direction, vibration range, vibration frequency, and the duration corresponding to a vibration cycle. The vibration direction may include clockwise and counterclockwise vibration directions within the circumferential direction of the rotor, with the clockwise and counterclockwise vibration directions being opposite directions. The vibration range refers to the angle corresponding to a single reciprocating vibration of the rotor in the circumferential direction. For example, in FIG7A , the vibration range may refer to the angle between the first position 712 and the second position 713. The vibration range may also be understood as the vibration amplitude corresponding to a single vibration cycle. The vibration frequency may refer to the number of reciprocating vibrations of the rotor within a vibration cycle. Optionally, the rotation parameters may include, but are not limited to, one or more of a rotation direction, a rotation angle, and a rotation frequency. The rotation direction may include a clockwise rotation direction and a counterclockwise rotation direction of the rotor in the circumferential direction, with the clockwise rotation direction and the counterclockwise rotation direction being opposite directions. The rotation angle refers to the angle corresponding to each reference position switch of the rotor. Taking FIG7B as an example, the rotation angle may be the angle between the second reference position 721 and the first reference position 711. The rotation frequency may refer to the number of reference position switches per unit time. For example, the rotation frequency may be 5 times / second, 8 times / second, 10 times / second, 15 times / second, 20 times / second, etc., but is not limited thereto. The vibration frequency may be 100 to 600 times / second, such as 100 Hz, 200 Hz, 300 Hz, 400 Hz, 500 Hz, 600 Hz, etc. Vibration within this range is a higher frequency vibration than rotation and can effectively loosen plaque and bacterial plaque on the tooth surface.

[0160] Step 606: Control the motor to move according to the operating parameters corresponding to the current brushing mode to drive the brush head to move.

[0161] It should be noted that each brushing mode of the electric toothbrush is pre-configured with operating parameters of the corresponding motor, and the operating parameters may include but are not limited to the duty cycle of the pulse width modulation signal, vibration parameters, and rotation parameters to achieve different cleaning effects. Optionally, the driving force output by the motor when the electric toothbrush is in the electric brushing state is greater than the target retention force. When the electric toothbrush is in the electric brushing state, the driving force of the motor is greater than the target retention force, that is, when the electric toothbrush is in the electric brushing state, the output torque of the motor is greater than the output torque of the motor when the electric toothbrush is in the first state, thereby avoiding human damage to the motor's movement according to the corresponding operating parameters, ensuring that the cleaning effect corresponding to the current brushing mode can be achieved, and improving the reliability of the electric toothbrush. Optionally, after stopping outputting the target retention force, the motor can be controlled to move according to the operating parameters corresponding to the current brushing mode to drive the brush head to move.

[0162] In an optional embodiment, when the electric toothbrush is in the electric brushing state, the third current position of the rotor is determined by the first position detection element. If it is determined according to the third current position that the brush head is not within the preset range, the rotor is controlled to rotate based on the third current position so that the brush head rotates within the preset range.

[0163] In some embodiments, when the motor is not operating, the motor is not powered. Without a mechanical limiter, the shaft can rotate 360°. When the electric toothbrush is in the power-brushing mode, the rotor can be rotated by providing different electrical signals to the brush. For example, applying opposite electrical signals can change the direction of the rotor's rotation. In this embodiment, a first position detection element configured to detect the position of the rotor is provided on the motor, enabling closed-loop control of rotor rotation and electronic limit.

[0164] In an optional embodiment, the step of controlling the rotor's rotation based on the third current position to rotate the brush head within a preset range may include: controlling the rotor to reciprocate within the vibration range with the reference position as the vibration axis based on the third current position, and controlling the rotor's reciprocating rotation to adjust the reference position. For example, when the electric toothbrush is in the electric brushing mode, the electric toothbrush may obtain vibration parameters and rotation parameters corresponding to the current brushing mode, control the rotor to reciprocate with the reference position as the vibration axis based on the vibration parameters, and control the rotor's rotation based on the rotation parameters to change the reference position, thereby changing the vibration axis of the electric toothbrush, thereby increasing the cleaning area of ​​the electric toothbrush. Alternatively, the vibration range is smaller than the preset range. Continuing with FIG. 7B , the vibration range may refer to the angular difference between the first position 712 and the second position 713. Since the brush head rotates driven by the motor's shaft, the preset range corresponds to the rotation of the motor's rotor. For example, if the reference positions only include the first reference position 711 and the second reference position 721, the preset range is the angle between the first position 712 and the fourth position 723.

[0165] Optionally, the frequency of the rotor's reciprocating vibration is greater than the frequency of the rotor's reciprocating rotation. Since the rotor's reciprocating vibration can clean teeth, the relatively high frequency of the rotor's reciprocating vibration can improve the cleaning effect of the electric toothbrush. The switching of the reference position is to change the cleaning area, and therefore, the frequency of the rotor's reciprocating rotation is relatively low, allowing each cleaning area to have sufficient cleaning time to ensure a cleaning effect.

[0166] In an optional embodiment, before controlling the motor to move according to the operating parameters corresponding to the current brushing mode, the electronic limit control method for an electric toothbrush further includes: determining the current position of the rotor through a first position detection element, and if the current position of the rotor is not the zero position, controlling the rotor to rotate until the rotor is at the zero position. It should be noted that the operating parameters of the motor are different in different brushing modes. Before controlling the motor to move according to the operating parameters corresponding to the current brushing mode, resetting the rotor to the zero position can provide the motor with a more accurate initial reference position, which is conducive to achieving accurate closed-loop control of the motor rotation angle.

[0167] In this embodiment, when the electric toothbrush is in the electric brushing state, the operating parameters of the motor can be determined according to the current brushing mode of the electric toothbrush, and the motor can be controlled to move based on the operating parameters. At the same time, the driving force output by the motor when the electric toothbrush is in the electric brushing state is greater than the target holding force, thereby avoiding the rotation of the motor that is not subject to human intervention, and ensuring that the cleaning effect corresponding to the current brushing mode can be achieved.

[0168] In an optional embodiment, please continue to refer to FIG6 , after the step of controlling the motor to move according to the third motor operating parameter to drive the brush head to vibrate, the electronic limit control method of the electric toothbrush may further include steps 608 to 610 .

[0169] Step 608: Determine a fourth current position of the rotor by using the first position detection element.

[0170] It should be noted that the fourth current position is the current position of the rotor, or in other words, the real-time position of the rotor in the circumferential direction. The electric toothbrush can determine the current position of the rotor through the first position detection element.

[0171] Step 610: If it is determined according to the fourth current position that the brush head is not within the preset range, the rotor is controlled to rotate so as to reset the brush head toward the preset range.

[0172] It should be noted that since the rotor position corresponds to the brush head position, the current rotor position can be used to determine whether the brush head is within a preset range. If not, the rotor can be controlled to rotate to reposition the brush head toward the preset range. Optionally, the force required to reposition the brush head toward the preset range is greater than the target retention force. The repositioning force required to reposition the brush head toward the preset range may refer to the motor's output torque during the process of repositioning the brush head toward the preset range. By providing a repositioning force greater than the target retention force to the brush head, the motor can ensure that the brush head can reposition toward the preset range. Electric toothbrushes may be pre-configured with a preset range that limits the circumferential position of the rotor. During operation, external forces may cause the brush head to move beyond the preset range, resulting in inoperative operation and affecting the stability, safety, and cleaning effectiveness of the electric toothbrush. Therefore, in an embodiment of the present application, when the electric toothbrush determines that the brush head is not within the preset range based on the fourth current position, the rotor is controlled to rotate to reposition the brush head toward the preset range, thereby implementing electronic position limiting. This can improve the stability and safety of electric toothbrushes without mechanical position limiting.

[0173] Exemplarily, if the rotor rotates within the target position range, the brush head rotates within the preset range. The target position range may include the fifth position and the sixth position. The fifth position and the sixth position may be understood as the extreme position points of the rotor. If the current position of the rotor exceeds the fifth position or the sixth position, that is, the current position of the rotor is not between the fifth position and the sixth position, it means that the current position of the rotor exceeds the target position range, the rotor needs to be reset, and the brush head needs to be reset. The zero position of the rotor can be the midpoint between the fifth position and the sixth position. It should be noted that the zero position of the rotor can also be the fifth position or the sixth position. The range size of the target position range (that is, the position difference between the fifth position and the sixth position) can be set according to actual needs. The range size of the target position range can be a fixed size or it can change dynamically according to needs. The embodiments of the present application do not limit this.

[0174] In this embodiment, the electric toothbrush can determine the current position of the rotor in the motor through the first position detection element. If the current position of the rotor is not within the target position range, the rotor is controlled to reset toward the target position range. When the position of the rotor exceeds the target position range, the rotor can be reset to ensure that the position of the rotor is within the target position range, that is, the brush head is within the preset range. This can avoid the situation where the electric toothbrush cannot work normally due to the motor rotor exceeding the target position range, improve the stability and safety of the electric toothbrush, and ensure the normal operation of the electric toothbrush.

[0175] Please refer to Figure 8, which shows a flow chart of an automatic wake-up process provided in an embodiment of the present application. As shown in Figure 8, when the electric toothbrush is in the first state, before controlling the motor to continuously output the target holding force, the electronic limit control method of the electric toothbrush may also include steps 802 to 806.

[0176] Step 802: Acquire status data of the electric toothbrush.

[0177] Optionally, the electric toothbrush may further include a detection module, which may be configured to collect status data of the electric toothbrush, and the electric toothbrush may obtain the status data of the electric toothbrush through the detection module. Optionally, the detection module may include a motion sensor, a gyroscope, an acceleration sensor, etc. to detect the motion state of the electric toothbrush. The detection module may also include a piezoelectric sensor, a temperature sensor, a contact sensor, a photoelectric sensor, etc. to detect whether the electric toothbrush is held. The detection module may also include a Hall sensor, an RF (Radio Frequency) sensor, a conductive contact, etc. to detect whether the electric toothbrush is separated from the base. Optionally, the status data may include motion data, holding data, and connection data with other components. The motion data may include but is not limited to the acceleration, speed, and displacement of the electric toothbrush. The holding data may include but is not limited to the pressure and temperature of the holding position of the electric toothbrush.

[0178] Step 804: Determine whether the electric toothbrush meets the wake-up condition based on the status data.

[0179] Step 806: If the electric toothbrush meets the wake-up condition, the electric toothbrush is controlled to enter the wake-up state.

[0180] It should be noted that the description of the awakening condition can refer to the description of the above embodiment, which will not be repeated here. When the electric toothbrush is in the flying state, even if the electric toothbrush meets the awakening condition, the electric toothbrush is not controlled to enter the awakening state.

[0181] Optionally, the detection module is disabled when the electric toothbrush is in flight mode. When the electric toothbrush is in flight mode, the detection module is disabled to prevent the electric toothbrush from switching from flight mode to awake mode when the electric toothbrush meets awakening conditions. Exemplarily, disabling the detection module may include disconnecting a power supply circuit of the detection module, thereby shutting down the detection module.

[0182] Optionally, when the electric toothbrush is in the flight state, if the electric toothbrush meets the wake-up condition, the electric toothbrush is not controlled to enter the wake-up state. It should be noted that in this embodiment, the detection module can work in the flight state, but the electric toothbrush will not enter the wake-up state when the wake-up condition is met.

[0183] In this embodiment, when it is detected that the electric toothbrush meets the wake-up conditions, such as movement, being held in hand, or being separated from the base, the electric toothbrush is controlled to automatically enter the wake-up state, and then the motor is controlled to output the target holding force, so that after the user picks up the electric toothbrush, regardless of whether the motor is in the running state, the user's need for manual oral cleaning can be met.

[0184] Please refer to Figure 9, which shows a schematic structural diagram of an electronic limit control device for an electric toothbrush provided in an embodiment of the present application. The device can be applied to the electric toothbrush shown in Figure 1. The electric toothbrush includes a brush head and a motor that are connected to each other, and the rotating shaft of the motor is configured to drive the brush head to rotate within a preset range. As shown in Figure 9, the electronic limit control device 900 for the electric toothbrush may include a control module 910. The control module is configured to control the motor to continuously output a target holding force when the electric toothbrush is in a first state, so that the brush head remains in the target position.

[0185] In an optional embodiment, the shaft of the motor can rotate 360° when not powered.

[0186] In an optional embodiment, the rotating shaft of the motor rotates when subjected to a first force in a non-powered state, and the first force is smaller than the target holding force.

[0187] In an optional embodiment, the first state includes one or more of a wake-up state, a stop state, and a manual state.

[0188] In an optional embodiment, the electronic limit control device 900 for an electric toothbrush may further include a first acquisition module and a first determination module. The first acquisition module is configured to acquire force reference data of the electric toothbrush before controlling the motor to continuously output the target holding force. The first determination module is configured to determine the target holding force value to be output based on the force reference data.

[0189] In an optional embodiment, the force reference data includes historical brushing modes and / or historical force levels of the electric toothbrush, wherein the motor operating parameters vary under different brushing modes and the motor operating parameters vary under different force levels. The first determination module is further configured to determine a target holding force value to be output based on the historical brushing modes and / or historical force levels, wherein the target holding force value is positively correlated with the motor operating parameters corresponding to the historical brushing modes and / or historical force levels.

[0190] In an optional embodiment, the force reference data includes one or more cached historical force values, each of which is a force value corresponding to a target holding force output by the motor at a historical moment before the current moment. The first determination module is further configured to determine a target holding force value to be output based on the one or more historical force values.

[0191] In an optional embodiment, the force reference data includes force setting data, which is data received from the terminal device. The first determination module is further configured to determine the force value of the target holding force to be output based on the force setting data. Alternatively, the force reference data includes the brushing mode selected by the electric toothbrush in the first state and / or the force gear selected in the first state. The first determination module is further configured to determine the force value of the target holding force to be output based on the third preset torque corresponding to the selected brushing mode and / or the fourth preset torque corresponding to the selected force gear, wherein the force value of the target holding force is positively correlated with the third preset torque and / or the force value of the target holding force is positively correlated with the fourth preset torque.

[0192] In an optional embodiment, the electronic limit control device 900 for an electric toothbrush may further include a second acquisition module and an adjustment module. The second acquisition module is configured to acquire real-time motion data of the electric toothbrush when in manual mode after controlling the motor to continuously output the target holding force. The adjustment module is configured to adjust the target holding force based on the real-time motion data.

[0193] In an optional embodiment, the real-time motion data includes at least one of the following:

[0194] a first pressure value detected by a pressure detection element, the pressure detection element being configured to detect pressure exerted on bristles of the brush head;

[0195] a first current position of the rotor detected by a first position detection element, the motor comprising the first position detection element and a rotor, the first position detection element being configured to detect the position of the rotor;

[0196] The second position detection element detects the current oral position of the brush head.

[0197] In an optional embodiment, the real-time motion data includes a first pressure value. The adjustment module may include a first control unit and a second control unit. The first control unit is configured to determine a first force value based on the difference between the target pressure value and the first pressure value if the first pressure value is less than the target pressure value, and control the target holding force output by the motor to be reduced to the first force value, where the target pressure value is related to the force value of the target holding force. The second control unit is configured to determine a second force value based on the difference between the first pressure value and the target pressure value if the first pressure value is greater than the target pressure value, and control the target holding force output by the motor to be increased to the second force value.

[0198] In an optional embodiment, the real-time motion data includes a first current position of the rotor. The adjustment module may include a first determination unit and a third control unit. The first determination unit is configured to, if it is determined based on the first current position that the current position of the brush head is not the target position, determine a third force value based on the difference between the first current position and the target position. The third control unit is configured to control the target holding force output by the motor to increase to the third force value.

[0199] In an optional embodiment, the real-time motion data includes the current oral position of the brush head. The adjustment module may include a first adjustment unit and a second adjustment unit. The first adjustment unit is configured to adjust the target holding force output by the motor to a fourth force value if the current oral position of the brush head is the tongue coating position. The second adjustment unit is configured to adjust the target holding force output by the motor to a fifth force value if the current oral position of the brush head is the tooth position; wherein the fourth force value is less than the fifth force value.

[0200] In an optional embodiment, the motor includes a rotor and a first position detection element, and the first position detection element is configured to detect the position of the rotor. The electronic limit control device 900 of the electric toothbrush may also include a second determination module, a third determination module and a reset module. The second determination module is configured to determine the second current position of the rotor through the first position detection element when the electric toothbrush is in the first state. The third determination module is configured to determine the target reset path based on the second current position and the target position if the current position of the brush head is not the target position according to the second current position. The reset module is configured to control the brush head to rotate toward the target position based on the target reset path until it reaches the target position.

[0201] In an optional embodiment, the target reset path is a path with the shortest distance.

[0202] In an optional embodiment, the electric toothbrush further includes a handle, and the target position includes: a preset position, or a position where the angle between the front of the brush head and the front of the handle is 0° or 45°.

[0203] In an optional embodiment, the electronic limit control device 900 for an electric toothbrush may further include a first control module configured to control the motor to stop outputting the target holding force when the electric toothbrush switches from a first state to a second state, the second state being different from the first state.

[0204] In an optional embodiment, the second state includes one or more of an electric brushing state, an auxiliary function state, a standby state, and a flight state.

[0205] In an optional embodiment, the driving force output by the motor when the electric toothbrush is in the electric brushing state is greater than the target holding force.

[0206] In an optional embodiment, the electronic limit control device 900 of the electric toothbrush may further include a fourth determination module, a fifth determination module, and a second control module. The fourth determination module is configured to determine the current brushing mode when the electric toothbrush switches from the first state to the electric brushing state. The fifth determination module is configured to determine the operating parameters corresponding to the current brushing mode. The second control module is configured to control the motor to move according to the operating parameters corresponding to the current brushing mode to drive the brush head to move.

[0207] In an optional embodiment, the motor includes a rotor and a first position detection element, the first position detection element being configured to detect the position of the rotor. The electronic limit control device 900 for an electric toothbrush may further include a detection module and a third control module. The detection module is configured to detect a third current position of the rotor via the first position detection element when the electric toothbrush is in an electric brushing mode. The third control module is configured to control the rotation of the rotor based on the third current position so that the brush head rotates within a preset range.

[0208] In an optional embodiment, the third control module is further configured to control the rotor to vibrate back and forth within a vibration range with the reference position as the vibration axis based on the third current position, and control the rotor to rotate back and forth to adjust the reference position; the vibration range is smaller than the preset range, and the frequency of the reciprocating vibration is greater than the frequency of the reciprocating rotation.

[0209] In an optional embodiment, the motor includes a rotor and a first position detection element, the first position detection element being configured to detect the position of the rotor. The electronic limit control device 900 for an electric toothbrush may further include a sixth determination module and a fourth control module. The sixth determination module is configured to determine a fourth current position of the rotor using the first position detection element. The fourth control module is configured to control the rotor to rotate so that the brush head returns to the preset range if the brush head is determined to be not within the preset range based on the fourth current position.

[0210] In an optional embodiment, the reset force for controlling the brush head to move toward the preset range is greater than the target holding force.

[0211] In an optional embodiment, the electronic limit control device 900 for an electric toothbrush may further include a third acquisition module, a judgment module, and a fifth control module. The third acquisition module is configured to acquire status data of the electric toothbrush. The judgment module is configured to determine whether the electric toothbrush meets a wake-up condition based on the status data. The fifth control module is configured to control the electric toothbrush to enter a wake-up state if the wake-up condition is met.

[0212] In an optional embodiment, the electric toothbrush includes a detection module, and the electronic limit control device 900 of the electric toothbrush may further include a first flight module or a second flight module. The third acquisition module is further configured to obtain status data of the electric toothbrush through the detection module. The first flight module is configured to control the detection module to be inoperative when the electric toothbrush is in the flight state. The second flight module is configured to not control the electric toothbrush to enter the wake-up state if the electric toothbrush meets the wake-up condition when the electric toothbrush is in the flight state.

[0213] In an optional embodiment, the electronic limit control device 900 for an electric toothbrush may further include a fourth acquisition module and a seventh determination module. The fourth acquisition module is configured to acquire identification information of the brush head before controlling the motor to continuously output the target holding force. The seventh determination module is configured to determine the target holding force value to be output based on the identification information.

[0214] Please refer to Figure 10, which is a schematic diagram of the structure of an electric toothbrush disclosed in an embodiment of the present application. As shown in Figure 10, the electric toothbrush 1000 may include:

[0215] A memory 1010 storing executable program code;

[0216] a processor 1020 coupled to the memory 1010;

[0217] The processor 1020 calls the executable program code stored in the memory 1010 to execute any one of the electronic limit control methods for an electric toothbrush disclosed in the embodiments of the present application.

[0218] An embodiment of the present application discloses a computer-readable storage medium storing a computer program, wherein when the computer program is executed by the processor, the processor implements any one of the electronic limit control methods for an electric toothbrush disclosed in the embodiment of the present application.

[0219] It should be understood that the references to "one embodiment" or "an embodiment" throughout the specification mean that the specific features, structures, or characteristics associated with the embodiment are included in at least one embodiment of the present application. Therefore, the references to "in one embodiment" or "in an embodiment" throughout the specification do not necessarily refer to the same embodiment. In addition, these specific features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. Those skilled in the art should also be aware that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily required for the present application.

[0220] In the various embodiments of the present application, it should be understood that the size of the serial numbers of the above-mentioned processes does not necessarily mean the order of execution. The order of execution 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.

[0221] The units described above as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, i.e., they may be located in one place or distributed across multiple network units. Some or all of these units may be selected based on actual needs to achieve the objectives of this embodiment.

[0222] In addition, the functional units in the embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0223] If the above-mentioned integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-accessible memory. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a memory and includes several requests for a computer device (which can be a personal computer, server or network device, etc., specifically a processor in a computer device) to execute some or all of the steps of the above-mentioned methods of various embodiments of the present application.

[0224] Those skilled in the art will appreciate that all or part of the steps in the various methods of the above embodiments can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable storage medium, including a read-only memory (ROM), a random access memory (RAM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), a one-time programmable read-only memory (OTPROM), an electronically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, magnetic disk storage, magnetic tape storage, or any other computer-readable medium that can be configured to carry or store data.

[0225] The above is a detailed introduction to the electronic limit control method, device, and electric toothbrush for an electric toothbrush disclosed in the embodiments of the present application. Specific examples are used herein to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only intended to help understand the method and core concept of the present application. At the same time, for those skilled in the art, based on the concept of the present application, there may be changes in the specific implementation methods and application scope. In summary, the contents of this specification should not be understood as limiting the present application. Industrial Applicability

[0226] The embodiments of the present application provide an electronic limit control method, device and electric toothbrush for an electric toothbrush. The electronic limit control method for an electric toothbrush controls the motor to continuously output a target holding force when the electric toothbrush is in a first state, so that the brush head of the electric toothbrush remains in a target position. The electric toothbrush includes a brush head and a motor connected to each other. The rotating shaft of the motor is configured to drive the brush head to rotate within a preset range. When the electric toothbrush is in the first state, the motor continuously outputs a target holding force. When the external force applied to the brush head cannot overcome the target holding force of the motor on the brush head, the brush head remains in the target position, thereby ensuring the normal use of the electric toothbrush, improving the reliability of the electric toothbrush, and having strong industrial applicability.

Claims

1. An electronic limit control method for an electric toothbrush, the electric toothbrush including a brush head and a motor connected to each other, a rotating shaft of the motor being configured to drive the brush head to rotate within a preset range, the method including: When the electric toothbrush is in a first state, controlling the motor to continuously output a target holding force so that the brush head is held at a target position.

2. The method according to claim 1, wherein, The rotating shaft of the motor can rotate 360° when not powered on.

3. The method according to claim 1, wherein, The rotating shaft of the motor rotates when subjected to a first force when not powered on, and the first force is less than the target holding force.

4. The method according to claim 1, wherein, The first state includes one or more of a wake-up state, a stop state, and a manual state.

5. The method according to claim 1, wherein Before controlling the motor to continuously output the target holding force, the method includes: Obtaining force reference data of the electric toothbrush; Determining a force value of the target holding force to be output according to the force reference data.

6. The method according to claim 5, wherein The force reference data includes a historical brushing mode and / or a historical force level in which the electric toothbrush operates, and under different brushing modes, operating parameters of the motor are different; Under different force levels, the operating parameters of the motor are different; The determining the force value of the target holding force to be output according to the force reference data includes: Determining the force value of the target holding force to be output according to the historical brushing mode and / or the historical force level, and the force value of the target holding force is positively correlated with the operating parameters of the motor corresponding to the historical brushing mode and / or the historical force level.

7. The method according to claim 5, wherein, The force reference data includes one or more cached historical force values, and the historical force value is the force value corresponding to the target holding force output by the motor at a historical moment before the current moment; The determining the force value of the target holding force to be output according to the force reference data includes: Determining the force value of the target holding force to be output according to the one or more historical force values.

8. The method according to claim 5, wherein The force reference data includes force setting data, the force setting data being data received from a terminal device, and the determining the force value of the target holding force to be output according to the force reference data includes: Determining the force value of the target holding force to be output according to the force setting data; Or, The force reference data includes a brushing mode selected by the electric toothbrush in the first state and / or a force level selected in the first state, and the determining the force value of the target holding force to be output according to the force reference data includes: Determining the force value of the target holding force to be output according to a third preset torque corresponding to the selected brushing mode and / or a fourth preset torque corresponding to the selected force level, wherein the force value of the target holding force is positively correlated with the third preset torque, and / or the force value of the target holding force is positively correlated with the fourth preset torque.

9. The method according to claim 1, wherein, After controlling the motor to continuously output the target holding force, the method further includes: Obtaining real-time motion data when the electric toothbrush is in a manual state; Adjust the target holding force according to the real-time motion data.

10. The method according to claim 9, wherein, The real-time motion data includes at least one of the following: A first pressure value detected by a pressure detection element, the pressure detection element being configured to detect the pressure received by the bristles of the brush head of the pressure; A first current position of the rotor detected by a first position detection element, the motor including the first position detection element and the rotor, the first position detection element being configured to detect the position of the rotor; The oral position where the brush head is currently located detected by a second position detection element.

11. The method according to claim 10, wherein, The real-time motion data includes a first pressure value; The adjusting of the target holding force according to the real-time motion data includes: If the first pressure value is less than the target pressure value, determine a first force value according to the difference between the target pressure value and the first pressure value, and control the target holding force output by the motor to decrease to the first force value, the target pressure value being related to the force value of the target holding force; If the first pressure value is greater than the target pressure value, determine a second force value according to the difference between the first pressure value and the target pressure value, and control the target holding force output by the motor to increase to the second force value.

12. The method according to claim 10, wherein, The real-time motion data includes the first current position of the rotor; The adjusting of the target holding force according to the real-time motion data includes: If it is determined according to the first current position that the current position of the brush head is not the target position, determine a third force value according to the difference between the first current position and the target position; Control the target holding force output by the motor to increase to the third force value.

13. The method according to claim 10, wherein, The real-time motion data includes the oral position where the brush head is currently located; The adjusting of the target holding force according to the real-time motion data includes: If the oral position where the brush head is currently located is the tongue coating position, adjust the target holding force output by the motor to a fourth force value; If the oral position where the brush head is currently located is the tooth position, adjust the target holding force output by the motor to a fifth force value; Wherein, the fourth force value is less than the fifth force value.

14. The method according to any one of claims 1 to 13, wherein, The motor includes a rotor and a first position detection element, the first position detection element being configured to detect the position of the rotor; The method further includes: When the electric toothbrush is in the first state, determine a second current position of the rotor through the first position detection element; If it is determined according to the second current position that the current position of the brush head is not the target position, determine a target reset path according to the second current position and the target position; Based on the target reset path, control the brush head to rotate towards the target position until it reaches the target position.

15. The method according to claim 14, wherein, The target reset path is the path with the shortest distance.

16. The method according to any one of claims 1 to 13, wherein, The electric toothbrush further includes a handle, and the target position includes: A preset position, or a position where the included angle between the front surface of the brush head and the front surface of the handle is 0° or 45°.

17. The method according to any one of claims 1 to 13, wherein The method further includes: When the electric toothbrush switches from the first state to the second state, control the motor to stop outputting the target holding force, where the second state is different from the first state.

18. The method according to claim 17, wherein, The second state includes one or more of an electric toothbrushing state, an auxiliary function state, a standby state, and a flying state.

19. The method according to claim 18, wherein The driving force output by the motor when the electric toothbrush is in the electric toothbrushing state is greater than the target holding force.

20. The method according to claim 19, wherein, The method further includes: When the electric toothbrush switches from the first state to the electric toothbrushing state, determine the current brushing mode; Determine the operating parameters corresponding to the current brushing mode; Control the motor to move according to the operating parameters corresponding to the current brushing mode to drive the brush head to move.

21. The method according to claim 18, wherein The motor includes a rotor and a first position detection element configured to detect the position of the rotor. The method further includes: When the electric toothbrush is in the electric toothbrushing state, detect a third current position of the rotor through the first position detection element; Control the rotor to rotate based on the third current position so that the brush head rotates within a preset range.

22. The method according to claim 21, wherein The controlling the rotor to rotate based on the third current position includes: Controlling the rotor to reciprocate within a vibration range with a reference position as the vibration axis based on the third current position, and controlling the rotor to rotate reciprocally to adjust the reference position; The vibration range is smaller than the preset range, and the frequency of the reciprocating vibration is greater than the frequency of the reciprocating rotation.

23. The method according to any one of claims 1 to 20, wherein The motor includes a rotor and a first position detection element configured to detect the position of the rotor; the method further includes: Determine a fourth current position of the rotor through the first position detection element; If it is determined according to the fourth current position that the brush head is not within the preset range, control the rotor to rotate so that the brush head is reset towards the preset range.

24. The method according to claim 23, wherein The restoring force for controlling the brush head towards the preset range is greater than the target holding force.

25. The method according to any one of claims 1 to 24, wherein Before controlling the motor to continuously output the target holding force when the electric toothbrush is in the first state, the method further includes: Obtain the status data of the electric toothbrush; Determine whether the electric toothbrush meets the wake-up condition according to the status data; If the electric toothbrush meets the wake-up condition, control the electric toothbrush to enter the wake-up state.

26. The method according to claim 25, wherein, The electric toothbrush includes a detection module. The obtaining the status data of the electric toothbrush includes: Obtain the status data of the electric toothbrush through the detection module; The method further includes: When the electric toothbrush is in the flying state, control the detection module not to work; or, When the electric toothbrush is in the flying state, if the electric toothbrush meets the wake-up condition, do not control the electric toothbrush to enter the wake-up state.

27. The method according to claim 1, wherein The method further includes: Obtain the identification information of the brush head; Determine the intensity value of the target holding force to be output according to the identification information.

28. An electronic limit control device for an electric toothbrush, the electric toothbrush including a brush head and a motor connected to each other, a rotating shaft of the motor being configured to drive the brush head to vibrate within a preset range, the device including: A control module configured to control the motor to continuously output a target holding force when the electric toothbrush is in a first state, so that the brush head is held at a target position.

29. An electric toothbrush, including a memory and a processor, a computer program being stored in the memory, and when the computer program is executed by the processor, causing the processor to implement the method according to any one of claims 1 to 27.

30. A computer-readable storage medium, having a computer program stored thereon, and when the computer program is executed by a processor, implementing the method according to any one of claims 1 to 27.

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